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
4d4c7a2118
AC_AttControl: move freeze_ff to flags structure
11 years ago
8bbce7e658
AC_PosControl: freeze feed forward for alt control in Auto
11 years ago
0d87298221
AC_PosControl: freeze feed forward and vector fixes
11 years ago
2b0f142a17
AC_PosControl: fix typo in D-filter definition
11 years ago
29ca7a10df
AC_PosControl: set alt hold accel control D term filter
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
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
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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
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
90e205c905
AC_PosControl: replace safe_sqrt with pythagorous2
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
024855014f
AC_PosControl: update _pos_error if it is being limited
...
This fixes a bug that causes 10hz throttle noise.
11 years ago
9130c88f15
AC_PosControl: throttle rate to simple P controller
11 years ago
94fb9c4274
AC_PosControl: replace APM_PI with AC_P
11 years ago
8b8d6a8e01
AC_PosControl: use trig values from ahrs
11 years ago
551836c49d
AC_PosControl: make some methods const
11 years ago
26b257c8ba
AC_AttControl: alternative get_stopping_point_z
11 years ago
1b8791a142
AC_PosControl: remove debug
11 years ago
de34359808
AC_PosControl: recalculate leash when speed or accel modified
11 years ago
80ae3dca2e
AC_PosControl: remove debug
11 years ago
bbcf8cc84c
AC_PosControl: add horizontal pos control
11 years ago
3ce1c0a9d5
AC_PosControl: add get_alt_error method
11 years ago
8988b48ad8
AC_PosControl: add init take-off
11 years ago
dcac124105
AC_PosControl: add throttle controller
11 years ago
05bb943a69
AC_AttControl: first draft of PosControl class
11 years ago
c9415a08f1
AC_WPNav: use ahrs trig values
11 years ago
5767aa47d9
AC_WPNav: reduce leash length for stopping
...
We now limit the target stopping point to 1x the xy leash length while
previously it was 2x. This is justified because this limit is only used
when the copter is travelling at higher speeds but at higher speeds air
drag tends to make the copter stop more quickly naturally.
11 years ago
952afd296e
Copter: initialise waypoint leash length
...
Without this initialisation the first RTL could be too aggressive as it
tries to stop too suddenly
11 years ago
30fffa5854
AC_WPNav: fixed some build warnings
11 years ago
c3309d909c
AC_WPNav: make more member pointers const
11 years ago
bb5cf4a311
AC_WPNav: make member pointer to AP_InertialNav object const since it's
...
never modified
11 years ago
1ecb583dd9
AC_WPNav: replace unnecessary objects with const refs
11 years ago
45aeb1a921
Copter: split up loiter into 4 steps
...
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
12 years ago
6969ab573d
Copter: configurable max lean angle
...
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
12 years ago
bf5a50f738
WPNav: stopping point projection uses wp_leash
12 years ago
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
...
Also removed unused _lean_angle_max variable
12 years ago
204f613467
WPNav: bug fix to reported distance to target
...
This value is for reporting purposes only
12 years ago
518eba0729
WPNav: bug fix to loiter accel calculation
...
Contribution from Leonard Hall
12 years ago
c4f17b3235
WPNav: rounding error fix in loiter
...
Contributed by Leonard Hall
12 years ago
Randy Mackay
lthall
lthall
Ju1ien
Holger Steinhaus
jschall
Andrew Tridgell
Tobias