aepko/Ardupilot2
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21,373 Commits 72 Branches 509 Tags 683 MiB
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81 Commits

Author SHA1 Message Date
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 
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 
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 
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
Randy Mackay
31edd6a72b AC_PosControl: add_takeoff_climb_rate method 
This function simply increments the current altitude target given a
climb rate and dt
 2015-05-01 12:56:30 +09:00
Jonathan Challinger
738b1967ad AC_PosControl: use LowPassFilterVector2f 2015-04-17 10:47:01 +09:00
Jonathan Challinger
8f667b3d1c AC_PosControl: fix up comments 2015-04-17 10:46:59 +09:00
Leonard Hall
c2a6a0a9e2 AC_PosControl: add accel filter parameter 2015-04-16 21:00:45 +09:00
Leonard Hall
a632a57d79 AC_PosControl: accessors to log z-axis vel and accel 2015-04-16 21:00:32 +09:00
Leonard Hall
0aca3c4be6 AC_PosControl: add relax Alt Hold controllers 2015-04-16 21:00:25 +09:00
Leonard Hall
7cb3c4ba39 AC_PosControl: add feed forward to Alt Hold 2015-04-16 21:00:20 +09:00
Randy Mackay
a1e6a3ee32 AC_PosControl: minor format fix 2015-04-16 21:00:14 +09:00
Jonathan Challinger
3e0dab7b2d AC_PosControl: remove accel error filter and set throttle output filter instead 2015-04-16 21:00:07 +09:00
Jonathan Challinger
127791127c AC_PosControl: fix double literals 2015-03-24 06:29:04 -07:00
Randy Mackay
bb74b8dec8 AC_PosControl: fix twitch when entering RTL 
Also removed slow_cpu flag
Fixed bug in update to _accel_target_jerk_limited.
 2015-03-13 20:47:19 +09:00
Jonathan Challinger
88ec13b10d AC_PosControl: fix build 2015-03-11 10:00:00 +09:00
Randy Mackay
965db2c7f7 AC_PosControl: add comments and defines for jerk limits 2015-03-10 22:10:34 +09:00
Jonathan Challinger
4408c1b935 AC_PosControl: 2d jerk constraint in accel_to_lean_angles 2015-03-10 22:10:32 +09:00
Jonathan Challinger
9871b95586 AC_PosControl: fix dt sanity checking 2015-03-10 22:10:30 +09:00
Leonard Hall
7de5bccc93 AC_PosControl: remove THR_HOVER parameter 
Parameter is set by main code so no need to store to eeprom
 2015-03-06 14:02:46 +09:00
Leonard Hall
9866eaded1 AC_PosControl: rename p_alt_pos to p_pos_z 
Also pid_alt_accel to pid_accel_z
 2015-03-06 14:02:44 +09:00
Leonard Hall
349f1aeceb AC_PosControl: use 2-axis PI controller 2015-03-06 14:02:42 +09:00
Leonard Hall
8d4f0ec80c AC_PosControl: integrate PID input filter 2015-03-06 14:02:39 +09:00
Randy Mackay
186337f18e AC_PosControl: rename xy_mode enum values 
Also added a few comments and fixed formatting
 2015-02-06 17:00:55 +09:00
Jonathan Challinger
3faca88423 AC_PosControl: allow control of xy rate constraint behavior 2015-02-06 17:00:48 +09:00
Robert Lefebvre
14d76d158a AC_AttitudeControl: Correct comment. 2015-02-03 14:55:30 +09:00
Randy Mackay
07a0388f25 AC_PosControl: move alt limit to set_alt_target_from_climb_rate 
The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
 2015-01-30 14:13:52 +09:00
Randy Mackay
2a5a133bbf AC_AttControl: remove deprecated trigger_xy method 2015-01-07 14:03:49 +09:00
Randy Mackay
c36253b9b2 AC_PosControl: add comments 
No functional change
 2014-12-31 14:03:22 +09:00
Jonathan Challinger
557d339cf1 AC_PosControl: remove various unnecessary timing hacks 2014-12-31 14:03:18 +09:00
Jonathan Challinger
d6e455417f AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller 2014-12-31 14:03:13 +09:00
priseborough
12ea1d6e85 AC_AttitudeControl: Scale angle demand noise filter 
Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough
e80b1c67cd AC_AttitudeControl: Add EKF optical flow noise gain scaler 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
Randy Mackay
d34ea4c124 AC_PosControl: fix to default force_descend param 2014-11-13 18:40:45 -08:00
Jonathan Challinger
e81c1dd5a1 AC_PosControl: add force_descend option to set_alt_target_from_climb_rate 2014-11-13 18:40:38 -08:00
Randy Mackay
cf3b2be99c AC_PosControl: 4hz filter on z-axis velocity error 2014-09-22 13:40:01 +09:00
Randy Mackay
665f353416 AC_PosControl: 2hz filter on accel error 
Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
 2014-09-21 17:53:55 +09:00
Randy Mackay
e0fc2dd50e AC_PosControl: remove 20cm on takeoff 2014-08-05 09:11:57 +09:00
Randy Mackay
e550c1e9a3 AC_PosControl: add set_alt_target_to_current_alt method 2014-08-04 16:54:04 +09:00
Randy Mackay
82ed70b25e AC_PosControl: add xyz velocity controller 
Velocity controller interpretsthe velocity requests as
desired velocities (i.e. feed forward).  These are then used to update
the target position and also added to the target velocity.
Also renamed the set_desired_velocity() function to
set_desired_velocity_xy() to make clear only lat and lon axis are
updated.
 2014-07-06 17:01:02 +09:00