5846a54c17
AC_AttitudeControl: Fix copy paste param doc error
6 years ago
96a8bcf641
AC_AttitudeControl: limit gyro correction to 45 degrees error
6 years ago
acaefe9316
AC_AttitudeControl: remove output limits
6 years ago
34c0656675
AC_AttitudeControl: Add missing variable initalisations
7 years ago
eb1f3b205f
AC_AttitudeControl: Use reset_rate_controller_I_terms() helper
7 years ago
706ff85be7
AC_AttitudeControl: Add minimum angle limit for get_althold_lean_angle_max
7 years ago
6ae1bf4cf4
AC_AttitudeControl: Allow zero gains for Sub
...
Close bluerobotics/ardusub#70
7 years ago
33f437a72c
AC_AttitudeControl: use multiply instead of divide
7 years ago
c53ba22daa
AC_AttitudeControl: add new rate only attitude control
7 years ago
b988a6ca08
AC_AttitudeControl: add units to INPUT_TC param desc
7 years ago
9aa6415e1c
AC_AttitudeControl: use is_positive and is_negative
7 years ago
b3de52dc59
AC_AttitudeControl: minor comment fix
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
1e9e12e866
AC_AttitudeControl: rename heading_quad to yaw_vec_correction_quat
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also rename flip_scalart local variable to feedforward_scalar
also add comments
non-functional change
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
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Smoothing gain value should be set once when entering a mode
7 years ago
692e6518cc
AC_AttitudeControl: update param desc values for large copters
7 years ago
62cc25022c
AC_AttitudeControl: protect against overshoot in sqrt controller
7 years ago
75de0cb4ef
AC_AttitudeControl: sqrt_controller accepts dt
7 years ago
cddd815a75
AC_AttitudeControl: comment thrust_heading_rotation_angles
...
non-functional change
7 years ago
0544cf1d82
AC_AttControl: add step input for autotune
8 years ago
188dfb6936
AC_AttitudeControl: Use SI units conventions in parameter units
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Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
8 years ago
67097c8d59
AC_AttitudeControl: use gyro_latest
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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
5acbf5d16e
AC_AttitudeControl: use FF from AC_PID
8 years ago
ea0e413b04
AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero
8 years ago
152edf7189
Global: remove mode line from headers
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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
29d4790fc7
AC_AttControl: reduce max_rate_step based on hover throttle
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This changes reduces AutoTune's twitch size based on the hover throttle
This method is only used by AutoTune
9 years ago
011bc0a350
AC_AttControl: add reset_rate_controller_I_terms()
9 years ago
80bda572ba
AC_AttutudeControl: Yaw shift fix
9 years ago
8737f6b62d
AC_AttitudeControl: enhanced quaternion attitude controller
9 years ago
096bdd67f8
AC_AttitudeControl: add ATC_ANG_LIM_TC parameter
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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
b7431b7d0c
AC_AttitudeControl: update throttle rpy mix on every iteration
9 years ago
35ef761deb
AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli
9 years ago
6330060e49
AC_AttitudeControl: added monitoring of controller error
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use RMS P+I+FF output. Thanks to Leonard for the suggestion
9 years ago
4a06ca4be2
AC_AttControl: remove unused call to motors.set_stabilizing
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Also minor change to order of a call to motors library to make stabilizing
and non-stabilizing calls consistent.
Non functional change
9 years ago
b30606bb22
AC_AttControl: remove scaling for centi-degrees and legacy motor input
9 years ago
17c9db08f3
AC_AttControl: add angle and rate PIDs
9 years ago
979534279a
AC_AttControl: roll, pitch, yaw output to motors in -1 to +1 range
9 years ago
2822b93cd4
AC_AttControl: add get_throttle_in accessor
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Used for logging only
9 years ago
c0f209fa42
AC_AttControl: angle_boost to float
9 years ago
e946e047e6
AC_AttitudeControl: add attitude_controller_run functions, call from input functions
9 years ago
5ddd332277
AC_AttControl: add ANGLE_BOOST param
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This allows disabling angle boost
9 years ago
86bb03aa79
AC_AttControl: use ahrs get_rotation_body_to_ned
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ahrs.get_dcm_matrix renamed to ahrs.get_rotation_body_to_ned
9 years ago
46e6ff3ca9
AC_AttitudeControl: modify comment on kinematic correction feedforward
9 years ago
Michael du Breuil
Leonard Hall
Jacob Walser
Randy Mackay
Dr.-Ing. Amilcar Do Carmo Lucas
Andrew Tridgell
Mathieu OTHACEHE
Jonathan Challinger