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
ea0e413b04
AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero
8 years ago
2e2d39e628
AC_AttitudeControl: add missing parameter metadata
8 years ago
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
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
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
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
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
44830be172
AC_AttControl: add parameter check of throttle mix
9 years ago
535158e0d8
AC_AttControl: move var_info declaration
...
No functional change
9 years ago
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
50b694444b
AC_AttControl: correct method comments
...
No functional change
9 years ago
34055944cd
AC_PosControl: fix relax_alt_hold_controllers
9 years ago
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
ac04fcd836
AC_AttControl: fix set_yaw_target_to_current_heading
9 years ago
011bc0a350
AC_AttControl: add reset_rate_controller_I_terms()
9 years ago
d5c18dc987
AC_AttControl: remove unused 100hz definition
9 years ago
630e5378da
AC_PosControl: add get_horizontal_error
9 years ago
80bda572ba
AC_AttutudeControl: Yaw shift fix
9 years ago
8737f6b62d
AC_AttitudeControl: enhanced quaternion attitude controller
9 years ago
117ae89505
AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec
9 years ago
a1548405c1
AC_AttitudeControlHeli: fix althold lean angle max
9 years ago
d1b28aaed9
AC_AttitudeControl: fixed factor of 1000 error in init_takeoff
9 years ago
ec7c1ab0b0
AC_PosControl: comment fix to set_alt_max method
...
No functional change
9 years ago
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
9 years ago
b27da7699e
AC_AttitudeControlMulti: get_throttle_avg_max made private
...
Also fixed up method's description
9 years ago
da946288a2
AC_AttitudeControl: rename throttle_ave_max to throttle_avg_max
9 years ago
570920c7d7
AC_AttitudeControlMulti: run control_monitor_update in rate_controller_run
9 years ago
1639e22b74
AC_AttitudeControl: set desired_vel for reporting purposes even when not used
9 years ago
558f29b95c
AC_AttitudeControl: control mixing made protected
9 years ago
9bd8878c8b
AC_AttitudeControlHeli: fix update_althold_lean_angle_max
9 years ago
096bdd67f8
AC_AttitudeControl: add ATC_ANG_LIM_TC parameter
...
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
ca2977decf
AC_AttitudeControl: set throttle vs attitude priority for flipped state
...
When performing a flip we want to allow throttle to go high to provide
maximum attitude control
9 years ago
1fb4c12cd0
AC_AttitudeControl: move in throttle vs attitude prioritisation
...
Previously this prioritisation of throttle vs attitude was done in the
AP_Motors library
9 years ago
0870ce9fc1
AC_AttitudeControl: remove get_throttle_boosted from parent class
...
This is only called from multicopters
9 years ago
25c77c154f
AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted
9 years ago
35ef761deb
AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli
9 years ago
e070aeebe3
AC_AttitudeControl: added accessors for P and D RMS controller values
9 years ago
1c463e3f3b
AC_AttitudeControl: log rms P and D separately
...
as discussed with Leonard
9 years ago
64c2510be9
AC_AttitudeControl: fix compile warning float to double promotion in string conversion
9 years ago
b4bdfa2451
AC_AttitudeControl: return roll, pitch and yaw controller error separately
...
as discussed with Leonard
9 years ago
6330060e49
AC_AttitudeControl: added monitoring of controller error
...
use RMS P+I+FF output. Thanks to Leonard for the suggestion
9 years ago
9bf0ada875
AC_AttitudeControl: removed use of AFF for tail control in heli
9 years ago
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
...
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
4a06ca4be2
AC_AttControl: remove unused call to motors.set_stabilizing
...
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
Randy Mackay
Leonard Hall
Peter Barker
Mathieu OTHACEHE
Jonathan Challinger
Tom Pittenger
Andrew Tridgell
Tom Pittenger
dgrat