Iampete1
a590a675d6
AP_RollController: return floats
2021-10-20 18:29:58 +11:00
Iampete1
da4fd7a914
AP_PitchController: return floats
2021-10-20 18:29:58 +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
Ben Wolsieffer
68ee2c21dd
AP_Control: apply pitch rate limit to turn coordination
...
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
2021-09-29 17:03:32 +01:00
Randy Mackay
570c12215d
AR_AttitudeControl: fix get_throttle_out_speed use of passed in limits
2021-09-10 07:50:00 +09:00
Peter Barker
066ad0f8da
APM_Control: remove unused variables
2021-08-23 08:39:41 +09:00
Andrew Tridgell
47854ac4b7
APM_Control: lower the tuning trigger threshold
...
this allows for slower stick movements during tuning
This is based on analysing the log from kir850 on rcgroups
2021-07-31 10:01:14 +10:00
Iampete1
bb624074dd
APM_Control: remove outdated tuning guide
2021-07-28 18:26:31 +10:00
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
Peter Barker
d2102ce9b7
APM_Control: stop taking references to ahrs in APM_Control
2021-07-21 18:27:23 +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
cd43c0ecef
APM_Control: use FF to increase but not reduce tau in autotune
...
if user wants a slow time constant we should not override
2021-05-25 12:14:38 +10:00
Hwurzburg
4f4389df2f
APM_Control: make centideg metadata incr and range consistent
2021-05-25 10:10:18 +10:00
Iampete1
bc90ba5486
AR_AttitudeControl: get_steering_out_rate use abs speed for G limit
2021-05-19 16:02:20 +01:00
Randy Mackay
b4fd9848df
AR_AttitudeControl: add get_stop_speed accessor
2021-05-11 15:31:17 +09:00
Iampete1
980c41e273
APM_Control: G limit all turn rates
2021-05-03 19:22:16 -04:00
Andrew Tridgell
f64c6f9ba1
APM_Control: fixed cygwin build
...
FF0 is a macro in cygwin
2021-04-15 06:57:16 +10:00
Andrew Tridgell
767a0b2a99
APM_Control: tweak the activation detection to catch more events
2021-04-15 06:57:16 +10:00
Andrew Tridgell
bb1dc7192b
APM_Control: lower default target filter frequencies
...
this will remove a lot of the level flight noise causing oscillation
at higher gains
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
91856b1d8c
APM_Control: prevent bad init of FF in autotune
2021-04-15 06:57:16 +10:00
Andrew Tridgell
3fdd507157
APM_Control: log I and prevent numercial errors in autotune
2021-04-15 06:57:16 +10:00
Andrew Tridgell
24d53eade4
APM_Control: adjust filter for autotune to 0.75 Hz
...
this should give a better FF estimate
2021-04-15 06:57:16 +10:00
Paul Riseborough
9e6561e6b5
APM_Control: Ensure adequate trim speed
2021-04-15 06:57:16 +10:00
Andrew Tridgell
fa88967b6e
APM_Control: adjust min value for tconst
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
772b1262d4
APM_Control: added proportional reduction to D and P
2021-04-15 06:57:16 +10:00
Andrew Tridgell
d561cd358f
APM_Control: log RMAX and TAU
2021-04-15 06:57:16 +10:00
Andrew Tridgell
d914ce6829
APM_Control: reset filters on autotune start
2021-04-15 06:57:16 +10:00
Andrew Tridgell
7e64875a02
APM_Control: tweak tuning settings
2021-04-15 06:57:16 +10:00
Andrew Tridgell
ccd7b15d06
APM_Control: apply pitch limiting at high roll to rate
...
this fixes an issue with a large elevator trim error when rolled at
close to 90 degrees
2021-04-15 06:57:16 +10:00
Andrew Tridgell
4694820ac3
APM_Control: allow for smaller minimum tconst
2021-04-15 06:57:16 +10:00
Andrew Tridgell
97f88f67f6
APM_Control: allow for AUTOTUNE_LEVEL=0
...
this means keep the existing TCONST and RMAX parameters, if non-zero
2021-04-15 06:57:16 +10:00
Andrew Tridgell
316541017a
APM_Control: fixed handling of clipped actuator in autotune
2021-04-15 06:57:16 +10:00
Andrew Tridgell
9997b191a8
APM_Control: log smoothed rates
2021-04-15 06:57:16 +10:00
Andrew Tridgell
20ef242280
APM_Control: fixed restore of tconst on autotune abort
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
70c194c358
APM_Control: fixed LoggerDocumentation test
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
364fa0680d
APM_Control: use shorter tau for autotune higher levels
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
12fad55891
APM_Control: fixed pid_info for pitch controller
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
Andrew Tridgell
6ca9033dde
APM_Control: run AC_PID in parallel with old PID for roll/pitch
2021-04-15 06:57:16 +10:00
Randy Mackay
f0ffaa5624
AR_AttitudeControl: reset speed filter and I term when stopped
2021-03-04 09:07:32 +09:00
Andrew Tridgell
9a244eef29
APM_Control: added SMAX param docs
2020-10-25 10:32:48 +11:00
