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25 Commits

Author SHA1 Message Date
Paul Riseborough b0300b9723 Revert "attitude_fw delete unused and cleanup" 
This reverts commit 25bd3ac5e6.
 2017-08-30 16:23:40 +02:00
Daniel Agar 25bd3ac5e6
attitude_fw delete unused and cleanup 2017-08-26 17:44:24 -04:00
Daniel Agar e7ed32fb82 attitude_fw remove extra semicolons 2017-06-05 01:06:41 +08:00
Andreas Antener 66b8f7ec5b Removed obsolete fields from ECL control data 2017-02-12 11:40:14 +01:00
Andreas Antener 5363e8d307 Wheel controller: use library function to wrap pi 2017-02-12 11:40:14 +01:00
Daniel Agar 674ab3f81b attitude_fw fix style 2017-02-12 11:40:14 +01:00
Roman f22ad30ef3 removed turn compensation flag form control data since it's obsolete 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman e1f9874c82 wheel controller: fix computation and scaling of integrator 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman c4cc02b3f2 yaw controller: fix bug where roll for turn coordination was constrained 
wrongly

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman 391b6dfd00 yaw controller: for now do not do turn compensation when inverted and use 
the roll setpoint as limit for turn compensation

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman 66b7773059 yaw controller: deactivate lateral acceleration control for now but 
put comment of how to do it properly

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman f300877db4 yaw controller: computed desired yaw rate based on coordinated turn constraint 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman 4057defa53 pitch controller: removed turn offset compensation form pitch controller 
- turn compensation is included in the desired yawrate

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman 55401ec1b0 fw attitude control: compute integrator correctly 
- I gain was applied wrongly, such that the integrator value was depending
direcly on the I gain. This made the integrator value jump when the gain
was changed

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Roman ac7fc30ea7 fw attitude controllers: restructuring in order to allow acro flight mode 
- split rate control into body rate control and euler rate control
- this allows standard attitude control but also direct rate control
of all three axes
- allow activation/deactivation of turn compensation

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-12 11:40:14 +01:00
Daniel Agar 2750961be6 c++11 initialization cleanup (#237) 2017-02-05 13:05:10 -05:00
Daniel Agar 47b8ef258b clang-tidy performance-type-promotion-in-math-fn (#236) 2017-02-02 00:17:08 -05:00
Lorenz Meier 10c6ae77ae Attitude fw yaw: Initialize yaw rate properly 2016-12-17 13:45:28 +01:00
Daniel Agar 983c44088f fw att fix pitch feedforward constrained roll 2016-11-27 12:34:12 +01:00
Daniel Agar 0d02bb2612 ecl attitude_fw fix excessive body fixed turn offset 
-limit body fixed turn offset contrained roll to possible
roll setpoint range
-fixes #181
 2016-10-06 09:03:48 +02:00
Lorenz Meier 199c423f1f Attitude fw: Remove builtin perf counters 2016-05-05 20:06:01 +02:00
Daniel Agar 82cf1827d4 fw multiply integrator gain in loop 2016-03-25 17:28:39 -04:00
Lorenz Meier 699ec17cc3 Removed spurious print in wheel controller 2016-03-12 11:23:08 +01:00
Roman 3c7705b3f9 checked out attitude fw folder from master 2015-12-19 09:37:40 +01:00
Lorenz Meier e5743d503c Initial import 2015-10-26 16:06:30 +01:00