Leonard Hall
792b2a2eb3
AC_AttControl: separate accel max for roll, pitch, yaw
...
Also add:
Rate filters
rename rate filter defines
d-term only filter for roll, pitch rate control
accessors to save max accel for roll, pitch, yaw
fix for duplicate ACCEL_Y_MAX param
2015-03-06 14:02:33 +09:00
Leonard Hall
9833c91b2b
AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw
2015-03-06 14:02:30 +09:00
Leonard Hall
f00025e5c9
AC_AttControl: accessor for rate feedforward
2015-03-06 14:02:27 +09:00
Leonard Hall
691fb8947e
AC_AttControl: accessor for rate_bf_targets
2015-03-06 14:02:25 +09:00
Leonard Hall
784a4ce51a
AC_AttControl: increase max angle overshoot to 30deg
2015-03-06 14:02:23 +09:00
Robert Lefebvre
743c5e4fde
AC_AttitudeControl: Remove un-needed #include
2015-01-21 14:36:54 +09:00
Randy Mackay
98f5a93e10
AC_AttControl: remove unused logging structure
2014-11-08 10:17:32 +09:00
Randy Mackay
fc898a00a3
AC_AttControl: add sqrt_controller
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Original code by Jonathan Challinger
2014-10-27 15:20:40 +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
c2f8571f37
AC_AttControl: FF and accel limiting off by default
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Also adjust parameter ranges used by GCSs
2014-07-17 16:22:32 +09:00
lthall
fb55658c91
Copter: Acro use same error limit in all three axis
2014-07-16 17:46:13 +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
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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
5f623ac859
AC_AttControl: re-enable rate feedforward by default
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Roll and Pitch rate controllers became sluggish without feed-forward
enabled.
2014-07-11 15:31:00 +09:00
Randy Mackay
46f25c52a4
AC_AttControl: allow enabling/disabling feedforward and accel limiting
2014-06-10 20:03:02 +09:00
Randy Mackay
02b4b21f67
AC_AttControl: disable feed forward by default
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Can be re-enabled by setting ATC_RATE_FF_ENAB parameter to 1
2014-06-10 20:02:55 +09:00
Randy Mackay
2bb30b3ef9
AC_AttControl: add set_yaw_target_to_current_heading method
2014-06-10 20:02:49 +09:00
Randy Mackay
d9c966c927
AC_AttControl: RATE_FF_ENAB param to disable rate feed forward
2014-06-10 20:02:48 +09:00
Randy Mackay
5209598459
AC_AttControl: rename init_targets to relax_bf_rate_controller
2014-06-10 20:02:27 +09:00
Randy Mackay
7e3213edbf
AC_AttControl: increase default accel max
2014-05-29 17:40:26 +09:00
Randy Mackay
0969e464fb
AC_AttControl: set roll, pitch, yaw rate control D term filters
2014-05-29 17:40:17 +09:00
Randy Mackay
71fae1e6f2
AC_AttControl: lean_angle_max accessor fn const
2014-05-08 16:15:36 +09:00
Randy Mackay
5876a2fe47
AC_AttControl: increase default rp accel to 900deg/s/s
2014-04-07 13:37:08 +09:00
Randy Mackay
b478c3a321
AC_AttControl: return angle_ef_targets as const ref
2014-04-07 13:36:49 +09:00
Randy Mackay
3ad635feeb
AC_AttControl: 45deg/sec yaw rate for Auto, RTL
2014-03-30 15:44:14 +09:00
Randy Mackay
25ee5d5dc8
AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth
...
pair-programmed with lthall
2014-03-04 22:23:14 +09:00
lthall
15f88c2a2b
AC_AttControl: Stabilize input shaping
2014-03-04 21:52:18 +09:00
lthall
b8d9bdb794
AC_AttControl: accel limit for roll, pitch yaw rates
2014-02-16 13:35:23 +11:00
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
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Also saves 24bytes of RAM
2014-02-15 05:27:49 +11:00
Randy Mackay
d76180d605
AC_AttControl: use trig values from ahrs
2014-02-15 05:27:48 +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
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These replace the ANGLE_RATE_MAX parameter from the main code
2014-02-15 05:27:42 +11:00
Randy Mackay
c2efb91ece
AC_AttControl: trad heli angle boost
2014-02-15 05:27:42 +11:00
Randy Mackay
4f738ffdba
AC_AttControl: add trad heli support
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