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39 Commits

Author SHA1 Message Date
Peter Barker 7f202b8a0e APM_Control: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Peter Barker 73c6eabde2 APM_Control: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker dd589934cc APM_Control: 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
Andrew Tridgell 81d20ae49d APM_Control: support yaw rate controller autotune 2021-11-30 16:19:26 +11:00
Andrew Tridgell 5a996f308b APM_Control: fixed code style of plane rate controllers 2021-11-30 16:19:26 +11:00
Andrew Tridgell 08fcfa04ae APM_Control: only save autotune gains when P finished 
this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
 2021-10-10 19:00:57 +11:00
Andrew Tridgell 45cf726a4b APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-07-24 15:32:55 +10:00
Andrew Tridgell 1633afb6cd APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-05 20:07:47 +10:00
Andrew Tridgell f64c6f9ba1 APM_Control: fixed cygwin build 
FF0 is a macro in cygwin
 2021-04-15 06:57:16 +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 320d3d20c2 APM_Control: log autotune at 25Hz 2021-04-15 06:57:16 +10:00
Andrew Tridgell 72b51a389c APM_Control: use ATRP log msg via structure 2021-04-15 06:57:16 +10:00
Andrew Tridgell 7b073a61f1 APM_Control: allow for gain reductions when idle 2021-04-15 06:57:16 +10:00
Andrew Tridgell b079da33c5 APM_Control: use slew rate to move gains more smoothly 2021-04-15 06:57:16 +10:00
Andrew Tridgell 53ee13a083 APM_Control: use instance logging and allow AUTOTUNE_LEVEL adjustments 2021-04-15 06:57:16 +10:00
Andrew Tridgell 0b76a8018f APM_Control: move rmax and tau more slowly 2021-04-15 06:57:16 +10:00
Andrew Tridgell 3cb32a18f0 APM_Control: fixed for cygwin build 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 ead011c7c2 APM_Control: move to only ACPID 2021-04-15 06:57:16 +10:00
Peter Barker cb692c6946 APM_Control: move logger include to .cpp 2019-07-09 10:57:20 +10:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker d1f5bcb1ab APM_Control: stop taking reference to dataflash, use singleton 2019-01-18 14:14:22 +11:00
khancyr 76a6649a2d AP_Autotune: remove unimplemented function 2017-11-08 17:21:56 +09:00
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
Lucas De Marchi 382b6f87fe APM_Control: replace header guard with pragma once 2016-03-16 18:40:41 +11:00
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
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
Andrew Tridgell 131b345ccc APM_Control: cleanup some coverity warnings 2015-06-20 13:30:32 +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
Peter Barker 9ae85ed9ab APM_Control/AP_AutoTune: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:17 +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
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 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