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239 Commits

Author SHA1 Message Date
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
Peter Barker
ffcb9ce945 AP_TECS: use baro singleton 2018-03-08 21:20:05 -08:00
Andrew Tridgell
b6ecce8329 AP_TECS: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Peter Barker
22f1b5ed6f TECS: support for units on fields 2017-11-23 10:40:30 +11:00
Andrew Tridgell
5bd92b4b7e AP_TECS: improved support for VTOL transitions 2017-10-21 18:50:01 +11:00
Lucas De Marchi
61a629d766 AP_TECS: add static create method 2017-09-26 03:01:21 +01:00
JU Han
eebef857f1 AP_TECS: gain scaler K_STE2Thr multiplies by (THRmax - THRmin) 
Makes both feed forward and feed-back consistent
 2017-08-15 14:27:43 +01:00
Andrey Kolobov
5fdebe23cc AP_TECS: disable bad descent for soaring 2017-03-14 08:53:11 +11:00
akolobov
a3f3097941 AP_TECS: added function to reset integrator 2017-03-14 08:20:48 +11:00
Michael du Breuil
666c63da9f AP_TECS: Update for AHRS NED changes 2017-02-13 09:23:14 +11:00
Tom Pittenger
61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Tom Pittenger
bf835c7aee AP_TECS: abstract out the landing stage checks 2017-01-26 13:11:43 -08:00
Tom Pittenger
d1434602a5 AP_TECS: bug fix - use takeoff integrator during land abort 2017-01-26 13:11:43 -08:00
Tom Pittenger
063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND 
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
 2016-12-30 23:50:03 -08:00
Tom Pittenger
84e11fd899 Plane, AP_TECS: do not pass auto_land flag to TECS, it already knows it 2016-12-30 23:50:03 -08:00
Tom Pittenger
8019cedf5b AP_Vehicle,AP_SpdHgtControl,AP_TECS: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:02 -08:00
Tom Pittenger
b614b41d6d AP_TECS: fixed compiler warning 
- AP_Landing _landing was declared out-of-order
 2016-12-05 16:46:55 -08:00
Tom Pittenger
c7bbb6998a TECS: set landing params as private and use accessors 2016-11-25 19:07:30 -08:00
Tom Pittenger
9035dcbbc5 AP_TECS: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Peter Barker
daf9a45efd AP_TECS: correct parameter metadata 
Correct incomplete Description of LAND_PDAMP

Add DisplayName for LAND_PDAMP
 2016-10-27 09:15:03 -07:00
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
Andrew Tridgell
1171b33419 AP_TECS: added TECS_SYNAIRSPEED parameter 
this allows for the synthetic airspeed estimate to be used in TECS
 2016-10-20 13:22:39 +11:00
Andrew Tridgell
7ee42d3a7e AP_TECS: fixed missing doc comment 2016-10-20 13:22:22 +11:00
Andrew Tridgell
2fab15dcd5 AP_TECS: added use_synthetic_airspeed() API 
used by quadplane during transitions
 2016-10-05 11:52:34 +11:00
Tom Pittenger
e5bd23e34a Revert "AP_TECS: Convert references to AP_Airspeed." 
This reverts commit 09d53eaeca.
 2016-08-07 17:54:24 -07:00
Tom Pittenger
8dad05d12e Revert "Airspeed: store reference in libraries and populate it" 
This reverts commit c090ba2257.
 2016-08-07 17:54:24 -07:00
Tom Pittenger
c090ba2257 Airspeed: store reference in libraries and populate it 
- also had to move the initial definition in plane.h so it happened before the others.
 2016-08-04 11:06:44 -07:00
AndersonRayner
09d53eaeca AP_TECS: Convert references to AP_Airspeed. 2016-08-04 10:09:04 -07:00
Murilo Belluzzo
d8b58690ad AP_TECS: Remove useless 'if' statement 
This should fix CID 91386.

