Randy Mackay
ac7ea2a12c
AC_PosControl: use AttControl's sqrt_controller
2014-10-27 15:20:48 +09:00
Jonathan Challinger
7224669399
AC_AttitudeControl: cleanup angle_ef_roll_pitch_rate_ef_yaw_smooth
2014-10-27 15:20:46 +09:00
Jonathan Challinger
779baa006d
AC_PosControl: Use sqrt_controller function
2014-10-27 15:20:44 +09:00
Jonathan Challinger
0c4a489491
AC_AttitudeControl: use sqrt_controller function
2014-10-27 15:20:43 +09:00
Randy Mackay
fc898a00a3
AC_AttControl: add sqrt_controller
...
Original code by Jonathan Challinger
2014-10-27 15:20:40 +09:00
Andrew Tridgell
9a98e63702
AC_AttitudeControl: fixed example build
2014-10-24 12:10:39 +11:00
Randy Mackay
a1cfd03c9b
AC_PosControl: bug fix dt calculation
...
fixes issue in which now could be earlier than _last_update_xy_ms
leading to a large dt value and a sudden lean on takeoff
2014-10-21 11:40:47 +09:00
Jonathan Challinger
4a397a8d67
AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy
2014-10-10 21:17:12 +09:00
Randy Mackay
1754cacf3c
AC_PosControl: remove completed to-do comments
2014-10-04 23:49:24 +09:00
Randy Mackay
f65e81cb07
AC_AttControl: remove some old comments
2014-10-04 23:49:21 +09:00
Randy Mackay
cf3b2be99c
AC_PosControl: 4hz filter on z-axis velocity error
2014-09-22 13:40:01 +09:00
Randy Mackay
665f353416
AC_PosControl: 2hz filter on accel error
...
Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
2014-09-21 17:53:55 +09:00
Randy Mackay
3e1bd04c94
TradHeli: update AttControl params to match multicopters
2014-09-09 14:41:57 +09:00
Randy Mackay
5a66ff1ef9
AC_AttControl: bug fix for ef target during acro
2014-08-23 22:17:54 +09:00
Randy Mackay
3e0b573dfe
AC_AttControl: remove debug message
2014-08-22 22:58:48 +09:00
Randy Mackay
f6e12bda06
AC_AttControlHeli: integrate div-by-zero check for bf-to-ef conversion
2014-08-22 22:56:18 +09:00
Randy Mackay
c45338f080
AC_AttControl: div-by-zero check for bf-to-ef conversion
2014-08-22 22:56:15 +09:00
Randy Mackay
691a3d8126
AC_AttControlHeli: add passthrough_bf_roll_pitch_rate_yaw
2014-08-22 16:28:57 +09:00
Robert Lefebvre
7d3e22af59
AC_AttitudeControl_Heli: Add use_flybar_passthrough accessor function.
2014-08-22 16:28:45 +09:00
Robert Lefebvre
9b1d9e3cf0
AC_AttitudeControl_Heli: Add passthrough_to_motor_roll_pitch function.
2014-08-22 16:28:42 +09:00
Robert Lefebvre
5c04af6d20
AC_AttitudeControl_Heli: Create Flybar Passthrough flag which will be used for control pass-through.
2014-08-22 16:28:38 +09:00
Randy Mackay
58257e3858
AC_AttControl: set rate D term filter from ins filter
2014-08-14 11:47:35 +09:00
lthall
329118b7c9
Copter: AC_ATT correct yaw error calculation
2014-08-14 11:47:13 +09:00
lthall
90dc9411a5
Copter: ACRO Error calculation fix
2014-08-14 11:47:08 +09:00
Andrew Tridgell
a9153519dc
AC_AttitudeControl: fixed example build
2014-08-13 21:45:38 +10:00
Randy Mackay
e0fc2dd50e
AC_PosControl: remove 20cm on takeoff
2014-08-05 09:11:57 +09:00
Randy Mackay
1362bdc338
AC_PosControl: smooth take-off with accel PID's I term
...
