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209 Commits

Author SHA1 Message Date
Andrew Tridgell a415423975 AP_TECS: removed TECS_LAND_PMIN 
thanks to TunaLobster for pointing out that it is redundent
 2019-11-19 07:50:40 +11:00
Andrew Tridgell 3e72538f07 AP_TECS: added TECS_LAND_PMIN for min pitch in flare 
this is useful to narrow the range of available pitch after flare
 2019-10-26 18:05:17 +11:00
Andrew Tridgell 4f243aca02 AP_TECS: prevent rapid changing of pitch limits on landing approach 
when on landing approach we estimate time to flare based on two noisy
numbers, the vertical speed and height above ground. With noisy
rangefinders this can change rapidly, which resulted in the pitch
limit changing rapidly, leading to a porpoising movement

this limits the rate of change, and also prevents it coming down once
it has nosed up due to pending flare on approach
 2019-08-01 11:28:22 +10:00
Andrew Tridgell 4fd3008b4e AP_TECS: log pitch limits 2019-08-01 11:28:22 +10:00
Andrew Tridgell 3c8ed3d8e1 AP_TECS: fixed flare pitch limits 
when limits are out of bounds
 2019-08-01 11:28:22 +10:00
Andrew Tridgell d72ded4a9e AP_TECS: prevent numerical error with zero max throttle 2019-08-01 11:28:22 +10:00
Andrew Tridgell 587aa33617 AP_TECS: added TECS_OPTIONS 
used for full-time glider
 2019-08-01 11:28:22 +10:00
Andrew Tridgell df0cc40bba AP_TECS: allow TECS_PITCH_MAX to be negative 2019-08-01 11:28:22 +10:00
Peter Barker c0f25a96fb AP_TECS: move include of logger to .cpp file 2019-07-09 10:57:20 +10:00
Michael du Breuil ca65b214af AP_TECS: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Andrew Tridgell c3545be8a1 AP_TECS: fixed a bug in changes from rate-limited to non-limited airspeed 
The calculation of the non-limited airspeed rate demand used the last
non-limited airspeed, whereas it should have used the last adjusted
value. This led to a single frame spike in airspeed demand, which fed
through to a sudden change in pitch integrator.
 2019-04-01 12:14:25 +11:00
Andrew Tridgell 6898ec5776 AP_TECS: prevent airspeed demand spikes causing large pitch changes 
a short term spike in the derivative of speed demand could cause the
constraint on the pitch integrator to push the pitch integrator to
very low values, causing a sharp nose down which takes a long time to
recover from
 2019-03-31 21:05:09 +11:00
Nathan E 9ae5ada82f Correct AP_TECS.cpp typos per magicrub comments 
poper changed to proper
 2019-01-23 09:24:18 -07:00
Nathan E 24f3abde99 Update AP_TECS.cpp 2019-01-23 09:24:18 -07:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Andrew Tridgell 60ec695f55 AP_TECS: set default pitch max to 15 2018-08-17 20:42:29 +10:00
Andrew Tridgell f3336fdb60 AP_TECS: removed dependency on soaring controller 2018-07-30 13:09:15 +10:00
Peter Barker f0daf392a5 AP_TECS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker ffcb9ce945 AP_TECS: use baro singleton 2018-03-08 21:20:05 -08:00
Andrew Tridgell b6ecce8329 AP_TECS: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Peter Barker 22f1b5ed6f TECS: support for units on fields 2017-11-23 10:40:30 +11:00
Andrew Tridgell 5bd92b4b7e AP_TECS: improved support for VTOL transitions 2017-10-21 18:50:01 +11:00
Lucas De Marchi 61a629d766 AP_TECS: add static create method 2017-09-26 03:01:21 +01:00
JU Han eebef857f1 AP_TECS: gain scaler K_STE2Thr multiplies by (THRmax - THRmin) 
Makes both feed forward and feed-back consistent
 2017-08-15 14:27:43 +01:00
Andrey Kolobov 5fdebe23cc AP_TECS: disable bad descent for soaring 2017-03-14 08:53:11 +11:00
