82ed70b25e
AC_PosControl: add xyz velocity controller
...
Velocity controller interpretsthe velocity requests as
desired velocities (i.e. feed forward). These are then used to update
the target position and also added to the target velocity.
Also renamed the set_desired_velocity() function to
set_desired_velocity_xy() to make clear only lat and lon axis are
updated.
11 years ago
0c9a496262
AC_AttControlHeli: add ATC_RATE_FF_ENAB parameter
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Because this class inherits from AC_AttitudeControl library this new
parameter must be added here as well
11 years ago
46f25c52a4
AC_AttControl: allow enabling/disabling feedforward and accel limiting
11 years ago
130eb07d48
AC_AttControl: angle_ef_roll_pitch_rate_ef_yaw supports zero yaw accel
11 years ago
02b4b21f67
AC_AttControl: disable feed forward by default
...
Can be re-enabled by setting ATC_RATE_FF_ENAB parameter to 1
11 years ago
b57c0dabf6
AC_AttControl: check accel_rp_max instead of rate_bff_ff_enabled
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We use the accel_rp_max, accel_y_max to check whether to apply accel
limiting or not. This is related to separate from the
body-frame-feed-forward.
11 years ago
2bb30b3ef9
AC_AttControl: add set_yaw_target_to_current_heading method
11 years ago
d9c966c927
AC_AttControl: RATE_FF_ENAB param to disable rate feed forward
11 years ago
4d4c7a2118
AC_AttControl: move freeze_ff to flags structure
11 years ago
a662f87ffb
AC_AttControl: remove resolved To-Do
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This To-Do is resolved by heli flight modes calling the
relax_bf_rate_controller method
11 years ago
7f734f38d6
AC_AttControl: add earth frame angle constraints
...
This should help recovery time if pilot switches out of ACRO (into
Stabilize, AltHold, etc) while inverted
11 years ago
698cf934b8
AC_AttControl: formatting fixes
11 years ago
2bb63857fa
AC_AttControl: clean up stabilize
11 years ago
c24d293e1b
AC_AttControl: zero _accel_xyz_max stops feed forward
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Also added place holder for turning off feed forward.
11 years ago
8bbce7e658
AC_PosControl: freeze feed forward for alt control in Auto
11 years ago
922026c15c
AC_AttControl: rate compensation for yaw
11 years ago
0d87298221
AC_PosControl: freeze feed forward and vector fixes
11 years ago
5209598459
AC_AttControl: rename init_targets to relax_bf_rate_controller
11 years ago
1bdde31f6b
Copter: Fix zero throttle flip issue Stabilize
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The problem is that the init_targets is intended to ensure the
controller doesn't build up the I term when the throttle is low. Because
it is poorly named (or used) it have been written to do something else.
Here I change it to do what the code is trying to use it to do.
11 years ago
2b0f142a17
AC_PosControl: fix typo in D-filter definition
11 years ago
7e3213edbf
AC_AttControl: increase default accel max
11 years ago
29ca7a10df
AC_PosControl: set alt hold accel control D term filter
11 years ago
0969e464fb
AC_AttControl: set roll, pitch, yaw rate control D term filters
11 years ago
7c9249de93
AC_AttitudeControl_Heli: Change to use AC_HELI_PID class instead of AC_PID. Remove FF parameters from class.
11 years ago
c13db680b7
AC_PosControl: remove reset_I_xy
...
lean_angles_to_accel is now used to load the position rate I terms based
on vehicle's initial roll and pitch angle
11 years ago
cd8b1f278c
AC_PosControl: remove unused _cos_yaw variable
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Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of
RAM
Also made get_speed_up, get_speed_down, lean_angles_to_accel functions
const
11 years ago
0819e05896
AC_PosControl: lean_angles_to_accel added for smooth initialisation
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init_xy_controller also added to capture initialisation all in one place
11 years ago
71fae1e6f2
AC_AttControl: lean_angle_max accessor fn const
11 years ago
21c93e48ab
AC_PosControl: include vel error when get_stopping_point_z
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Pair programmed with Randy
11 years ago
a1f1dd8059
AC_PosControl: add is_active_z method
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Consolidated z-axis timeout checks to save 4bytes of RAM
Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent
11 years ago
937e9ea687
AC_PosControl: add set_target_to_stopping_point_xy method
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Fixed bug in get_stopping_point_xy in which it would update Z-axis
target if vehicle was moving less than 10cm/s horizontally
11 years ago
9f63de9b59
AC_PosControl: set_speed_z accepts positive descent speeds
11 years ago
098f8169b0
AC_PosControl: add keep_xy_I_terms method
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Stops horizontal PID's I terms from being reset when the controller is
next updated
11 years ago
6c71569775
AC_PosControl: update_xy_controller allows not resetting I term
11 years ago
09a35cf90f
AC_PosControl: bugfix for freezing I-term build-up
11 years ago
9c6995d8bb
AC_PosControl: add get_accel_z method
11 years ago
e565ee6d33
AC_PosControl: stop I term build-up when motors at max
11 years ago
6f6c9e2585
AC_PosControl: bug fix to vertical speed limit
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Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
11 years ago
7e376bc517
PosControl: update_pos_controller renamed to update_xy_controller
11 years ago
02775e8dc5
AC_PosControl: get_accel_target returns const ref
11 years ago
5876a2fe47
AC_AttControl: increase default rp accel to 900deg/s/s
11 years ago
b478c3a321
AC_AttControl: return angle_ef_targets as const ref
11 years ago
90e205c905
AC_PosControl: replace safe_sqrt with pythagorous2
11 years ago
3b8c6e629d
AC_AttitudeControl: updated example for new GPS API
11 years ago
3ad635feeb
AC_AttControl: 45deg/sec yaw rate for Auto, RTL
11 years ago
7bff8e9312
AC_AttControl: constrain earth frame yaw angle error
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This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
11 years ago
73ae38eaf0
AC_AttitudeControl: fixed example build
11 years ago
dd45647626
AC_PosControl: update some comments re leash lengths
11 years ago
345115fddd
AC_PosControl: fixed leash length calc for descent speed
11 years ago
25ee5d5dc8
AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth
...
pair-programmed with lthall
11 years ago
Randy Mackay
lthall
Robert Lefebvre
lthall
Ju1ien
Andrew Tridgell
Holger Steinhaus