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190 Commits

Author SHA1 Message Date
Ryan Beall 033266f94b TECS.cpp: Remove redundant throttle saturation 2022-07-23 18:23:27 -07:00
murata 531e92db8f AP_TECS: Unify coding style for if statements 2022-07-01 11:54:46 -07:00
Ryan Beall 77f922a1ae AP_TECS.cpp: remove line copy error 
This was a copy paste error that is duplicated in the correct spot (in line 530)
 2022-06-30 20:06:33 +10:00
Ruffalo-sunghwan 286e0f261e AP_TECS : correct comment spelling 2022-05-24 20:27:45 +09:00
Peter Barker e1dd53eb17 AP_TECS: 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
Peter Hall 98c5704b92 AP_TECS: add reset throttle I function 2021-12-22 18:46:14 +11:00
Ryan Beall beecca8da9 AP_TECS: Connsider throttle saturation in height demand limiting 2021-11-25 15:02:09 +11:00
Samuel Tabor 27078bccda AP_TECS: Log input height demands. 2021-11-23 11:15:50 +11:00
Iampete1 e0f03a3e09 AP_TECS: no longer child of SpdHgtController 2021-11-13 08:05:39 +11:00
Iampete1 d69d493ea6 AP_TECS: use float for get_throttle_demand 2021-10-20 18:29:58 +11:00
Andrew Tridgell 61d5910d0a AP_TECS: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell a789bb372b AP_TECS: added get_max_sinkrate() API 2021-06-05 13:05:30 +10:00
Samuel Tabor 5865e010b0 AP_TECS: Ensure no throttle output if is_gliding flag is true when flying without airspeed. 2021-05-19 17:53:43 +10:00
TunaLobster 444c413803 AP_TECS: add missing letter in meta data 2021-05-18 11:12:49 +10:00
Samuel Tabor fb8ec292cd AP_TECS: Clarify TECS_THR_DAMP and TECS_LAND_TDAMP descriptions. 2021-03-03 18:05:22 +11:00
Peter Barker d26b2a6f9a AP_TECS: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Tom Pittenger 8ae34a1977 AP_TECS: Don't fetch the land slewrate if it's not needed 
Co-authored-by: WickedShell <Wicked.Shell.Scripts@gmail.com>
 2020-07-31 10:30:17 -07:00
Samuel Tabor bbe01adc7e AP_TECS: Use LAND_THR_SLEW if appropriate. 2020-07-31 10:30:17 -07:00
Samuel Tabor 88d4aa34db AP_TECS: Move the throttle rate limit code to ensure rate limit is respected when exiting takeoff stage. 2020-07-15 09:34:40 -07:00
Samuel Tabor 3228cc3309 AP_TECS: Update descriptions of pitch feed-forward parameters. 2020-04-08 09:11:54 +10:00
Samuel Tabor d04c6cb02e TECS: Don't override the speedweight to 0 if synthetic airspeed is in use. 2020-04-08 09:11:54 +10:00
Samuel Tabor 684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring. 2020-04-08 09:11:54 +10:00
Samuel Tabor dc8c062fbe AP_TECS: Correct an error in the SEBdot FF term. 2020-04-08 09:11:54 +10:00
Samuel Tabor 247738518e AP_TECS: Add a feed-forward term from adjusted demanded airspeed to nav pitch. 2020-04-08 09:11:54 +10:00
Samuel Tabor a27c99fab9 AP_TECS: Return the adjusted demanded airspeed. The aspd_error mavlink message now shows the rate-limited airspeed. 2020-04-08 09:11:54 +10:00
Rishabh eeb55f8b16 TECS: Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Peter Barker 2b5f15fe78 AP_TECS: add missing field documentation in TECS and TEC2 2020-03-22 18:35:14 +11:00
Henry Wurzburg 8155f5dcbf AP_TECS: fix typos in logger message meta-data 2020-03-22 10:04:53 +11:00
Peter Barker 6c56f24e30 AP_TECS: add documentation for TECS and TEC2 2020-03-20 13:05:46 +11:00
Andrew Tridgell 176d3c0b2f AP_TECS: added reset() method 
used at end of VTOL takeoff
 2020-02-16 17:04:07 +11:00
Peter Hall 0afa144f80 AP_TECS: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
Andrew Tridgell a415423975 AP_TECS: removed TECS_LAND_PMIN 
thanks to TunaLobster for pointing out that it is redundent
 2019-11-19 07:50:40 +11:00
Andrew Tridgell 3e72538f07 AP_TECS: added TECS_LAND_PMIN for min pitch in flare 
this is useful to narrow the range of available pitch after flare
 2019-10-26 18:05:17 +11:00
Andrew Tridgell 4f243aca02 AP_TECS: prevent rapid changing of pitch limits on landing approach 
when on landing approach we estimate time to flare based on two noisy
numbers, the vertical speed and height above ground. With noisy
rangefinders this can change rapidly, which resulted in the pitch
limit changing rapidly, leading to a porpoising movement

this limits the rate of change, and also prevents it coming down once
it has nosed up due to pending flare on approach
 2019-08-01 11:28:22 +10:00
Andrew Tridgell 4fd3008b4e AP_TECS: log pitch limits 2019-08-01 11:28:22 +10:00
Andrew Tridgell 3c8ed3d8e1 AP_TECS: fixed flare pitch limits 
when limits are out of bounds
 2019-08-01 11:28:22 +10:00
Andrew Tridgell d72ded4a9e AP_TECS: prevent numerical error with zero max throttle 2019-08-01 11:28:22 +10:00
Andrew Tridgell 587aa33617 AP_TECS: added TECS_OPTIONS 
used for full-time glider
 2019-08-01 11:28:22 +10:00
Andrew Tridgell df0cc40bba AP_TECS: allow TECS_PITCH_MAX to be negative 2019-08-01 11:28:22 +10:00
Peter Barker c0f25a96fb AP_TECS: move include of logger to .cpp file 2019-07-09 10:57:20 +10:00
Michael du Breuil ca65b214af AP_TECS: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Andrew Tridgell c3545be8a1 AP_TECS: fixed a bug in changes from rate-limited to non-limited airspeed 
The calculation of the non-limited airspeed rate demand used the last
non-limited airspeed, whereas it should have used the last adjusted
value. This led to a single frame spike in airspeed demand, which fed
through to a sudden change in pitch integrator.
 2019-04-01 12:14:25 +11:00
Andrew Tridgell 6898ec5776 AP_TECS: prevent airspeed demand spikes causing large pitch changes 
a short term spike in the derivative of speed demand could cause the
constraint on the pitch integrator to push the pitch integrator to
very low values, causing a sharp nose down which takes a long time to
recover from
 2019-03-31 21:05:09 +11:00
Nathan E 9ae5ada82f Correct AP_TECS.cpp typos per magicrub comments 
poper changed to proper
 2019-01-23 09:24:18 -07:00
Nathan E 24f3abde99 Update AP_TECS.cpp 2019-01-23 09:24:18 -07:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Andrew Tridgell 60ec695f55 AP_TECS: set default pitch max to 15 2018-08-17 20:42:29 +10:00
Andrew Tridgell f3336fdb60 AP_TECS: removed dependency on soaring controller 2018-07-30 13:09:15 +10:00
Peter Barker f0daf392a5 AP_TECS: use ins singleton 2018-03-16 00:37:35 -07:00