Tree: 24f6aee93c

c415-sdk

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celiu-4.0.17-rc8

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mission-4.1.18

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Commit Graph

529 Commits (24f6aee93ce4cd275c3df7571b288b03a13f5228)

Author	SHA1	Message	Date
Leonard Hall	bd284d9fd7	AC_PosControl: correct lean-angle-to-accel formula ... Thanks to @luweikxy for finding this issue!	7 years ago
Leonard Hall	ebd864d2d2	AC_PosControl: minor update to comments	7 years ago
Randy Mackay	6315e6eb45	AC_AttitudeControl: remove unused get_tilt_limit_rad	7 years ago
bnsgeyer	e8173f27df	AC_AttitudeControl: reset target attitude ... added method to reset current vehicle attitude to support swash behaviors in Trad Heli	7 years ago
Dr.-Ing. Amilcar Do Carmo Lucas	c7c2c4ff2c	AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division	7 years ago
Andrew Tridgell	f2efea4e1d	AC_AttitudeControl: added inverted flight support ... for helis	7 years ago
Andrew Tridgell	99aad41955	AC_AttitudeControl: added a update_vel_controller_xy() API ... this allows for just XY control of velocity for quadplanes	8 years ago
Andrew Tridgell	1a25087dd5	AC_AttitudeControl: fixed PIRO_COMP index ... this is a new conflict due to stricter checking in AP_Param	8 years ago
Leonard Hall	ed0063d10d	AC_AttControl: save accel max using shorter set_and_save ... no functional change	8 years ago
Leonard Hall	0544cf1d82	AC_AttControl: add step input for autotune	8 years ago
Peter Barker	d56eca036d	AC_AttitudeControl: correct parameter markup	8 years ago
Leonard Hall	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
Dr.-Ing. Amilcar Do Carmo Lucas	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
Randy Mackay	3a397584a1	AC_PosControl: z-axis stopping point up to 3m above vehicle ... Stopping point while descending remains at 2m for safety	8 years ago
Leonard Hall	6e92f74ca0	AC_PosControl: add clear_desired_velocity_ff_z method	8 years ago
Andrew Tridgell	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
Randy Mackay	132979b12f	AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero	8 years ago
Randy Mackay	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
Randy Mackay	d79403707b	AC_AttControl: add feed forward param descriptions ... No functional change	8 years ago
Andrew Tridgell	e5ed20d6f7	AC_AttitudeControl: added set_throttle_mix_value() ... used by quadplane	8 years ago
Jacob Walser	0e124d0be5	AC_PosControl: Add AC_PosControl_Sub class	8 years ago
Jacob Walser	925fa5d214	AC_AttitudeControl: Add AC_AttitudeControl_Sub class	8 years ago
Andrew Tridgell	1345bf8737	AC_AttitudeControl: added support for AP_AHRS_View ... this allows for tailsitters with a different attitude view	8 years ago
Andrew Tridgell	5acbf5d16e	AC_AttitudeControl: use FF from AC_PID	8 years ago
Randy Mackay	ff042528fe	AC_PosControl: remove alt_max ... AC_Avoidance enforces the altitude limit	8 years ago
Randy Mackay	127404acea	AC_PosControl: add get_pos_z_kP accessor	8 years ago
Randy Mackay	189b766f2b	AC_AttControl: remove redundant parameter set	8 years ago
Leonard Hall	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
Andrew Tridgell	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
Dr.-Ing. Amilcar Do Carmo Lucas	8419045aea	Spell in comments	8 years ago
Pierre Kancir	421524951f	AC_PosControl: remove unnecessary parentheses	8 years ago
murata	bcdd836820	AC_AttControl: remove unnecessary check of thr-mix-min ... Checks directly above ensure this check can never be true	8 years ago
Leonard Hall	8af192ed9d	AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0 ... 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
Randy Mackay	1012333eef	AC_PosControl: add ekf position reset handling ... 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
Leonard Hall	ea0e413b04	AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero	8 years ago
Peter Barker	2e2d39e628	AC_AttitudeControl: add missing parameter metadata	8 years ago
Leonard Hall	42672de606	AC_PosControl: set Alt_Hold filter for PID not just D ... 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
Mathieu OTHACEHE	152edf7189	Global: remove mode line from headers ... 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
Jonathan Challinger	5a8db4f271	AC_PosControl: add interface to override horizontal velocity process variable	8 years ago
Jonathan Challinger	77dbf99cee	AC_PosControl: fix bug related to ekfNavVelGainScaler	8 years ago
Tom Pittenger	3adf8c3e51	AC_AttitudeControl: comment odd math in get_att_target_euler_cd ... 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
Leonard Hall	fdcdcb0033	AC_PosControl: check Z-axis accel imax can always overpower hover throttle ... This removes the possibility of the vehicle constantly climbing if the hover throttle becomes a very large value	9 years ago
Randy Mackay	44830be172	AC_AttControl: add parameter check of throttle mix	9 years ago
Randy Mackay	535158e0d8	AC_AttControl: move var_info declaration ... No functional change	9 years ago
Leonard Hall	29d4790fc7	AC_AttControl: reduce max_rate_step based on hover throttle ... This changes reduces AutoTune's twitch size based on the hover throttle This method is only used by AutoTune	9 years ago
Leonard Hall	50b694444b	AC_AttControl: correct method comments ... No functional change	9 years ago
Leonard Hall	34055944cd	AC_PosControl: fix relax_alt_hold_controllers	9 years ago
Randy Mackay	24044e5611	AC_AttControl: get_throttle_avg_max always returns value in 0 to 1 range ... 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
Leonard Hall	ac04fcd836	AC_AttControl: fix set_yaw_target_to_current_heading	9 years ago
Leonard Hall	011bc0a350	AC_AttControl: add reset_rate_controller_I_terms()	9 years ago