0e124d0be5
AC_PosControl: Add AC_PosControl_Sub class
8 years ago
925fa5d214
AC_AttitudeControl: Add AC_AttitudeControl_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
5acbf5d16e
AC_AttitudeControl: use FF from AC_PID
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
189b766f2b
AC_AttControl: remove redundant parameter set
8 years ago
c6d2fc3d5d
AC_AttitudeControl: add rpy mix manual
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This allows adjusting the attitude control vs throttle level in manual
flight modes (Stabilize, ACRO)
8 years ago
5cf1c0869d
AC_AttitudeControl: expose all functions via abstract class
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this allows for a single class to be used for heli and multicopter
8 years ago
8419045aea
Spell in comments
8 years ago
421524951f
AC_PosControl: remove unnecessary parentheses
8 years ago
bcdd836820
AC_AttControl: remove unnecessary check of thr-mix-min
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Checks directly above ensure this check can never be true
8 years ago
8af192ed9d
AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0
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The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
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
ea0e413b04
AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero
8 years ago
2e2d39e628
AC_AttitudeControl: add missing parameter metadata
8 years ago
42672de606
AC_PosControl: set Alt_Hold filter for PID not just D
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We normally don't use the D term here so setting the filter for PID not
just D lets us smooth the throttle response.
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
77dbf99cee
AC_PosControl: fix bug related to ekfNavVelGainScaler
8 years ago
3adf8c3e51
AC_AttitudeControl: comment odd math in get_att_target_euler_cd
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degree(100) = 1 float multiplicaiton
vector3f * degree(100.0f) = 4 float multiplications
degree(vector3f) * 100.0f = 6 float multiplications and needs new degree(vector3f) function
degree(vector3f * 100.0f) = 6 float multiplications and needs new degree(vector3f) function
These all come to the same conclusion but the one that is faster appears to be a bug but is mathematically correct.
8 years ago
fdcdcb0033
AC_PosControl: check Z-axis accel imax can always overpower hover throttle
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This removes the possibility of the vehicle constantly climbing if the hover throttle becomes a very large value
9 years ago
44830be172
AC_AttControl: add parameter check of throttle mix
9 years ago
535158e0d8
AC_AttControl: move var_info declaration
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No functional change
9 years ago
29d4790fc7
AC_AttControl: reduce max_rate_step based on hover throttle
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This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
9 years ago
50b694444b
AC_AttControl: correct method comments
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No functional change
9 years ago
34055944cd
AC_PosControl: fix relax_alt_hold_controllers
9 years ago
24044e5611
AC_AttControl: get_throttle_avg_max always returns value in 0 to 1 range
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throttle_avg_max is the total average throttle level (expressed as a number from 0 to 1) that the motors can safely be raised to in order to maintain attitude control. This level can be higher than the pilot's or autopilot provided throttle level.
Previously passing in a negative throttle_in could result in a negative throttle_avg_max being returned.
9 years ago
ac04fcd836
AC_AttControl: fix set_yaw_target_to_current_heading
9 years ago
011bc0a350
AC_AttControl: add reset_rate_controller_I_terms()
9 years ago
d5c18dc987
AC_AttControl: remove unused 100hz definition
9 years ago
630e5378da
AC_PosControl: add get_horizontal_error
9 years ago
80bda572ba
AC_AttutudeControl: Yaw shift fix
9 years ago
8737f6b62d
AC_AttitudeControl: enhanced quaternion attitude controller
9 years ago
117ae89505
AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec
9 years ago
a1548405c1
AC_AttitudeControlHeli: fix althold lean angle max
9 years ago
d1b28aaed9
AC_AttitudeControl: fixed factor of 1000 error in init_takeoff
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
b27da7699e
AC_AttitudeControlMulti: get_throttle_avg_max made private
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Also fixed up method's description
9 years ago
da946288a2
AC_AttitudeControl: rename throttle_ave_max to throttle_avg_max
9 years ago
570920c7d7
AC_AttitudeControlMulti: run control_monitor_update in rate_controller_run
9 years ago
1639e22b74
AC_AttitudeControl: set desired_vel for reporting purposes even when not used
9 years ago
558f29b95c
AC_AttitudeControl: control mixing made protected
9 years ago
9bd8878c8b
AC_AttitudeControlHeli: fix update_althold_lean_angle_max
9 years ago
096bdd67f8
AC_AttitudeControl: add ATC_ANG_LIM_TC parameter
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This allow adjusting the reponse to limit lean angles to reduce altitude loss
9 years ago
dafc45eb26
AC_AttitudeControl: move get_althold_lean_angle_max to parent class
9 years ago
3d27ecca92
AC_AttitudeControl: add TC for Alt_Hold angle limit
9 years ago
7ff0fcb25d
AC_AttitudeControl: multicopter specific rate_controller_run
9 years ago
b7431b7d0c
AC_AttitudeControl: update throttle rpy mix on every iteration
9 years ago
Jacob Walser
Andrew Tridgell
Randy Mackay
Leonard Hall
Dr.-Ing. Amilcar Do Carmo Lucas
Pierre Kancir
murata
Peter Barker
Mathieu OTHACEHE
Jonathan Challinger
Tom Pittenger