Andrew Tridgell
ad6502c9f1
APM_Control: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
Andrew Tridgell
0430923639
APM_Control: change LIM_ROLL_CD to ROLL_LIMIT_DEG
2024-01-23 15:00:30 +11:00
Peter Barker
71a00dc733
APM_Control: make AHRS attitude member variables private
2024-01-14 12:47:47 +11:00
Andrew Tridgell
69bfe9b837
APM_Control: added D_FF support for fixed wing
2023-11-21 13:26:23 +11:00
Andy Piper
cfebae5857
APM_Control: update for new AC_PID settings
...
enable filters with AP_FILTER_ENABLED
2023-11-21 13:26:23 +11:00
Andy Piper
9211dba484
APM_Control: update docs for new AC_PID parameters
...
add advanced flag to PIDs and selectively compile advanced PID options
2023-11-21 13:26:23 +11:00
Leonard Hall
029950ef05
APM_Control: Support PD Max
2023-09-26 10:41:05 +10:00
Andy Piper
ab24f97275
APM_Control: implement single-cycle feed-forward scaler for roll and pitch
2023-09-13 18:02:44 +10:00
Iampete1
c99c17f1ce
AMP_Control: Roll and Pitch Controller: don't reset pid_info.I in reset_I calls
2023-01-17 11:19:39 +11:00
Leonard Hall
2f2143ca6f
AP_Control: Support changing update period
2022-12-13 17:10:06 +11:00
Henry Wurzburg
2d4d915b45
APM_Control: generalize pid descriptions
2022-11-22 10:55:45 +11:00
Peter Barker
7f202b8a0e
APM_Control: change namespace of MultiCopter and FixedWing params
...
this stops the libraries knowing anything about AP_Vehicle
2022-11-09 19:04:37 +11:00
Andrew Tridgell
aafec1fbe7
APM_Control: fixed use of configured() vs configured_in_storage()
2022-06-06 13:11:50 +10:00
Hwurzburg
d1f02916cf
APM_Control: correct metadata description for roll/pitch rate limits
2022-01-25 08:37:39 +11:00
Andrew Tridgell
5a996f308b
APM_Control: fixed code style of plane rate controllers
2021-11-30 16:19:26 +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
da4fd7a914
AP_PitchController: return floats
2021-10-20 18:29:58 +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
Peter Barker
d2102ce9b7
APM_Control: stop taking references to ahrs in APM_Control
2021-07-21 18:27:23 +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
fa88967b6e
APM_Control: adjust min value for tconst
2021-04-15 06:57:16 +10:00
Andrew Tridgell
ccd7b15d06
APM_Control: apply pitch limiting at high roll to rate
...
this fixes an issue with a large elevator trim error when rolled at
close to 90 degrees
2021-04-15 06:57:16 +10:00
Andrew Tridgell
4694820ac3
APM_Control: allow for smaller minimum tconst
2021-04-15 06:57:16 +10:00
Andrew Tridgell
f88622def8
APM_Control: implement new autotune system
...
use actuator/rate ratio with median filter for FF and Dmod/overshoot
for P,I,D
2021-04-15 06:57:16 +10:00
Andrew Tridgell
12fad55891
APM_Control: fixed pid_info for pitch controller
2021-04-15 06:57:16 +10:00
Andrew Tridgell
ead011c7c2
APM_Control: move to only ACPID
2021-04-15 06:57:16 +10:00
Andrew Tridgell
6ca9033dde
APM_Control: run AC_PID in parallel with old PID for roll/pitch
2021-04-15 06:57:16 +10:00
Andrew Tridgell
d2a4505184
APM_Control: fixed bug in slew filter
2020-10-25 10:32:48 +11:00
Peter Barker
d20c6ceb3b
APM_Control: replace '@User: User' with '@User: Standard'
2020-09-22 14:56:04 +10:00
Paul Riseborough
548bab5d24
APM_Control: Add gyro feedback limit cycle protection
2020-07-13 13:47:50 +10:00
Mark Whitehorn
442fa60651
APM_Control: validate parameter ARSPD_FBW_MIN
2020-04-02 19:43:06 -07:00
Peter Hall
84fe5f4e78
APM_Control: move to airspeed_estimate with pointer
2020-01-14 22:34:37 -07:00
Leonard Hall
157f786adf
Global: rename desired to target in PID info
2019-07-25 17:38:15 +09:00
Andrew Tridgell
d7f90963ea
APM_Control: fill in Act field of PID logs for plane
2019-01-28 09:38:32 +09:00
Nathan E
fbb2252fd9
Update AP_PitchController.cpp
2019-01-23 09:24:18 -07:00
Peter Barker
b276034c60
APM_Control: correct use of incorrect abs functions
2018-10-19 08:46:43 +11:00
Andrew Tridgell
3ab7fe348a
APM_Control: halve the default pitch D term for planes
...
this is based on feedback from the 3.9.1 release
2018-09-14 07:32:13 +10:00
Andrew Tridgell
9e2933df89
APM_Control: raised default PID gains for roll/pitch
2018-08-17 20:42:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
0f5d1ae2dd
APM_Control: Use SI units conventions in parameter units
...
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
Mathieu OTHACEHE
152edf7189
Global: remove mode line from headers
...
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
Tom Pittenger
82777873af
Revert "APM_Control: Convert references to AP_Airspeed."
...
This reverts commit cc5a2417a6
.
2016-08-07 17:54:24 -07:00
AndersonRayner
cc5a2417a6
APM_Control: Convert references to AP_Airspeed.
2016-08-04 10:09:04 -07:00
Andrew Tridgell
8a03b3ba22
APM_Control: reduce elevator when past LIM_ROLL_CD
...
this reduces elevator control when rolled over hard in fixed
wing. Using the elevator when on the side just caused earth frame yaw
and is counter productive. It can also prevent some aircraft from
recovering from inverted flight.
2016-06-24 11:28:18 +10:00
Andrew Tridgell
ab07781c66
APM_Control: raise default P and I gains, and set a lower limit on I for pitch
...
Too many users have very low I gains, which causes a lot of problems for TECS
2016-03-25 09:54:53 +11:00
Lucas De Marchi
2591261af6
Global: rename min and max macros to uppercase
...
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
Caio Marcelo de Oliveira Filho
fe718a6ce8
APM_Control: use millis/micros/panic functions
2015-11-20 12:28:20 +09:00
Lucas De Marchi
831d8acca5
Remove use of PROGMEM
...
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
Gustavo Jose de Sousa
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
Michael du Breuil
e45f3537cf
APM_Control: Remove duplicate include statements
2015-06-25 10:23:47 +10:00
Andrew Tridgell
86a3bca88c
APM_Control: added FF parameters to roll and pitch controllers
...
these are much easier to tune with the new PID_TUNING messages
2015-05-27 14:28:47 +10:00