akolobov a3f3097941 AP_TECS: added function to reset integrator 2017-03-14 08:20:48 +11:00
Michael du Breuil 666c63da9f AP_TECS: Update for AHRS NED changes 2017-02-13 09:23:14 +11:00
Tom Pittenger 61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Tom Pittenger bf835c7aee AP_TECS: abstract out the landing stage checks 2017-01-26 13:11:43 -08:00
Tom Pittenger d1434602a5 AP_TECS: bug fix - use takeoff integrator during land abort 2017-01-26 13:11:43 -08:00
Tom Pittenger 063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND 
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
 2016-12-30 23:50:03 -08:00
Tom Pittenger 84e11fd899 Plane, AP_TECS: do not pass auto_land flag to TECS, it already knows it 2016-12-30 23:50:03 -08:00
Tom Pittenger 8019cedf5b AP_Vehicle,AP_SpdHgtControl,AP_TECS: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:02 -08:00
Tom Pittenger b614b41d6d AP_TECS: fixed compiler warning 
- AP_Landing _landing was declared out-of-order
 2016-12-05 16:46:55 -08:00
Tom Pittenger c7bbb6998a TECS: set landing params as private and use accessors 2016-11-25 19:07:30 -08:00
Tom Pittenger 9035dcbbc5 AP_TECS: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Peter Barker daf9a45efd AP_TECS: correct parameter metadata 
Correct incomplete Description of LAND_PDAMP

Add DisplayName for LAND_PDAMP
 2016-10-27 09:15:03 -07:00
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
Andrew Tridgell 1171b33419 AP_TECS: added TECS_SYNAIRSPEED parameter 
this allows for the synthetic airspeed estimate to be used in TECS
 2016-10-20 13:22:39 +11:00
Andrew Tridgell 7ee42d3a7e AP_TECS: fixed missing doc comment 2016-10-20 13:22:22 +11:00
Andrew Tridgell 2fab15dcd5 AP_TECS: added use_synthetic_airspeed() API 
used by quadplane during transitions
 2016-10-05 11:52:34 +11:00
Tom Pittenger e5bd23e34a Revert "AP_TECS: Convert references to AP_Airspeed." 
This reverts commit 09d53eaeca.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 8dad05d12e Revert "Airspeed: store reference in libraries and populate it" 
This reverts commit c090ba2257.
 2016-08-07 17:54:24 -07:00
Tom Pittenger c090ba2257 Airspeed: store reference in libraries and populate it 
- also had to move the initial definition in plane.h so it happened before the others.
 2016-08-04 11:06:44 -07:00
AndersonRayner 09d53eaeca AP_TECS: Convert references to AP_Airspeed. 2016-08-04 10:09:04 -07:00
Murilo Belluzzo d8b58690ad AP_TECS: Remove useless 'if' statement 
This should fix CID 91386.

Before removing the 'if', I checked the log to confirm that both branch
didn't end-up being equal by mistake in some commit. But it looks like
the file was added in the project this way.
 2016-07-25 18:51:56 -03:00
Tom Pittenger 7be15be185 AP_TECS: slew the hgt_lag_filter when starting a land 2016-07-19 17:19:10 -07:00
Andrew Tridgell 2527859b59 AP_TECS: update comment on underspeed clearing 2016-07-20 08:21:08 +10:00
Andrew Tridgell d3d2ce3e0d AP_TECS: use full throttle in initial takeoff 
during the first part of a takeoff when we have not yet reached the
target airspeed this forces the throttle to maximum. This fixes a case
where the throttle may drop too low during the first part of takeoff
and lead to a stall.
 2016-07-16 08:14:29 +10:00
Tom Pittenger 773372d2f3 Revert "AP_TECS: coverity scan - variables not initialized in constructor" 
This reverts commit 753c0d47f0.
 2016-07-11 22:01:26 -07:00
Tom Pittenger c38c3ae7fe Revert "AP_TECS: coverity scan: init variable struct" 
This reverts commit 19713200e5.
