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151 Commits

Author SHA1 Message Date
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