3badcdcfba
AC_PosControl: default gains for sub
7 years ago
61933c6f1c
AC_PosControl: shorten PSC_ACCELZ param to PSC_ACCZ
7 years ago
692e6518cc
AC_AttitudeControl: update param desc values for large copters
7 years ago
691abab95e
AC_AttitudeControl: Update parameter ranges
7 years ago
9c00eb3d5f
AC_PosControl_Sub: move pids to be local
7 years ago
c70d3e0ab8
AC_PosControl: move pids to be local
7 years ago
00037fd50e
AC_PosControl_Sub: replace velocity pi with local pid
7 years ago
3a73ff1e2e
AC_PosControl: replace velocity control with local 2-axis PID
7 years ago
e249e06714
AC_PosControl: minor enhancement to lean_angles_to_accel
7 years ago
d5976442f8
AC_PosControl: minor comment change
...
non-functional change
7 years ago
3ada0f32b0
AC_AttitudeControl: minor comment update
...
Non-functional change
7 years ago
b9ed8b292a
AC_PosControl: pass dt to att control sqrt_controller
7 years ago
62cc25022c
AC_AttitudeControl: protect against overshoot in sqrt controller
7 years ago
75de0cb4ef
AC_AttitudeControl: sqrt_controller accepts dt
7 years ago
cddd815a75
AC_AttitudeControl: comment thrust_heading_rotation_angles
...
non-functional change
7 years ago
3e0c24adf9
AC_PosControl: remove out-of-date comments
7 years ago
569f55f5c6
AC_AttitudeControl:TradHeli - fix for alt_hold angle limiter active at hover collective in Traditional Helicopters
...
add definition for max collective/throttle for helicopters that compensates for negative collective pitch range
and sets proper collective overhead before alt_hold angle limiter becomes effective
7 years ago
fa4427fbce
AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method
7 years ago
bd284d9fd7
AC_PosControl: correct lean-angle-to-accel formula
...
Thanks to @luweikxy for finding this issue!
7 years ago
ebd864d2d2
AC_PosControl: minor update to comments
7 years ago
6315e6eb45
AC_AttitudeControl: remove unused get_tilt_limit_rad
7 years ago
e8173f27df
AC_AttitudeControl: reset target attitude
...
added method to reset current vehicle attitude to support swash
behaviors in Trad Heli
7 years ago
c7c2c4ff2c
AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division
7 years ago
f2efea4e1d
AC_AttitudeControl: added inverted flight support
...
for helis
7 years ago
99aad41955
AC_AttitudeControl: added a update_vel_controller_xy() API
...
this allows for just XY control of velocity for quadplanes
8 years ago
1a25087dd5
AC_AttitudeControl: fixed PIRO_COMP index
...
this is a new conflict due to stricter checking in AP_Param
8 years ago
ed0063d10d
AC_AttControl: save accel max using shorter set_and_save
...
no functional change
8 years ago
0544cf1d82
AC_AttControl: add step input for autotune
8 years ago
d56eca036d
AC_AttitudeControl: correct parameter markup
8 years ago
ad74769fb7
AC_AttControl: adjust default rate IMAX and Yaw Filt
...
Increase Roll, Pitch and Yaw IMAX from 0.444 or 0.222 to 0.5
Decrease Yaw Filter from 5hz to 2.5hz based on the results of autotunes on many vehicles which always seems to produce values between 2 and 3hz
8 years ago
188dfb6936
AC_AttitudeControl: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
8 years ago
3a397584a1
AC_PosControl: z-axis stopping point up to 3m above vehicle
...
Stopping point while descending remains at 2m for safety
8 years ago
6e92f74ca0
AC_PosControl: add clear_desired_velocity_ff_z method
8 years ago
fe3e7e8153
AC_AttitudeControl: added get_throttle_mix()
...
and when we use set_throttle_mix_value(), set both desired and actual
thanks to Leonard for the suggestions
8 years ago
132979b12f
AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero
8 years ago
67097c8d59
AC_AttitudeControl: use gyro_latest
...
This allows moving the attitude control before the ahrs/ekf update
We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions. We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
8 years ago
d79403707b
AC_AttControl: add feed forward param descriptions
...
No functional change
8 years ago
e5ed20d6f7
AC_AttitudeControl: added set_throttle_mix_value()
...
used by quadplane
8 years ago
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
...
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
...
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
...
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
...
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
...
Checks directly above ensure this check can never be true
8 years ago
Randy Mackay
Leonard Hall
ChristopherOlson
Dr.-Ing. Amilcar Do Carmo Lucas
bnsgeyer
Andrew Tridgell
Peter Barker
Jacob Walser
Pierre Kancir
murata