b276034c60
APM_Control: correct use of incorrect abs functions
6 years ago
e443b864c6
AR_AttitudeControl: add sail heel PID
6 years ago
3ab7fe348a
APM_Control: halve the default pitch D term for planes
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this is based on feedback from the 3.9.1 release
6 years ago
d7d6c6ab04
AR_AttitudeControl: clarify units of get_steering_out_heading argument
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also update comments
7 years ago
96097586c3
AR_AttitudeControl: reset I if speed controller not called recently
7 years ago
106b8abab7
AR_AttitudeControl: get_throttle_out_from_pitch accepts vehicle speed
7 years ago
d5ef3c2e0f
AR_AttitudeControl: get_throttle_out_from_pitch uses motor limits
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This allows removing I-term build up from throttle hitting 100%
7 years ago
65b020eac3
AR_AttitudeControl: re-order pitch control to match other similar methods
7 years ago
9e2933df89
APM_Control: raised default PID gains for roll/pitch
7 years ago
1c18d06aa3
AR_AttitudeControl: move unnecessary else
7 years ago
9b60e0844b
AR_AttitudeControl: add get_desired_pitch accessor
7 years ago
ccb32cf357
APM_Control: BRAKE param default is true
7 years ago
1dc1b28234
APM_Control: changed default PID for Balance Bot
7 years ago
9eebb6225a
AR_AttitudeControl: brake fix to set limit in only one direction
7 years ago
30b3d63e8a
APM_Control: New default PID values for balance bots
7 years ago
ce182fd307
APM_Control: fixed test condition in AR_AttutudeControl.cpp
7 years ago
97a260a980
APM_Control: get_throttle_out_from_pitch() accepts dt as argument
7 years ago
657ff06380
APM_Control: added balancing function for BalanceBot
7 years ago
5e7b37f0b2
AR_AttitudeControl: remove constraint on steering output
7 years ago
b614ca9b75
AR_AttitudeControl: disable limits when _ACCEL_MAX is zero
7 years ago
67475a9eaa
AR_AttitudeControl: reset turn-rate I term if not run for 0.2sec
7 years ago
2c41db9e4d
AP_RollController.cpp: Updated description of ArduPlane Roll Controller for accuracy
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AP_RollController's get_servo_out function does not return an elevator deflection as was previously described in the function comments.
Instead, it should return an aileron deflection. Thus, the function description should be updated to reflect this more accurately
7 years ago
e691b680ca
AR_AttitudeControl: add speed-control-active method
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allows caller check if speed controller if active
also consolidated other methods to use this check to reduce a little bit of duplicate code
7 years ago
3b71d0360a
AR_AttitudeControl: const get_decel_max and get_stopping_distance
7 years ago
84b1a6a58b
APM_Control: Supress some compilier warnings about strncpy
7 years ago
a7fbfe7767
AR_AttitudeControl: caller provides dt instead of calculated internally
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This allows the vehicle's main loop rate to be used instead of an internally calculated dt which suffers from jitter
7 years ago
c032095c80
AR_AttitudeControl: reduce default accel max to 2m/s/s
7 years ago
856d592b1d
AR_AttitudeControl: accel limit stops
7 years ago
832778e471
AR_AttitudeControl: add separate decel limit
7 years ago
f6c06496e2
AR_AttitudeControl: fix accel limiting
7 years ago
a9ee949c32
AR_AttitudeControl: limit desired steering rate
7 years ago
56672c1c28
AR_AttitudeControl: fix get_steering_out_rate use of max turn rate and acceleration
7 years ago
9feaf9cfdd
AR_AttitudeControl: const some internal variables
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non-functional change
7 years ago
fa76a7c904
AR_AttitudeControl: get-steering-out-lat-accel uses negative speeds
7 years ago
5563691bd1
AR_AttitudeControl: assume positive steering output rotates vehicle clockwise
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also remove steering scaling by speed which has been moved to AR_MotorsUGV
7 years ago
ce44326ba8
AR_AttitudeControl: fix get_steering_out_heading while reversing
7 years ago
0f9b679e98
AR_AttitudeControl: increase angle err P and reduce steering accel max defaults
7 years ago
3f1f68b130
AR_AttitudeControl: support vectored thrust
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steering output is not scaled for speed
steering integrator does not build up at low speed
7 years ago
9c2da896b9
AR_AttitudeControl: get_throttle_out_stop only stops once desired speed reaches zero
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this reduces the final jerk to a when transitioning from forward to reverse and in cases where ATC_ACCEL_MAX is small
7 years ago
365e1030db
AR_AttitudeControl: separate speed limiting to new method
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This allows the desired speed limiting (by acceleration) to be done before the speed-to-throttle PID controller is run.
This is required so the avoidance calls (which work on the desired speed) can be run after limiting but before the PID controllers
7 years ago
23ed735304
AR_AttitudeControl: reduce default steering I gain to 0.2
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Also reduce default filter from 50hz to 10hz
7 years ago
27234f78c6
AR_AttitudeControl: Allow using steer rate control for skid steer rovers without GPS
7 years ago
a8857726d1
AR_AttitudeControl: replace get_steering_out_angle_error with heading
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internally uses AHRS's heading to determine angle error so overally a non-functional change
7 years ago
e6f8021519
AR_AttitudeControl: add angular accel and rate limits
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This limits the change in desired turn rate to reduce impossible requests which should help avoid overshoot
Also add rotation rate limit to turn-rate controller
7 years ago
57f2eb6853
AR_AttitudeControl: minor comment fix
7 years ago
e2de9d62cd
APM_Control: use ins singleton
7 years ago
89725a7aa5
AR_AttitudeControl: minor comment fix
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non-functional change
7 years ago
d139f0e28e
AR_AttitudeControl: add get_stopping_distance
7 years ago
54d8a4852f
AR_AttitudeControl: reduce steer rate P default to 0.2
7 years ago
2aeda48512
AR_AttitudeControl: minor arg name fix
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non-functional change
7 years ago
Peter Barker
IamPete1
Andrew Tridgell
Randy Mackay
Ebin
Ammarf
disgruntled-patzer
Michael du Breuil
Daniel Widmann