Daniel Widmann
27234f78c6
AR_AttitudeControl: Allow using steer rate control for skid steer rovers without GPS
2018-04-13 09:12:03 +09:00
Randy Mackay
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
Randy Mackay
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
Randy Mackay
57f2eb6853
AR_AttitudeControl: minor comment fix
2018-03-31 14:47:30 +09:00
Peter Barker
e2de9d62cd
APM_Control: use ins singleton
2018-03-16 00:37:35 -07:00
Randy Mackay
89725a7aa5
AR_AttitudeControl: minor comment fix
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non-functional change
2018-03-15 09:58:27 +09:00
Randy Mackay
d139f0e28e
AR_AttitudeControl: add get_stopping_distance
2018-03-14 12:40:04 +09:00
Randy Mackay
54d8a4852f
AR_AttitudeControl: reduce steer rate P default to 0.2
2018-03-09 13:17:38 +09:00
Randy Mackay
2aeda48512
AR_AttitudeControl: minor arg name fix
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non-functional change
2018-02-09 17:36:21 +09:00
Randy Mackay
5e90cdbf59
AR_AttitudeControl: parameter desc range increase
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new steering controller can use higher FF and zero P
2018-01-12 08:15:34 +09:00
Randy Mackay
1bb18bc941
AR_AttitudeControl: get_throttle_out_speed uses timeout definition
2018-01-05 13:33:21 +09:00
Randy Mackay
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
Randy Mackay
16d3e5c00d
AR_AttitudeControl: add feed foward for speed and steering rate control
2018-01-05 13:33:21 +09:00
Randy Mackay
40bb2b0ad9
AR_AttitudeControl: set throttle speed pid dt
2018-01-05 13:33:21 +09:00
Randy Mackay
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
Randy Mackay
a2b1807ca0
AR_AttitudeControl: fix turn-rate controller timeout
2018-01-05 13:33:21 +09:00
Peter Barker
e0c586876b
APM_Control: use GPS singleton
2017-12-27 00:58:02 +00:00
Andrew Tridgell
1dac512567
APM_Control: removed create() method for objects
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See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
Randy Mackay
cabced82f1
AR_AttitudeControl: fix parameter descriptions
2017-12-11 17:01:18 +09:00
Michael Oborne
78f732c380
AR_AttitudeControl: fix parameter docs
2017-12-11 08:35:33 +09:00
Randy Mackay
744f4baf22
AR_AttitudeControl: add parameter description increment
2017-12-09 16:23:25 +09:00
Randy Mackay
f00f4ce79b
AR_AttitudeControl: fix get_desired_speed timeout
2017-12-09 16:23:22 +09:00
Randy Mackay
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
Grant Morphett
f7db538220
APM_Control: Fixed the subparam indexs to start at 1
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AFAIK there is still a bug in ArduPilot where subparams should not start at index 0. This is due to the way the index math and bit shifing works as it incorrectly offsets all 0 index params to 0. We allow 2 levels of sub params - 3 levels in total. So params, sub params and sub sub params. The 0 parameter in all those is unfortunately always references param[0]. So param[0] and subparam[0] and subsubparam[0] will reference the same parameter value. Its why we always say start the index from 1 as the math and bitshifting then works correctly.
Yeah this is worded badly - hard to explain.
2017-11-29 09:43:10 +09:00
Randy Mackay
b9a1621d38
AR_AttitudeControl: minor comment fix
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non-functional change
2017-11-27 10:35:26 +09:00
khancyr
2a25011b14
AR_AttitudeControl: const local variables
2017-11-09 09:53:12 +09:00
khancyr
76a6649a2d
AP_Autotune: remove unimplemented function
2017-11-08 17:21:56 +09:00
khancyr
e9e1dac188
AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out
2017-11-08 15:45:35 +09:00
khancyr
aa09541847
AR_AttitudeControl: const ahrs reference
2017-11-08 15:34:41 +09:00
khancyr
d226ffeeb2
AP_AttitudeControl: remove tabs
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non-functional change
2017-11-08 15:06:25 +09:00
Daniel Widmann
49887235df
AR_AttitudeControl: get_steering_out methods accept reverse argument
2017-11-08 14:36:23 +09:00
Randy Mackay
ce73d724c8
AR_AttitudeControl: rate-control for skid-steering uses I term even at low speeds
2017-10-26 19:45:04 +09:00
Randy Mackay
ee3daaa7c9
AR_AttitudeControl: reset input filter for steering and throttle controllers
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Also only set dt to non-zero value
2017-10-26 19:44:54 +09:00
Randy Mackay
2986d3eb7d
AR_AttitudeControl: fix braking
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this fix ensures the output throttle is never in the opposite direction from the desired-speed
there is a possibility that this could lead to rougher throttle response when the vehicle is transitioning from forward to backwards motion because the throttle response will immediately go to zero when the desired speed cross over zero
2017-10-26 19:44:38 +09:00
Randy Mackay
49cbbf4d76
AR_AttitudeControl: minor comment fix
2017-10-26 19:44:32 +09:00
Randy Mackay
8daa8cba1f
AR_AttitudeControl: record desired turn rate and speed for logging
2017-10-26 19:44:26 +09:00
Randy Mackay
7e5f98b535
APM_Control: fix throttle and steering integrator calc
2017-10-07 14:55:16 +09:00
Lucas De Marchi
15527d762f
APM_Control: add static create method
2017-09-26 03:01:21 +01:00
Michael du Breuil
c34104b369
APM_Control: Simpify yaw controller trig
2017-09-25 16:49:54 -07:00
Randy Mackay
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
164096225b
AP_SteerController: fix get_steering_out_rate bug when reversing
2017-08-05 11:20:58 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
0f5d1ae2dd
APM_Control: 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
Andrew Tridgell
f6cc506791
APM_Control: Added derating of steering wheel
2016-12-27 13:33:52 +11:00
Peter Barker
71e42a4eac
APM_Control: add missing parameter metadata
2016-10-27 09:15:03 -07:00
Mathieu OTHACEHE
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
Tom Pittenger
82777873af
Revert "APM_Control: Convert references to AP_Airspeed."
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This reverts commit cc5a2417a6
.
2016-08-07 17:54:24 -07:00
Tom Pittenger
8dad05d12e
Revert "Airspeed: store reference in libraries and populate it"
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This reverts commit c090ba2257
.
2016-08-07 17:54:24 -07:00
Tom Pittenger
c090ba2257
Airspeed: store reference in libraries and populate it
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- also had to move the initial definition in plane.h so it happened before the others.
2016-08-04 11:06:44 -07:00
AndersonRayner
cc5a2417a6
APM_Control: Convert references to AP_Airspeed.
2016-08-04 10:09:04 -07:00
Grant Morphett
8d6b417adb
AP_SteerController: Adding support for Rovers driving reverse
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This change is mostly for handling the reverse yaw.
2016-07-17 08:15:33 +10:00