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50 Commits

Author SHA1 Message Date
Peter Barker 9784e28148 AP_WheelEncoder: correct initialisation of WheelRateController objects 
the existing constructer sets a slew rate limit to 0.2

This is essentially a missing patch from a previous series of PRs which moved dt from being a member variable to being passed into the update call for the PID
 2024-09-24 10:46:34 +09:00
Andrew Tridgell 20a5ec4348 AP_WheelEncoder: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Peter Barker 23982229fb AP_WheelEncoder: correct compilation when HAL_GCS_ENABLED is false 2024-03-08 10:04:53 +11:00
Peter Barker 9de01998c3 AP_WheelEncoder: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Andy Piper 5b0f30ad44 AP_WheelEncoder: update for new AC_PID settings 
enable filters with AP_FILTER_ENABLED
 2023-11-21 13:26:23 +11:00
Andy Piper 370ee7d4d3 AP_WheelEncoder: add documentation for PID notches and D feed-foward 
add advanced flag to PIDs and selectively compile advanced PID options
 2023-11-21 13:26:23 +11:00
Leonard Hall 8068f72be3 AP_WheelEncoder: Support PD Max 2023-09-26 10:41:05 +10:00
Peter Barker 642d15582a AP_WheelEncoder: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Leonard Hall 6eb57d618a AP_WheelEncoder: Support changing update period 2022-12-13 17:10:06 +11:00
jackhong12 4a4f361a17 all: use CLASS_NO_COPY() macro 2022-10-04 11:23:04 +11:00
Michał 6f7abab036 AP_WheelEncoder: fix WheelEncoder_Quadrature timestamp. 
Convert timestamp to ms from us.
 2022-06-07 09:59:27 +10:00
Peter Barker 80c3415419 AP_WheelEncoder: tidy includes 2022-05-03 09:14:58 +10:00
murata bf738b03a6 AP_WheelEncoder: Change from division to multiplication 2022-03-16 18:41:52 +11:00
divyateja04 24eb35f0f6 AP_WheelEncoder: quadrature spelling changed 2021-10-27 16:03:06 +11:00
divyateja04 d82ad94b7e AP_WheelEncoder: remove empty constructors 2021-10-26 22:10:21 +11:00
bugobliterator 88a72cca0b AP_WheelEncoder: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Andrew Tridgell 8b388f80c5 AP_WheelEncoder: replaced PixhawkAUX1 with AUX1 
not everything is a pixhawk
 2021-07-22 07:48:12 +10:00
Andrew Tridgell d0a26b6dc6 AP_WheelEncoder: default pins to -1 2021-07-22 07:48:12 +10:00
Andrew Tridgell a2d0f569c9 AP_WheelEncoder: fixed PID constructor calls 2021-06-08 11:14:52 +10:00
Patrick José Pereira 7b6f1225ba AP_WheelEncoder: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Randy Mackay 3984cdd823 AP_WheelEncoder: add singleton 2020-12-01 14:01:17 +09:00
Andrew Tridgell acdc939946 AP_WheelEncoder: added SMAX param docs 2020-10-25 10:32:48 +11:00
murata c713a984da AP_WheelEncoder: Change the tab code to whitespace 2020-04-27 09:32:15 +09:00
Peter Barker baf375e7a0 AP_WheelEncoder: add param docs for new PID filter parameters 2020-02-19 15:09:16 +11:00
Randy Mackay 6677c807ae AP_WheelEncoder: add POS param range of 5m 2020-02-01 08:46:03 +09:00
Peter Barker e32d8ecda1 AP_WheelEncoder: add SITL backend 
AP_WheelEncoder: added update function for SITL quadrature encoder
 2019-10-07 07:31:51 +11:00
Leonard Hall 3d831e4c04 AP_WheelEncoder: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Tom Pittenger 66778dbf63 AP_WheelEncoder: move wheelEncoder logging to library 2019-02-06 10:41:59 +09:00
Pavlo Kolomiiets 2c909cf83b AP_WheelEncoder: Wheel encoder's offsets are properly propagated to EKF3. 2019-01-23 17:01:13 +09:00
Peter Barker 3ecb785f0f AP_WheelEncoder: remove use of never-set AP_HAL_PX4 and AP_HAL_VRBRAIN 2019-01-18 09:53:44 +11:00
Andrew Tridgell 30d5ff2d3d AP_WheelEncoder: set pin to input before attaching interrupt 
this fixes input on AUX6 on CubeBlack
 2018-11-08 18:25:14 +11:00
Peter Barker dde3deff98 AP_WheelEncoder: add override keyword where required 2018-11-08 11:30:12 +11:00
Michael du Breuil b5caea19da AP_WheelEncoder: Fix AP_WheelRateControl::get_pid() always returning the 
first pid

CID: 318644
 2018-11-06 12:19:15 +09:00
Michael du Breuil b38200a960 AP_WheelEncoder: Fix integer division limiting wheel encoder accuracy 
CID: 318646
 2018-11-06 12:19:15 +09:00
Peter Barker 254ef4f0ae AP_WheelEncder: remove dead code 2018-10-01 09:34:52 +09:00
Randy Mackay 785da8add9 AP_WheelRateControl: lib to control wheel rate with encoders 2018-08-27 16:44:33 +09:00
Randy Mackay 912dd0c4cc AP_WheelEncoder: update parameter descriptions 2018-08-27 16:44:33 +09:00
Randy Mackay 6b89c24cc6 AP_WheelEncoder: calculate rate from last iteration 2018-08-27 16:44:33 +09:00
Peter Barker d366842d15 AP_WheelEncoder: move to using HAL's attach_interrupt methods 
AP_WheelEncoder: add error reporting for attaching of interrupts

AP_WheelEncoder: use detach_interrupt method

AP_WheelEncoder: correct initialisation of wheelencoder instances

AP_WheelEncoder: make update_phase_and_error_count non-static

AP_WheelEncoder: use (uint8_t)-1 in place of 255
 2018-08-21 20:34:01 +09:00
Peter Barker a09154c45b AP_WheelEncoder: correct check for wheelencoder-max-instances 2018-08-21 20:34:01 +09:00
Peter Barker 21201b8816 AP_WheelEncoder: do not permit copies 2018-08-21 20:34:01 +09:00
Peter Barker d3877bf2d0 AP_WheelEncoder: remove un-needed initialisations 
Should only be created statically
 2018-07-23 13:52:34 +09:00
Randy Mackay ec98cab262 AP_WheelEncoder: hide parameters by default 2018-02-12 12:16:41 +09:00
Randy Mackay 1531801c83 AP_WheelEncoder: minor comment fix 2018-01-04 14:08:17 +09:00
Randy Mackay eaf8aad5ad AP_WheelEncoder: last_reading is last update time instead of system time 2017-07-27 14:19:08 +09:00
Randy Mackay 2c7b9d9cf7 AP_WheelEncoder: add get_delta_angle 
The total angular change measured by the wheel encoder in radians
 2017-07-27 14:19:08 +09:00
Randy Mackay a53e254bd0 AP_WheelEncoder: replace scaling with CPR and radius 
CPR is the wheel encoder's counts per revolution of the wheel
radius is the radius of the wheel in meters
 2017-07-27 14:19:08 +09:00
Randy Mackay cd71984705 AP_WheelEncoder: 3d position offset 2017-07-27 14:19:08 +09:00
Randy Mackay d61731cdd6 AP_WheelEncoder: minor formatting fix 2017-07-14 07:27:26 +09:00
Randy Mackay d356e60269 AP_WheelEncoder: library to read from wheel encoders 2017-07-14 07:27:26 +09:00