0392d2752d
Copter: tuning rc-feel uses multiply instead of divide
7 years ago
92b56c2c89
AC_WPNav: init_loiter_target always resets I term
...
This was only used by poshold and this has been removed as part of "new-loiter"
7 years ago
1035645f5c
Copter: poshold always resets loiter I term
7 years ago
09cad7c59d
Plane: quadplane integrates attitude control inertial_frame_reset
7 years ago
03c162432e
Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration
7 years ago
a0a9a68fbc
Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC
...
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
7 years ago
aa47b19dea
Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy
7 years ago
01d1d41302
Sub: integrate attitude control inertial_frame_reset
7 years ago
2154d08185
Sub: remove setting of pos-con jerk
7 years ago
2697e19513
Sub: guided removes xy mode from calls to pos-con
...
Also always limit angle to maintain altitude
7 years ago
da17034a3d
Sub: replace smoothing gain with AC_AttitudeControl::set_input_tc
7 years ago
a727305a59
Copter: integrate attitude control EKF inertial-frame-reset
7 years ago
f368ff6664
Copter: parameter conversion from RC_FEEL_RP to ATC_INPUT_TC
7 years ago
8ac653cabf
Copter: AutoTune integrate renamed use_sqrt_controller
7 years ago
853d7ab573
Copter: remove setting of pos-con jerk
7 years ago
7511781a7e
Copter: add accel target to NTUN log msg
...
Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
7 years ago
f9acc8a666
Copter: guided removes xy mode in calls to pos-con
...
Also limit angle to hold altitude
7 years ago
1a0be015f9
Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration
...
Also fix accelerations/lean-angles for land and rtl-land
7 years ago
93de23e7c4
Copter: get-pilot-desired-lean-angles accepts another angle-max
7 years ago
1540f98888
Copter: add angle inputs to Loiter
7 years ago
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
7 years ago
a356cfa529
AC_Circle: init resets desired velocity_xy
7 years ago
d104e3a3c0
AC_Circle: remove xy mode and limit angle to maintain alt
7 years ago
1c0678226c
AC_WPNav: new loiter including accel ff and braking
...
Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt
Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
7 years ago
c7c3dd561a
AC_WPNav: brake, wp and spline clear desired velocity_xy
7 years ago
6430b75224
AC_WPNav: remove xy mode from brake, wp, spline
7 years ago
c59dc21c8b
AC_WPNav: sanity check wp accel max vs lean angle max
7 years ago
dadc6a63c4
AC_PosControl: add set_leash_length_xy
7 years ago
e5bc2b26fe
AC_PosControl: add lean angle max
7 years ago
0f3645b061
AC_PosControl: increase velocity gains
7 years ago
7ec043502f
AC_PosControl: add accel limit to xy controller
7 years ago
bd13704f6f
AC_PosControl: update init for guided
7 years ago
85b7f06554
AC_PosControl: combine z position control into single method
7 years ago
993e638752
AC_PosControl: combine xy position control into single method
...
Also always limit lean angle to maintain altitude
7 years ago
74bb7616a7
AC_PosControl: add accel feedforward
...
also add limit_vector_length and sqrt_controller helper functions
enforce angle limits
rename accel-feedforward to accel-desired
remove freeze_ff_xy
remove unused VEL_XY_MAX_FROM_POS_ERR
remove xy mode
remove jerk limiting code including setters
limit_vector_length uses is_positive
Also modify formatting
7 years ago
9aa6415e1c
AC_AttitudeControl: use is_positive and is_negative
7 years ago
b3de52dc59
AC_AttitudeControl: minor comment fix
7 years ago
05418d3d29
AC_AttitudeControl: add EKF reset handling
7 years ago
8c45345863
AC_AttitudeControl: rename use_ff_and_input_shaping to use_sqrt_controller
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Also rate controllers only use _rate_bb_ff_enabled flag to decide whether
to use ff for now
7 years ago
1e9e12e866
AC_AttitudeControl: rename heading_quad to yaw_vec_correction_quat
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also rename flip_scalart local variable to feedforward_scalar
also add comments
non-functional change
7 years ago
59a2445ad3
AC_AttitudeControl: replace smoothing gain with INPUT_TC
7 years ago
e1e224b68b
AC_AttitudeControl: add angular velocity limit
7 years ago
ee82943f85
AC_AttitudeControl: add input_shaping_rate_predictor
7 years ago
6175a896ee
AC_AttitudeControl: add set smoothing gain
...
Smoothing gain value should be set once when entering a mode
7 years ago
213f7a4061
AC_AttitudeControl: add get_accel_roll/pitch/yaw_max_radss methods
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Also constify existing get_accel_roll/pitch/yaw_max methods
7 years ago
185f41d5bd
Copter arm_checks(): PreArm in error msg changed to Arm
7 years ago
45410759dc
DataFlash: Log the frame a mission command is planned in
7 years ago
54b3936a46
AP_Beacon: Use marvelmind beacon raw distances on the EKF
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Add support for Marvelmind RAW distance measurements this
requires Marvelmind FW >= 5.77 and "Raw distances data" enabled
in the marvelmind GUI dashboard.
This is better than the previous workaround we had.
7 years ago
29078824fc
AP_Beacon: Replace max_buffered_positions variable with a #define
7 years ago
7df1419579
Copter: add missing MAGNETOMETER and STATS_ENABLED build defines
7 years ago
Randy Mackay
Leonard Hall
Ebin
Michael du Breuil
Dr.-Ing. Amilcar Do Carmo Lucas