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48,397 Commits 71 Branches 509 Tags 744 MiB
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Commit Graph

641 Commits

Author SHA1 Message Date
Leonard Hall
8a1e452d3c AC_AttitudeControl: AC_PosControl: Change set_correction_speed_accel_z to use input arguments 2021-09-10 14:08:46 +09:00
Leonard Hall
3e62c17577 AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 14:08:46 +09:00
Leonard Hall
00ff3cec46 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 14:08:46 +09:00
Andrew Tridgell
06577318ff AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-28 17:10:29 +09:00
Leonard Hall
f9452ec17a AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 17:10:29 +09:00
Leonard Hall
70d2062809 AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 17:10:29 +09:00
Leonard Hall
d0521e6906 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 17:10:29 +09:00
Iampete1
c47bc995d1 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 17:10:29 +09:00
Iampete1
a1e96f7d17 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 17:10:29 +09:00
Andrew Tridgell
70e041d611 AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-28 17:10:29 +09:00
Leonard Hall
f5dd8a9982 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 11:05:38 +09:00
Leonard Hall
dfcc6ce612 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 11:05:38 +09:00
Leonard Hall
6b72b1fd31 AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 11:05:37 +09:00
Leonard Hall
5c16e81f8f AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 11:05:37 +09:00
Leonard Hall
6f5d2008e3 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-23 10:19:49 +09:00
Leonard Hall
d6df47fd06 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-23 10:19:49 +09:00
Leonard Hall
767281dc76 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-23 10:19:49 +09:00
Leonard Hall
a765e266f4 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-23 10:19:48 +09:00
Leonard Hall
05f21d7665 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-23 10:19:48 +09:00
Leonard Hall
49da46af16 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-23 10:19:48 +09:00
Leonard Hall
b2032ee2e3 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-23 10:19:48 +09:00
Leonard Hall
5f7607bbf0 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall
2075e2ffc4 AC_AttitudeControl: Add terain following to guided 2021-07-23 10:19:47 +09:00
Leonard Hall
9244183798 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-23 10:19:47 +09:00
Leonard Hall
612b00ef00 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-23 10:19:47 +09:00
Leonard Hall
8f493e3021 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-06-25 16:54:05 +09:00
Leonard Hall
5475d1153c AC_PosControl: fixup ekf reset 2021-06-25 10:01:49 +09:00
Andrew Tridgell
66186e5221 AC_AttitudeControl: convert poscontrol to use double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell
7819cc6400 AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-06-24 20:28:45 +10:00
Andrew Tridgell
5f053bd53a AC_AttitudeControl: fixed comment 2021-06-24 20:28:45 +10:00
Andrew Tridgell
fd68233fed AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Leonard Hall
47b0ac663a AC_AttitudeControl: AC_PosControl: Init and stopping point fixes 2021-06-24 09:01:07 +10:00
Leonard Hall
ffc64c3042 AC_AttitudeControl: AC_PosControl: change force_descend to ignore_descent_limit 2021-06-23 10:58:50 +09:00
Leonard Hall
d599052da3 AC_AttitudeControl:AC_PosControl: vibration failsafe fix 2021-06-23 10:29:23 +09:00
Leonard Hall
d9529e1be3 AC_AttitudeControl: AC_PosControl: Remove extra accel limit 2021-06-21 14:14:23 +09:00
Peter Hall
716ceb93c5 AC_AttitudeControl: add thrust vector methods to 6DoF multi 2021-06-21 09:58:05 +09:00
Hwurzburg
27620322ec AC_AttitudeControl: remove % as units on params that are unitless 2021-05-30 22:38:27 -07:00
Hwurzburg
3f4d4e45fc AC_AttitudeControl: correct param ranges to accomodate TradHeli defaults 2021-05-28 09:44:11 +09:00
Randy Mackay
d9c68031fa AC_PosControl: write_log checks xy and z controllers are active 
This allows write_log to be write PSCZ messages for modes with onlyi vertical control (e.g. althold) without also logging out-of-date PSC messages
 2021-05-26 18:58:31 +10:00
Leonard Hall
359cf8ed0e AC_AttitudeControl: Rename set_attitude_target_to_current_attitude 2021-05-26 16:03:05 +09:00
Leonard Hall
fb83f98b77 AC_AttitudeControl: Set rates to zero during arming procedure for acro 2021-05-26 16:03:05 +09:00
Leonard Hall
34e342f658 AC_AttitudeControl: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
Leonard Hall
b489dd5fe1 AC_AttitudeControl: Set yaw rate to zero during arming procedure 2021-05-26 16:03:05 +09:00
Hwurzburg
ff931c7490 AC_AttitudeControl: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Leonard Hall
491350c1d6 AC_AttitudeControl: Fix before squash 2021-05-24 20:13:37 +10:00
Andrew Tridgell
8213fc5277 AC_AttitudeControl: prevent panic on SITL when no lock-step scheduling 
this disables the internal error for bad timing on SITL types without
lock-step scheduling, such as RealFlight
 2021-05-24 20:13:37 +10:00
Leonard Hall
92e05e8c4f AC_AttitudeControl: PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall
7f1f29c1ae AC_PosControl: rename get_roll_cd get_pitch_cd 2021-05-12 17:16:00 +10:00
Leonard Hall
f24a0988f4 AC_PosControl: minor formatting fixes 2021-05-12 17:16:00 +10:00
Leonard Hall
772cec5101 AC_AttitudeControl: minor format fix 2021-05-12 17:16:00 +10:00