51bf638ad3
PID: Remove unused method get_pid_4500
2016-07-06 08:45:01 +09:00
944541b287
PID: Added PID_Info to class for PID logging
2016-05-31 08:44:52 +10:00
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
5148e41c1a
AP_Math: Cleaned macro definitions
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Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
2016-02-27 02:51:33 -03:00
adfa03ce69
PID: add parameter descriptions
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These actually aren't referred to from anywhere but it makes this class more consistent with other PID classes
2016-02-08 20:42:35 +09:00
e839892524
PID: use millis/micros/panic functions
2015-11-20 12:35:42 +09:00
831d8acca5
Remove use of PROGMEM
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Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
e925820d90
PID: 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.
2015-08-11 16:38:25 +10:00
6862791d66
PID: fixed indent-tabs-mode
2013-05-30 09:50:37 +10:00
ba83950fc4
libraries: replace constrain() with constrain_float()
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this makes the type much more obvious. Thanks to Tobias for the
suggestion.
2013-05-02 10:25:40 +10:00
6123ea2dac
PID: added get_pid_4500()
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this is a version of get_pid() that returns an int16_t constrained to
-4500 to 4500. This will prevent overflow errors for large PID gains
in ArduPlane and Rover
2013-04-01 22:17:04 +11:00
fe964fcda0
PID: change to float input/output
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this makes the PID library a bit more flexible for smaller range
numbers. Note that this library is used on ArduPlane and Rover, not
Copter
2013-02-09 20:36:26 +11:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
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- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
39d14c8a93
PID: ported to AP_HAL
2012-12-20 14:51:31 +11:00
816fe9d35a
PID: use NAN to flag a D reset
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this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
2012-11-27 18:41:31 +11:00
f6fce1e238
PID: don't reset _last_error on reset_I()
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resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers
Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
2012-11-27 13:35:09 +11:00
d13d117e61
APM: removed reset_I() and instead auto-reset integrator in PID library
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this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
2012-08-28 20:18:23 +10:00
330c6c07e3
uncrustify libraries/PID/PID.cpp
2012-08-21 19:04:31 -07:00
5e8fe8d93e
AP_Param: update PID libraries for new constructor syntax
2012-08-08 12:11:57 +10:00
f6d7d1bc59
APM: changed PID library to do automatic deltat calculation
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this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
2012-07-06 19:59:18 +10:00
23ed5c2cee
fixed imax load/save in PID
2012-02-13 16:22:53 +11:00
9c5a5473ab
added indexes to group info structures
2012-02-13 16:22:52 +11:00
f760b3c717
restore _fCut that was lost in AP_Param development
2012-02-13 16:22:51 +11:00
bf4a77da81
convert libraries to new typesafe macros
2012-02-13 16:22:51 +11:00
e5a0074312
modify the PID library for AP_Param
2012-02-13 16:22:51 +11:00
4ec8805216
Reverted to older PID. Restored the older filter, and removed PI command. I am no longer using PID for the quad and have switched to PIPI loops which perform much better. The D term in this class is not that great.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3241 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 17:47:07 +00:00
5c68a04c5d
PID: fixed an uninitialised variable
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we did not initialise derivative to zero
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3082 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 04:46:21 +00:00
915a564b8f
Changed the PID derivative filter to a moving average with 4 samples. Having great luck with it and High kD when using noisy sensors.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2957 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-29 21:52:37 +00:00
5a22080484
I am Adding A "PI" loop to the mix. This is a need for AC2. We can optimize the internals later, but I basically duped the get_PID and removed the D term internals.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2338 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 16:05:49 +00:00
944825772d
Use AP_Var to store PID scaling values.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1652 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:45:31 +00:00
c9227dbcaf
fixed a scaling bug in imax
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1553 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-24 02:07:25 +00:00
0328f926b5
Reinstate Float loading and saving
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1507 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-17 22:57:48 +00:00
55667fd905
removed EEPROMB references
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1315 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 18:42:56 +00:00
6c10842562
Fixed PID error for low pass filter.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1295 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-27 05:59:49 +00:00
68eec6805a
update use EEPROM class, new scaled input for RC_Channel
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1264 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-26 01:17:04 +00:00
665dbefbd4
Added storage options to PID.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1011 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-04 10:32:19 +00:00
2ac2faf7a7
git-svn-id: https://arducopter.googlecode.com/svn/trunk@979 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-29 01:44:25 +00:00
a64c5ef782
Correct misunderstanding about the intent of the external gain array.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@978 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-28 21:51:10 +00:00
9a45c2babc
Re-type delta t, explicitly size error args to get_pid.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@936 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 04:36:43 +00:00
b0fbe39459
Remove spurious scaling
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@934 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:56:03 +00:00
342b759fea
Move the eeprom.h include out of the header, it's not needed there.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@933 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:54:47 +00:00
52abef58d5
More syntax, etc. fixes. Compiles OK now.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@932 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:53:12 +00:00
dc40ee00ae
Fix accessors, _RC
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@931 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:45:17 +00:00
264cca6d24
With apologies to Jason for breaking his branch, clean this up and document it.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@930 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:30:21 +00:00
3ca85f94d4
Checked for dt>0 in PID and modified ctor
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@929 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 00:06:06 +00:00
7598c02f51
Added load/save gain overloads for float arrays to PID,
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supports mavlink style gain get/set now
git-svn-id: https://arducopter.googlecode.com/svn/trunk@928 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-25 23:26:44 +00:00
00e7f9b6d0
Added lowpass filter on PID lib derivative calc
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@927 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-25 23:14:37 +00:00
391e4268c4
git-svn-id: https://arducopter.googlecode.com/svn/trunk@859 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-19 07:18:40 +00:00
e7b26da27d
A simple OO PID library
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@742 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-10-28 04:59:24 +00:00
Fernandes Pinheiro, Daker
Grant Morphett
Ricardo de Almeida Gonzaga
dgrat
Randy Mackay
Caio Marcelo de Oliveira Filho
Lucas De Marchi
Gustavo Jose de Sousa
Andrew Tridgell
James Bielman
Pat Hickey
uncrustify
jasonshort
tridge60@gmail.com
DrZiplok@gmail.com
mich146@hotmail.com
james.goppert
DrZiplok