0f9b679e98
AR_AttitudeControl: increase angle err P and reduce steering accel max defaults
2018-04-26 14:16:22 +09:00
3f1f68b130
AR_AttitudeControl: support vectored thrust
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steering output is not scaled for speed
steering integrator does not build up at low speed
2018-04-24 19:57:19 +09:00
365e1030db
AR_AttitudeControl: separate speed limiting to new method
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This allows the desired speed limiting (by acceleration) to be done before the speed-to-throttle PID controller is run.
This is required so the avoidance calls (which work on the desired speed) can be run after limiting but before the PID controllers
2018-04-24 12:24:53 +09:00
23ed735304
AR_AttitudeControl: reduce default steering I gain to 0.2
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Also reduce default filter from 50hz to 10hz
2018-04-19 16:29:12 +09:00
a8857726d1
AR_AttitudeControl: replace get_steering_out_angle_error with heading
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internally uses AHRS's heading to determine angle error so overally a non-functional change
2018-04-05 12:14:59 +09:00
e6f8021519
AR_AttitudeControl: add angular accel and rate limits
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This limits the change in desired turn rate to reduce impossible requests which should help avoid overshoot
Also add rotation rate limit to turn-rate controller
2018-04-05 12:14:59 +09:00
57f2eb6853
AR_AttitudeControl: minor comment fix
2018-03-31 14:47:30 +09:00
89725a7aa5
AR_AttitudeControl: minor comment fix
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non-functional change
2018-03-15 09:58:27 +09:00
d139f0e28e
AR_AttitudeControl: add get_stopping_distance
2018-03-14 12:40:04 +09:00
54d8a4852f
AR_AttitudeControl: reduce steer rate P default to 0.2
2018-03-09 13:17:38 +09:00
2aeda48512
AR_AttitudeControl: minor arg name fix
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non-functional change
2018-02-09 17:36:21 +09:00
4ac5ef3a13
AR_AttitudeControl: allow filter to be zero
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Also increase default filter to 50hz
2018-01-05 13:33:21 +09:00
16d3e5c00d
AR_AttitudeControl: add feed foward for speed and steering rate control
2018-01-05 13:33:21 +09:00
9930550cfc
AR_AttitudeControl: lengthen timeout to 200ms
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This is required because occasionally the turn rate controller can be disabled for just over 100ms as new navigation commands are loaded
2018-01-05 13:33:21 +09:00
f00f4ce79b
AR_AttitudeControl: fix get_desired_speed timeout
2017-12-09 16:23:22 +09:00
36c5f057ae
AR_AttitudeControl: add get_desired_turn_rate lat_accel and speed
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for reporting use only
2017-12-09 12:18:49 +09:00
e9e1dac188
AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out
2017-11-08 15:45:35 +09:00
aa09541847
AR_AttitudeControl: const ahrs reference
2017-11-08 15:34:41 +09:00
d226ffeeb2
AP_AttitudeControl: remove tabs
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non-functional change
2017-11-08 15:06:25 +09:00
49887235df
AR_AttitudeControl: get_steering_out methods accept reverse argument
2017-11-08 14:36:23 +09:00
9f876dc7a0
AR_AttitudeControl: throttle and steering control library
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Throttle controller has these advantages over existing controller:
based on velocity in vehicle's forward-back axis rather than ground-speed
straight-forward PID controller using speed error as input
speed control acceleration limts
stop control slows vehicle smoothly
configurable filtering
Steer controller has these advantages over existing controller:
output scaled properly for skid-steering vehicles
layered P and PID controller for angular error and rate control
configurable filtering
2017-08-15 20:47:19 +09:00
Randy Mackay
khancyr
Daniel Widmann