ff042528fe
AC_PosControl: remove alt_max
...
AC_Avoidance enforces the altitude limit
8 years ago
127404acea
AC_PosControl: add get_pos_z_kP accessor
8 years ago
189b766f2b
AC_AttControl: remove redundant parameter set
8 years ago
c6d2fc3d5d
AC_AttitudeControl: add rpy mix manual
...
This allows adjusting the attitude control vs throttle level in manual
flight modes (Stabilize, ACRO)
8 years ago
5cf1c0869d
AC_AttitudeControl: expose all functions via abstract class
...
this allows for a single class to be used for heli and multicopter
8 years ago
8419045aea
Spell in comments
8 years ago
421524951f
AC_PosControl: remove unnecessary parentheses
8 years ago
bcdd836820
AC_AttControl: remove unnecessary check of thr-mix-min
...
Checks directly above ensure this check can never be true
8 years ago
8af192ed9d
AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0
...
The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
8 years ago
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
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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
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
Randy Mackay
Leonard Hall
Andrew Tridgell
Dr.-Ing. Amilcar Do Carmo Lucas
Pierre Kancir
murata
Peter Barker
Mathieu OTHACEHE
Jonathan Challinger
Tom Pittenger