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212 Commits

Author SHA1 Message Date
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
Andrew Tridgell 8ff932b61c AP_TECS: allow underspeed to end faster 
we now can exit an underspeed condition if we stay above min speed for
3 seconds and also reach 15% above min speed. This prevents a problem
with the thrust line causing downpitch leading to a crash due to too
much throttle
 2016-03-26 07:44:22 +11:00
Lucas De Marchi 9271e97c0b AP_TECS: replace header guard with pragma once 2016-03-16 18:40:43 +11:00
Tom Pittenger a85d4f2f4b AP_TECS: reverse-thrust cleanup 
- throttle slew rate was using % full range including the negative range (-100 to +100 instead of 0 to 100) which meant it was faster
- throttle integrator windup limit was higher than normal because it's a porportional to throttle max - min but that makes no sense when min is negative causing larger limits
 2016-03-10 15:34:52 +11:00
Tom Pittenger 67e2db7975 AP_TECS: add TECS_LAND_PDAMP 
// @Description: This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead.
 2016-03-02 10:54:21 -08:00
Tom Pittenger fcb802cccc AP_TECS: add TECS_LAND_I_GAIN and TECS_TKOFF_I_GAIN 
// more integral gain options for land
 2016-03-02 10:54:20 -08:00
Tom Pittenger a139789693 AP_TECS: add TECS_LAND_TDAMP for land damp 
+     // @Description: This is the damping gain for the throttle demand loop during and auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add damping to correct for oscillations in speed and height. When set to 0 landing throttle damp is controlled by TECS_THR_DAMP.
 2016-03-02 10:54:19 -08:00
Tom Pittenger da01ceee53 AP_TECS: change order of update_speed() so it's not using the previous EAS_dem 
bug reported by @NUAAFLY https://github.com/diydrones/ardupilot/issues/1547
 2016-02-12 13:23:02 -08:00
Tom Pittenger afe9f544e5 AP_TECS: remove incorrect comment about TECS running at 5Hz, it runs at 10Hz. 2016-02-12 13:04:11 -08:00
Tom Pittenger 67ce22660e AP_TECS: 1/3 new param TECS_LAND_SRC for Land Sink Rate Change 
// @Description: When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.
 2016-02-12 11:38:40 -08:00
Tom Pittenger e40bba3d13 AP_TECS: removing mission_cmd in TECS and making it bool is_landing 
this is reverse-thrust cleanup
 2016-02-12 11:08:47 -08:00
Tom Pittenger a0755a84e7 AP_TECS: change param TECS_LAND_SPDWGT default from +1 to -1 2016-02-12 20:36:18 +11:00
Tom Pittenger 149cc7c5da AP_TECS: increase range of TECS_LAND_PMAX to include negative 2016-02-10 22:18:08 -08:00
Andrew Tridgell 13c217c060 AP_TECS: make demanded airspeed during landing stages clearer 2016-02-09 14:18:02 +11:00
Tom Pittenger 5ba2bff85f AP_TECS: Reverse Thrust 
Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params TECS_APPR_SMAX - sink rate max during approach
 2016-02-09 14:18:02 +11:00
Tom Pittenger 5338a76a58 AP_TECS: add flight stage LAND_PREFLARE 2016-02-09 14:18:02 +11:00
Tom Pittenger eeb77c3413 AP_TECS: updated TECS_LAND_SPDWGT param description 2016-01-30 07:31:10 +11:00
Andrew Tridgell 4f9927beda AP_TECS: added set_pitch_max_limit() API 2016-01-19 11:05:56 +11:00
Tom Pittenger db8a2f7e8b AP_TECS: changed land_spdwgt to be sliding scale 2016-01-09 13:25:02 +11:00
Andrew Tridgell b3bd83b1c6 AP_TECS: no underspeed when in VTOL 2016-01-09 07:38:52 +11:00
Tom Pittenger 70a45680ed AP_TECS: fixed param desc for TECS_LAND_THR 2016-01-07 09:36:54 +11:00
Andrew Tridgell 9188670e03 AP_TECS: added get_height_rate_demand() call 2016-01-06 22:47:38 +11:00
Don Gagne 605fedc1c0 AP_TECS: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Jonathan Challinger b0f58248a5 AP_TECS: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Lucas De Marchi fef364e4e8 AP_TECS: avoid comparison between signed and unsigned 2015-12-01 16:28:18 -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 c70dda526c AP_TECS: use millis/micros/panic functions 2015-11-20 12:34:46 +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
Andrew Tridgell 094b9cb35e AP_TECS: reformat using astyle 2015-09-16 14:24:45 +10:00
Andrew Tridgell 36432e6515 AP_TECS: use climb rate filter consistently between DCM and EKF 
we should use baro height not hgt_afe for the climb rate filter. This
makes the climb rate consistent with the one from the EKF. The lidar
correction comes in with the demanded height, not the observed height
 2015-09-16 14:24:44 +10:00
Tom Pittenger 46a83c7ae9 AP_TECS: added flight stage FLIGHT_LAND_ABORT 
- do what TAKEOFF does in tecs, push the throttle up
 2015-09-09 09:04:24 +10:00
Gustavo Jose de Sousa 1fbbe3ed81 AP_TECS: 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 16:38:24 +10:00
Peter Barker 457f77314e AP_TECS: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:16 +10:00
Andrew Tridgell cf4602afc1 AP_TECS: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Michael du Breuil 04e9141881 AP_TECS: Allow tecs to control throttle during takeoff 2015-04-16 08:56:37 +10:00
Andrew Tridgell 5a4ed85588 AP_TECS: added TECS_LAND_PMAX 