Before removing the 'if', I checked the log to confirm that both branch
didn't end-up being equal by mistake in some commit. But it looks like
the file was added in the project this way.
 2016-07-25 18:51:56 -03:00
Tom Pittenger
7be15be185 AP_TECS: slew the hgt_lag_filter when starting a land 2016-07-19 17:19:10 -07:00
Andrew Tridgell
2527859b59 AP_TECS: update comment on underspeed clearing 2016-07-20 08:21:08 +10:00
Andrew Tridgell
d3d2ce3e0d AP_TECS: use full throttle in initial takeoff 
during the first part of a takeoff when we have not yet reached the
target airspeed this forces the throttle to maximum. This fixes a case
where the throttle may drop too low during the first part of takeoff
and lead to a stall.
 2016-07-16 08:14:29 +10:00
Tom Pittenger
773372d2f3 Revert "AP_TECS: coverity scan - variables not initialized in constructor" 
This reverts commit 753c0d47f0.
 2016-07-11 22:01:26 -07:00
Tom Pittenger
c38c3ae7fe Revert "AP_TECS: coverity scan: init variable struct" 
This reverts commit 19713200e5.
 2016-07-11 22:01:02 -07:00
Tom Pittenger
19713200e5 AP_TECS: coverity scan: init variable struct 2016-07-05 14:09:40 -07:00
Tom Pittenger
6d0cf22358 AP_TECS: spelling 2016-07-05 14:09:39 -07:00
Tom Pittenger
753c0d47f0 AP_TECS: coverity scan - variables not initialized in constructor 2016-07-05 13:53:26 -07:00
Tom Pittenger
3c6323dd82 AP_TECS: Log TEC2.LF as Aerodynamic Load Factor 2016-05-17 20:17:27 -07:00
Tom Pittenger
f9335e9d8c AP_TECS: fixed float->double print warning 2016-05-17 15:58:03 -07:00
Andrew Tridgell
98a86bd205 AP_TECS: create TEC2 log message for detailed energy internals 2016-05-14 08:26:10 +10:00
Andrew Tridgell
ff97f52555 AP_TECS: removed log_tuning structure 2016-05-14 08:26:10 +10:00
Andrew Tridgell
bc911d15d1 AP_TECS: convert to using Log_Write 
preparation for a TEC2 message
 2016-05-14 08:26:10 +10:00
Andrew Tridgell
9a6ac77c64 AP_TECS: prevent large glitches in the specific energy integrator 
this tries to prevent problems like in issue#4066, or at least
reducing the impact when it happens
 2016-05-14 08:26:10 +10:00
Andrew Tridgell
c52451b01b AP_TECS: rename some variables to make them clearer 2016-05-14 08:26:09 +10:00
Andrew Tridgell
e698d1f47e AP_TECS: use 64 bit micros 
prevent possible wrap if TECS is not run for a long time
 2016-05-14 08:26:09 +10:00
Tom Pittenger
431b3c7160 AP-TECS: constrain proportion to 0-1 for spdweight scale so it doesn't grow backup after land point 2016-04-21 21:31:02 -07:00
Tom Pittenger
595badce3e AP_TECS: rely on single flag for all land stage differences 
recent fixes in Plane have made the stage more accurate so exceptions/hacks are no longer needed to differentiate between knowing if executing NAV_LAND vs being in stage_approach.
 2016-04-21 21:30:52 -07:00
Tom Pittenger
0af878703f AP_TECS: move target land_airspeed logic to top layer 2016-04-21 21:30:49 -07:00
Tom Pittenger
525c7b24e3 AP_TECS: created accessor for TECS_LAND_ARSPD param 2016-04-21 21:30:48 -07:00
Michael du Breuil
fd51c3cc16 AP_TECS: Remove hgt_afe from update_50hz() 2016-04-21 17:03:00 +10:00
Andrew Tridgell
602ff03c41 AP_TECS: limit both negative and positive pitch on quadplane transition 
this makes for smoother auto takeoff
 2016-04-02 19:53:16 +11:00
Andrew Tridgell
b4c6a0e30e AP_TECS: added logging of speed_weight and state flags 2016-03-26 08:41:09 +11:00