Leonard Hall
32cc642b2e
AC_AttitudeControl: Formatting Changes
2019-04-20 09:31:56 +09:00
Tom Pittenger
ce872d83a4
AC_AttitudeControl: rename dataflash to logger
2019-03-28 16:40:57 +11:00
Peter Barker
50d95943e3
AC_AttitudeControl: add pre-arm checks
2019-03-06 10:36:32 +09:00
Randy Mackay
b14be4e8ae
AC_PosControl: increase accuracy of dt calcs
2019-01-30 15:58:34 +09:00
Peter Barker
dcd930497a
AC_AttitudeControl: AC_PosControl: avoid calling norm()
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The result of this won't be used as often as this loop is called
2018-10-30 09:00:23 +09:00
Peter Barker
04e4484d96
AC_AttitudeControl: correct old and misleading comments
2018-10-23 09:40:21 +11:00
Peter Barker
dabe8a13f7
AC_AttitudeControl: use EKF singleton to get ekfNavVelGainScaler
2018-10-09 10:47:38 +11:00
Michael du Breuil
1d13aff711
AC_AttitudeControl: Rename several set_speed and set_accel functions
2018-09-20 15:15:45 -07:00
Leonard Hall
5863b84c35
AC_PosControl: reduce glitch on init
2018-09-04 13:37:28 +09:00
Randy Mackay
ac82a37728
AC_PosControl: run horiz control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
13007e2a07
AC_PosControl: dataflash logging of PSC message
2018-03-16 13:50:57 +09:00
Leonard Hall
dadc6a63c4
AC_PosControl: add set_leash_length_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
e5bc2b26fe
AC_PosControl: add lean angle max
2018-03-16 13:50:57 +09:00
Leonard Hall
85b7f06554
AC_PosControl: combine z position control into single method
2018-03-16 13:50:57 +09:00
Leonard Hall
993e638752
AC_PosControl: combine xy position control into single method
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Also always limit lean angle to maintain altitude
2018-03-16 13:50:57 +09:00
Leonard Hall
74bb7616a7
AC_PosControl: add accel feedforward
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also add limit_vector_length and sqrt_controller helper functions
enforce angle limits
rename accel-feedforward to accel-desired
remove freeze_ff_xy
remove unused VEL_XY_MAX_FROM_POS_ERR
remove xy mode
remove jerk limiting code including setters
limit_vector_length uses is_positive
Also modify formatting
2018-03-16 13:50:57 +09:00
Randy Mackay
c70d3e0ab8
AC_PosControl: move pids to be local
2018-01-23 12:00:43 +09:00
Randy Mackay
3a73ff1e2e
AC_PosControl: replace velocity control with local 2-axis PID
2018-01-23 12:00:43 +09:00
Leonard Hall
d5976442f8
AC_PosControl: minor comment change
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non-functional change
2018-01-19 15:40:32 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
fa4427fbce
AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method
2017-12-05 09:17:15 +09:00
Leonard Hall
ebd864d2d2
AC_PosControl: minor update to comments
2017-11-16 09:46:28 +09:00
Andrew Tridgell
99aad41955
AC_AttitudeControl: added a update_vel_controller_xy() API
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this allows for just XY control of velocity for quadplanes
2017-09-09 08:14:09 +10:00
Randy Mackay
3a397584a1
AC_PosControl: z-axis stopping point up to 3m above vehicle
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Stopping point while descending remains at 2m for safety
2017-04-28 09:10:02 +09:00
Leonard Hall
6e92f74ca0
AC_PosControl: add clear_desired_velocity_ff_z method
2017-04-28 09:10:02 +09:00
Jacob Walser
0e124d0be5
AC_PosControl: Add AC_PosControl_Sub class
2017-02-21 11:26:14 +11:00
Andrew Tridgell
1345bf8737
AC_AttitudeControl: added support for AP_AHRS_View
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this allows for tailsitters with a different attitude view
2017-02-18 17:26:43 +11:00
Randy Mackay
ff042528fe
AC_PosControl: remove alt_max
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AC_Avoidance enforces the altitude limit
2017-01-18 09:35:47 +09:00
Randy Mackay
127404acea
AC_PosControl: add get_pos_z_kP accessor
2017-01-18 09:35:47 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
8419045aea
Spell in comments
2017-01-06 10:57:39 -08:00
Randy Mackay
1012333eef
AC_PosControl: add ekf position reset handling
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Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
2016-11-24 19:57:56 +09:00
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
Jonathan Challinger
5a8db4f271
AC_PosControl: add interface to override horizontal velocity process variable
2016-10-14 10:46:01 +09:00
Jonathan Challinger
630e5378da
AC_PosControl: add get_horizontal_error
2016-07-12 18:40:25 +09:00
Randy Mackay
ec7c1ab0b0
AC_PosControl: comment fix to set_alt_max method
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No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
2016-06-18 11:55:49 +09:00
Andrew Tridgell
d03a232659
AC_AttitudeControl: added set_limit_accel_xy() API
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for preventing integrator buildup
2016-04-10 22:01:18 +10:00
Randy Mackay
87399776a3
AC_PosControl: hover throttle default to 0.5
2016-04-01 11:59:30 +09:00
Lucas De Marchi
f42484bcc5
AC_AttitudeControl: replace header guard with pragma once
2016-03-16 18:40:39 +11:00
Randy Mackay
dbc8ce1d69
AC_PosControl: default z-axis controller to 400hz
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No functional change as vehicle code always sets it explicitely
2015-11-18 13:31:20 +09:00
Randy Mackay
550ba478c9
AC_PosControl: add shift_pos_xy_target
2015-10-30 12:24:08 +09:00
Randy Mackay
16a0281c92
AC_PosControl: remove unused set_vel_target
2015-10-30 12:24:07 +09:00
Randy Mackay
ee0abb1750
AC_PosControl: add set_jerk_xy
2015-10-29 12:10:44 +09:00
Randy Mackay
73f4533995
AC_PosControl: minor comment update
2015-10-28 20:21:53 +09:00
Randy Mackay
895a40893d
AC_PosControl: use_desvel_ff flag added
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This allows turning on/off desired velocity feedforward without setting desired_vel.z to zero. Setting desired_vel.z to zero has the side effect of disrupting the landing detection which needs to know if we are trying to descend
2015-10-28 20:21:52 +09:00
Leonard Hall
aec66c5db6
AC_PosControl: faster z-axis slowdown when over speed
2015-10-28 20:21:38 +09:00
Leonard Hall
f55c31a157
AC_PosControl: add alt hold without feed forward
2015-10-28 17:57:20 +09:00
Leonard Hall
cf5db31053
AC_PosControl: allow limiting lean angle to avoid alt loss
2015-09-07 15:10:10 +09:00
Gustavo Jose de Sousa
d49f10d2e5
AC_AttitudeControl: standardize inclusion of libaries headers
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This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:41 +10:00
Robert Lefebvre
14882bc6a8
AC_AttitudeControl: Remove unused takeoff jump #define
2015-07-14 20:16:58 +09:00
Randy Mackay
6ea60aa662
AC_PosControl: remove default from set_alt_target_from_climb_rate
2015-06-05 15:15:03 +09:00