this limits maximum pitch during the flare, which both reduces
integrator windup and prevents too high pitch which can cause a stall
 2015-03-19 14:46:41 +11:00
Andrew Tridgell 569626ac1a AP_TECS: fixed APM2 build 2015-03-16 08:40:18 +11:00
Andrew Tridgell 060f553097 AP_TECS: provide a much smoother transition before flare 
this moves the pitch constraint smoothly between unconstrained and
fully constrained over two time constants before the flare. This
greatly reduces the sudden pitch changes at flare
 2015-03-15 13:52:17 +11:00
Andrew Tridgell 4e5510c99e AP_TECS: fixed warning 2015-01-01 15:14:48 +11:00
Andrew Tridgell 597273cfff AP_TECS: remove lag from height demand in landing 
this predicts ahead the height demand for landing, where we have a
continuous demanded descent. This removes the effect of the lag
introduced by the height demand filters
 2014-12-18 09:58:12 +11:00
Andrew Tridgell 70f5ec60e8 AP_TECS: added get_land_sinkrate() 2014-12-15 21:51:07 +11:00
priseborough e2d47f836e AP_TECS: Fix bug causing plane to fly high on landing approach 
The introduction of the height rate flare logic caused the demanded height rate to be zero except when a flare manouevre was being performed. This caused the plane to lag behind height changes if the D gain was non-zero, which caused it to fly high during landing approach.
 2014-12-14 09:43:46 +11:00
priseborough 053c5054f3 AP_TECS: Change default landing damp gain to 0.5 2014-11-29 20:03:49 +11:00
priseborough 0912f05e7c AP_TECS: Add parameter to adjust height rate gain during flare 2014-11-29 20:03:41 +11:00
priseborough 11aefa6858 AP_TECS: Fix bug in parameter label 2014-11-29 20:03:37 +11:00
priseborough bd97f15d06 AP_TECS: make flare height demand consistent with height rate demand 2014-11-29 20:03:34 +11:00
Andrew Tridgell eb22815668 AP_TECS: fixed range values 2014-11-26 19:02:51 +11:00
Andrew Tridgell abba6395ad AP_TECS: fixed spelling error 2014-11-18 11:12:57 +11:00
Andrew Tridgell 1552278fa3 AP_TECS: use aparm.stall_prevention 2014-11-13 14:05:33 +11:00
Andrew Tridgell bf591b0008 AP_TECS: take load factor into account in min airspeed 
this will push up minimum airspeed when turning
 2014-11-12 13:36:02 +11:00
Andrew Tridgell 2b48434e60 AP_TECS: fixed throttle demand on underspeed 
thanks to Philipp Oettershagen for finding this bug!
 2014-11-05 07:55:18 +11:00
priseborough d6508acfa5 AP_TECS : Prevent throttle undershoot after climb 
If the plane was unable to achieve the climb and got significantly below the internal TECS demanded climb profile, the the PD term would be a large value at the top of climb, and would take some time to reduce due to the rate limiter. This meant that the integrator state could be pushed to a very low value and effectively cause the throttle to sit on the lower limit for longer than desired after levelling out.
 2014-11-05 07:49:03 +11:00
Andrew Tridgell b495905da5 AP_TECS: fixed some warnings 2014-10-22 18:27:18 +11:00
Andrew Tridgell a6ca11facf AP_TECS: allow zero throttle in flare for landing 2014-08-30 05:14:57 +10:00
Andrew Tridgell 6c1eed0a20 AP_TECS: bring in flare sink rate more slowly 
this should reduce pitch overshoot in the flare
 2014-08-30 05:13:18 +10:00
Andrew Tridgell 7547cd45f5 AP_TECS: bring the flare height rate demand in slowly 
bring it in over 0.5s to give less of a bounce
 2014-08-27 20:13:01 +10:00
Andrew Tridgell 500e20b08d AP_TECS: make TECS aware of LAND_PITCH_CD 
this makes the flare a bit smoother
 2014-08-27 20:11:48 +10:00
Andrew Tridgell 68dd61c7c7 AP_TECS: added TECS_LAND_TCONST 
this allows control of the time constant for landing in TECS. A lower
time constant gives tighter altitude control on landing approach
 2014-08-27 17:14:19 +10:00
Andrew Tridgell 2297c6bcd2 AP_TECS: added TECS_LAND_SINK parameter 
this controls the sink rate for the final stage of landing
 2014-08-13 21:38:05 +10:00
Andrew Tridgell c990714377 AP_TECS: added get_max_climbrate() 2014-08-07 09:29:31 +10:00
Andrew Tridgell 7c4d31c481 AP_TECS: added TECS_PITCH_MAX and TECS_PITCH_MIN 
this allows the TECS controlled pitch limits to be smaller than the
FBWA limits. It is common for a human pilot to want a bit more
discretion over pitch than you want the automatic controller to use
 2014-08-06 17:59:18 +10:00
Andrew Tridgell e24febec1b AP_TECS: avoid a valgrind bug 2014-07-14 09:44:35 +10:00
Michael Day 312a2fc8dc AP_TECS: Parameter TECS_LAND_SPDWGT allows custom landing speed weight. 2014-04-10 15:42:49 +10:00
Andrew Tridgell a55c4e2296 AP_TECS: set target airspeed, not min/max airspeed, on landing 
this seems to prevent ballooning of the altitude when we are in the
landing approach, and gives a much smoother landing
 2014-03-20 17:34:39 +11:00
Andrew Tridgell 98530928b5 AP_TECS: make target landing speed a float 
some users may want more precise control
 2014-03-20 17:34:36 +11:00
Michael Day bd7e1b82e1 AP_TECS: Auto landing now takes throttle_nudge into account. 2014-03-20 17:34:26 +11:00
Michael Day 861690dea2 AP_TECS: New params LAND_ARSPD and LAND_THR auto-slowing landings. 
