2e5c201222
AR_AttitudeControl: use _desired_speed instead of desired_speed for throttle-speed controller
3 years ago
619f4976a2
AR_AttitudeControl: get_turn_rate_from_heading applies acceleration limit
...
Limits rate output so that vehicle will not overshoot the target heading
3 years ago
91d40b768c
AR_AttitudeControl: get_throttle_speed_pid_info.FF includes base throttle
3 years ago
e85a95f21c
AR_AttitudeControl: reduce some param defaults
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These reductions are based on experirence helping users setup new vehicle. In the vast majority of cases the existing values are too high
STEER_ANG_P is the default for the angle-to-rate controller and is used during pivot turns. This value may still be slightly too high.
STEER_RATE_MAX is the maximum turn rate so the new value allows a 360 turn in 3 seconds
STEER_ACCEL_MAX is the acceleration for the turn rate meaning a vehicle can get to 120 deg/sec in 1 sec
THR_ACCEL_MAX is the maximum acceleration. This new value means a vehicle can accelerate to 1m/s in 1 second.
3 years ago
9c54b3d252
AR_AttitudeControl: move param defines from .h to .cpp
3 years ago
570c12215d
AR_AttitudeControl: fix get_throttle_out_speed use of passed in limits
3 years ago
d2102ce9b7
APM_Control: stop taking references to ahrs in APM_Control
4 years ago
bc90ba5486
AR_AttitudeControl: get_steering_out_rate use abs speed for G limit
4 years ago
980c41e273
APM_Control: G limit all turn rates
4 years ago
f0ffaa5624
AR_AttitudeControl: reset speed filter and I term when stopped
4 years ago
9a244eef29
APM_Control: added SMAX param docs
4 years ago
2db57dffac
AR_AttitudeControl: update param desc increment and range
4 years ago
c9f2b9ff87
AR_AttitudeControl: correct spelling error in param docs
5 years ago
c71cbe2729
APM_Control: AR_AttitudeControl: add description for new PID params
5 years ago
7fbaea7971
APM_Control: wrap_180_cd no longer solely returns floats
5 years ago
1b533295a8
AR_AttitudeControl: minor comment fixes
6 years ago
65d8047165
AR_AttitudeControl: fix sailboat heel PID
6 years ago
6f14673f08
APM_Control: support for upgrade to PID object
6 years ago
157f786adf
Global: rename desired to target in PID info
6 years ago
197804412a
APM_Control: Fix AP_GPS include
6 years ago
a96c146758
AR_AttitudeControl: set-throttle-out-stop considered same as running speed controller
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update the speed-last-ms time when set-throttle-out-stop runs or else the desired throttle will not be acceleration limited when the desired speed is next increased above zero
6 years ago
4e68d16526
AR_AttitudeControl: use speed_control_active in get_desired_speed_accel_limited
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also minor formatting fixes
this is a non-functional change
6 years ago
6d4d1bc20a
AR_AttitudeControl: add get_turn_rate_from_heading
6 years ago
8907b727f6
AR_AttitudeControl: add get_turn_rate_from_lat_accel
6 years ago
f6f5967a82
AR_AttitudeControl: minor param desc fix
6 years ago
49ec059420
APM_Control: add function to relax rover i terms
6 years ago
b276034c60
APM_Control: correct use of incorrect abs functions
6 years ago
e443b864c6
AR_AttitudeControl: add sail heel PID
6 years ago
d7d6c6ab04
AR_AttitudeControl: clarify units of get_steering_out_heading argument
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also update comments
7 years ago
96097586c3
AR_AttitudeControl: reset I if speed controller not called recently
7 years ago
106b8abab7
AR_AttitudeControl: get_throttle_out_from_pitch accepts vehicle speed
7 years ago
d5ef3c2e0f
AR_AttitudeControl: get_throttle_out_from_pitch uses motor limits
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This allows removing I-term build up from throttle hitting 100%
7 years ago
65b020eac3
AR_AttitudeControl: re-order pitch control to match other similar methods
7 years ago
1c18d06aa3
AR_AttitudeControl: move unnecessary else
7 years ago
9b60e0844b
AR_AttitudeControl: add get_desired_pitch accessor
7 years ago
ccb32cf357
APM_Control: BRAKE param default is true
7 years ago
9eebb6225a
AR_AttitudeControl: brake fix to set limit in only one direction
7 years ago
ce182fd307
APM_Control: fixed test condition in AR_AttutudeControl.cpp
7 years ago
97a260a980
APM_Control: get_throttle_out_from_pitch() accepts dt as argument
7 years ago
657ff06380
APM_Control: added balancing function for BalanceBot
7 years ago
5e7b37f0b2
AR_AttitudeControl: remove constraint on steering output
7 years ago
b614ca9b75
AR_AttitudeControl: disable limits when _ACCEL_MAX is zero
7 years ago
67475a9eaa
AR_AttitudeControl: reset turn-rate I term if not run for 0.2sec
7 years ago
e691b680ca
AR_AttitudeControl: add speed-control-active method
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allows caller check if speed controller if active
also consolidated other methods to use this check to reduce a little bit of duplicate code
7 years ago
3b71d0360a
AR_AttitudeControl: const get_decel_max and get_stopping_distance
7 years ago
a7fbfe7767
AR_AttitudeControl: caller provides dt instead of calculated internally
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This allows the vehicle's main loop rate to be used instead of an internally calculated dt which suffers from jitter
7 years ago
856d592b1d
AR_AttitudeControl: accel limit stops
7 years ago
832778e471
AR_AttitudeControl: add separate decel limit
7 years ago
f6c06496e2
AR_AttitudeControl: fix accel limiting
7 years ago
a9ee949c32
AR_AttitudeControl: limit desired steering rate
7 years ago
xianglunkai
Randy Mackay
Peter Barker
Iampete1
Andrew Tridgell
Peter Hall
Leonard Hall
Michael du Breuil
Ebin
Ammarf