Mirrors_Framework/ardupilot
1
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot.git synced 2026-10-06 19:00:27 +08:00
Code Issues Packages Projects Releases Wiki Activity
73,378 Commits 72 Branches 544 Tags
47029a0b07b34a5dc84d72822efa239cefb9abd2
Commit Graph
77 Commits
Author SHA1 Message Date
Andy Piper 47029a0b07 AC_AttitudeControl: NTF units are an index 2026-08-22 16:17:41 +10:00
robot-to-society ce9c2d01a4 AC_AttitudeControl: fix angle boost tilt angle comment 
The inverted factor scaling was changed from 2x to 10x, so the boost now
starts reducing at 84 degrees rather than 60 degrees.
 2026-08-12 12:56:06 +01:00
Leonard Hall a81d5a9de1 AC_AttitudeControl: move rate_controller_target_reset to base class 2026-04-14 12:27:29 +09:00
shashwatvoa 4088f1d00a AC_AttitudeControl: add PID unit support and known_units entries 2026-03-19 09:59:59 +11:00
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