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
Randy Mackay
93dd7dd970
AC_AttControl: get_boosted_throttle purely virtual
2015-07-21 16:25:50 +09:00
Randy Mackay
1e3e65e443
AC_AttControl: add shift_ef_yaw_target
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This allows shifting the target heading in case the EKF shifts it's
heading estimate
2015-06-24 11:49:32 +09:00
Leonard Hall
cfc388934b
AC_AttControl: add set_accel_roll_max
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Also equivalents for pitch and yaw
2015-06-18 23:06:33 +09:00
Randy Mackay
7951346d72
AC_AttControl: bf_feedfoward_save made more concise
2015-05-08 14:29:49 +09:00
Leonard Hall
cf45a1cf3a
AC_AttitudeControl: add get accel and save ff
2015-05-08 14:14:30 +09:00
Leonard Hall
1900cc7582
AC_AttitudeControl: Enable FF by default
2015-05-08 14:14:21 +09:00
Jonathan Challinger
b7f7624aac
AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions
2015-04-16 21:00:04 +09:00
Jonathan Challinger
518e798f53
AC_AttitudeControl: rework angle_boost
2015-04-16 20:59:58 +09:00
Jonathan Challinger
f3555d0d43
AC_AttitudeControl: modify throttle interface to specify stabilization
2015-04-16 20:59:45 +09:00
Jonathan Challinger
5c2341009a
AC_AttitudeControl: throttle is a float
2015-04-16 20:59:42 +09:00
Leonard Hall
4d9da2720b
AC_AttitudeControl: add get for angle bf errors
2015-04-16 13:29:52 +09:00
Leonard Hall
afcd1c6ec3
AC_AttitudeControl: sqrt controller on Stab
2015-04-09 20:19:43 +09:00
Leonard Hall
09aa2f8114
AC_AttitudeControl: Fix function discription
2015-03-23 07:40:04 -07:00
Leonard Hall
6b104c0529
AC_AttitudeControl: No Overshoot limit for Stab
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This maybe done in a more obvious way using a switch rather than just
making the overshoot larger than 180 degrees.
2015-03-23 07:40:02 -07:00
Leonard Hall
792b2a2eb3
AC_AttControl: separate accel max for roll, pitch, yaw
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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
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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
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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
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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