Leonard Thall
044b249da5
AP_Math: limit_accel_xy: take a normalised velocity, fade below 0.25
2026-07-27 12:10:17 +09:00
ChrisRosser and Claude Opus 4.8
99619ec9bc
AP_Math: fade cross-track accel prioritisation to zero near zero speed
...
limit_accel_xy() splits the acceleration command into along-track and
cross-track components using the normalised velocity, and prioritises the
cross-track component when the command saturates the maximum lean angle.
As the velocity vector rotates through zero (e.g. a hard stick reversal in
Loiter, where forward speed passes through zero before reversing) the unit
velocity spins rapidly. With any small residual lateral velocity (wind crab,
residual velocity from prior manoeuvring) this re-projects the saturated
longitudinal braking command onto a rapidly rotating axis and emits a large
lateral acceleration spike, seen as a roll wobble at the moment of the stop
and as a PSCE.TAE spike at each PSCN.VN zero crossing.
Fade the cross-track prioritisation out to a direction-preserving magnitude
limit below LIMIT_ACCEL_XY_MIN_SPEED_MS (1 m/s). Above that speed behaviour is
unchanged, so path/corner tracking is unaffected. The limiter only acts when
the command saturates the lean-angle limit, and stationary hold already used
the isotropic branch, so precision position hold is unaffected.
Adds a regression test sweeping velocity through zero and asserting no lateral
acceleration is injected.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com >
2026-07-27 12:10:17 +09:00
Leonard Hall
c2045d7198
AP_Math: Remove fabsf from kinematic_limit clean up
2026-04-15 15:43:13 +10:00
Leonard Hall
0760b4c7c0
AP_Math: Clarify kinematic_limit clean up
2026-04-15 15:43:13 +10:00
Leonard Hall
74b078e67c
AP_Math: Clarify kinematic_limit behavior and improve naming
2026-04-14 09:06:33 +09:00
Leonard Hall
bc6e5150f6
AP_Math: Support future plane command model requirements.
2026-02-04 18:38:37 +11:00
Leonard Hall
8d30995077
AP_Math: limit_accel_corner_xy: Improve function readability.
2026-01-26 19:07:31 -05:00
Leonard Hall
420ddafa1a
AP_Math: Shaper algorithm - limit handling update
2026-01-26 19:07:31 -05:00
Leonard Hall
801ac6ad64
AP_Math: limit_accel_corner_xy: Improve post corner cross track behavior
2026-01-26 19:07:31 -05:00
Leonard Hall
5170571b51
AP_Math: Simplify Shaper algorithm, same behavior
2026-01-26 19:07:31 -05:00
Leonard Hall
4d07b4216a
AP_Math: limit_accel_corner_xy: Improve corner behavior
2026-01-26 19:07:31 -05:00
Leonard Hall
2f5e5e7c6b
AP_Math: Tighten sqrt_controller_accel input checks
2026-01-26 19:07:31 -05:00
Leonard Hall
4692e07845
AP_Math: Update shaping to use improved command model
2026-01-26 19:07:31 -05:00
Leonard Hall
84bf935c1c
AP_Math: Control: Add limit_accel_corner_xy
2026-01-08 11:50:49 +11:00
Leonard Hall
aba26e9882
AP_Math: Control: Name and comment changes
2026-01-08 06:43:51 +11:00
Leonard Hall
acc584da2a
AP_Math: NEU to NED renaming - Conversion
2025-12-17 08:03:10 +09:00
Leonard Hall
d650d534f9
AP_Math: Support SCurve Arcs
2025-11-12 20:47:30 +11:00
Leonard Hall
df6e48f1fd
AP_Math: Control: Improve comments
2025-07-11 13:50:33 +09:00
Leonard Hall
816fb9c2e3
AP_Math: Convert copter to radians
2025-07-01 09:06:25 +09:00
Leonard Hall
c5c840ecd5
AP_Math: Names and Units
2025-06-23 15:05:55 +09:00
Leonard Hall
5fb3e867fb
AP_Math: Control: add Const
2025-05-22 11:53:02 +09:00
Leonard Hall
dd091a7fe0
AP_Math: fix shape limits
2025-05-22 11:53:02 +09:00
Leonard Hall
2b818520cc
AP_Math: Control: Add heading input shaping
2025-05-22 11:53:02 +09:00
9dc992619b
AP_Math: prevent FPE in SITL when limiting accel vectors
...
