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255 Commits
Author SHA1 Message Date
Leonard Hall 01e00480f0 AC_AttitudeControl: Add units to dt 2025-07-07 13:39:08 +09:00
Leonard Hall 55f979fceb AC_AttitudeControl: Convert copter to radians 2025-07-01 09:06:25 +09:00
Leonard Hall 9e737a6866 AC_AttitudeControl: Change heading to radians 2025-06-24 07:55:28 +09:00
Leonard Hall 4bf5b294a0 AC_AttitudeControl: radian version of get_althold_lean_angle_max_rad 2025-06-18 20:34:26 +09:00
Leonard Hall c5359432cb AC_AttitudeControl: Change passthrough to be an angular rate 2025-06-18 20:34:26 +09:00
Leonard Hall 9052961cb8 AC_AttitudeControl: Move passthrough call to the base class. 2025-06-18 20:34:26 +09:00
Leonard Hall a96fd8878c AC_AttitudeControl: Updated function comments 2025-06-18 20:34:26 +09:00
Leonard Hall 05a7bc92bd AC_AttitudeControl: Split centidegree and radian interfaces 2025-06-18 20:34:26 +09:00
Peter Barker c14f42a826 AC_AttitudeControl: replace ToRad with radians and ToDeg with degrees 2025-05-29 11:24:56 +10:00
Leonard Hall ce231f84ae AC_AttitudeControl: Add missing conts 2025-05-28 20:16:26 +09:00
Leonard Hall 14bb7caabe AC_AttitudeControl: Use cd_to_rad and remove radians(XXX * 0.01f); 2025-05-28 20:16:26 +09:00
Leonard Hall 758bf125c7 AC_AttitudeControl: Add const where possible 2025-05-26 19:00:15 +10:00
Peter BarkerandLeonard Hall 5a923d2217 AC_AttitudeControl: rename local variables to correct/add units
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Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2025-05-26 09:31:07 +10:00
Peter BarkerandLeonard Hall 6fb2f3cd99 AC_AttitudeControl: correct method name input_rate_step_bf_roll_pitch_yaw_cds 
parameters are in cd/s, not cd

Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2025-05-26 09:31:07 +10:00
Leonard Hall 28a3bfeb6b AC_AttitudeControl: add units and frames to AC_AttitudeControl methods 2025-04-29 08:54:14 +09:00
Leonard Hall c05a0eefff AC_AttitudeControl: Internal Units and Comments 2025-04-29 08:54:14 +09:00
Andrew Tridgell f6e12c01a3 AC_AttitudeControl: added input_rate_bf_roll_pitch_yaw_no_shaping() 2025-04-02 07:05:04 +11:00
Andy Piper 02a2c788da AC_AttitudeControl: ensure plane always gets the latest gyro 2024-09-26 19:25:33 +10:00
Andy Piper 829422ecfb AC_AttitudeControl: add commentary about functions which modify the rate loop target 2024-09-26 19:25:33 +10:00
Leonard Hall ddfccb3098 AC_AttitudeControl: Use rate step command 2024-09-26 19:25:33 +10:00
Andy Piper ff002cba3f AC_AttitudeControl: ensure the rate and attitude controllers can't interfere with the target at the same time 2024-09-26 19:25:33 +10:00
Andy Piper 71e2b756af AC_AttitudeControl: introduce ANG log message for high resolution attitude logging 
Move RATE message to AC_AttitudeControl_Logging.cpp
 2024-09-17 10:12:35 +10:00
Leonard Hall ea226637c9 AC_AttitudeControl: Vector3f multiplication clean up 2024-09-17 09:59:55 +10:00
Leonard Hall 5e27e3111d AC_AttitudeControl: Fix dt update order 2024-09-17 09:59:55 +10:00
Andy Piper bb2249f766 AC_AttitudeControl: record latest gyro value and time used for logging 
move Write_Rate() to AC_AttitudeControl
