698cf934b8
AC_AttControl: formatting fixes
11 years ago
2bb63857fa
AC_AttControl: clean up stabilize
11 years ago
c24d293e1b
AC_AttControl: zero _accel_xyz_max stops feed forward
...
Also added place holder for turning off feed forward.
11 years ago
922026c15c
AC_AttControl: rate compensation for yaw
11 years ago
5209598459
AC_AttControl: rename init_targets to relax_bf_rate_controller
11 years ago
1bdde31f6b
Copter: Fix zero throttle flip issue Stabilize
...
The problem is that the init_targets is intended to ensure the
controller doesn't build up the I term when the throttle is low. Because
it is poorly named (or used) it have been written to do something else.
Here I change it to do what the code is trying to use it to do.
11 years ago
0969e464fb
AC_AttControl: set roll, pitch, yaw rate control D term filters
11 years ago
5876a2fe47
AC_AttControl: increase default rp accel to 900deg/s/s
11 years ago
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
25ee5d5dc8
AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth
...
pair-programmed with lthall
11 years ago
15f88c2a2b
AC_AttControl: Stabilize input shaping
11 years ago
d277b6cabd
AC_AttControl: fix @Units parameter descriptions
11 years ago
b8d9bdb794
AC_AttControl: accel limit for roll, pitch yaw rates
11 years ago
ff9f4fe6e7
AC_AttControl: replace APM_PI with AC_P
11 years ago
a6ad51b38f
AC_AttControl: rename most methods
11 years ago
65c2fc0cc6
AC_AttControl: ACRO fixes
11 years ago
f216cffb77
AC_AttControl: use motor accessors to set roll, pitch, yaw, thr
...
Saves 8bytes of RAM
11 years ago
98224db1e4
AC_AttControl: Leaonard's rate feedforward
...
Also saves 24bytes of RAM
11 years ago
5f89e9e746
AC_AttControl: bug fix to yaw rate limit
11 years ago
d76180d605
AC_AttControl: use trig values from ahrs
11 years ago
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
2db24659d0
AC_AttControl: add slew_yaw
11 years ago
2dae0d68c5
AC_AttControl: add RATE_RP_MAX, RATE_Y_MAX params
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These replace the ANGLE_RATE_MAX parameter from the main code
11 years ago
a2b017abd2
AC_AttControl: add rateef_rpy
...
rateef_rpy takes earth frame rates and applies them to the earth frame
angle targets and then converts them to body frame rates
11 years ago
468be05867
AC_AttControl: make ahrs, ins objects const
11 years ago
4003b4da9b
AC_AttControl: leonard's body frame rate controller
11 years ago
ba3ba9e157
AC_AttControl: bug fix for yaw target handling
11 years ago
9fe4d883d0
AC_AttControl: accessor for lean angle max
11 years ago
0e0a15f4a8
AC_AttControl: add high level angle controllers
11 years ago
89b7e6b1c8
AC_AttControl: implement angle_boost
11 years ago
715c8eaf02
AC_AttitudeControl: first draft of library
11 years ago
Randy Mackay
lthall
lthall