The cross-product code can produce something slightly negative. Fix
safe_sqrt to avoid barfing on that, as was originally intended, and
clarify why it's being used.
Co-authored-by: Leonard Hall <leonardthall@gmail.com >
Co-authored-by: Thomas Watson <twatson52@icloud.com >
2025-01-07 16:08:03 +11:00
Leonard Hall
ac3a3d9576
AP_Math: Target velocity can reduce when limited
...
AP_Math: Target velocity can reduce when limited
2022-12-30 20:25:58 +09:00
Leonard Hall
114e8e2f52
AP_Math: Control Tools Enhancments
...
AP_Math: Control Tools Enhancments
2022-12-30 20:25:58 +09:00
Leonard Hall
1382923db0
AP_Math: Support changing update period
2022-12-13 17:10:06 +11:00
Leonard Hall
1e3e5e5577
AP_Math: Control: Add velocity limits to shaping functions
2022-08-08 20:54:37 -04:00
Leonard Hall
1a21c6da1e
AP_Math: Move rc_input_to_roll_pitch conversion
2022-05-31 08:08:17 +09:00
Andrew Tridgell
ca4151be2c
AP_Math: added angle_to_accel() and accel_to_angle()
2022-03-18 13:36:16 +11:00
Randy Mackay
f57a081ceb
AP_Math: minor control format fix
2022-02-08 17:01:23 +09:00
Leonard Hall
a47fc65511
AP_Math: Control: improve real time S-Curve response to small inputs
2022-02-08 16:58:44 +09:00
Randy Mackay
8bbdd4825f
AP_Math: minor control spelling and format fixes
2022-01-12 13:07:15 +09:00
Leonard Hall
1e124ca957
AP_Math: Control: Add directional based acceleration limit
...
AP_Math: Control: Add directional based acceleration limit
2021-12-16 09:54:49 +09:00
Randy Mackay
09388b7408
AP_Math: minor comment fix
2021-12-15 11:58:23 +09:00
Leonard Hall
718c094293
AP_Math: Control: Adjust limit handling to improve corners
2021-12-07 09:47:42 +09:00
Randy Mackay
4096a70a1f
AP_Math: update_pos_vel_accel methods accept limit as const reference
...
also update some comments
2021-12-01 12:45:46 +09:00
Iampete1
460df9bb50
AP_Math: control: remove unneeded normalisation.
2021-11-23 13:47:10 +09:00
Leonard Hall
77fbcf1741
AP_Math: Control: add expo calculation.
2021-09-23 20:03:53 +09:00
Leonard Hall
8961695369
AP_Math: Control: Refactor to use Jerk
2021-08-11 17:07:29 +09:00
Leonard Hall
3a8924c185
AP_Math: Control: protect against divide by zero
2021-08-11 17:07:29 +09:00
Leonard Hall
de36398ebf
AC_Math: Control: Support Accel only input
2021-07-10 20:25:05 +09:00
Andrew Tridgell
9b91cfe4ee
AP_Math: implement double versions of some position control methods
2021-06-24 21:34:30 +10:00
Andrew Tridgell
639570505b
AP_Math: cleanups from Leonards feedback
2021-06-24 20:28:45 +10:00
Andrew Tridgell
566dd8ca8b
AP_Math: cleanup API comments on control code
2021-06-24 20:28:45 +10:00
Andrew Tridgell
86f09cad09
AP_Math: cleanup position control APIs
...
use Vector2 for xy, float for z
2021-06-24 20:28:45 +10:00
Leonard Hall
5c47c0a131
AP_Math: Fix before squash
2021-05-24 20:13:37 +10:00
Leonard Hall
c4bb8baf0c
AP_Math: Control: Add XY S-Curve shapers and shaping limits
2021-05-24 20:13:37 +10:00
Randy Mackay
0e506a71a1
AP_Math: remove control's limit_vector_length
...
these have been moved to Vector2f and Vector3f
2021-04-03 12:07:59 +09:00
Leonard Hall
3bb0482795
AP_Math: add update_pos_vel_accel to control
...
also add shape_vel, shape_pos_vel and stopping_distance
also add calculation of kinematic limits
2021-04-03 12:07:59 +09:00
Leonard Thall
ChrisRosserandClaude Opus 4.8
Andrew Tridgell
Randy Mackay
Iampete1