move RATE log structure to AC_AttitudeControl
 2024-09-10 16:33:04 +01:00
Leonard Hall 2ab3d0b3b0 AC_AttitudeControl: Add Landed Gain Backoff 2024-07-25 09:50:35 +10:00
Leonard Hall 7047e11090 AC_AttitudeControl: Change input_quaternion to use body frame rates 2024-06-26 11:22:54 +10:00
Iampete1 f3c32a7c9e AC_AttitudeControl: move euler_rate_to_ang_vel, ang_vel_to_euler_rate and euler_accel_limit to Quaternion attitude 2024-05-07 08:34:40 +09:00
Tatsuya Yamaguchi 26ec2ae952 AC_AttitudeControl: fix ATC_SLEW_YAW description (NFC) 2024-04-17 22:18:51 +10:00
Iampete1 6c4c7a2130 AC_AttitudeControl: fix reset_target_and_rate method 2024-02-19 09:15:58 +09:00
Mykhailo Kuznietsov 6c4d988631 AC_AttitudeControl: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Andy Piper 31a2acb7ad AC_AttitudeControl: rename get_angle_P_scale_logging() 2023-09-13 18:02:44 +10:00
Leonard Hall ffc553f34f AC_AttitudeControl: Fix yaw limit calculations 2023-09-12 19:14:01 +10:00
Peter Barker f1eec8482b AC_AttitudeControl: use quat.to_euler(Vector3f&) 2023-04-19 14:24:45 +10:00
Andy Piper 8ecd1d9a37 AC_AttitudeControl: move THR_G_BOOST to Multicopter only 
refactor PD and Angle P boosting into update_throttle_gain_boost()
call update_throttle_gain_boost() from rate_controller_run()
 2023-01-31 08:22:40 +09:00
Andy Piper 53b7f96a5d AC_AttitudeControl: boost PD on roll and pitch when slew limit is hit 
boost angle P when slew limit is hit
move to a single parameter for thrust-gain boosting
add PD scaling support
 2023-01-11 18:59:52 +11:00
Leonard Hall 3c69d28237 AC_AttitudeControl: Support changing update period 2022-12-13 17:10:06 +11:00
Peter Barker 48d25cfc9f AC_AttitudeControl: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Leonard Hall aed694316d AC_AttitudeControl: input_thrust_vector with general heading 2022-11-01 08:21:50 +09:00
Iampete1 14a786bdfa AC_AttitudeControl: remove duplicate _attitude_target.normalize() 2022-10-18 08:30:46 +11:00
Andrew Tridgell bd1be3b41c AC_AttitudeControl: added single loop override of angle P gains 
this is used by quadplanes in back-transiton to prevent oscillation
caused by driving the fixed wing controller too fast
 2022-10-18 07:38:39 +11:00
Iampete1 07d96361ed AC_AttitudeControl: params always use set method 2022-08-03 13:43:48 +01:00
Bill Geyer 2377d7a2c3 AC_AttitudeControl: move input_shaping_rate into input_shaping_ang_vel 2022-06-28 07:56:12 +09:00
Bill Geyer be65358cc1 AC_AttitudeControl: incorporate suggested changes 2022-06-28 07:56:12 +09:00
Bill Geyer fd24b3912f AC_AttitudeControl: add comments 2022-06-28 07:56:12 +09:00
Bill Geyer a547916ebf AC_AttitudeControl: only use rate shaping tc if tc is nonzero 2022-06-28 07:56:12 +09:00
bnsgeyer 7594f7a558 AC_AttitudeControl: incorporate sqrt controller in rate shaping 2022-06-28 07:56:12 +09:00
Iampete1 ecc86b6a4b AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane 2022-05-27 08:17:14 +10:00
murata 59dcf18558 AC_AttitudeControl: Shorten survival time of automatic variables 2022-05-16 09:08:02 +09:00
Leonard Hall 0d863aa736 AC_AttitudeControl: Allow diabling of slew limit 2022-05-14 22:31:43 +09:00