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
...
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
...
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
...
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
...
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
...
Pair programmed with Randy
11 years ago
a1f1dd8059
AC_PosControl: add is_active_z method
...
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
...
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
...
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
...
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
...
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
15f88c2a2b
AC_AttControl: Stabilize input shaping
11 years ago
024855014f
AC_PosControl: update _pos_error if it is being limited
...
This fixes a bug that causes 10hz throttle noise.
11 years ago
d277b6cabd
AC_AttControl: fix @Units parameter descriptions
11 years ago
856dfd0ee6
AC_AttitudeControl: fixed example build
11 years ago
9130c88f15
AC_PosControl: throttle rate to simple P controller
11 years ago
34b62fc078
AC_AttControlHeli: add ACCEL_RP_MAX, ACCEL_Y_MAX
11 years ago
b8d9bdb794
AC_AttControl: accel limit for roll, pitch yaw rates
11 years ago
c35bd84e21
AC_AttControl: fix example sketch
11 years ago
451910fc94
AC_AttControlHeli: replace APM_PI with AC_P
11 years ago
ff9f4fe6e7
AC_AttControl: replace APM_PI with AC_P
11 years ago
94fb9c4274
AC_PosControl: replace APM_PI with AC_P
11 years ago
Randy Mackay
lthall
Robert Lefebvre
lthall
Ju1ien
Andrew Tridgell
Holger Steinhaus
jschall