 2016-07-11 22:01:02 -07:00
Tom Pittenger 19713200e5 AP_TECS: coverity scan: init variable struct 2016-07-05 14:09:40 -07:00
Tom Pittenger 6d0cf22358 AP_TECS: spelling 2016-07-05 14:09:39 -07:00
Tom Pittenger 753c0d47f0 AP_TECS: coverity scan - variables not initialized in constructor 2016-07-05 13:53:26 -07:00
Tom Pittenger 3c6323dd82 AP_TECS: Log TEC2.LF as Aerodynamic Load Factor 2016-05-17 20:17:27 -07:00
Tom Pittenger f9335e9d8c AP_TECS: fixed float->double print warning 2016-05-17 15:58:03 -07:00
Andrew Tridgell 98a86bd205 AP_TECS: create TEC2 log message for detailed energy internals 2016-05-14 08:26:10 +10:00
Andrew Tridgell ff97f52555 AP_TECS: removed log_tuning structure 2016-05-14 08:26:10 +10:00
Andrew Tridgell bc911d15d1 AP_TECS: convert to using Log_Write 
preparation for a TEC2 message
 2016-05-14 08:26:10 +10:00
Andrew Tridgell 9a6ac77c64 AP_TECS: prevent large glitches in the specific energy integrator 
this tries to prevent problems like in issue#4066, or at least
reducing the impact when it happens
 2016-05-14 08:26:10 +10:00
Andrew Tridgell c52451b01b AP_TECS: rename some variables to make them clearer 2016-05-14 08:26:09 +10:00
Andrew Tridgell e698d1f47e AP_TECS: use 64 bit micros 
prevent possible wrap if TECS is not run for a long time
 2016-05-14 08:26:09 +10:00
Tom Pittenger 431b3c7160 AP-TECS: constrain proportion to 0-1 for spdweight scale so it doesn't grow backup after land point 2016-04-21 21:31:02 -07:00
Tom Pittenger 595badce3e AP_TECS: rely on single flag for all land stage differences 
recent fixes in Plane have made the stage more accurate so exceptions/hacks are no longer needed to differentiate between knowing if executing NAV_LAND vs being in stage_approach.
 2016-04-21 21:30:52 -07:00
Tom Pittenger 0af878703f AP_TECS: move target land_airspeed logic to top layer 2016-04-21 21:30:49 -07:00
Tom Pittenger 525c7b24e3 AP_TECS: created accessor for TECS_LAND_ARSPD param 2016-04-21 21:30:48 -07:00
Michael du Breuil fd51c3cc16 AP_TECS: Remove hgt_afe from update_50hz() 2016-04-21 17:03:00 +10:00
Andrew Tridgell 602ff03c41 AP_TECS: limit both negative and positive pitch on quadplane transition 
this makes for smoother auto takeoff
 2016-04-02 19:53:16 +11:00
Andrew Tridgell b4c6a0e30e AP_TECS: added logging of speed_weight and state flags 2016-03-26 08:41:09 +11:00
Andrew Tridgell 8ff932b61c AP_TECS: allow underspeed to end faster 
we now can exit an underspeed condition if we stay above min speed for
3 seconds and also reach 15% above min speed. This prevents a problem
with the thrust line causing downpitch leading to a crash due to too
much throttle
 2016-03-26 07:44:22 +11:00
Lucas De Marchi 9271e97c0b AP_TECS: replace header guard with pragma once 2016-03-16 18:40:43 +11:00
Tom Pittenger a85d4f2f4b AP_TECS: reverse-thrust cleanup 
- throttle slew rate was using % full range including the negative range (-100 to +100 instead of 0 to 100) which meant it was faster
- throttle integrator windup limit was higher than normal because it's a porportional to throttle max - min but that makes no sense when min is negative causing larger limits
 2016-03-10 15:34:52 +11:00
Tom Pittenger 67e2db7975 AP_TECS: add TECS_LAND_PDAMP 
// @Description: This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead.
 2016-03-02 10:54:21 -08:00
Tom Pittenger fcb802cccc AP_TECS: add TECS_LAND_I_GAIN and TECS_TKOFF_I_GAIN 
// more integral gain options for land
 2016-03-02 10:54:20 -08:00
Tom Pittenger a139789693 AP_TECS: add TECS_LAND_TDAMP for land damp 
+     // @Description: This is the damping gain for the throttle demand loop during and auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add damping to correct for oscillations in speed and height. When set to 0 landing throttle damp is controlled by TECS_THR_DAMP.
