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55,678 Commits 71 Branches 509 Tags 716 MiB
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218 Commits

Author SHA1 Message Date
Randy Mackay ff9f4fe6e7 AC_AttControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay a6ad51b38f AC_AttControl: rename most methods 2014-02-15 06:09:08 +11:00
lthall 65c2fc0cc6 AC_AttControl: ACRO fixes 2014-02-15 06:09:08 +11:00
Randy Mackay f216cffb77 AC_AttControl: use motor accessors to set roll, pitch, yaw, thr 
Saves 8bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 98224db1e4 AC_AttControl: Leaonard's rate feedforward 
Also saves 24bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 5f89e9e746 AC_AttControl: bug fix to yaw rate limit 2014-02-15 05:27:48 +11:00
Randy Mackay d76180d605 AC_AttControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay eda376c7f6 AC_AttControl: init_targets() clears body frame angle errors 
This should ensure that we don't get sudden jerks when entering acro
mode
 2014-02-15 05:27:43 +11:00
Randy Mackay 2db24659d0 AC_AttControl: add slew_yaw 2014-02-15 05:27:42 +11:00
Randy Mackay 2dae0d68c5 AC_AttControl: add RATE_RP_MAX, RATE_Y_MAX params 
These replace the ANGLE_RATE_MAX parameter from the main code
 2014-02-15 05:27:42 +11:00
Randy Mackay a2b017abd2 AC_AttControl: add rateef_rpy 
rateef_rpy takes earth frame rates and applies them to the earth frame
angle targets and then converts them to body frame rates
 2014-02-15 05:27:40 +11:00
Randy Mackay 468be05867 AC_AttControl: make ahrs, ins objects const 2014-02-15 05:27:40 +11:00
Randy Mackay 4003b4da9b AC_AttControl: leonard's body frame rate controller 2014-02-15 05:27:38 +11:00
Randy Mackay ba3ba9e157 AC_AttControl: bug fix for yaw target handling 2014-02-15 05:27:37 +11:00
Randy Mackay 9fe4d883d0 AC_AttControl: accessor for lean angle max 2014-02-15 05:27:35 +11:00
Randy Mackay 0e0a15f4a8 AC_AttControl: add high level angle controllers 2014-02-15 05:27:35 +11:00
Randy Mackay 89b7e6b1c8 AC_AttControl: implement angle_boost 2014-02-15 05:27:34 +11:00
Randy Mackay 715c8eaf02 AC_AttitudeControl: first draft of library 2014-02-15 05:27:32 +11:00