b276034c60
APM_Control: correct use of incorrect abs functions
6 years ago
e443b864c6
AR_AttitudeControl: add sail heel PID
6 years ago
d7d6c6ab04
AR_AttitudeControl: clarify units of get_steering_out_heading argument
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also update comments
7 years ago
96097586c3
AR_AttitudeControl: reset I if speed controller not called recently
7 years ago
106b8abab7
AR_AttitudeControl: get_throttle_out_from_pitch accepts vehicle speed
7 years ago
d5ef3c2e0f
AR_AttitudeControl: get_throttle_out_from_pitch uses motor limits
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This allows removing I-term build up from throttle hitting 100%
7 years ago
65b020eac3
AR_AttitudeControl: re-order pitch control to match other similar methods
7 years ago
1c18d06aa3
AR_AttitudeControl: move unnecessary else
7 years ago
9b60e0844b
AR_AttitudeControl: add get_desired_pitch accessor
7 years ago
ccb32cf357
APM_Control: BRAKE param default is true
7 years ago
9eebb6225a
AR_AttitudeControl: brake fix to set limit in only one direction
7 years ago
ce182fd307
APM_Control: fixed test condition in AR_AttutudeControl.cpp
7 years ago
97a260a980
APM_Control: get_throttle_out_from_pitch() accepts dt as argument
7 years ago
657ff06380
APM_Control: added balancing function for BalanceBot
7 years ago
5e7b37f0b2
AR_AttitudeControl: remove constraint on steering output
7 years ago
b614ca9b75
AR_AttitudeControl: disable limits when _ACCEL_MAX is zero
7 years ago
67475a9eaa
AR_AttitudeControl: reset turn-rate I term if not run for 0.2sec
7 years ago
e691b680ca
AR_AttitudeControl: add speed-control-active method
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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
3b71d0360a
AR_AttitudeControl: const get_decel_max and get_stopping_distance
7 years ago
a7fbfe7767
AR_AttitudeControl: caller provides dt instead of calculated internally
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This allows the vehicle's main loop rate to be used instead of an internally calculated dt which suffers from jitter
7 years ago
856d592b1d
AR_AttitudeControl: accel limit stops
7 years ago
832778e471
AR_AttitudeControl: add separate decel limit
7 years ago
f6c06496e2
AR_AttitudeControl: fix accel limiting
7 years ago
a9ee949c32
AR_AttitudeControl: limit desired steering rate
7 years ago
56672c1c28
AR_AttitudeControl: fix get_steering_out_rate use of max turn rate and acceleration
7 years ago
9feaf9cfdd
AR_AttitudeControl: const some internal variables
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non-functional change
7 years ago
fa76a7c904
AR_AttitudeControl: get-steering-out-lat-accel uses negative speeds
7 years ago
5563691bd1
AR_AttitudeControl: assume positive steering output rotates vehicle clockwise
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also remove steering scaling by speed which has been moved to AR_MotorsUGV
7 years ago
ce44326ba8
AR_AttitudeControl: fix get_steering_out_heading while reversing
7 years ago
3f1f68b130
AR_AttitudeControl: support vectored thrust
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steering output is not scaled for speed
steering integrator does not build up at low speed
7 years ago
9c2da896b9
AR_AttitudeControl: get_throttle_out_stop only stops once desired speed reaches zero
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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
365e1030db
AR_AttitudeControl: separate speed limiting to new method
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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
27234f78c6
AR_AttitudeControl: Allow using steer rate control for skid steer rovers without GPS
7 years ago
a8857726d1
AR_AttitudeControl: replace get_steering_out_angle_error with heading
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internally uses AHRS's heading to determine angle error so overally a non-functional change
7 years ago
e6f8021519
AR_AttitudeControl: add angular accel and rate limits
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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
d139f0e28e
AR_AttitudeControl: add get_stopping_distance
7 years ago
5e90cdbf59
AR_AttitudeControl: parameter desc range increase
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new steering controller can use higher FF and zero P
7 years ago
1bb18bc941
AR_AttitudeControl: get_throttle_out_speed uses timeout definition
7 years ago
4ac5ef3a13
AR_AttitudeControl: allow filter to be zero
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Also increase default filter to 50hz
7 years ago
16d3e5c00d
AR_AttitudeControl: add feed foward for speed and steering rate control
7 years ago
40bb2b0ad9
AR_AttitudeControl: set throttle speed pid dt
7 years ago
a2b1807ca0
AR_AttitudeControl: fix turn-rate controller timeout
7 years ago
e0c586876b
APM_Control: use GPS singleton
7 years ago
cabced82f1
AR_AttitudeControl: fix parameter descriptions
7 years ago
78f732c380
AR_AttitudeControl: fix parameter docs
7 years ago
744f4baf22
AR_AttitudeControl: add parameter description increment
7 years ago
f00f4ce79b
AR_AttitudeControl: fix get_desired_speed timeout
7 years ago
36c5f057ae
AR_AttitudeControl: add get_desired_turn_rate lat_accel and speed
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for reporting use only
7 years ago
f7db538220
APM_Control: Fixed the subparam indexs to start at 1
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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
b9a1621d38
AR_AttitudeControl: minor comment fix
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non-functional change
7 years ago
Peter Barker
IamPete1
Randy Mackay
Ebin
Ammarf
Daniel Widmann
Michael Oborne
Grant Morphett