dcd930497a
AC_AttitudeControl: AC_PosControl: avoid calling norm()
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The result of this won't be used as often as this loop is called
6 years ago
04e4484d96
AC_AttitudeControl: correct old and misleading comments
6 years ago
dabe8a13f7
AC_AttitudeControl: use EKF singleton to get ekfNavVelGainScaler
6 years ago
1d13aff711
AC_AttitudeControl: Rename several set_speed and set_accel functions
6 years ago
5863b84c35
AC_PosControl: reduce glitch on init
7 years ago
ac82a37728
AC_PosControl: run horiz control at main loop rate
7 years ago
13007e2a07
AC_PosControl: dataflash logging of PSC message
7 years ago
dadc6a63c4
AC_PosControl: add set_leash_length_xy
7 years ago
e5bc2b26fe
AC_PosControl: add lean angle max
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
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Also always limit lean angle to maintain altitude
7 years ago
74bb7616a7
AC_PosControl: add accel feedforward
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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
c70d3e0ab8
AC_PosControl: move pids to be local
7 years ago
3a73ff1e2e
AC_PosControl: replace velocity control with local 2-axis PID
7 years ago
d5976442f8
AC_PosControl: minor comment change
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non-functional change
7 years ago
fa4427fbce
AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method
7 years ago
ebd864d2d2
AC_PosControl: minor update to comments
7 years ago
99aad41955
AC_AttitudeControl: added a update_vel_controller_xy() API
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this allows for just XY control of velocity for quadplanes
8 years ago
3a397584a1
AC_PosControl: z-axis stopping point up to 3m above vehicle
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Stopping point while descending remains at 2m for safety
8 years ago
6e92f74ca0
AC_PosControl: add clear_desired_velocity_ff_z method
8 years ago
0e124d0be5
AC_PosControl: Add AC_PosControl_Sub class
8 years ago
1345bf8737
AC_AttitudeControl: added support for AP_AHRS_View
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this allows for tailsitters with a different attitude view
8 years ago
ff042528fe
AC_PosControl: remove alt_max
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AC_Avoidance enforces the altitude limit
8 years ago
127404acea
AC_PosControl: add get_pos_z_kP accessor
8 years ago
8419045aea
Spell in comments
8 years ago
1012333eef
AC_PosControl: add ekf position reset handling
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Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
8 years ago
152edf7189
Global: remove mode line from headers
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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
5a8db4f271
AC_PosControl: add interface to override horizontal velocity process variable
8 years ago
630e5378da
AC_PosControl: add get_horizontal_error
9 years ago
ec7c1ab0b0
AC_PosControl: comment fix to set_alt_max method
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No functional change
9 years ago
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
9 years ago
d03a232659
AC_AttitudeControl: added set_limit_accel_xy() API
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for preventing integrator buildup
9 years ago
87399776a3
AC_PosControl: hover throttle default to 0.5
9 years ago
f42484bcc5
AC_AttitudeControl: replace header guard with pragma once
9 years ago
dbc8ce1d69
AC_PosControl: default z-axis controller to 400hz
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No functional change as vehicle code always sets it explicitely
9 years ago
550ba478c9
AC_PosControl: add shift_pos_xy_target
9 years ago
16a0281c92
AC_PosControl: remove unused set_vel_target
9 years ago
ee0abb1750
AC_PosControl: add set_jerk_xy
9 years ago
73f4533995
AC_PosControl: minor comment update
9 years ago
895a40893d
AC_PosControl: use_desvel_ff flag added
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This allows turning on/off desired velocity feedforward without setting desired_vel.z to zero. Setting desired_vel.z to zero has the side effect of disrupting the landing detection which needs to know if we are trying to descend
9 years ago
aec66c5db6
AC_PosControl: faster z-axis slowdown when over speed
9 years ago
f55c31a157
AC_PosControl: add alt hold without feed forward
9 years ago
cf5db31053
AC_PosControl: allow limiting lean angle to avoid alt loss
10 years ago
d49f10d2e5
AC_AttitudeControl: standardize inclusion of libaries headers
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This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
10 years ago
14882bc6a8
AC_AttitudeControl: Remove unused takeoff jump #define
10 years ago
6ea60aa662
AC_PosControl: remove default from set_alt_target_from_climb_rate
10 years ago
31edd6a72b
AC_PosControl: add_takeoff_climb_rate method
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This function simply increments the current altitude target given a
climb rate and dt
10 years ago
738b1967ad
AC_PosControl: use LowPassFilterVector2f
10 years ago
8f667b3d1c
AC_PosControl: fix up comments
10 years ago
c2a6a0a9e2
AC_PosControl: add accel filter parameter
10 years ago
Peter Barker
Michael du Breuil
Leonard Hall
Randy Mackay
Dr.-Ing. Amilcar Do Carmo Lucas
Andrew Tridgell
Jacob Walser
Mathieu OTHACEHE
Jonathan Challinger
Lucas De Marchi
Gustavo Jose de Sousa
Robert Lefebvre