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79 Commits

Author SHA1 Message Date
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
Don Gagne e68cf2d1c5 Plane: Fix parameter documentation 
Fixes some problems with incorrect docs which would in turn generate
bad amp.pdef.xml files for ground stations.

merge with below
 2014-01-09 14:02:21 +09:00
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
Andrew Tridgell 2930184680 AP_YawController: update for AHRS API change 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 64c8cb4739 APM_Control: improved auto docs for AP_SteerController 2013-10-07 09:31:02 +11:00
Andrew Tridgell 39bfd809c2 APM_Control: disable integrator below minimum speed 
this reduces the impact on initial takeoff
 2013-10-05 18:11:35 +10:00
Andrew Tridgell 58187ea449 APM_Control: change minspeed on steering controller to 1.0 2013-10-05 12:56:28 +10:00
Andrew Tridgell 5abf060c41 APM_Control: enable integrator in ACRO rate controller 
this work better for unlocked mode
 2013-10-05 07:42:48 +10:00
Andrew Tridgell d27f5e89d7 APM_Control: remove public AP_PitchController::get_coordination_rate_of|cat() 2013-10-05 07:42:48 +10:00
Andrew Tridgell bd848a6a7f APM_Control: added rate and angle steering controllers 2013-10-05 07:42:48 +10:00
Andrew Tridgell 0784c01f19 APM_Control: added STEER2SRV_MINSPD 
this is the assumed min speed when in STEERING or AUTO mode
 2013-09-30 09:05:37 +10:00
Andrew Tridgell af2d7232c5 APM_Control: make the default time constant 0.75 
thanks to Tom for the testing!
 2013-09-24 07:37:12 +10:00
Andrew Tridgell 3e24ff1b07 AP_SteerController: change the scaling of the D term 
this should cope better with low speed
 2013-09-16 09:42:45 +10:00
Andrew Tridgell 98b4ed1522 AP_SteerController: lower the default STEER2SRV_D 2013-09-16 08:26:29 +10:00
Andrew Tridgell fbe4be94cf APM_Control: changed to AP_Vehicle.h 2013-09-13 11:46:22 +10:00
Andrew Tridgell 2171f2a80b AP_SteerController: move scaler onto integrator input 
this should make integrator scale with speed

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-09-12 07:48:57 +10:00
Andrew Tridgell 0918393fed APM_Control: fixed some documentation typos 2013-09-09 18:04:40 +10:00
Andrew Tridgell 7413c15959 APM_Control: added a ground vehicle steering controller 
this will be used both for the rover code, and for ground steering of
a plane on takeoff
 2013-09-09 18:04:40 +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
Andrew Tridgell c6e37aaec3 APM_Control: use a ahrs reference, not pointer 
saves pointer check
 2013-08-14 14:56:18 +10:00
Andrew Tridgell a7cbebbeba APM_Control: rename 'stabilize' to 'disable_integrator' 
this better reflects what it does
 2013-08-02 21:54:48 +10:00
Andrew Tridgell 57752df68e APM_Control: set a small D value by default 
0.02 may help with some planes that have slow response

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-26 16:07:00 +10:00
Andrew Tridgell c5028c04da APM_Control: scale controllers for altitude 
this allows the attitude controllers to better handle a wider range of
altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 3e21d0594c APM_Control: pass in aircraft parameters and expose coordinate rate offset 
this will make it possible to do rate based pitch control without
having a coordinated turn, for in ACRO mode

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:26 +10:00
Andrew Tridgell 5901b8b22a APM_Control: allow for a wider range of P values for roll/pitch 
values above 1.0 are sometimes needed
 2013-07-18 09:05:17 +10:00
Andrew Tridgell 2ee43a694c APM_Control: fixed YAW2SRV_IMAX handling 
thanks to Steven G for noticing this!
 2013-07-16 09:44:23 +10:00
Andrew Tridgell cc778a68ae APM_Control: changed attitude controllers to take angular error not angle 
this makes it easier for ACRO mode
 2013-07-13 21:45:58 +10:00
Andrew Tridgell f2316747f5 APM_Control: re-work to allow for rate based control 2013-07-11 09:10:41 +10:00
Paul Riseborough 2204b30e66 Plane: Added APM_Control integrator limits to table used to covert old PID values 2013-06-22 21:59:47 +10:00
Paul Riseborough 147856e73c APM_Control: Added integrator limiting adjustable by an advanced user parameter 
this is compatible with the old IMAX settings
 2013-06-22 21:55:27 +10:00
Paul Riseborough d8dab7b5c7 APM_Control: Pitch Control - Reduced the speed below which the integrator is locked 
This is to allow for slow speed flare manoeuvres in FBW modes
 2013-06-22 21:49:40 +10:00
Paul Riseborough 3ad35363be Plane : APM_Control : Removed scaler incorrectly applied to the integrator path 2013-06-04 18:09:06 +10:00
Andrew Tridgell 05889391e5 APM_Control: cope with zero integrator or tconst 
if the user zeros the integrator tuning factor, we need to zero the
integrator
 2013-06-01 22:29:38 +10:00
Andrew Tridgell 512d3d811d APM_Control: neaten up code formatting 2013-06-01 22:29:38 +10:00
Andrew Tridgell 14c8c1bdfc APM_Control: tweak code layout and param descriptions 2013-05-31 17:24:55 +10:00
Andrew Tridgell f4efa92d3b APM_Control: fixed parameter names 2013-05-31 15:31:25 +10:00
Andrew Tridgell 3e8af05d15 APM_Control: match parameter names with old PID controllers 
this will make upgrading easier
 2013-05-31 14:06:56 +10:00
Andrew Tridgell 53d3ce7d2c APM_Control: fixed some documentation (old parameter names) 2013-05-31 07:58:29 +10:00
Paul Riseborough 716c124f73 APM_control: Modified gain definitions for roll and pitch controllers so PID gains behave like previous servo PIDS 
Gain definitions in roll and pitch controllers were updated previously
so that the old PID tuning values could be transferred across.
Updated tuning guide for revised gain definition.
 2013-05-31 07:58:20 +10:00
Andrew Tridgell 6c5718a63b APM_Control: fixed indent-tabs-mode 2013-05-30 09:53:02 +10:00