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120 Commits

Author SHA1 Message Date
Grant Morphett 8d6b417adb AP_SteerController: Adding support for Rovers driving reverse 
This change is mostly for handling the reverse yaw.
 2016-07-17 08:15:33 +10:00
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
Grant Morphett d56e2b6a39 APM_Control: Get steer rate using earth frame. 
Rather then just using the standard z gyro by using the earth frame it
takes into account when a rover leans over in hard corners.  My rover
leans 15 degrees no problem which is why this is needed.
 2016-06-01 10:05:20 +09:00
Ricardo de Almeida Gonzaga 8d6cc587c5 APM_Control: Fix typos 2016-05-13 19:20:05 -03:00
Andrew Tridgell a9f1b608ed APM_Control: expose parameters as AP_Float 2016-05-07 18:34:06 +10:00
Randy Mackay 722095e56d APM_Control: remove unused _last_error member 
Resolves a compiler warning
 2016-04-23 23:06:20 -07:00
Andrew Tridgell 8586b0ae5a APM_Control: added tuning accessors 2016-04-16 20:37:33 +10:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
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 382b6f87fe APM_Control: replace header guard with pragma once 2016-03-16 18:40:41 +11:00
Will Sackfield 8c98eb2b84 APMControl: Cast type to uint8 
* Clang requires that the type be explicitly cast
to uint8
 2016-02-29 14:14:37 +11:00
Lucas De Marchi cfb5bbeb9f APM_Control: stop using Progmem.h 2015-12-27 15:58:12 -02:00
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 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char 
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
 2015-10-30 14:35:30 +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
Lucas De Marchi 1336d621be Replace use of strcpy_P() with strcpy() 2015-10-30 14:35:12 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Grant Morphett 417188d7eb APM_Control: Fixed spelling error in parameter desc. 2015-09-16 09:33:27 +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
Lucas De Marchi 4a595bd797 APM_Control: use ARRAY_SIZE 2015-07-21 14:24:52 +09:00
Michael du Breuil e45f3537cf APM_Control: Remove duplicate include statements 2015-06-25 10:23:47 +10:00
Michael du Breuil aa04c81e3c APM_Control: Fix a typo in the docstring for YAW2SRV_SLIP 2015-06-25 10:22:36 +10:00
Michael du Breuil 6cd81ae1fb APM_Control: Add PID logging to yaw controller 2015-06-22 15:41:44 +10:00
Andrew Tridgell 131b345ccc APM_Control: cleanup some coverity warnings 2015-06-20 13:30:32 +10:00
Andrew Tridgell 5e80f0cf72 APM_Control: allow for multiple stop calls in autotune 2015-06-15 09:20:54 +10:00
Andrew Tridgell 02aa6983a7 APM_Control: fixed FF handling in steering controller 2015-06-09 13:28:26 +10:00
Andrew Tridgell 5105d510b8 APM_Control: added pid_info and FF to steering controller 
used for realtime ground steering tuning
 2015-06-09 12:48:55 +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
Andrew Tridgell 216a78a9f0 APM_Control: added get_pid_info() interface 2015-05-27 14:28:44 +10:00
Peter Barker 9ae85ed9ab APM_Control/AP_AutoTune: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:17 +10:00
Andrew Tridgell d8cd986696 APM_Control: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Tom Pittenger 7132b39dcf AP_AutoTune: fix compile warnings re float constants 2015-04-24 12:24:19 +09:00
Andrew Tridgell ec70042d25 APM_Control: raise default IMAX to 3000 
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
Andrew Tridgell 3b6c732b3b APM_Control: changed default I gain for roll/pitch controllers to non-zero 
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
Andrew Tridgell 8f3dad0d1c APM_Control: increase available range for roll and pitch 2014-08-16 18:07:22 +10:00
Andrew Tridgell 198ada2b42 APM_Control: avoid some float conversion warnings 2014-07-08 20:26:20 +10:00
Andrew Tridgell eb1fb63e57 APM_Control: added logging of parameter changes in AUTOTUNE 
this will make it easier to analyse logs
 2014-04-30 22:22:13 +10:00
Andrew Tridgell 871d0c0e44 APM_Control: moved the log structure to ArduPlane core 
this allows it to work with old style .log files
 2014-04-30 21:22:28 +10:00
Andrew Tridgell 7f9a9107c7 APM_Control: logging_started needs to be static 
prevents writing log headers twice
 2014-04-21 07:13:06 +10:00
Andrew Tridgell b4c5f31b17 APM_Control: reduce the number of parameter saves in autotune 
don't save a parameter unless it has changed by 0.1%
 2014-04-17 17:20:40 +10:00
Paul Riseborough ccc7d36493 APM_Control: Modify D and I gain scaling 2014-04-17 17:11:48 +10:00
Andrew Tridgell ae7293ef68 APM_Control: added support for AUTOTUNE_LEVEL 
10 levels of tune, for what type of tune the user wants
 2014-04-13 22:11:57 +10:00
Andrew Tridgell df192a9efd AP_AutoTune: lower min tau to 0.2 2014-04-13 19:25:54 +10:00
Andrew Tridgell 3343af602e APM_Control: fixed saving of new rate gains 2014-04-13 15:35:52 +10:00
Andrew Tridgell b9a8ef3b51 APM_Control: fixed a bug in autotune servo saturation check 
its in degrees not centi-degrees
 2014-04-13 15:28:36 +10:00
Andrew Tridgell 64170d0f04 APM_Control: added dataflash logging to autotune 2014-04-12 18:21:50 +10:00
Andrew Tridgell 50fc75917e APM_Control: first version of APM_Control autotuning 
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
Don Gagne 1db3c6e688 AP_Arming: param doc fixes 
These were confusing the parser, or just incorrect
 2014-01-10 10:40:53 +09:00