58257e3858
AC_AttControl: set rate D term filter from ins filter
11 years ago
329118b7c9
Copter: AC_ATT correct yaw error calculation
11 years ago
90dc9411a5
Copter: ACRO Error calculation fix
11 years ago
a9153519dc
AC_AttitudeControl: fixed example build
11 years ago
e0fc2dd50e
AC_PosControl: remove 20cm on takeoff
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
e550c1e9a3
AC_PosControl: add set_alt_target_to_current_alt method
11 years ago
424cb1aeca
AC_AttControl: fix example sketch
11 years ago
6df2890fd8
AC_AttitudeControl: fixed example build
11 years ago
c2f8571f37
AC_AttControl: FF and accel limiting off by default
...
Also adjust parameter ranges used by GCSs
11 years ago
eebd32f306
AC_AttControl: remove duplicate rate_ef_desired to resolve compiler warning
11 years ago
fb55658c91
Copter: Acro use same error limit in all three axis
11 years ago
2889f5abc4
AC_AttControl: Fix feedforward behavior
11 years ago
581838b271
AC_AttControl: initialise _acro_angle_switch
...
Resolves a compiler warning
11 years ago
83a84c7b90
AC_AttControl: add empty virtual destructor
...
This resolves pixhawk bricking and reduces one compiler warning
11 years ago
6e66cf43cb
AC_AttitudeControl: Use bias-corrected angular rates instead of raw gyro measurements
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
76507a9e67
AC_AttControlHeli: remove hal declaration to clear compiler warning
11 years ago
5128991a84
AC_AttControlHeli: cast fabs to float to resolve compiler warning
11 years ago
0f7178e447
AC_AttControl: cast fabs to float to resolve compiler warning
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
a7f6a91827
AC_AttitudeControl_Heli: Remove ToDo. Rate controllers should always run even if throttle is zero.
11 years ago
971411e0db
AC_AttControl: fixed typo in parameter description
11 years ago
5f623ac859
AC_AttControl: re-enable rate feedforward by default
...
Roll and Pitch rate controllers became sluggish without feed-forward
enabled.
11 years ago
8af876fe8a
AC_AttitudeControl: fixed build
...
includes are case sensitive on the build server
11 years ago
26be7aed97
AC_AttControl_Heli: Add LPF filter to Rate Feedforward terms
11 years ago
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
0c9a496262
AC_AttControlHeli: add ATC_RATE_FF_ENAB parameter
...
Because this class inherits from AC_AttitudeControl library this new
parameter must be added here as well
11 years ago
46f25c52a4
AC_AttControl: allow enabling/disabling feedforward and accel limiting
11 years ago
130eb07d48
AC_AttControl: angle_ef_roll_pitch_rate_ef_yaw supports zero yaw accel
11 years ago
02b4b21f67
AC_AttControl: disable feed forward by default
...
Can be re-enabled by setting ATC_RATE_FF_ENAB parameter to 1
11 years ago
b57c0dabf6
AC_AttControl: check accel_rp_max instead of rate_bff_ff_enabled
...
We use the accel_rp_max, accel_y_max to check whether to apply accel
limiting or not. This is related to separate from the
body-frame-feed-forward.
11 years ago
2bb30b3ef9
AC_AttControl: add set_yaw_target_to_current_heading method
11 years ago
d9c966c927
AC_AttControl: RATE_FF_ENAB param to disable rate feed forward
11 years ago
4d4c7a2118
AC_AttControl: move freeze_ff to flags structure
11 years ago
a662f87ffb
AC_AttControl: remove resolved To-Do
...
This To-Do is resolved by heli flight modes calling the
relax_bf_rate_controller method
11 years ago
7f734f38d6
AC_AttControl: add earth frame angle constraints
...
This should help recovery time if pilot switches out of ACRO (into
Stabilize, AltHold, etc) while inverted
11 years ago
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
Randy Mackay
lthall
Andrew Tridgell
Jonathan Challinger
Robert Lefebvre