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314 Commits

Author SHA1 Message Date
Andrew Tridgell aafec1fbe7 APM_Control: fixed use of configured() vs configured_in_storage() 2022-06-06 13:11:50 +10:00
Peter Barker 73c6eabde2 APM_Control: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker dd589934cc APM_Control: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Randy Mackay c233f114bd AR_PosControl: fixup logging to record desired and target velocity and acceleration 2022-03-30 15:34:14 +09:00
Randy Mackay 74df1c0b22 AR_PosControl: reduce default I term to zero 2022-03-30 15:34:14 +09:00
Randy Mackay abc7bd446a AR_PosControl: rover position controller 2022-03-30 15:34:14 +09:00
murata bb72f91dda APM_Control: Change from division to multiplication 2022-03-16 18:41:52 +11:00
xianglunkai 2e5c201222 AR_AttitudeControl: use _desired_speed instead of desired_speed for throttle-speed controller 2022-03-04 17:51:19 +11:00
Randy Mackay 619f4976a2 AR_AttitudeControl: get_turn_rate_from_heading applies acceleration limit 
Limits rate output so that vehicle will not overshoot the target heading
 2022-02-10 07:45:12 +09:00
Hwurzburg d1f02916cf APM_Control: correct metadata description for roll/pitch rate limits 2022-01-25 08:37:39 +11:00
Randy Mackay 91d40b768c AR_AttitudeControl: get_throttle_speed_pid_info.FF includes base throttle 2022-01-07 09:36:44 +09:00
Randy Mackay 53135b2df0 AR_AttitudeControl: improve get_turn_lat_accel accessor comments 2022-01-03 09:07:21 +09:00
Andrew Tridgell 639447142a APM_Control: use EKF yaw bias to correct fixed wing yaw damper 2021-12-07 17:05:54 +11:00
Andrew Tridgell c83da810da APM_Control: tweaks from review feedback 2021-11-30 16:19:26 +11:00
Andrew Tridgell 81d20ae49d APM_Control: support yaw rate controller autotune 2021-11-30 16:19:26 +11:00
Andrew Tridgell 6685ce0527 APM_Control: added yaw rate controller for fixed wing 
enabled with YAW_RATE_ENABLE parameter
 2021-11-30 16:19:26 +11:00
Andrew Tridgell 5a996f308b APM_Control: fixed code style of plane rate controllers 2021-11-30 16:19:26 +11:00
Andrew Tridgell 724301ea53 APM_Control: make 2nd reduction of P smaller 
this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
 2021-11-30 10:31:34 +11:00
Randy Mackay e85a95f21c AR_AttitudeControl: reduce some param defaults 
These reductions are based on experirence helping users setup new vehicle.  In the vast majority of cases the existing values are too high

STEER_ANG_P is the default for the angle-to-rate controller and is used during pivot turns.  This value may still be slightly too high.
STEER_RATE_MAX is the maximum turn rate so the new value allows a 360 turn in 3 seconds
STEER_ACCEL_MAX is the acceleration for the turn rate meaning a vehicle can get to 120 deg/sec in 1 sec
THR_ACCEL_MAX is the maximum acceleration.  This new value means a vehicle can accelerate to 1m/s in 1 second.
 2021-11-17 19:18:23 +11:00
Randy Mackay 9c54b3d252 AR_AttitudeControl: move param defines from .h to .cpp 2021-11-17 19:18:23 +11:00
Andrew Tridgell 8a73bdcbe6 APM_Control: suppress roll/pitch D term in ground_mode 
prevent oscillations which are quite common
 2021-10-30 18:45:53 +11:00
Iampete1 a590a675d6 AP_RollController: return floats 2021-10-20 18:29:58 +11:00
Iampete1 da4fd7a914 AP_PitchController: return floats 2021-10-20 18:29:58 +11:00
Andrew Tridgell 08fcfa04ae APM_Control: only save autotune gains when P finished 
this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
 2021-10-10 19:00:57 +11:00
Ben Wolsieffer 68ee2c21dd AP_Control: apply pitch rate limit to turn coordination 
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
 2021-09-29 17:03:32 +01:00
Randy Mackay 570c12215d AR_AttitudeControl: fix get_throttle_out_speed use of passed in limits 2021-09-10 07:50:00 +09:00
Peter Barker 066ad0f8da APM_Control: remove unused variables 2021-08-23 08:39:41 +09:00
Andrew Tridgell 47854ac4b7 APM_Control: lower the tuning trigger threshold 
this allows for slower stick movements during tuning

This is based on analysing the log from kir850 on rcgroups
 2021-07-31 10:01:14 +10:00
Iampete1 bb624074dd APM_Control: remove outdated tuning guide 2021-07-28 18:26:31 +10:00
Andrew Tridgell 45cf726a4b APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-07-24 15:32:55 +10:00
Peter Barker d2102ce9b7 APM_Control: stop taking references to ahrs in APM_Control 2021-07-21 18:27:23 +10:00
Andrew Tridgell 1633afb6cd APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-05 20:07:47 +10:00
Andrew Tridgell cd43c0ecef APM_Control: use FF to increase but not reduce tau in autotune 
if user wants a slow time constant we should not override
 2021-05-25 12:14:38 +10:00
Hwurzburg 4f4389df2f APM_Control: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Iampete1 bc90ba5486 AR_AttitudeControl: get_steering_out_rate use abs speed for G limit 2021-05-19 16:02:20 +01:00
Randy Mackay b4fd9848df AR_AttitudeControl: add get_stop_speed accessor 2021-05-11 15:31:17 +09:00
Iampete1 980c41e273 APM_Control: G limit all turn rates 2021-05-03 19:22:16 -04:00
Andrew Tridgell f64c6f9ba1 APM_Control: fixed cygwin build 
FF0 is a macro in cygwin
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 767a0b2a99 APM_Control: tweak the activation detection to catch more events 2021-04-15 06:57:16 +10:00
Andrew Tridgell bb1dc7192b APM_Control: lower default target filter frequencies 
this will remove a lot of the level flight noise causing oscillation
at higher gains
 2021-04-15 06:57:16 +10:00
Andrew Tridgell dd98f00947 APM_Control: prevent cross-axis tuning 
this should fix tuning at higher AUTOTUNE_LEVEL values
 2021-04-15 06:57:16 +10:00
Andrew Tridgell 320d3d20c2 APM_Control: log autotune at 25Hz 2021-04-15 06:57:16 +10:00
Andrew Tridgell 72b51a389c APM_Control: use ATRP log msg via structure 2021-04-15 06:57:16 +10:00
Andrew Tridgell 7b073a61f1 APM_Control: allow for gain reductions when idle 2021-04-15 06:57:16 +10:00
Andrew Tridgell 91856b1d8c APM_Control: prevent bad init of FF in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell 3fdd507157 APM_Control: log I and prevent numercial errors in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell 24d53eade4 APM_Control: adjust filter for autotune to 0.75 Hz 
this should give a better FF estimate
 2021-04-15 06:57:16 +10:00
Paul Riseborough 9e6561e6b5 APM_Control: Ensure adequate trim speed 2021-04-15 06:57:16 +10:00
Andrew Tridgell fa88967b6e APM_Control: adjust min value for tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell b079da33c5 APM_Control: use slew rate to move gains more smoothly 2021-04-15 06:57:16 +10:00