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101 Commits

Author SHA1 Message Date
Leonard Hall 9866eaded1 AC_PosControl: rename p_alt_pos to p_pos_z 
Also pid_alt_accel to pid_accel_z
 2015-03-06 14:02:44 +09:00
Leonard Hall 349f1aeceb AC_PosControl: use 2-axis PI controller 2015-03-06 14:02:42 +09:00
Leonard Hall 8d4f0ec80c AC_PosControl: integrate PID input filter 2015-03-06 14:02:39 +09:00
Randy Mackay 186337f18e AC_PosControl: rename xy_mode enum values 
Also added a few comments and fixed formatting
 2015-02-06 17:00:55 +09:00
Jonathan Challinger 3faca88423 AC_PosControl: allow control of xy rate constraint behavior 2015-02-06 17:00:48 +09:00
Robert Lefebvre 14d76d158a AC_AttitudeControl: Correct comment. 2015-02-03 14:55:30 +09:00
Randy Mackay 07a0388f25 AC_PosControl: move alt limit to set_alt_target_from_climb_rate 
The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
 2015-01-30 14:13:52 +09:00
Randy Mackay 2a5a133bbf AC_AttControl: remove deprecated trigger_xy method 2015-01-07 14:03:49 +09:00
Randy Mackay c36253b9b2 AC_PosControl: add comments 
No functional change
 2014-12-31 14:03:22 +09:00
Jonathan Challinger 557d339cf1 AC_PosControl: remove various unnecessary timing hacks 2014-12-31 14:03:18 +09:00
Jonathan Challinger d6e455417f AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller 2014-12-31 14:03:13 +09:00
priseborough 12ea1d6e85 AC_AttitudeControl: Scale angle demand noise filter 
Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough e80b1c67cd AC_AttitudeControl: Add EKF optical flow noise gain scaler 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
Randy Mackay d34ea4c124 AC_PosControl: fix to default force_descend param 2014-11-13 18:40:45 -08:00
Jonathan Challinger e81c1dd5a1 AC_PosControl: add force_descend option to set_alt_target_from_climb_rate 2014-11-13 18:40:38 -08:00
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 e0fc2dd50e AC_PosControl: remove 20cm on takeoff 2014-08-05 09:11:57 +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 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
Randy Mackay 4d4c7a2118 AC_AttControl: move freeze_ff to flags structure 2014-06-10 20:02:46 +09:00
lthall 8bbce7e658 AC_PosControl: freeze feed forward for alt control in Auto 2014-06-10 20:02:36 +09:00
lthall 0d87298221 AC_PosControl: freeze feed forward and vector fixes 2014-06-10 20:02:33 +09:00
Randy Mackay 2b0f142a17 AC_PosControl: fix typo in D-filter definition 2014-05-29 17:50:48 +09:00
Randy Mackay 29ca7a10df AC_PosControl: set alt hold accel control D term filter 2014-05-29 17:40:23 +09:00
Randy Mackay c13db680b7 AC_PosControl: remove reset_I_xy 
lean_angles_to_accel is now used to load the position rate I terms based
on vehicle's initial roll and pitch angle
 2014-05-08 16:15:48 +09:00
Randy Mackay cd8b1f278c AC_PosControl: remove unused _cos_yaw variable 
Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of
RAM
Also made get_speed_up, get_speed_down, lean_angles_to_accel functions
const
 2014-05-08 16:15:46 +09:00
Randy Mackay 0819e05896 AC_PosControl: lean_angles_to_accel added for smooth initialisation 
init_xy_controller also added to capture initialisation all in one place
 2014-05-08 16:15:41 +09:00
Randy Mackay a1f1dd8059 AC_PosControl: add is_active_z method 
Consolidated z-axis timeout checks to save 4bytes of RAM
Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent
 2014-05-08 16:15:22 +09:00
Randy Mackay 937e9ea687 AC_PosControl: add set_target_to_stopping_point_xy method 
Fixed bug in get_stopping_point_xy in which it would update Z-axis
target if vehicle was moving less than 10cm/s horizontally
 2014-04-30 21:46:20 +09:00
Randy Mackay 9f63de9b59 AC_PosControl: set_speed_z accepts positive descent speeds 2014-04-30 21:46:09 +09:00
Randy Mackay 098f8169b0 AC_PosControl: add keep_xy_I_terms method 
Stops horizontal PID's I terms from being reset when the controller is
next updated
 2014-04-23 15:00:12 +09:00
Ju1ien 6c71569775 AC_PosControl: update_xy_controller allows not resetting I term 2014-04-23 14:59:49 +09:00
Randy Mackay 9c6995d8bb AC_PosControl: add get_accel_z method 2014-04-22 23:05:08 +09:00
Randy Mackay 6f6c9e2585 AC_PosControl: bug fix to vertical speed limit 
Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
 2014-04-21 21:36:02 +09:00
Randy Mackay 7e376bc517 PosControl: update_pos_controller renamed to update_xy_controller 2014-04-21 13:31:55 +09:00
Randy Mackay 02775e8dc5 AC_PosControl: get_accel_target returns const ref 2014-04-14 11:34:14 +09:00
Randy Mackay dd45647626 AC_PosControl: update some comments re leash lengths 2014-03-17 10:13:02 +09:00
Randy Mackay 9130c88f15 AC_PosControl: throttle rate to simple P controller 2014-02-16 13:35:44 +11:00
Randy Mackay 94fb9c4274 AC_PosControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay 78c12eaebf AC_PosControl: get_pos_xy_kP accessor method 2014-02-15 05:27:50 +11:00
Randy Mackay 8b8d6a8e01 AC_PosControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 551836c49d AC_PosControl: make some methods const 2014-02-15 05:27:40 +11:00
Randy Mackay 26b257c8ba AC_AttControl: alternative get_stopping_point_z 2014-02-15 05:27:39 +11:00
Randy Mackay 171203370f AC_PosControl: add accessor for speed_up and down 2014-02-15 05:27:37 +11:00
Randy Mackay de34359808 AC_PosControl: recalculate leash when speed or accel modified 2014-02-15 05:27:37 +11:00
Randy Mackay bbcf8cc84c AC_PosControl: add horizontal pos control 2014-02-15 05:27:35 +11:00
Randy Mackay 3ce1c0a9d5 AC_PosControl: add get_alt_error method 2014-02-15 05:27:34 +11:00
Randy Mackay 8988b48ad8 AC_PosControl: add init take-off 2014-02-15 05:27:34 +11:00
Randy Mackay dcac124105 AC_PosControl: add throttle controller 2014-02-15 05:27:33 +11:00
Randy Mackay 05bb943a69 AC_AttControl: first draft of PosControl class 2014-02-15 05:27:33 +11:00