Commit Graph

82 Commits

Author SHA1 Message Date
Leonard Hall 951c818927 AP_Control: Support changing update period 2023-01-08 21:03:25 +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
Andrew Tridgell 216a78a9f0 APM_Control: added get_pid_info() interface 2015-05-27 14:28:44 +10:00
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 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 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
Paul Riseborough 779e32d79f AP_Control : Add true airspeed compensation to pitch controller
turn rate to pitch rate calculation should use true airspeed
2013-12-17 14:17:43 +11:00
Andrew Tridgell 9b5cae2134 APM_Control: reduce roll compensation in pitch controller by cos(pitch)
This reduces the use of the pitch compensation when in a steep climb
or dive

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-11-04 21:21:42 +11:00
Paul Riseborough 97cdd36dd8 APM_Control : Moved scaler on roll and pitch integrator to be before integrator
This means that the value of aileron and elevator trim offset won't change with airspeed
2013-10-25 22:37:49 +11:00
Andrew Tridgell d27f5e89d7 APM_Control: remove public AP_PitchController::get_coordination_rate_of|cat() 2013-10-05 07:42:48 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3
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