39d14c8a93
PID: ported to AP_HAL
2012-12-20 14:51:31 +11:00
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
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* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
2012-12-20 14:51:19 +11:00
816fe9d35a
PID: use NAN to flag a D reset
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this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
2012-11-27 18:41:31 +11:00
f6fce1e238
PID: don't reset _last_error on reset_I()
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resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers
Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
2012-11-27 13:35:09 +11:00
d13d117e61
APM: removed reset_I() and instead auto-reset integrator in PID library
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this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
2012-08-28 20:18:23 +10:00
13e0dd2c70
uncrustify libraries/PID/PID.h
2012-08-21 19:04:31 -07:00
330c6c07e3
uncrustify libraries/PID/PID.cpp
2012-08-21 19:04:31 -07:00
84816966ec
uncrustify libraries/PID/examples/pid/pid.pde
2012-08-21 19:04:31 -07:00
5e8fe8d93e
AP_Param: update PID libraries for new constructor syntax
2012-08-08 12:11:57 +10:00
f6d7d1bc59
APM: changed PID library to do automatic deltat calculation
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this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
2012-07-06 19:59:18 +10:00
23ed5c2cee
fixed imax load/save in PID
2012-02-13 16:22:53 +11:00
150a67c262
fixed PID initialisation
2012-02-13 16:22:53 +11:00
9c5a5473ab
added indexes to group info structures
2012-02-13 16:22:52 +11:00
f760b3c717
restore _fCut that was lost in AP_Param development
2012-02-13 16:22:51 +11:00
bf4a77da81
convert libraries to new typesafe macros
2012-02-13 16:22:51 +11:00
e5a0074312
modify the PID library for AP_Param
2012-02-13 16:22:51 +11:00
9c1e257826
fixed example in PID library
2012-01-23 08:47:46 +11:00
0c7c508541
Optional recursion added.
2011-09-30 17:17:51 -04:00
5489b84f8e
Improvements to cmake.
2011-09-29 21:23:26 -04:00
d887a28b91
Added ArduBoat/ ArduRover/ and APO library.
2011-09-29 14:12:15 -04:00
a4e001bbcf
Adding CMake support
2011-09-14 15:44:55 +02:00
4ec8805216
Reverted to older PID. Restored the older filter, and removed PI command. I am no longer using PID for the quad and have switched to PIPI loops which perform much better. The D term in this class is not that great.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3241 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 17:47:07 +00:00
d192ceb8f8
upped D filter to 6
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3096 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-14 05:44:29 +00:00
5c68a04c5d
PID: fixed an uninitialised variable
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we did not initialise derivative to zero
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3082 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 04:46:21 +00:00
915a564b8f
Changed the PID derivative filter to a moving average with 4 samples. Having great luck with it and High kD when using noisy sensors.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2957 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-29 21:52:37 +00:00
cf68e31729
fixed warnings in PID.h
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2560 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-15 12:25:00 +00:00
5a22080484
I am Adding A "PI" loop to the mix. This is a need for AC2. We can optimize the internals later, but I basically duped the get_PID and removed the D term internals.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2338 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 16:05:49 +00:00
c1b6032e7f
Eclipse makefile support for examples.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1860 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-09 19:38:12 +00:00
860998d337
implemented typesafe PSTR()
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This makes PSTR() type safe by using a 1 byte wrapper
structure. Attempts to use the wrong varient of a print function will
generate a compilation error.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1797 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-21 07:25:48 +00:00
240a3a2f2a
quick.fix
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1688 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 21:01:32 +00:00
944825772d
Use AP_Var to store PID scaling values.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1652 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:45:31 +00:00
c9227dbcaf
fixed a scaling bug in imax
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1553 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-24 02:07:25 +00:00
0328f926b5
Reinstate Float loading and saving
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1507 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-17 22:57:48 +00:00
55667fd905
removed EEPROMB references
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1315 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 18:42:56 +00:00
6c10842562
Fixed PID error for low pass filter.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1295 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-27 05:59:49 +00:00
68eec6805a
update use EEPROM class, new scaled input for RC_Channel
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1264 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-26 01:17:04 +00:00
f64fab442d
added ability to get the integrator for debugging
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1117 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-13 04:05:55 +00:00
d13850c941
Added load_gains to PID constructor.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1055 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-06 11:52:31 +00:00
665dbefbd4
Added storage options to PID.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1011 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-04 10:32:19 +00:00
2ac2faf7a7
git-svn-id: https://arducopter.googlecode.com/svn/trunk@979 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-29 01:44:25 +00:00
a64c5ef782
Correct misunderstanding about the intent of the external gain array.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@978 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-28 21:51:10 +00:00
72cf1b4e57
Add a default ctor; due to 0 being magic, PID pid(0) is ambiguous.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@959 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-27 20:30:53 +00:00
73eab31d0c
Shrink the ctor slightly more
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@942 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-27 00:58:01 +00:00
e699812af4
Don't zero fields in the ctor that can be zeroed by reset_I; the code gets replicated for every static instance of the class, which is obscene.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@941 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-27 00:54:21 +00:00
9a45c2babc
Re-type delta t, explicitly size error args to get_pid.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@936 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 04:36:43 +00:00
f04e58c6b3
Added default scalar of 1 to PID.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@935 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 03:16:37 +00:00
b0fbe39459
Remove spurious scaling
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@934 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:56:03 +00:00
342b759fea
Move the eeprom.h include out of the header, it's not needed there.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@933 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:54:47 +00:00
52abef58d5
More syntax, etc. fixes. Compiles OK now.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@932 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:53:12 +00:00
dc40ee00ae
Fix accessors, _RC
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@931 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:45:17 +00:00
264cca6d24
With apologies to Jason for breaking his branch, clean this up and document it.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@930 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 01:30:21 +00:00
3ca85f94d4
Checked for dt>0 in PID and modified ctor
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@929 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-26 00:06:06 +00:00
7598c02f51
Added load/save gain overloads for float arrays to PID,
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supports mavlink style gain get/set now
git-svn-id: https://arducopter.googlecode.com/svn/trunk@928 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-25 23:26:44 +00:00
00e7f9b6d0
Added lowpass filter on PID lib derivative calc
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@927 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-25 23:14:37 +00:00
391e4268c4
git-svn-id: https://arducopter.googlecode.com/svn/trunk@859 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-19 07:18:40 +00:00
e7b26da27d
A simple OO PID library
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@742 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-10-28 04:59:24 +00:00
Pat Hickey
Andrew Tridgell
uncrustify
James Goppert
unknown
jasonshort
tridge60@gmail.com
james.goppert@gmail.com
DrZiplok@gmail.com
mich146@hotmail.com
james.goppert
DrZiplok