dbc8ce1d69
AC_PosControl: default z-axis controller to 400hz
...
No functional change as vehicle code always sets it explicitely
9 years ago
550ba478c9
AC_PosControl: add shift_pos_xy_target
9 years ago
16a0281c92
AC_PosControl: remove unused set_vel_target
9 years ago
ee0abb1750
AC_PosControl: add set_jerk_xy
9 years ago
73f4533995
AC_PosControl: minor comment update
9 years ago
895a40893d
AC_PosControl: use_desvel_ff flag added
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This allows turning on/off desired velocity feedforward without setting desired_vel.z to zero. Setting desired_vel.z to zero has the side effect of disrupting the landing detection which needs to know if we are trying to descend
9 years ago
aec66c5db6
AC_PosControl: faster z-axis slowdown when over speed
9 years ago
f55c31a157
AC_PosControl: add alt hold without feed forward
9 years ago
cf5db31053
AC_PosControl: allow limiting lean angle to avoid alt loss
10 years ago
d49f10d2e5
AC_AttitudeControl: standardize inclusion of libaries headers
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This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
10 years ago
14882bc6a8
AC_AttitudeControl: Remove unused takeoff jump #define
10 years ago
6ea60aa662
AC_PosControl: remove default from set_alt_target_from_climb_rate
10 years ago
31edd6a72b
AC_PosControl: add_takeoff_climb_rate method
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This function simply increments the current altitude target given a
climb rate and dt
10 years ago
738b1967ad
AC_PosControl: use LowPassFilterVector2f
10 years ago
8f667b3d1c
AC_PosControl: fix up comments
10 years ago
c2a6a0a9e2
AC_PosControl: add accel filter parameter
10 years ago
a632a57d79
AC_PosControl: accessors to log z-axis vel and accel
10 years ago
0aca3c4be6
AC_PosControl: add relax Alt Hold controllers
10 years ago
7cb3c4ba39
AC_PosControl: add feed forward to Alt Hold
10 years ago
a1e6a3ee32
AC_PosControl: minor format fix
10 years ago
3e0dab7b2d
AC_PosControl: remove accel error filter and set throttle output filter instead
10 years ago
127791127c
AC_PosControl: fix double literals
10 years ago
bb74b8dec8
AC_PosControl: fix twitch when entering RTL
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Also removed slow_cpu flag
Fixed bug in update to _accel_target_jerk_limited.
10 years ago
88ec13b10d
AC_PosControl: fix build
10 years ago
965db2c7f7
AC_PosControl: add comments and defines for jerk limits
10 years ago
4408c1b935
AC_PosControl: 2d jerk constraint in accel_to_lean_angles
10 years ago
9871b95586
AC_PosControl: fix dt sanity checking
10 years ago
7de5bccc93
AC_PosControl: remove THR_HOVER parameter
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Parameter is set by main code so no need to store to eeprom
10 years ago
9866eaded1
AC_PosControl: rename p_alt_pos to p_pos_z
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Also pid_alt_accel to pid_accel_z
10 years ago
349f1aeceb
AC_PosControl: use 2-axis PI controller
10 years ago
8d4f0ec80c
AC_PosControl: integrate PID input filter
10 years ago
186337f18e
AC_PosControl: rename xy_mode enum values
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Also added a few comments and fixed formatting
10 years ago
3faca88423
AC_PosControl: allow control of xy rate constraint behavior
10 years ago
14d76d158a
AC_AttitudeControl: Correct comment.
10 years ago
07a0388f25
AC_PosControl: move alt limit to set_alt_target_from_climb_rate
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The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
10 years ago
2a5a133bbf
AC_AttControl: remove deprecated trigger_xy method
10 years ago
c36253b9b2
AC_PosControl: add comments
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No functional change
10 years ago
557d339cf1
AC_PosControl: remove various unnecessary timing hacks
10 years ago
d6e455417f
AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller
10 years ago
12ea1d6e85
AC_AttitudeControl: Scale angle demand noise filter
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Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
10 years ago
e80b1c67cd
AC_AttitudeControl: Add EKF optical flow noise gain scaler
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Allows gains to be adjusted to compensate for optical flow noise
10 years ago
d34ea4c124
AC_PosControl: fix to default force_descend param
10 years ago
e81c1dd5a1
AC_PosControl: add force_descend option to set_alt_target_from_climb_rate
10 years ago
cf3b2be99c
AC_PosControl: 4hz filter on z-axis velocity error
11 years ago
665f353416
AC_PosControl: 2hz filter on accel error
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Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
11 years ago
e0fc2dd50e
AC_PosControl: remove 20cm on takeoff
11 years ago
e550c1e9a3
AC_PosControl: add set_alt_target_to_current_alt method
11 years ago
82ed70b25e
AC_PosControl: add xyz velocity controller
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Velocity controller interpretsthe velocity requests as
desired velocities (i.e. feed forward). These are then used to update
the target position and also added to the target velocity.
Also renamed the set_desired_velocity() function to
set_desired_velocity_xy() to make clear only lat and lon axis are
updated.
11 years ago
4d4c7a2118
AC_AttControl: move freeze_ff to flags structure
11 years ago
8bbce7e658
AC_PosControl: freeze feed forward for alt control in Auto
11 years ago
Randy Mackay
Leonard Hall
Gustavo Jose de Sousa
Robert Lefebvre
Jonathan Challinger
priseborough