8a73bdcbe6
APM_Control: suppress roll/pitch D term in ground_mode
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prevent oscillations which are quite common
2021-10-30 18:45:53 +11:00
a590a675d6
AP_RollController: return floats
2021-10-20 18:29:58 +11:00
d2102ce9b7
APM_Control: stop taking references to ahrs in APM_Control
2021-07-21 18:27:23 +10:00
dd98f00947
APM_Control: prevent cross-axis tuning
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this should fix tuning at higher AUTOTUNE_LEVEL values
2021-04-15 06:57:16 +10:00
fa88967b6e
APM_Control: adjust min value for tconst
2021-04-15 06:57:16 +10:00
4694820ac3
APM_Control: allow for smaller minimum tconst
2021-04-15 06:57:16 +10:00
f88622def8
APM_Control: implement new autotune system
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use actuator/rate ratio with median filter for FF and Dmod/overshoot
for P,I,D
2021-04-15 06:57:16 +10:00
ead011c7c2
APM_Control: move to only ACPID
2021-04-15 06:57:16 +10:00
6ca9033dde
APM_Control: run AC_PID in parallel with old PID for roll/pitch
2021-04-15 06:57:16 +10:00
d2a4505184
APM_Control: fixed bug in slew filter
2020-10-25 10:32:48 +11:00
d20c6ceb3b
APM_Control: replace '@User: User' with '@User: Standard'
2020-09-22 14:56:04 +10:00
548bab5d24
APM_Control: Add gyro feedback limit cycle protection
2020-07-13 13:47:50 +10:00
84fe5f4e78
APM_Control: move to airspeed_estimate with pointer
2020-01-14 22:34:37 -07:00
157f786adf
Global: rename desired to target in PID info
2019-07-25 17:38:15 +09:00
505e1d8c1d
APM_Control: AP_RollContorller: move rate limit
2019-05-06 19:16:26 +10:00
d7f90963ea
APM_Control: fill in Act field of PID logs for plane
2019-01-28 09:38:32 +09:00
f9aac6919c
Update AP_RollController.cpp
2019-01-23 09:24:18 -07:00
9e2933df89
APM_Control: raised default PID gains for roll/pitch
2018-08-17 20:42:25 +10:00
2c41db9e4d
AP_RollController.cpp: Updated description of ArduPlane Roll Controller for accuracy
...
AP_RollController's get_servo_out function does not return an elevator deflection as was previously described in the function comments.
Instead, it should return an aileron deflection. Thus, the function description should be updated to reflect this more accurately
2018-05-30 09:46:08 +09:00
0f5d1ae2dd
APM_Control: Use SI units conventions in parameter units
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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
152edf7189
Global: remove mode line from headers
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Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
82777873af
Revert "APM_Control: Convert references to AP_Airspeed."
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This reverts commit cc5a2417a6
2016-08-07 17:54:24 -07:00
cc5a2417a6
APM_Control: Convert references to AP_Airspeed.
2016-08-04 10:09:04 -07:00
ab07781c66
APM_Control: raise default P and I gains, and set a lower limit on I for pitch
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Too many users have very low I gains, which causes a lot of problems for TECS
2016-03-25 09:54:53 +11:00
2591261af6
Global: rename min and max macros to uppercase
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The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
2015-12-01 16:28:09 -02:00
fe718a6ce8
APM_Control: use millis/micros/panic functions
2015-11-20 12:28:20 +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
db9f037e4b
APM_Control: standardize inclusion of libaries headers
...
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 16:28:41 +10:00
e45f3537cf
APM_Control: Remove duplicate include statements
2015-06-25 10:23:47 +10:00
86a3bca88c
APM_Control: added FF parameters to roll and pitch controllers
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these are much easier to tune with the new PID_TUNING messages
2015-05-27 14:28:47 +10:00
216a78a9f0
APM_Control: added get_pid_info() interface
2015-05-27 14:28:44 +10:00
ec70042d25
APM_Control: raise default IMAX to 3000
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on the first flight users often need more I gain to overcome poor
choices for the P gain
2015-02-19 16:15:33 +11:00
3b6c732b3b
APM_Control: changed default I gain for roll/pitch controllers to non-zero
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too many people are still not tuning. At least this will give them a
chance to get their aircraft back in a cross-wind
2014-11-13 22:13:25 +11:00
8f3dad0d1c
APM_Control: increase available range for roll and pitch
2014-08-16 18:07:22 +10:00
198ada2b42
APM_Control: avoid some float conversion warnings
2014-07-08 20:26:20 +10:00
50fc75917e
APM_Control: first version of APM_Control autotuning
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this adds autotune to the roll/pitch controllers using a very simple
mechanism. The plan is that this provides a framework which Paul and
Jon will build upon.
2014-04-12 14:11:33 +10:00
1db3c6e688
AP_Arming: param doc fixes
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These were confusing the parser, or just incorrect
2014-01-10 10:40:53 +09:00
97cdd36dd8
APM_Control : Moved scaler on roll and pitch integrator to be before integrator
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This means that the value of aileron and elevator trim offset won't change with airspeed
2013-10-25 22:37:49 +11:00
5abf060c41
APM_Control: enable integrator in ACRO rate controller
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this work better for unlocked mode
2013-10-05 07:42:48 +10:00
0918393fed
APM_Control: fixed some documentation typos
2013-09-09 18:04:40 +10:00
97b7130bb9
libraries: update license header to GPLv3
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we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
c6e37aaec3
APM_Control: use a ahrs reference, not pointer
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saves pointer check
2013-08-14 14:56:18 +10:00
a7cbebbeba
APM_Control: rename 'stabilize' to 'disable_integrator'
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this better reflects what it does
2013-08-02 21:54:48 +10:00
57752df68e
APM_Control: set a small D value by default
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0.02 may help with some planes that have slow response
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-26 16:07:00 +10:00
c5028c04da
APM_Control: scale controllers for altitude
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this allows the attitude controllers to better handle a wider range of
altitudes
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-22 12:50:01 +10:00
3e21d0594c
APM_Control: pass in aircraft parameters and expose coordinate rate offset
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this will make it possible to do rate based pitch control without
having a coordinated turn, for in ACRO mode
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-18 14:53:26 +10:00
5901b8b22a
APM_Control: allow for a wider range of P values for roll/pitch
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values above 1.0 are sometimes needed
2013-07-18 09:05:17 +10:00
cc778a68ae
APM_Control: changed attitude controllers to take angular error not angle
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this makes it easier for ACRO mode
2013-07-13 21:45:58 +10:00
f2316747f5
APM_Control: re-work to allow for rate based control
2013-07-11 09:10:41 +10:00
2204b30e66
Plane: Added APM_Control integrator limits to table used to covert old PID values
2013-06-22 21:59:47 +10:00
Andrew Tridgell
Iampete1
Peter Barker
Paul Riseborough
Peter Hall
Leonard Hall
Nathan E
disgruntled-patzer
Dr.-Ing. Amilcar Do Carmo Lucas
Mathieu OTHACEHE
Tom Pittenger
AndersonRayner
Lucas De Marchi
Caio Marcelo de Oliveira Filho
Gustavo Jose de Sousa
Michael du Breuil
Andrew Tridgell
Don Gagne
Paul Riseborough