bd284d9fd7
AC_PosControl: correct lean-angle-to-accel formula
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Thanks to @luweikxy for finding this issue!
2017-11-24 09:12:00 +09:00
ebd864d2d2
AC_PosControl: minor update to comments
2017-11-16 09:46:28 +09:00
6315e6eb45
AC_AttitudeControl: remove unused get_tilt_limit_rad
2017-11-15 20:22:02 +09:00
e8173f27df
AC_AttitudeControl: reset target attitude
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added method to reset current vehicle attitude to support swash
behaviors in Trad Heli
2017-10-28 12:31:06 +11:00
c7c2c4ff2c
AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division
2017-10-23 09:20:17 -07:00
f2efea4e1d
AC_AttitudeControl: added inverted flight support
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for helis
2017-10-03 10:16:41 +11:00
99aad41955
AC_AttitudeControl: added a update_vel_controller_xy() API
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this allows for just XY control of velocity for quadplanes
2017-09-09 08:14:09 +10:00
1a25087dd5
AC_AttitudeControl: fixed PIRO_COMP index
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this is a new conflict due to stricter checking in AP_Param
2017-08-14 09:28:57 +09:00
ed0063d10d
AC_AttControl: save accel max using shorter set_and_save
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no functional change
2017-06-22 15:20:16 +09:00
0544cf1d82
AC_AttControl: add step input for autotune
2017-06-22 15:18:04 +09:00
d56eca036d
AC_AttitudeControl: correct parameter markup
2017-06-05 21:02:30 +10:00
ad74769fb7
AC_AttControl: adjust default rate IMAX and Yaw Filt
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Increase Roll, Pitch and Yaw IMAX from 0.444 or 0.222 to 0.5
Decrease Yaw Filter from 5hz to 2.5hz based on the results of autotunes on many vehicles which always seems to produce values between 2 and 3hz
2017-06-01 10:08:41 +09:00
188dfb6936
AC_AttitudeControl: Use SI units conventions in parameter units
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Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
3a397584a1
AC_PosControl: z-axis stopping point up to 3m above vehicle
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Stopping point while descending remains at 2m for safety
2017-04-28 09:10:02 +09:00
6e92f74ca0
AC_PosControl: add clear_desired_velocity_ff_z method
2017-04-28 09:10:02 +09:00
fe3e7e8153
AC_AttitudeControl: added get_throttle_mix()
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and when we use set_throttle_mix_value(), set both desired and actual
thanks to Leonard for the suggestions
2017-04-19 09:08:43 +10:00
132979b12f
AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero
2017-03-15 09:22:23 +09:00
67097c8d59
AC_AttitudeControl: use gyro_latest
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This allows moving the attitude control before the ahrs/ekf update
We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions. We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
2017-03-03 13:14:28 +11:00
d79403707b
AC_AttControl: add feed forward param descriptions
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No functional change
2017-03-01 14:59:44 +09:00
e5ed20d6f7
AC_AttitudeControl: added set_throttle_mix_value()
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used by quadplane
2017-02-26 09:20:51 +11:00
0e124d0be5
AC_PosControl: Add AC_PosControl_Sub class
2017-02-21 11:26:14 +11:00
925fa5d214
AC_AttitudeControl: Add AC_AttitudeControl_Sub class
2017-02-21 11:26:14 +11:00
1345bf8737
AC_AttitudeControl: added support for AP_AHRS_View
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this allows for tailsitters with a different attitude view
2017-02-18 17:26:43 +11:00
5acbf5d16e
AC_AttitudeControl: use FF from AC_PID
2017-02-18 17:26:43 +11:00
ff042528fe
AC_PosControl: remove alt_max
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AC_Avoidance enforces the altitude limit
2017-01-18 09:35:47 +09:00
127404acea
AC_PosControl: add get_pos_z_kP accessor
2017-01-18 09:35:47 +09:00
189b766f2b
AC_AttControl: remove redundant parameter set
2017-01-17 14:56:07 +09:00
c6d2fc3d5d
AC_AttitudeControl: add rpy mix manual
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This allows adjusting the attitude control vs throttle level in manual