 2016-03-02 10:54:19 -08:00
Tom Pittenger da01ceee53 AP_TECS: change order of update_speed() so it's not using the previous EAS_dem 
bug reported by @NUAAFLY https://github.com/diydrones/ardupilot/issues/1547
 2016-02-12 13:23:02 -08:00
Tom Pittenger afe9f544e5 AP_TECS: remove incorrect comment about TECS running at 5Hz, it runs at 10Hz. 2016-02-12 13:04:11 -08:00
Tom Pittenger 67ce22660e AP_TECS: 1/3 new param TECS_LAND_SRC for Land Sink Rate Change 
// @Description: When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.
 2016-02-12 11:38:40 -08:00
Tom Pittenger e40bba3d13 AP_TECS: removing mission_cmd in TECS and making it bool is_landing 
this is reverse-thrust cleanup
 2016-02-12 11:08:47 -08:00
Tom Pittenger a0755a84e7 AP_TECS: change param TECS_LAND_SPDWGT default from +1 to -1 2016-02-12 20:36:18 +11:00
Tom Pittenger 149cc7c5da AP_TECS: increase range of TECS_LAND_PMAX to include negative 2016-02-10 22:18:08 -08:00
Andrew Tridgell 13c217c060 AP_TECS: make demanded airspeed during landing stages clearer 2016-02-09 14:18:02 +11:00
Tom Pittenger 5ba2bff85f AP_TECS: Reverse Thrust 
Reverse thrust for controlled landings, even with much steeper approach slopes. This is achieved by allowing throttle demand to go negative to maintain a target airspeed. A Pre-Flare stage was added, triggered by an altitude, to allow for a slower airspeed just before land. That lower airspeed can be near stall.
new params TECS_APPR_SMAX - sink rate max during approach
 2016-02-09 14:18:02 +11:00
Tom Pittenger 5338a76a58 AP_TECS: add flight stage LAND_PREFLARE 2016-02-09 14:18:02 +11:00
Tom Pittenger eeb77c3413 AP_TECS: updated TECS_LAND_SPDWGT param description 2016-01-30 07:31:10 +11:00
Andrew Tridgell 4f9927beda AP_TECS: added set_pitch_max_limit() API 2016-01-19 11:05:56 +11:00
Tom Pittenger db8a2f7e8b AP_TECS: changed land_spdwgt to be sliding scale 2016-01-09 13:25:02 +11:00
Andrew Tridgell b3bd83b1c6 AP_TECS: no underspeed when in VTOL 2016-01-09 07:38:52 +11:00
Tom Pittenger 70a45680ed AP_TECS: fixed param desc for TECS_LAND_THR 2016-01-07 09:36:54 +11:00
Andrew Tridgell 9188670e03 AP_TECS: added get_height_rate_demand() call 2016-01-06 22:47:38 +11:00
Don Gagne 605fedc1c0 AP_TECS: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Jonathan Challinger b0f58248a5 AP_TECS: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Lucas De Marchi fef364e4e8 AP_TECS: avoid comparison between signed and unsigned 2015-12-01 16:28:18 -02:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Caio Marcelo de Oliveira Filho c70dda526c AP_TECS: use millis/micros/panic functions 2015-11-20 12:34:46 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Andrew Tridgell 094b9cb35e AP_TECS: reformat using astyle 2015-09-16 14:24:45 +10:00
Andrew Tridgell 36432e6515 AP_TECS: use climb rate filter consistently between DCM and EKF 
we should use baro height not hgt_afe for the climb rate filter. This
makes the climb rate consistent with the one from the EKF. The lidar
correction comes in with the demanded height, not the observed height
 2015-09-16 14:24:44 +10:00
Tom Pittenger 46a83c7ae9 AP_TECS: added flight stage FLIGHT_LAND_ABORT 
- do what TAKEOFF does in tecs, push the throttle up
 2015-09-09 09:04:24 +10:00