692e6518cc
AC_AttitudeControl: update param desc values for large copters
7 years ago
62cc25022c
AC_AttitudeControl: protect against overshoot in sqrt controller
7 years ago
75de0cb4ef
AC_AttitudeControl: sqrt_controller accepts dt
7 years ago
cddd815a75
AC_AttitudeControl: comment thrust_heading_rotation_angles
...
non-functional change
7 years ago
0544cf1d82
AC_AttControl: add step input for autotune
8 years ago
188dfb6936
AC_AttitudeControl: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
8 years ago
67097c8d59
AC_AttitudeControl: use gyro_latest
...
This allows moving the attitude control before the ahrs/ekf update
We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions. We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
8 years ago
5acbf5d16e
AC_AttitudeControl: use FF from AC_PID
8 years ago
ea0e413b04
AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
29d4790fc7
AC_AttControl: reduce max_rate_step based on hover throttle
...
This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
9 years ago
011bc0a350
AC_AttControl: add reset_rate_controller_I_terms()
9 years ago
80bda572ba
AC_AttutudeControl: Yaw shift fix
9 years ago
8737f6b62d
AC_AttitudeControl: enhanced quaternion attitude controller
9 years ago
096bdd67f8
AC_AttitudeControl: add ATC_ANG_LIM_TC parameter
...
This allow adjusting the reponse to limit lean angles to reduce altitude loss
9 years ago
dafc45eb26
AC_AttitudeControl: move get_althold_lean_angle_max to parent class
9 years ago
3d27ecca92
AC_AttitudeControl: add TC for Alt_Hold angle limit
9 years ago
7ff0fcb25d
AC_AttitudeControl: multicopter specific rate_controller_run
9 years ago
b7431b7d0c
AC_AttitudeControl: update throttle rpy mix on every iteration
9 years ago
35ef761deb
AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli
9 years ago
6330060e49
AC_AttitudeControl: added monitoring of controller error
...
use RMS P+I+FF output. Thanks to Leonard for the suggestion
9 years ago
4a06ca4be2
AC_AttControl: remove unused call to motors.set_stabilizing
...
Also minor change to order of a call to motors library to make stabilizing
and non-stabilizing calls consistent.
Non functional change
9 years ago
b30606bb22
AC_AttControl: remove scaling for centi-degrees and legacy motor input
9 years ago
17c9db08f3
AC_AttControl: add angle and rate PIDs
9 years ago
979534279a
AC_AttControl: roll, pitch, yaw output to motors in -1 to +1 range
9 years ago
2822b93cd4
AC_AttControl: add get_throttle_in accessor
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Used for logging only
9 years ago
c0f209fa42
AC_AttControl: angle_boost to float
9 years ago
e946e047e6
AC_AttitudeControl: add attitude_controller_run functions, call from input functions
9 years ago
5ddd332277
AC_AttControl: add ANGLE_BOOST param
...
This allows disabling angle boost
9 years ago
86bb03aa79
AC_AttControl: use ahrs get_rotation_body_to_ned
...
ahrs.get_dcm_matrix renamed to ahrs.get_rotation_body_to_ned
9 years ago
46e6ff3ca9
AC_AttitudeControl: modify comment on kinematic correction feedforward
9 years ago
829d6037fc
AC_AttitudeControl: convert euler rates to angular velocity using the correct attitude
9 years ago
ae3357baee
AC_AttitudeControl: rotate angular velocity feedforward into vehicle frame
9 years ago
3d4bd92b48
AC_AttitudeControl: add helper functions to retrieve rotation matrices
9 years ago
ee8090e25f
AC_AttitudeControl: reflect renamed function in AP_AHRS
9 years ago
02eda4dcab
AC_AttControl: remove comment, fix formatting
9 years ago
3a06edcee3
AC_AttitudeControl: rename local variable to match naming convention
9 years ago
846ee7d2af
AC_AttitudeControl: fix regression in angular velocity controller
9 years ago
b8223771d3
AC_AttitudeControl: properly protect sqrt_controller from nonpositive acceleration limits
9 years ago
162d2a9112
AC_AttitudeControl: naming changes in response to Leonard's review
9 years ago
0baf86c485
AC_AttitudeControl: fixup more names
9 years ago
41e580e53a
AC_AttitudeControl: add input_att_quat_bf_ang_vel and use for ACRO
9 years ago
5919e95635
AC_AttitudeControl: add input_ prefix to input shaper functions
9 years ago
bba360ea2b
AC_AttitudeControl: correct bugs found in review
9 years ago
f8c709478a
AC_AttitudeControl: quaternion acro controller
9 years ago
8b886bc479
AC_AttitudeControl: minor comment changes and reorganization
9 years ago
edda7e4e1e
AC_AttitudeControl: keep _att_target_euler_deriv_rads updated in euler_angle_roll_pitch_yaw
9 years ago
1afab89991
AC_AttitudeControl: extensive renaming and recommenting
9 years ago
06c8457efd
AC_AttitudeControl: rename and modify frame_conversion functions to follow conventions
9 years ago
7330de86e5
AC_AttitudeControl: change internals to use radians instead of centidegrees
9 years ago
Leonard Hall
Dr.-Ing. Amilcar Do Carmo Lucas
Randy Mackay
Andrew Tridgell
Mathieu OTHACEHE
Jonathan Challinger