ba3303dc61
AC_PosControl: set-alt-target-with-slew sets desired to 0 once at target
...
This resolves and issue with the set-alt-target-with-slew method leaving the z-axis desired velocity at the max speed-up or speed-down
this causes a jump in throttle if the user switches to Loiter after the vehicle has reached its target
6 years ago
dcd930497a
AC_AttitudeControl: AC_PosControl: avoid calling norm()
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The result of this won't be used as often as this loop is called
6 years ago
dabe8a13f7
AC_AttitudeControl: use EKF singleton to get ekfNavVelGainScaler
6 years ago
1d13aff711
AC_AttitudeControl: Rename several set_speed and set_accel functions
6 years ago
b15b5516cb
AC_PosControl: Fix divide by zero check in limit_vector_length
7 years ago
5863b84c35
AC_PosControl: reduce glitch on init
7 years ago
334ff0fb66
AC_AttitudeControl: Prevent DCM fallback from triggering a flyaway
7 years ago
ac82a37728
AC_PosControl: run horiz control at main loop rate
7 years ago
13007e2a07
AC_PosControl: dataflash logging of PSC message
7 years ago
69cfea4057
AC_PosControl: use float for local consts
7 years ago
dadc6a63c4
AC_PosControl: add set_leash_length_xy
7 years ago
e5bc2b26fe
AC_PosControl: add lean angle max
7 years ago
0f3645b061
AC_PosControl: increase velocity gains
7 years ago
7ec043502f
AC_PosControl: add accel limit to xy controller
7 years ago
bd13704f6f
AC_PosControl: update init for guided
7 years ago
85b7f06554
AC_PosControl: combine z position control into single method
7 years ago
993e638752
AC_PosControl: combine xy position control into single method
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Also always limit lean angle to maintain altitude
7 years ago
74bb7616a7
AC_PosControl: add accel feedforward
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also add limit_vector_length and sqrt_controller helper functions
enforce angle limits
rename accel-feedforward to accel-desired
remove freeze_ff_xy
remove unused VEL_XY_MAX_FROM_POS_ERR
remove xy mode
remove jerk limiting code including setters
limit_vector_length uses is_positive
Also modify formatting
7 years ago
3badcdcfba
AC_PosControl: default gains for sub
7 years ago
61933c6f1c
AC_PosControl: shorten PSC_ACCELZ param to PSC_ACCZ
7 years ago
c70d3e0ab8
AC_PosControl: move pids to be local
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
b9ed8b292a
AC_PosControl: pass dt to att control sqrt_controller
7 years ago
3e0c24adf9
AC_PosControl: remove out-of-date comments
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
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Thanks to @luweikxy for finding this issue!
7 years ago
c7c2c4ff2c
AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division
7 years ago
99aad41955
AC_AttitudeControl: added a update_vel_controller_xy() API
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this allows for just XY control of velocity for quadplanes
8 years ago
3a397584a1
AC_PosControl: z-axis stopping point up to 3m above vehicle
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Stopping point while descending remains at 2m for safety
8 years ago
132979b12f
AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero
8 years ago
1345bf8737
AC_AttitudeControl: added support for AP_AHRS_View
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this allows for tailsitters with a different attitude view
8 years ago
ff042528fe
AC_PosControl: remove alt_max
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AC_Avoidance enforces the altitude limit
8 years ago
421524951f
AC_PosControl: remove unnecessary parentheses
8 years ago
1012333eef
AC_PosControl: add ekf position reset handling
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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
42672de606
AC_PosControl: set Alt_Hold filter for PID not just D
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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
152edf7189
Global: remove mode line from headers
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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
5a8db4f271
AC_PosControl: add interface to override horizontal velocity process variable
8 years ago
77dbf99cee
AC_PosControl: fix bug related to ekfNavVelGainScaler
8 years ago
fdcdcb0033
AC_PosControl: check Z-axis accel imax can always overpower hover throttle
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This removes the possibility of the vehicle constantly climbing if the hover throttle becomes a very large value
9 years ago
34055944cd
AC_PosControl: fix relax_alt_hold_controllers
9 years ago
630e5378da
AC_PosControl: add get_horizontal_error
9 years ago
d1b28aaed9
AC_AttitudeControl: fixed factor of 1000 error in init_takeoff
9 years ago
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
9 years ago
1639e22b74
AC_AttitudeControl: set desired_vel for reporting purposes even when not used
9 years ago
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
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The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
9 years ago
23a64e1227
AC_AttitudeControl: fixed accel limit trigonometry
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Leonard had mentioned the limit should be tan(angle) not sin(angle). I
noticed this one was wrong.
9 years ago
c64a505906
AC_PosControl: relax_alt_hold_controllers accepts throttle in 0 to 1 range
9 years ago
15be80a25d
AC_PosControl: accel_to_throttle outputs 0 to 1
9 years ago
5148e41c1a
AP_Math: Cleaned macro definitions
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Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
9 years ago
Randy Mackay
Peter Barker
Michael du Breuil
Leonard Hall
Dr.-Ing. Amilcar Do Carmo Lucas
Andrew Tridgell
Pierre Kancir
Mathieu OTHACEHE
Jonathan Challinger
dgrat