Tree: c0bfc77701

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Commit Graph

192 Commits (c0bfc777016bc2416e086005fd1ac9e0b87605c9)

Author	SHA1	Message	Date
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	67475a9eaa	AR_AttitudeControl: reset turn-rate I term if not run for 0.2sec	7 years ago
disgruntled-patzer	2c41db9e4d	AP_RollController.cpp: Updated description of ArduPlane Roll Controller for accuracy ... AP_RollController's get_servo_out function does not return an elevator deflection as was previously described in the function comments. Instead, it should return an aileron deflection. Thus, the function description should be updated to reflect this more accurately	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
Michael du Breuil	84b1a6a58b	APM_Control: Supress some compilier warnings about strncpy	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
Randy Mackay	856d592b1d	AR_AttitudeControl: accel limit stops	7 years ago
Ammarf	832778e471	AR_AttitudeControl: add separate decel limit	7 years ago
Randy Mackay	f6c06496e2	AR_AttitudeControl: fix accel limiting	7 years ago
Ammarf	a9ee949c32	AR_AttitudeControl: limit desired steering rate	7 years ago
Randy Mackay	56672c1c28	AR_AttitudeControl: fix get_steering_out_rate use of max turn rate and acceleration	7 years ago
Randy Mackay	9feaf9cfdd	AR_AttitudeControl: const some internal variables ... non-functional change	7 years ago
Randy Mackay	fa76a7c904	AR_AttitudeControl: get-steering-out-lat-accel uses negative speeds	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	ce44326ba8	AR_AttitudeControl: fix get_steering_out_heading while reversing	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	9c2da896b9	AR_AttitudeControl: get_throttle_out_stop only stops once desired speed reaches zero ... this reduces the final jerk to a when transitioning from forward to reverse and in cases where ATC_ACCEL_MAX is small	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
Daniel Widmann	27234f78c6	AR_AttitudeControl: Allow using steer rate control for skid steer rovers without GPS	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
Peter Barker	e2de9d62cd	APM_Control: use ins singleton	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	5e90cdbf59	AR_AttitudeControl: parameter desc range increase ... new steering controller can use higher FF and zero P	7 years ago
Randy Mackay	1bb18bc941	AR_AttitudeControl: get_throttle_out_speed uses timeout definition	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	40bb2b0ad9	AR_AttitudeControl: set throttle speed pid dt	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	a2b1807ca0	AR_AttitudeControl: fix turn-rate controller timeout	7 years ago
Peter Barker	e0c586876b	APM_Control: use GPS singleton	7 years ago
Andrew Tridgell	1dac512567	APM_Control: removed create() method for objects ... See discussion here: https://github.com/ArduPilot/ardupilot/issues/7331 we were getting some uninitialised variables. While it only showed up in AP_SbusOut, it means we can't be sure it won't happen on other objects, so safest to remove the approach Thanks to assistance from Lucas, Peter and Francisco	7 years ago
Randy Mackay	cabced82f1	AR_AttitudeControl: fix parameter descriptions	7 years ago
Michael Oborne	78f732c380	AR_AttitudeControl: fix parameter docs	7 years ago
Randy Mackay	744f4baf22	AR_AttitudeControl: add parameter description increment	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
Grant Morphett	f7db538220	APM_Control: Fixed the subparam indexs to start at 1 ... AFAIK there is still a bug in ArduPilot where subparams should not start at index 0. This is due to the way the index math and bit shifing works as it incorrectly offsets all 0 index params to 0. We allow 2 levels of sub params - 3 levels in total. So params, sub params and sub sub params. The 0 parameter in all those is unfortunately always references param[0]. So param[0] and subparam[0] and subsubparam[0] will reference the same parameter value. Its why we always say start the index from 1 as the math and bitshifting then works correctly. Yeah this is worded badly - hard to explain.	7 years ago
Randy Mackay	b9a1621d38	AR_AttitudeControl: minor comment fix ... non-functional change	7 years ago
khancyr	2a25011b14	AR_AttitudeControl: const local variables	7 years ago
khancyr	76a6649a2d	AP_Autotune: remove unimplemented function	7 years ago