Also controlling pitch by ignoring height error during landing.
This serves to keep the nose up.
 2014-03-20 17:34:23 +11:00
Paul Riseborough 88b0364fcd AP_TECS : Add protection for airspeed runaway due to pitch errors 2014-03-09 19:59:16 +11:00
Andrew Tridgell 9b8311580b AP_TECS: update for AHRS API change 2014-02-15 05:48:24 +11:00
Paul Riseborough 9bbddb2f66 AP_TECS : Use NavEKF height and height rate data if available 2014-02-15 05:48:21 +11:00
Paul Riseborough bc311542ab AP_TECS : Fixed bug preventing accel launch detection when not using AS sensor 2014-02-07 19:20:54 +11:00
Paul Riseborough 585d61b960 AP_TECS : Reduce tendency to overspeed during climbout 
The old code relies on the action of the integrator to raise the nose above the minimum pitch angle which depending on the model and the tuning can be too slow to correct. Biasing the pitch angle to climbout minimum will reduce the taken before an overspeed condition is corrected.
 2013-12-20 09:43:04 +11:00
Andrew Tridgell b096881f81 AP_TECS: added time to TECS messages 2013-11-04 21:36:40 +11:00
Andrew Tridgell 28a4b6ad9f AP_TECS: update for AHRS API change 2013-11-04 21:21:42 +11:00
Andrew Tridgell 84336bc74e AP_TECS: added initial flight_stage handling 2013-10-12 13:12:43 +11:00
Andrew Tridgell 16d2ad9796 AP_TECS: changed to AP_Vehicle.h 2013-09-13 11:44:31 +10:00
Andrew Tridgell 3c967a9c71 AP_TECS: use a ahrs reference 
saves a pointer access
 2013-08-14 14:58:49 +10:00
Paul Riseborough 34f0af25cc AP_TECS : Improvements and bug fixes to feed-forward throttle demand 
This fixes a bug in the feed-forward throttle that prevented the bank to throttle compensation from working properly during descents.
It also adds bank to throttle compensation to the non-airspeed sensor throttle algorithm.
 2013-08-02 21:47:01 +10:00
Andrew Tridgell 620d067ee1 AP_TECS: use ahrs EAS2TAS for true airspeed 2013-07-22 12:50:01 +10:00
Andrew Tridgell fb0e48a25d AP_TECS: adapt for new airspeed variable names 2013-07-18 14:53:23 +10:00
Randy Mackay 110966c186 AP_TECS: compile error fix for size_of(log_tuning) 2013-07-12 11:45:02 +09:00
Paul Riseborough 66d60953df TECS: added height update_pitch call 2013-07-10 14:04:22 +10:00
Paul Riseborough 2c5db9a165 TECS: added support for throttle nudging 2013-07-09 20:50:37 +10:00
Paul Riseborough 9c431b4a04 TECS: use altitude supplied by mainline code 
this allows for use of ALT_OFFSET and ALT_MIX
 2013-07-09 09:25:53 +10:00
Paul Riseborough a694b781c7 AP_TECS: Add non airspeed sensor pitch to throttle mode lost during integration 2013-07-05 22:16:39 +10:00
Andrew Tridgell 87f6cc715d AP_TECS: fixed parameter doc formatting 2013-07-04 17:52:40 +10:00
Paul Riseborough 8082122053 TECS-WIP : Fixed bug in initialisation of DT value 2013-07-04 16:57:50 +10:00
Andrew Tridgell 904e6b5b8f AP_TECS: for _DT to at most 0.1 2013-07-04 16:56:57 +10:00
Andrew Tridgell 68232a10f9 AP_TECS: updates to use new aircraft parameter structure 2013-07-04 16:56:57 +10:00
Paul Riseborough 5b0129e02b AP_TECS: first implemention of TECS altitude control library 2013-07-04 16:56:56 +10:00