738b1967ad
AC_PosControl: use LowPassFilterVector2f
10 years ago
87500d9d70
AC_AttitudeControl: use new lowpass filter
10 years ago
c2a6a0a9e2
AC_PosControl: add accel filter parameter
10 years ago
a632a57d79
AC_PosControl: accessors to log z-axis vel and accel
10 years ago
0aca3c4be6
AC_PosControl: add relax Alt Hold controllers
10 years ago
7cb3c4ba39
AC_PosControl: add feed forward to Alt Hold
10 years ago
3e0dab7b2d
AC_PosControl: remove accel error filter and set throttle output filter instead
10 years ago
7abd02baf2
AC_PosControl: change int32/int16 to float in accel_to_throttle
10 years ago
d14893fcd5
AC_PosControl: don't limit throttle any more
10 years ago
48fb487a8c
AC_AttitudeControl: Formatting fix
10 years ago
9a3f48cc1f
AC_PosControl: ensure throttle output above zero
10 years ago
bb74b8dec8
AC_PosControl: fix twitch when entering RTL
...
Also removed slow_cpu flag
Fixed bug in update to _accel_target_jerk_limited.
10 years ago
88ec13b10d
AC_PosControl: fix build
10 years ago
50d2e98aa4
AC_AttControl: init throttle_hover in constructor
10 years ago
965db2c7f7
AC_PosControl: add comments and defines for jerk limits
10 years ago
4408c1b935
AC_PosControl: 2d jerk constraint in accel_to_lean_angles
10 years ago
9871b95586
AC_PosControl: fix dt sanity checking
10 years ago
7de5bccc93
AC_PosControl: remove THR_HOVER parameter
...
Parameter is set by main code so no need to store to eeprom
10 years ago
9866eaded1
AC_PosControl: rename p_alt_pos to p_pos_z
...
Also pid_alt_accel to pid_accel_z
10 years ago
349f1aeceb
AC_PosControl: use 2-axis PI controller
10 years ago
8d4f0ec80c
AC_PosControl: integrate PID input filter
10 years ago
e9bbe062f3
AC_PosControl: modify accel_to_lean_angles to apply filters before yaw rotation
10 years ago
186337f18e
AC_PosControl: rename xy_mode enum values
...
Also added a few comments and fixed formatting
10 years ago
3faca88423
AC_PosControl: allow control of xy rate constraint behavior
10 years ago
14d76d158a
AC_AttitudeControl: Correct comment.
10 years ago
07a0388f25
AC_PosControl: move alt limit to set_alt_target_from_climb_rate
...
The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
10 years ago
02f3f96310
AC_PosControl: Enable altitude limit checking.
10 years ago
aeecc46f7b
AC_PosControl: remove unnecessary set of desired_accel
...
The desired_accel is set again 11 lines lower so this line did nothing.
10 years ago
9ebd0e9960
AC_PosControl: reincarnate dead block of code
10 years ago
a580cd83e8
AC_PosControl: Fill _vel_desired.z for reporting
10 years ago
2a5a133bbf
AC_AttControl: remove deprecated trigger_xy method
10 years ago
557d339cf1
AC_PosControl: remove various unnecessary timing hacks
10 years ago
d6e455417f
AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller
10 years ago
12ea1d6e85
AC_AttitudeControl: Scale angle demand noise filter
...
Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
10 years ago
e80b1c67cd
AC_AttitudeControl: Add EKF optical flow noise gain scaler
...
Allows gains to be adjusted to compensate for optical flow noise
10 years ago
2dff76394d
AC_PosControl: Add spike and noise filter to demanded angles
...
This has been done to provide a smooth psotion hold when using an optical flow aided EKF which can be noisy.
Signed-off-by: priseborough <p_riseborough@live.com.au>
10 years ago
bfe71fea82
AC_PosControl: Use blended accelerometer measurement in altitude control
10 years ago
e81c1dd5a1
AC_PosControl: add force_descend option to set_alt_target_from_climb_rate
10 years ago
ac7ea2a12c
AC_PosControl: use AttControl's sqrt_controller
10 years ago
779baa006d
AC_PosControl: Use sqrt_controller function
10 years ago
a1cfd03c9b
AC_PosControl: bug fix dt calculation
...
fixes issue in which now could be earlier than _last_update_xy_ms
leading to a large dt value and a sudden lean on takeoff
10 years ago
4a397a8d67
AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy
10 years ago
1754cacf3c
AC_PosControl: remove completed to-do comments
10 years ago
cf3b2be99c
AC_PosControl: 4hz filter on z-axis velocity error
11 years ago
665f353416
AC_PosControl: 2hz filter on accel error
...
Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
11 years ago
1362bdc338
AC_PosControl: smooth take-off with accel PID's I term
...
This avoids an instantaneous jump in throttle during take-off by loading
the accel PID's I term with the expected change in throttle level
11 years ago
70568225a6
AC_PosControl: init members to resolve compiler warnings
11 years ago
9233bbab14
AC_PosControl: cast fabs to float to resolve compiler warnings
11 years ago
762bb3e6e8
AC_AttitudeControl: Limit _pos_target.z to below alt_max before computing error
11 years ago
5f66027ba3
AC_AttitudeControl: Fixup some minor mistakes in AC_PosControl
11 years ago
Jonathan Challinger
Leonard Hall
Randy Mackay
Robert Lefebvre
priseborough