afcd1c6ec3
AC_AttitudeControl: sqrt controller on Stab
10 years ago
e2383581cc
AC_AttitudeControl: relax_bf_rate_controller resets rate integrators
10 years ago
20de383084
AC_AttControl: accel limiting for angular control only if feed forward enabled
10 years ago
792b2a2eb3
AC_AttControl: separate accel max for roll, pitch, yaw
...
Also add:
Rate filters
rename rate filter defines
d-term only filter for roll, pitch rate control
accessors to save max accel for roll, pitch, yaw
fix for duplicate ACCEL_Y_MAX param
10 years ago
9833c91b2b
AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw
10 years ago
eb084f7c58
AC_AttControl: bf yaw control uses input filtered PID
10 years ago
7224669399
AC_AttitudeControl: cleanup angle_ef_roll_pitch_rate_ef_yaw_smooth
10 years ago
0c4a489491
AC_AttitudeControl: use sqrt_controller function
10 years ago
fc898a00a3
AC_AttControl: add sqrt_controller
...
Original code by Jonathan Challinger
10 years ago
f65e81cb07
AC_AttControl: remove some old comments
10 years ago
5a66ff1ef9
AC_AttControl: bug fix for ef target during acro
11 years ago
3e0b573dfe
AC_AttControl: remove debug message
11 years ago
c45338f080
AC_AttControl: div-by-zero check for bf-to-ef conversion
11 years ago
58257e3858
AC_AttControl: set rate D term filter from ins filter
11 years ago
329118b7c9
Copter: AC_ATT correct yaw error calculation
11 years ago
90dc9411a5
Copter: ACRO Error calculation fix
11 years ago
c2f8571f37
AC_AttControl: FF and accel limiting off by default
...
Also adjust parameter ranges used by GCSs
11 years ago
eebd32f306
AC_AttControl: remove duplicate rate_ef_desired to resolve compiler warning
11 years ago
fb55658c91
Copter: Acro use same error limit in all three axis
11 years ago
2889f5abc4
AC_AttControl: Fix feedforward behavior
11 years ago
6e66cf43cb
AC_AttitudeControl: Use bias-corrected angular rates instead of raw gyro measurements
11 years ago
0f7178e447
AC_AttControl: cast fabs to float to resolve compiler warning
11 years ago
971411e0db
AC_AttControl: fixed typo in parameter description
11 years ago
46f25c52a4
AC_AttControl: allow enabling/disabling feedforward and accel limiting
11 years ago
130eb07d48
AC_AttControl: angle_ef_roll_pitch_rate_ef_yaw supports zero yaw accel
11 years ago
b57c0dabf6
AC_AttControl: check accel_rp_max instead of rate_bff_ff_enabled
...
We use the accel_rp_max, accel_y_max to check whether to apply accel
limiting or not. This is related to separate from the
body-frame-feed-forward.
11 years ago
d9c966c927
AC_AttControl: RATE_FF_ENAB param to disable rate feed forward
11 years ago
a662f87ffb
AC_AttControl: remove resolved To-Do
...
This To-Do is resolved by heli flight modes calling the
relax_bf_rate_controller method
11 years ago
7f734f38d6
AC_AttControl: add earth frame angle constraints
...
This should help recovery time if pilot switches out of ACRO (into
Stabilize, AltHold, etc) while inverted
11 years ago
698cf934b8
AC_AttControl: formatting fixes
11 years ago
2bb63857fa
AC_AttControl: clean up stabilize
11 years ago
c24d293e1b
AC_AttControl: zero _accel_xyz_max stops feed forward
...
Also added place holder for turning off feed forward.
11 years ago
922026c15c
AC_AttControl: rate compensation for yaw
11 years ago
5209598459
AC_AttControl: rename init_targets to relax_bf_rate_controller
11 years ago
1bdde31f6b
Copter: Fix zero throttle flip issue Stabilize
...
The problem is that the init_targets is intended to ensure the
controller doesn't build up the I term when the throttle is low. Because
it is poorly named (or used) it have been written to do something else.
Here I change it to do what the code is trying to use it to do.
11 years ago
0969e464fb
AC_AttControl: set roll, pitch, yaw rate control D term filters
11 years ago
5876a2fe47
AC_AttControl: increase default rp accel to 900deg/s/s
11 years ago
7bff8e9312
AC_AttControl: constrain earth frame yaw angle error
...
This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
11 years ago
25ee5d5dc8
AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth
...
pair-programmed with lthall
11 years ago
15f88c2a2b
AC_AttControl: Stabilize input shaping
11 years ago
d277b6cabd
AC_AttControl: fix @Units parameter descriptions
11 years ago
b8d9bdb794
AC_AttControl: accel limit for roll, pitch yaw rates
11 years ago
ff9f4fe6e7
AC_AttControl: replace APM_PI with AC_P
11 years ago
a6ad51b38f
AC_AttControl: rename most methods
11 years ago
65c2fc0cc6
AC_AttControl: ACRO fixes
11 years ago
f216cffb77
AC_AttControl: use motor accessors to set roll, pitch, yaw, thr
...
Saves 8bytes of RAM
11 years ago
98224db1e4
AC_AttControl: Leaonard's rate feedforward
...
Also saves 24bytes of RAM
11 years ago
5f89e9e746
AC_AttControl: bug fix to yaw rate limit
11 years ago
d76180d605
AC_AttControl: use trig values from ahrs
11 years ago
eda376c7f6
AC_AttControl: init_targets() clears body frame angle errors
...
This should ensure that we don't get sudden jerks when entering acro
mode
11 years ago
Leonard Hall
Jonathan Challinger
Randy Mackay
lthall