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27 Commits

Author SHA1 Message Date
murata bcdd836820 AC_AttControl: remove unnecessary check of thr-mix-min 
Checks directly above ensure this check can never be true
 2016-12-01 13:52:04 +09:00
Leonard Hall 8af192ed9d AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0 
The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
 2016-11-30 17:56:34 +09:00
Peter Barker 2e2d39e628 AC_AttitudeControl: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
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
Randy Mackay 44830be172 AC_AttControl: add parameter check of throttle mix 2016-09-02 09:27:15 +09:00
Randy Mackay 24044e5611 AC_AttControl: get_throttle_avg_max always returns value in 0 to 1 range 
throttle_avg_max is the total average throttle level (expressed as a number from 0 to 1) that the motors can safely be raised to in order to maintain attitude control.  This level can be higher than the pilot's or autopilot provided throttle level.
Previously passing in a negative throttle_in could result in a negative throttle_avg_max being returned.
 2016-08-05 12:40:37 +09:00
Leonard Hall 8737f6b62d AC_AttitudeControl: enhanced quaternion attitude controller 2016-06-24 17:17:11 +09:00
Randy Mackay da946288a2 AC_AttitudeControl: rename throttle_ave_max to throttle_avg_max 2016-06-18 11:55:49 +09:00
Randy Mackay 570920c7d7 AC_AttitudeControlMulti: run control_monitor_update in rate_controller_run 2016-06-18 11:55:49 +09:00
Leonard Hall 096bdd67f8 AC_AttitudeControl: add ATC_ANG_LIM_TC parameter 
This allow adjusting the reponse to limit lean angles to reduce altitude loss
 2016-06-18 11:55:49 +09:00
Randy Mackay dafc45eb26 AC_AttitudeControl: move get_althold_lean_angle_max to parent class 2016-06-18 11:55:49 +09:00
Leonard Hall 3d27ecca92 AC_AttitudeControl: add TC for Alt_Hold angle limit 2016-06-18 11:55:49 +09:00
Randy Mackay 7ff0fcb25d AC_AttitudeControl: multicopter specific rate_controller_run 2016-06-18 11:55:49 +09:00
Leonard Hall ca2977decf AC_AttitudeControl: set throttle vs attitude priority for flipped state 
When performing a flip we want to allow throttle to go high to provide
maximum attitude control
 2016-06-18 11:55:49 +09:00
Leonard Hall 1fb4c12cd0 AC_AttitudeControl: move in throttle vs attitude prioritisation 
Previously this prioritisation of throttle vs attitude was done in the
AP_Motors library
 2016-06-18 11:55:49 +09:00
Leonard Hall 25c77c154f AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted 2016-06-18 11:55:49 +09:00
Leonard Hall 35ef761deb AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli 2016-06-18 11:55:49 +09:00
Randy Mackay 35c6ea994d AC_AttControl_Multi: fix parameter descriptions 2016-04-01 11:59:30 +09:00
Randy Mackay 5edc16dfb4 AC_AttControl_Multi: add rate PIDs 2016-04-01 11:59:30 +09:00
Leonard Hall 6f29bbafb4 AC_AttControl_Multi: get_althold_lean_angle_max uses motor thrust in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 24f975c16a AC_AttControl_Multi: fix throttle boost for 0 to 1 2016-04-01 11:59:30 +09:00
Leonard Hall bab08cbcc1 AC_AttControl_Multi: add divide by zero check 2016-04-01 11:59:30 +09:00
Randy Mackay 8c7f36563c AC_AttControl: bug fix to angle_boost reporting 
Thanks to OXINARF for finding this
 2016-01-08 10:48:59 +09:00
Randy Mackay 5ddd332277 AC_AttControl: add ANGLE_BOOST param 
This allows disabling angle boost
 2016-01-07 12:31:52 +09:00
Leonard Hall 29ff5035b4 AC_AttControl: limit lean angle from throttle 2015-09-07 15:10:09 +09:00
Gustavo Jose de Sousa d49f10d2e5 AC_AttitudeControl: standardize inclusion of libaries headers 
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 bf2bf2e3fa AC_AttControl_Multi: new multirotor specific attitude control class 2015-07-21 16:25:53 +09:00