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
011bc0a350
AC_AttControl: add reset_rate_controller_I_terms()
9 years ago
80bda572ba
AC_AttutudeControl: Yaw shift fix
9 years ago
8737f6b62d
AC_AttitudeControl: enhanced quaternion attitude controller
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
35ef761deb
AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli
9 years ago
6330060e49
AC_AttitudeControl: added monitoring of controller error
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use RMS P+I+FF output. Thanks to Leonard for the suggestion
9 years ago
4a06ca4be2
AC_AttControl: remove unused call to motors.set_stabilizing
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Also minor change to order of a call to motors library to make stabilizing
and non-stabilizing calls consistent.
Non functional change
9 years ago
b30606bb22
AC_AttControl: remove scaling for centi-degrees and legacy motor input
9 years ago
17c9db08f3
AC_AttControl: add angle and rate PIDs
9 years ago
979534279a
AC_AttControl: roll, pitch, yaw output to motors in -1 to +1 range
9 years ago
2822b93cd4
AC_AttControl: add get_throttle_in accessor
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Used for logging only
9 years ago
c0f209fa42
AC_AttControl: angle_boost to float
9 years ago
e946e047e6
AC_AttitudeControl: add attitude_controller_run functions, call from input functions
9 years ago
5ddd332277
AC_AttControl: add ANGLE_BOOST param
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This allows disabling angle boost
9 years ago
86bb03aa79
AC_AttControl: use ahrs get_rotation_body_to_ned
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ahrs.get_dcm_matrix renamed to ahrs.get_rotation_body_to_ned
9 years ago
46e6ff3ca9
AC_AttitudeControl: modify comment on kinematic correction feedforward
9 years ago
829d6037fc
AC_AttitudeControl: convert euler rates to angular velocity using the correct attitude
9 years ago
ae3357baee
AC_AttitudeControl: rotate angular velocity feedforward into vehicle frame
9 years ago
3d4bd92b48
AC_AttitudeControl: add helper functions to retrieve rotation matrices
9 years ago
ee8090e25f
AC_AttitudeControl: reflect renamed function in AP_AHRS
9 years ago
02eda4dcab
AC_AttControl: remove comment, fix formatting
9 years ago
3a06edcee3
AC_AttitudeControl: rename local variable to match naming convention
9 years ago
846ee7d2af
AC_AttitudeControl: fix regression in angular velocity controller
9 years ago
b8223771d3
AC_AttitudeControl: properly protect sqrt_controller from nonpositive acceleration limits
9 years ago
162d2a9112
AC_AttitudeControl: naming changes in response to Leonard's review
9 years ago
0baf86c485
AC_AttitudeControl: fixup more names
9 years ago
41e580e53a
AC_AttitudeControl: add input_att_quat_bf_ang_vel and use for ACRO
9 years ago
5919e95635
AC_AttitudeControl: add input_ prefix to input shaper functions
9 years ago
bba360ea2b
AC_AttitudeControl: correct bugs found in review
9 years ago
f8c709478a
AC_AttitudeControl: quaternion acro controller
9 years ago
8b886bc479
AC_AttitudeControl: minor comment changes and reorganization
9 years ago
edda7e4e1e
AC_AttitudeControl: keep _att_target_euler_deriv_rads updated in euler_angle_roll_pitch_yaw
9 years ago
1afab89991
AC_AttitudeControl: extensive renaming and recommenting
9 years ago
06c8457efd
AC_AttitudeControl: rename and modify frame_conversion functions to follow conventions
9 years ago
7330de86e5
AC_AttitudeControl: change internals to use radians instead of centidegrees
9 years ago
58f0abaf4c
AC_AttitudeControl: fixed one usage of zero accel limits
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in other places zero accel limit means no limit
9 years ago
4b41710261
AC_AttControl: minor comment fix
9 years ago
0b33ef3862
AC_AttitudeControl: Add Hover Roll Trim functionality for helicopters.
9 years ago
6784fd8625
AC_AttitudeControl: reserve parameter IDs
9 years ago
831d8acca5
Remove use of PROGMEM
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Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
9 years ago
c8872e082d
AC_AttControl: rename set_throttle_out parameter
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No functional change
10 years ago
29ff5035b4
AC_AttControl: limit lean angle from throttle
10 years ago
d49f10d2e5
AC_AttitudeControl: standardize inclusion of libaries headers
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This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
10 years ago
0bf1d04172
AC_AttControl: relax earth frame rate targets along with bf
10 years ago
93dd7dd970
AC_AttControl: get_boosted_throttle purely virtual
10 years ago
Leonard Hall
Randy Mackay
Andrew Tridgell
Jonathan Challinger
Robert Lefebvre
Lucas De Marchi
Gustavo Jose de Sousa