89725a7aa5
AR_AttitudeControl: minor comment fix
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non-functional change
7 years ago
d139f0e28e
AR_AttitudeControl: add get_stopping_distance
7 years ago
54d8a4852f
AR_AttitudeControl: reduce steer rate P default to 0.2
7 years ago
2aeda48512
AR_AttitudeControl: minor arg name fix
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non-functional change
7 years ago
4ac5ef3a13
AR_AttitudeControl: allow filter to be zero
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Also increase default filter to 50hz
7 years ago
16d3e5c00d
AR_AttitudeControl: add feed foward for speed and steering rate control
7 years ago
9930550cfc
AR_AttitudeControl: lengthen timeout to 200ms
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This is required because occasionally the turn rate controller can be disabled for just over 100ms as new navigation commands are loaded
7 years ago
f00f4ce79b
AR_AttitudeControl: fix get_desired_speed timeout
7 years ago
36c5f057ae
AR_AttitudeControl: add get_desired_turn_rate lat_accel and speed
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for reporting use only
7 years ago
e9e1dac188
AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out
7 years ago
aa09541847
AR_AttitudeControl: const ahrs reference
7 years ago
d226ffeeb2
AP_AttitudeControl: remove tabs
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non-functional change
7 years ago
49887235df
AR_AttitudeControl: get_steering_out methods accept reverse argument
7 years ago
9f876dc7a0
AR_AttitudeControl: throttle and steering control library
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Throttle controller has these advantages over existing controller:
based on velocity in vehicle's forward-back axis rather than ground-speed
straight-forward PID controller using speed error as input
speed control acceleration limts
stop control slows vehicle smoothly
configurable filtering
Steer controller has these advantages over existing controller:
output scaled properly for skid-steering vehicles
layered P and PID controller for angular error and rate control
configurable filtering
8 years ago
Randy Mackay
khancyr
Daniel Widmann