Randy Mackay
40584a1cf1
AC_AttitudeControl: add ANGLE_MAX parameter
2026-01-28 08:45:12 +11:00
Andy Piper
c683d8c16e
AC_AttitudeControl: reset angle P scaling in rate loop
2025-11-15 16:44:50 +00:00
Andy Piper
7a6c9a8aa1
AC_AttitudeControl: allow scaling of I in-line with angle P for rate-only control
...
add I scale used to logging
set and reset I scale from target thread only
2025-10-02 08:40:02 +01:00
Leonard Hall
9e3c83bc50
AC_AttitudeControl: Fix Vector3f () to {}
2025-08-13 11:06:41 +09:00
Leonard Hall
01e00480f0
AC_AttitudeControl: Add units to dt
2025-07-07 13:39:08 +09:00
Leonard Hall
c05a0eefff
AC_AttitudeControl: Internal Units and Comments
2025-04-29 08:54:14 +09:00
Randy Mackay
ed4c570ed4
AC_AttitudeControl: remove ControlMonitor
2025-03-26 14:10:35 +11:00
Andy Piper
eeda86ccb4
AC_AttitudeControl: rate_controller_run_dt() takes dt as last argument
2024-09-26 19:25:33 +10:00
Andy Piper
02a2c788da
AC_AttitudeControl: ensure plane always gets the latest gyro
2024-09-26 19:25:33 +10:00
Andy Piper
6b5da48641
AC_AttitudeControl: provide function to reset target modifiers
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
c28e38e9b5
AC_AttitudeControl: pass in gyro sample to rate controller
2024-09-26 19:25:33 +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
Andy Piper
b7a969d462
AC_AttitudeControl: update for new AC_PID settings
...
enable filters with AP_FILTER_ENABLED
2023-11-21 13:26:23 +11:00
Andy Piper
d6287e90f1
AC_AttitudeControl: update PID notch centres
...
add documentation for PID notches and D feed-foward
add notches and D feedforward to heli PIDs
add advanced flag to PIDs and selectively compile advanced PID options
2023-11-21 13:26:23 +11:00
Leonard Hall
ac0244e430
AC_AttitudeControl: Support PD Max
2023-09-26 10:41:05 +10:00
Peter Barker
70109f968c
AC_AttitudeControl: tidy AC_PID construction
2023-08-31 11:09:10 +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
Henry Wurzburg
b9452e58b7
AC_AttitudeControl: generalize pid descriptions
2022-11-22 10:55:45 +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
Andy Piper
1287fc4fff
AC_AttitudeControl: reset throttle mix to used mix when scaling mix down
2022-06-22 16:17:26 +09:00
Andrew Tridgell
1b0631669c
AC_AttitudeControl: fixed limiting of throttle mix values
...
use constrain instead of reset to keep as much of user requested value
as possible
also raise limit for MIX_MIN to 0.5 after discussion with Leonard
2021-11-23 16:47:25 +09:00
Leonard Hall
0ad2bf15bc
AC_AttitudeControl: Support thrust to weight of 10:1
2021-08-03 17:04:43 +09:00
Hwurzburg
27620322ec
AC_AttitudeControl: remove % as units on params that are unitless
2021-05-30 22:38:27 -07:00
Leonard Hall
b43c7f4ed1
AC_AttitudeControl: Parameter rename (non-functional)
2021-04-21 12:17:42 +10:00
Andrew Tridgell
0a7c628355
AC_AttitudeControl: added SMAX param docs
2020-10-25 10:32:48 +11:00
Randy Mackay
aff854f485
AC_AttitudeControl: update param ranges
2020-02-26 08:02:27 +09:00
Leonardo Felipe L. S. dos Santos
07f45e1ef9
AC_AttitudeControlMulti: fix update_althold_lean_angle_max use of
...
throttle_in
2020-01-29 10:58:56 +09:00
Randy Mackay
b9ff846162
AC_AttitudeControl: remove old RAT_FILT param desc
2020-01-21 13:06:56 +09:00
Leonard Hall
3ca713fdcb
AC_AttitudeControl: limit ATC_MOT_MIX_MAX in case of a fly away
2019-10-31 12:23:48 +08:00
Leonard Hall
5afb5b4956
AC_AttitudeControl: Prevent loss of yaw control during large angle recovery.
2019-10-31 11:53:27 +08:00
Leonard Hall
0834726b48
AC_AttitudeControl: Support System ID tests
2019-10-16 08:17:09 +09:00
Leonard Hall
7f5d6662b3
AC_AttitudeControl: Support seperate roll and pitch limits
2019-08-03 12:06:32 +09:00
Leonard Hall
bbe33e38f3
AC_AttitudeControl: support for upgrade to PID object
2019-07-25 17:38:15 +09:00
Leonard Hall
32cc642b2e
AC_AttitudeControl: Formatting Changes
2019-04-20 09:31:56 +09:00
Andrew Tridgell
9766c4ed26
AC_AttitudeControl: fixed use of double precision maths
2018-05-07 11:43:23 +10:00
Leonard Hall
691abab95e
AC_AttitudeControl: Update parameter ranges
2018-01-27 11:38:09 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
188dfb6936
AC_AttitudeControl: Use SI units conventions in parameter units
...
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
2017-05-17 18:07:25 +10:00
Randy Mackay
67097c8d59
AC_AttitudeControl: use gyro_latest
...
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.
2017-03-03 13:14:28 +11:00
Randy Mackay
d79403707b
AC_AttControl: add feed forward param descriptions
...
No functional change
2017-03-01 14:59:44 +09:00
Andrew Tridgell
1345bf8737
AC_AttitudeControl: added support for AP_AHRS_View
...
this allows for tailsitters with a different attitude view
2017-02-18 17:26:43 +11:00
Randy Mackay
189b766f2b
AC_AttControl: remove redundant parameter set
2017-01-17 14:56:07 +09:00
Leonard Hall
c6d2fc3d5d
AC_AttitudeControl: add rpy mix manual
...
This allows adjusting the attitude control vs throttle level in manual
flight modes (Stabilize, ACRO)
2017-01-17 14:19:09 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
8419045aea
Spell in comments
2017-01-06 10:57:39 -08:00
murata
bcdd836820
AC_AttControl: remove unnecessary check of thr-mix-min
...
Checks directly above ensure this check can never be true
2016-12-01 13:52:04 +09:00
Leonard Hall
8af192ed9d
AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0
...
The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
2016-11-30 17:56:34 +09:00
Peter Barker
2e2d39e628
AC_AttitudeControl: add missing parameter metadata
2016-10-27 09:15:03 -07:00
Mathieu OTHACEHE
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
