Randy Mackay
|
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 |
|
Randy Mackay
|
71fae1e6f2
|
AC_AttControl: lean_angle_max accessor fn const
|
11 years ago |
lthall
|
21c93e48ab
|
AC_PosControl: include vel error when get_stopping_point_z
Pair programmed with Randy
|
11 years ago |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
9f63de9b59
|
AC_PosControl: set_speed_z accepts positive descent speeds
|
11 years ago |
|
Randy Mackay
|
098f8169b0
|
AC_PosControl: add keep_xy_I_terms method
Stops horizontal PID's I terms from being reset when the controller is
next updated
|
11 years ago |
Ju1ien
|
6c71569775
|
AC_PosControl: update_xy_controller allows not resetting I term
|
11 years ago |
|
Randy Mackay
|
09a35cf90f
|
AC_PosControl: bugfix for freezing I-term build-up
|
11 years ago |
|
Randy Mackay
|
9c6995d8bb
|
AC_PosControl: add get_accel_z method
|
11 years ago |
|
Randy Mackay
|
e565ee6d33
|
AC_PosControl: stop I term build-up when motors at max
|
11 years ago |
|
Randy Mackay
|
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 |
|
Randy Mackay
|
7e376bc517
|
PosControl: update_pos_controller renamed to update_xy_controller
|
11 years ago |
|
Randy Mackay
|
02775e8dc5
|
AC_PosControl: get_accel_target returns const ref
|
11 years ago |
|
Randy Mackay
|
5876a2fe47
|
AC_AttControl: increase default rp accel to 900deg/s/s
|
11 years ago |
|
Randy Mackay
|
b478c3a321
|
AC_AttControl: return angle_ef_targets as const ref
|
11 years ago |
|
Randy Mackay
|
90e205c905
|
AC_PosControl: replace safe_sqrt with pythagorous2
|
11 years ago |
Andrew Tridgell
|
3b8c6e629d
|
AC_AttitudeControl: updated example for new GPS API
|
11 years ago |
|
Randy Mackay
|
3ad635feeb
|
AC_AttControl: 45deg/sec yaw rate for Auto, RTL
|
11 years ago |
|
Randy Mackay
|
7bff8e9312
|
AC_AttControl: constrain earth frame yaw angle error
This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
|
11 years ago |
|
Andrew Tridgell
|
73ae38eaf0
|
AC_AttitudeControl: fixed example build
|
11 years ago |
|
Randy Mackay
|
dd45647626
|
AC_PosControl: update some comments re leash lengths
|
11 years ago |
Holger Steinhaus
|
345115fddd
|
AC_PosControl: fixed leash length calc for descent speed
|
11 years ago |
|
Randy Mackay
|
25ee5d5dc8
|
AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth
pair-programmed with lthall
|
11 years ago |
|
lthall
|
15f88c2a2b
|
AC_AttControl: Stabilize input shaping
|
11 years ago |
jschall
|
024855014f
|
AC_PosControl: update _pos_error if it is being limited
This fixes a bug that causes 10hz throttle noise.
|
11 years ago |
|
Randy Mackay
|
d277b6cabd
|
AC_AttControl: fix @Units parameter descriptions
|
11 years ago |
|
Andrew Tridgell
|
856dfd0ee6
|
AC_AttitudeControl: fixed example build
|
11 years ago |
|
Randy Mackay
|
9130c88f15
|
AC_PosControl: throttle rate to simple P controller
|
11 years ago |
|
Randy Mackay
|
34b62fc078
|
AC_AttControlHeli: add ACCEL_RP_MAX, ACCEL_Y_MAX
|
11 years ago |
|
lthall
|
b8d9bdb794
|
AC_AttControl: accel limit for roll, pitch yaw rates
|
11 years ago |
|
Randy Mackay
|
c35bd84e21
|
AC_AttControl: fix example sketch
|
11 years ago |
|
Randy Mackay
|
451910fc94
|
AC_AttControlHeli: replace APM_PI with AC_P
|
11 years ago |
|
Randy Mackay
|
ff9f4fe6e7
|
AC_AttControl: replace APM_PI with AC_P
|
11 years ago |
|
Randy Mackay
|
94fb9c4274
|
AC_PosControl: replace APM_PI with AC_P
|
11 years ago |
|
Randy Mackay
|
a6ad51b38f
|
AC_AttControl: rename most methods
|
11 years ago |
|
lthall
|
65c2fc0cc6
|
AC_AttControl: ACRO fixes
|
11 years ago |
|
Randy Mackay
|
78c12eaebf
|
AC_PosControl: get_pos_xy_kP accessor method
|
11 years ago |
|
Randy Mackay
|
8baf5ebf4a
|
AC_AttControlHeli: use motor accessors to set roll, pitch, yaw, thr
|
11 years ago |
|
Randy Mackay
|
f216cffb77
|
AC_AttControl: use motor accessors to set roll, pitch, yaw, thr
Saves 8bytes of RAM
|
11 years ago |
|
Randy Mackay
|
98224db1e4
|
AC_AttControl: Leaonard's rate feedforward
Also saves 24bytes of RAM
|
11 years ago |
|
Randy Mackay
|
5f89e9e746
|
AC_AttControl: bug fix to yaw rate limit
|
11 years ago |
|
Randy Mackay
|
d76180d605
|
AC_AttControl: use trig values from ahrs
|
11 years ago |
|
Randy Mackay
|
8b8d6a8e01
|
AC_PosControl: use trig values from ahrs
|
11 years ago |
|
Randy Mackay
|
082c5021ee
|
AC_AttControlHeli: add comments
|
11 years ago |
|
Randy Mackay
|
a7504faa7d
|
TradHeli: empty angle_boost for trad heli
|
11 years ago |
|
Randy Mackay
|
eda376c7f6
|
AC_AttControl: init_targets() clears body frame angle errors
This should ensure that we don't get sudden jerks when entering acro
mode
|
11 years ago |
|
Randy Mackay
|
2643ee9724
|
AC_AttControl_Heli: adjust for new slew_yaw param
|
11 years ago |
|
Randy Mackay
|
2db24659d0
|
AC_AttControl: add slew_yaw
|
11 years ago |
|
Randy Mackay
|
959f5ec3b2
|
AC_AttControl: tradheli add RATE_RP_MAX
|
11 years ago |
