8710526894
AC_PosControl: constify dt calcs
6 years ago
b14be4e8ae
AC_PosControl: increase accuracy of dt calcs
6 years ago
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
6 years ago
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
6 years ago
96e629d83e
AC_AttitudeControl: pass vector by const reference
6 years ago
8d572e8565
AC_AttitudeControl: Fix Autotune high hover throttle based limits
6 years ago
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
7e3ca19308
AC_AttitudeControl: add override keyword in many places
6 years ago
6db54bd65e
AC_AttitudeControl: Change from sqrt to safe_sqrt
6 years ago
dcd930497a
AC_AttitudeControl: AC_PosControl: avoid calling norm()
...
The result of this won't be used as often as this loop is called
6 years ago
5846a54c17
AC_AttitudeControl: Fix copy paste param doc error
6 years ago
04e4484d96
AC_AttitudeControl: correct old and misleading comments
6 years ago
96a8bcf641
AC_AttitudeControl: limit gyro correction to 45 degrees error
6 years ago
acaefe9316
AC_AttitudeControl: remove output limits
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
34c0656675
AC_AttitudeControl: Add missing variable initalisations
6 years ago
eb1f3b205f
AC_AttitudeControl: Use reset_rate_controller_I_terms() helper
6 years ago
b15b5516cb
AC_PosControl: Fix divide by zero check in limit_vector_length
6 years ago
706ff85be7
AC_AttitudeControl: Add minimum angle limit for get_althold_lean_angle_max
6 years ago
5863b84c35
AC_PosControl: reduce glitch on init
7 years ago
9766c4ed26
AC_AttitudeControl: fixed use of double precision maths
7 years ago
6ae1bf4cf4
AC_AttitudeControl: Allow zero gains for Sub
...
Close bluerobotics/ardusub#70
7 years ago
334ff0fb66
AC_AttitudeControl: Prevent DCM fallback from triggering a flyaway
7 years ago
33f437a72c
AC_AttitudeControl: use multiply instead of divide
7 years ago
c53ba22daa
AC_AttitudeControl: add new rate only attitude control
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
b988a6ca08
AC_AttitudeControl: add units to INPUT_TC param desc
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
...
Also always limit lean angle to maintain altitude
7 years ago
74bb7616a7
AC_PosControl: add accel feedforward
...
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
9aa6415e1c
AC_AttitudeControl: use is_positive and is_negative
7 years ago
b3de52dc59
AC_AttitudeControl: minor comment fix
7 years ago
05418d3d29
AC_AttitudeControl: add EKF reset handling
7 years ago
8c45345863
AC_AttitudeControl: rename use_ff_and_input_shaping to use_sqrt_controller
...
Also rate controllers only use _rate_bb_ff_enabled flag to decide whether
to use ff for now
7 years ago
1e9e12e866
AC_AttitudeControl: rename heading_quad to yaw_vec_correction_quat
...
also rename flip_scalart local variable to feedforward_scalar
also add comments
non-functional change
7 years ago
59a2445ad3
AC_AttitudeControl: replace smoothing gain with INPUT_TC
7 years ago
e1e224b68b
AC_AttitudeControl: add angular velocity limit
7 years ago
ee82943f85
AC_AttitudeControl: add input_shaping_rate_predictor
7 years ago
6175a896ee
AC_AttitudeControl: add set smoothing gain
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Smoothing gain value should be set once when entering a mode
7 years ago
213f7a4061
AC_AttitudeControl: add get_accel_roll/pitch/yaw_max_radss methods
...
Also constify existing get_accel_roll/pitch/yaw_max methods
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
Randy Mackay
Peter Barker
Pierre Kancir
Leonard Hall
murata
Michael du Breuil
Andrew Tridgell
Jacob Walser