This avoids an instantaneous jump in throttle during take-off by loading
the accel PID's I term with the expected change in throttle level
2014-08-04 21:04:09 +09:00
Randy Mackay
e550c1e9a3
AC_PosControl: add set_alt_target_to_current_alt method
2014-08-04 16:54:04 +09:00
Randy Mackay
424cb1aeca
AC_AttControl: fix example sketch
2014-07-29 12:00:33 +09:00
Andrew Tridgell
6df2890fd8
AC_AttitudeControl: fixed example build
2014-07-25 17:52:53 +10:00
Randy Mackay
c2f8571f37
AC_AttControl: FF and accel limiting off by default
...
Also adjust parameter ranges used by GCSs
2014-07-17 16:22:32 +09:00
Randy Mackay
eebd32f306
AC_AttControl: remove duplicate rate_ef_desired to resolve compiler warning
2014-07-16 21:50:31 +09:00
lthall
fb55658c91
Copter: Acro use same error limit in all three axis
2014-07-16 17:46:13 +09:00
lthall
2889f5abc4
AC_AttControl: Fix feedforward behavior
2014-07-16 17:46:06 +09:00
Randy Mackay
581838b271
AC_AttControl: initialise _acro_angle_switch
...
Resolves a compiler warning
2014-07-16 15:11:12 +09:00
Randy Mackay
83a84c7b90
AC_AttControl: add empty virtual destructor
...
This resolves pixhawk bricking and reduces one compiler warning
2014-07-16 14:56:52 +09:00
Jonathan Challinger
6e66cf43cb
AC_AttitudeControl: Use bias-corrected angular rates instead of raw gyro measurements
2014-07-16 14:40:56 +09:00
Randy Mackay
70568225a6
AC_PosControl: init members to resolve compiler warnings
2014-07-16 14:38:40 +09:00
Randy Mackay
9233bbab14
AC_PosControl: cast fabs to float to resolve compiler warnings
2014-07-16 14:38:38 +09:00
Randy Mackay
76507a9e67
AC_AttControlHeli: remove hal declaration to clear compiler warning
2014-07-16 14:38:32 +09:00
Randy Mackay
5128991a84
AC_AttControlHeli: cast fabs to float to resolve compiler warning
2014-07-16 14:38:29 +09:00
Randy Mackay
0f7178e447
AC_AttControl: cast fabs to float to resolve compiler warning
2014-07-16 14:38:20 +09:00
Jonathan Challinger
762bb3e6e8
AC_AttitudeControl: Limit _pos_target.z to below alt_max before computing error
2014-07-13 21:14:34 +09:00
Jonathan Challinger
5f66027ba3
AC_AttitudeControl: Fixup some minor mistakes in AC_PosControl
2014-07-13 17:17:31 +09:00
Robert Lefebvre
a7f6a91827
AC_AttitudeControl_Heli: Remove ToDo. Rate controllers should always run even if throttle is zero.
2014-07-13 17:11:20 +09:00
Randy Mackay
971411e0db
AC_AttControl: fixed typo in parameter description
2014-07-13 10:31:11 +09:00
Randy Mackay
5f623ac859
AC_AttControl: re-enable rate feedforward by default
...
Roll and Pitch rate controllers became sluggish without feed-forward
enabled.
2014-07-11 15:31:00 +09:00
Andrew Tridgell
8af876fe8a
AC_AttitudeControl: fixed build
...
includes are case sensitive on the build server
2014-07-09 10:19:17 +10:00
Robert Lefebvre
26be7aed97
AC_AttControl_Heli: Add LPF filter to Rate Feedforward terms
2014-07-08 20:18:13 +09:00
Randy Mackay
82ed70b25e
AC_PosControl: add xyz velocity controller
...
Velocity controller interpretsthe velocity requests as
desired velocities (i.e. feed forward). These are then used to update
the target position and also added to the target velocity.
Also renamed the set_desired_velocity() function to
set_desired_velocity_xy() to make clear only lat and lon axis are
updated.
2014-07-06 17:01:02 +09:00
