Jonathan Challinger
e946e047e6
AC_AttitudeControl: add attitude_controller_run functions, call from input functions
9 years ago
dgrat
5148e41c1a
AP_Math: Cleaned macro definitions
...
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
9 years ago
Leonard Hall
49a4bde5d9
AC_AttControl: lower minimum accelerations for large copters
9 years ago
Randy Mackay
8c7f36563c
AC_AttControl: bug fix to angle_boost reporting
...
Thanks to OXINARF for finding this
9 years ago
Randy Mackay
5ddd332277
AC_AttControl: add ANGLE_BOOST param
...
This allows disabling angle boost
9 years ago
Randy Mackay
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
Jonathan Challinger
46e6ff3ca9
AC_AttitudeControl: modify comment on kinematic correction feedforward
9 years ago
Jonathan Challinger
829d6037fc
AC_AttitudeControl: convert euler rates to angular velocity using the correct attitude
9 years ago
Jonathan Challinger
ae3357baee
AC_AttitudeControl: rotate angular velocity feedforward into vehicle frame
9 years ago
Jonathan Challinger
3d4bd92b48
AC_AttitudeControl: add helper functions to retrieve rotation matrices
9 years ago
Andrew Tridgell
fbacb4c01f
AC_AttitudeControl: fixed M_PI -> M_PI_F
9 years ago
Jonathan Challinger
ee8090e25f
AC_AttitudeControl: reflect renamed function in AP_AHRS
9 years ago
Randy Mackay
c8661f804f
AC_AttControl: reduce compiler warnings by fixing member init order
...
Also increased _dt's default to 400hz (no functional change)
9 years ago
Randy Mackay
02eda4dcab
AC_AttControl: remove comment, fix formatting
9 years ago
Jonathan Challinger
e8345fbaab
AC_AttitudeControl: rename getters for attitude target and attitude error
9 years ago
Jonathan Challinger
3a06edcee3
AC_AttitudeControl: rename local variable to match naming convention
9 years ago
Jonathan Challinger
846ee7d2af
AC_AttitudeControl: fix regression in angular velocity controller
9 years ago
Jonathan Challinger
b8223771d3
AC_AttitudeControl: properly protect sqrt_controller from nonpositive acceleration limits
9 years ago
Jonathan Challinger
162d2a9112
AC_AttitudeControl: naming changes in response to Leonard's review
9 years ago
Jonathan Challinger
a48f201a04
AC_AttitudeControl: comment changes in response to Paul's review
9 years ago
Jonathan Challinger
0baf86c485
AC_AttitudeControl: fixup more names
9 years ago
Jonathan Challinger
41e580e53a
AC_AttitudeControl: add input_att_quat_bf_ang_vel and use for ACRO
9 years ago
Jonathan Challinger
5919e95635
AC_AttitudeControl: add input_ prefix to input shaper functions
9 years ago
Jonathan Challinger
bba360ea2b
AC_AttitudeControl: correct bugs found in review
9 years ago
Jonathan Challinger
9208003aab
AC_AttitudeControl: remove unused variable
9 years ago
Jonathan Challinger
f8c709478a
AC_AttitudeControl: quaternion acro controller
9 years ago
Jonathan Challinger
8b886bc479
AC_AttitudeControl: minor comment changes and reorganization
9 years ago
Jonathan Challinger
edda7e4e1e
AC_AttitudeControl: keep _att_target_euler_deriv_rads updated in euler_angle_roll_pitch_yaw
9 years ago
Jonathan Challinger
1afab89991
AC_AttitudeControl: extensive renaming and recommenting
9 years ago
Jonathan Challinger
06c8457efd
AC_AttitudeControl: rename and modify frame_conversion functions to follow conventions
9 years ago
Jonathan Challinger
7330de86e5
AC_AttitudeControl: change internals to use radians instead of centidegrees
9 years ago
Andrew Tridgell
58f0abaf4c
AC_AttitudeControl: fixed one usage of zero accel limits
...
in other places zero accel limit means no limit
9 years ago
Lucas De Marchi
2591261af6
Global: rename min and max macros to uppercase
...
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
9 years ago
Andrew Tridgell
d8ee9feaac
AC_AttitudeControl: fixed external tail gyro with no flybar
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this sets up the tail pass-through for acro mode
9 years ago
Caio Marcelo de Oliveira Filho
ea08b6115d
AC_AttControl: use millis/micros/panic functions
9 years ago
Randy Mackay
c9340dbeb6
AC_PosControl: run velocity controller z-axis at 400hz
9 years ago
Randy Mackay
dbc8ce1d69
AC_PosControl: default z-axis controller to 400hz
...
No functional change as vehicle code always sets it explicitely
9 years ago
Randy Mackay
323a527734
AC_PosControl: velocity controller uses feed-forward althold
9 years ago
Randy Mackay
4b41710261
AC_AttControl: minor comment fix
9 years ago
Robert Lefebvre
1bc13fb9c0
AC_AttitudeControl_Heli: Add Hover Roll Trim Scalar
9 years ago
Robert Lefebvre
0b33ef3862
AC_AttitudeControl: Add Hover Roll Trim functionality for helicopters.
9 years ago
Robert Lefebvre
62864c9e2b
AC_AttitudeControl_Heli: Remove commented out Cyclic Cross-Coupling code. Will resurrect in future.
9 years ago
Robert Lefebvre
b8ce23970d
AC_AttitudeControl_Heli: Implement Pirouette Compensation
9 years ago
Robert Lefebvre
f39ac7c900
AC_AttitudeControl_Heli: Add initialization of _flags_heli members
9 years ago
Jonathan Challinger
6784fd8625
AC_AttitudeControl: reserve parameter IDs
9 years ago
Lucas De Marchi
831d8acca5
Remove use of PROGMEM
...
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
9 years ago
Randy Mackay
550ba478c9
AC_PosControl: add shift_pos_xy_target
9 years ago
Randy Mackay
16a0281c92
AC_PosControl: remove unused set_vel_target
9 years ago
Randy Mackay
ee0abb1750
AC_PosControl: add set_jerk_xy
9 years ago
Randy Mackay
73f4533995
AC_PosControl: minor comment update
9 years ago