flight modes (Stabilize, ACRO)
2017-01-17 14:19:09 +09:00
5cf1c0869d
AC_AttitudeControl: expose all functions via abstract class
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this allows for a single class to be used for heli and multicopter
2017-01-12 17:39:37 +11:00
8419045aea
Spell in comments
2017-01-06 10:57:39 -08:00
421524951f
AC_PosControl: remove unnecessary parentheses
2016-12-05 10:59:45 -08:00
bcdd836820
AC_AttControl: remove unnecessary check of thr-mix-min
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Checks directly above ensure this check can never be true
2016-12-01 13:52:04 +09:00
8af192ed9d
AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0
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The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
2016-11-30 17:56:34 +09:00
1012333eef
AC_PosControl: add ekf position reset handling
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Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
2016-11-24 19:57:56 +09:00
ea0e413b04
AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero
2016-11-23 14:43:29 +09:00
2e2d39e628
AC_AttitudeControl: add missing parameter metadata
2016-10-27 09:15:03 -07:00
42672de606
AC_PosControl: set Alt_Hold filter for PID not just D
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We normally don't use the D term here so setting the filter for PID not
just D lets us smooth the throttle response.
2016-10-26 21:00:43 +09:00
152edf7189
Global: remove mode line from headers
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Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
5a8db4f271
AC_PosControl: add interface to override horizontal velocity process variable
2016-10-14 10:46:01 +09:00
77dbf99cee
AC_PosControl: fix bug related to ekfNavVelGainScaler
2016-10-11 15:25:59 +09:00
3adf8c3e51
AC_AttitudeControl: comment odd math in get_att_target_euler_cd
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degree(100) = 1 float multiplicaiton
vector3f * degree(100.0f) = 4 float multiplications
degree(vector3f) * 100.0f = 6 float multiplications and needs new degree(vector3f) function
degree(vector3f * 100.0f) = 6 float multiplications and needs new degree(vector3f) function
These all come to the same conclusion but the one that is faster appears to be a bug but is mathematically correct.
2016-09-27 17:04:53 -07:00
fdcdcb0033
AC_PosControl: check Z-axis accel imax can always overpower hover throttle
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This removes the possibility of the vehicle constantly climbing if the hover throttle becomes a very large value
2016-09-05 14:19:43 +09:00
44830be172
AC_AttControl: add parameter check of throttle mix
2016-09-02 09:27:15 +09:00
535158e0d8
AC_AttControl: move var_info declaration
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No functional change
2016-09-02 09:27:12 +09:00
29d4790fc7
AC_AttControl: reduce max_rate_step based on hover throttle
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This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
2016-08-12 22:29:53 +09:00
50b694444b
AC_AttControl: correct method comments
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No functional change
2016-08-08 11:24:42 +09:00
34055944cd
AC_PosControl: fix relax_alt_hold_controllers
2016-08-05 12:40:37 +09:00
24044e5611
AC_AttControl: get_throttle_avg_max always returns value in 0 to 1 range
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throttle_avg_max is the total average throttle level (expressed as a number from 0 to 1) that the motors can safely be raised to in order to maintain attitude control. This level can be higher than the pilot's or autopilot provided throttle level.
Previously passing in a negative throttle_in could result in a negative throttle_avg_max being returned.
2016-08-05 12:40:37 +09:00
ac04fcd836
AC_AttControl: fix set_yaw_target_to_current_heading
2016-08-05 12:40:37 +09:00
011bc0a350
AC_AttControl: add reset_rate_controller_I_terms()
2016-08-05 12:40:37 +09:00
Leonard Hall
Randy Mackay
bnsgeyer
Dr.-Ing. Amilcar Do Carmo Lucas
Andrew Tridgell
Peter Barker
Jacob Walser
Pierre Kancir
murata
Mathieu OTHACEHE
Jonathan Challinger
Tom Pittenger