706ff85be7
AC_AttitudeControl: Add minimum angle limit for get_althold_lean_angle_max
6 years ago
c53ba22daa
AC_AttitudeControl: add new rate only attitude control
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
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
...
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
3ada0f32b0
AC_AttitudeControl: minor comment update
...
Non-functional change
7 years ago
75de0cb4ef
AC_AttitudeControl: sqrt_controller accepts dt
7 years ago
6315e6eb45
AC_AttitudeControl: remove unused get_tilt_limit_rad
7 years ago
e8173f27df
AC_AttitudeControl: reset target attitude
...
added method to reset current vehicle attitude to support swash
behaviors in Trad Heli
7 years ago
f2efea4e1d
AC_AttitudeControl: added inverted flight support
...
for helis
7 years ago
ed0063d10d
AC_AttControl: save accel max using shorter set_and_save
...
no functional change
8 years ago
0544cf1d82
AC_AttControl: add step input for autotune
8 years ago
fe3e7e8153
AC_AttitudeControl: added get_throttle_mix()
...
and when we use set_throttle_mix_value(), set both desired and actual
thanks to Leonard for the suggestions
8 years ago
67097c8d59
AC_AttitudeControl: use gyro_latest
...
This allows moving the attitude control before the ahrs/ekf update
We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions. We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
8 years ago
e5ed20d6f7
AC_AttitudeControl: added set_throttle_mix_value()
...
used by quadplane
8 years ago
1345bf8737
AC_AttitudeControl: added support for AP_AHRS_View
...
this allows for tailsitters with a different attitude view
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
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
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
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
50b694444b
AC_AttControl: correct method comments
...
No functional change
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
8737f6b62d
AC_AttitudeControl: enhanced quaternion attitude controller
9 years ago
117ae89505
AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec
9 years ago
558f29b95c
AC_AttitudeControl: control mixing made protected
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
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
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
c7664291f9
AC_AttitudeControl: fixed comment on function
9 years ago
75042e5e27
AC_AttControl: remove rate PIDs
9 years ago
17c9db08f3
AC_AttControl: add angle and rate PIDs
9 years ago
c5e5b4f783
AC_AttControl: fix rate controller max definitions to -1 to +1 range
9 years ago
Leonard Hall
Randy Mackay
bnsgeyer
Andrew Tridgell
Dr.-Ing. Amilcar Do Carmo Lucas
Mathieu OTHACEHE
Tom Pittenger