zr-v4

Commit Graph

Author	SHA1	Message	Date
Randy Mackay	6d4d1bc20a	AR_AttitudeControl: add get_turn_rate_from_heading	6 years ago
Randy Mackay	8907b727f6	AR_AttitudeControl: add get_turn_rate_from_lat_accel	6 years ago
Randy Mackay	415042e557	AR_AttitudeControl: minor declaration ordering change	6 years ago
IamPete1	49ec059420	APM_Control: add function to relax rover i terms	6 years ago
IamPete1	e443b864c6	AR_AttitudeControl: add sail heel PID	6 years ago
Randy Mackay	d7d6c6ab04	AR_AttitudeControl: clarify units of get_steering_out_heading argument also update comments	7 years ago
Randy Mackay	106b8abab7	AR_AttitudeControl: get_throttle_out_from_pitch accepts vehicle speed	7 years ago
Randy Mackay	d5ef3c2e0f	AR_AttitudeControl: get_throttle_out_from_pitch uses motor limits This allows removing I-term build up from throttle hitting 100%	7 years ago
Randy Mackay	9b60e0844b	AR_AttitudeControl: add get_desired_pitch accessor	7 years ago
Ebin	1dc1b28234	APM_Control: changed default PID for Balance Bot	7 years ago
Ebin	30b3d63e8a	APM_Control: New default PID values for balance bots	7 years ago
Ebin	97a260a980	APM_Control: get_throttle_out_from_pitch() accepts dt as argument	7 years ago
Ebin	657ff06380	APM_Control: added balancing function for BalanceBot	7 years ago
Randy Mackay	5e7b37f0b2	AR_AttitudeControl: remove constraint on steering output	7 years ago
Ammarf	b614ca9b75	AR_AttitudeControl: disable limits when _ACCEL_MAX is zero	7 years ago
Randy Mackay	e691b680ca	AR_AttitudeControl: add speed-control-active method allows caller check if speed controller if active also consolidated other methods to use this check to reduce a little bit of duplicate code	7 years ago
Randy Mackay	3b71d0360a	AR_AttitudeControl: const get_decel_max and get_stopping_distance	7 years ago
Randy Mackay	a7fbfe7767	AR_AttitudeControl: caller provides dt instead of calculated internally This allows the vehicle's main loop rate to be used instead of an internally calculated dt which suffers from jitter	7 years ago
Randy Mackay	c032095c80	AR_AttitudeControl: reduce default accel max to 2m/s/s	7 years ago
Ammarf	832778e471	AR_AttitudeControl: add separate decel limit	7 years ago
Ammarf	a9ee949c32	AR_AttitudeControl: limit desired steering rate	7 years ago
Randy Mackay	5563691bd1	AR_AttitudeControl: assume positive steering output rotates vehicle clockwise also remove steering scaling by speed which has been moved to AR_MotorsUGV	7 years ago
Randy Mackay	0f9b679e98	AR_AttitudeControl: increase angle err P and reduce steering accel max defaults	7 years ago
Randy Mackay	3f1f68b130	AR_AttitudeControl: support vectored thrust steering output is not scaled for speed steering integrator does not build up at low speed	7 years ago
Randy Mackay	365e1030db	AR_AttitudeControl: separate speed limiting to new method This allows the desired speed limiting (by acceleration) to be done before the speed-to-throttle PID controller is run. This is required so the avoidance calls (which work on the desired speed) can be run after limiting but before the PID controllers	7 years ago
Randy Mackay	23ed735304	AR_AttitudeControl: reduce default steering I gain to 0.2 Also reduce default filter from 50hz to 10hz	7 years ago
Randy Mackay	a8857726d1	AR_AttitudeControl: replace get_steering_out_angle_error with heading internally uses AHRS's heading to determine angle error so overally a non-functional change	7 years ago
Randy Mackay	e6f8021519	AR_AttitudeControl: add angular accel and rate limits This limits the change in desired turn rate to reduce impossible requests which should help avoid overshoot Also add rotation rate limit to turn-rate controller	7 years ago
Randy Mackay	57f2eb6853	AR_AttitudeControl: minor comment fix	7 years ago
Randy Mackay	89725a7aa5	AR_AttitudeControl: minor comment fix non-functional change	7 years ago
Randy Mackay	d139f0e28e	AR_AttitudeControl: add get_stopping_distance	7 years ago
Randy Mackay	54d8a4852f	AR_AttitudeControl: reduce steer rate P default to 0.2	7 years ago
Randy Mackay	2aeda48512	AR_AttitudeControl: minor arg name fix non-functional change	7 years ago
Randy Mackay	4ac5ef3a13	AR_AttitudeControl: allow filter to be zero Also increase default filter to 50hz	7 years ago
Randy Mackay	16d3e5c00d	AR_AttitudeControl: add feed foward for speed and steering rate control	7 years ago
Randy Mackay	9930550cfc	AR_AttitudeControl: lengthen timeout to 200ms This is required because occasionally the turn rate controller can be disabled for just over 100ms as new navigation commands are loaded	7 years ago
Randy Mackay	f00f4ce79b	AR_AttitudeControl: fix get_desired_speed timeout	7 years ago
Randy Mackay	36c5f057ae	AR_AttitudeControl: add get_desired_turn_rate lat_accel and speed for reporting use only	7 years ago
khancyr	e9e1dac188	AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out	7 years ago
khancyr	aa09541847	AR_AttitudeControl: const ahrs reference	7 years ago
khancyr	d226ffeeb2	AP_AttitudeControl: remove tabs non-functional change	7 years ago
Daniel Widmann	49887235df	AR_AttitudeControl: get_steering_out methods accept reverse argument	7 years ago
Randy Mackay	9f876dc7a0	AR_AttitudeControl: throttle and steering control library Throttle controller has these advantages over existing controller: based on velocity in vehicle's forward-back axis rather than ground-speed straight-forward PID controller using speed error as input speed control acceleration limts stop control slows vehicle smoothly configurable filtering Steer controller has these advantages over existing controller: output scaled properly for skid-steering vehicles layered P and PID controller for angular error and rate control configurable filtering	8 years ago

43 Commits (aa20be427015f20a0906151f7ef3ea52060a869c)