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51 Commits

Author SHA1 Message Date
Andy Piper 0f6d62c196 AC_AutoTune: add option for tuning yaw D-term 
don't touch yaw D or FLTE when tuning the other
make yaw D tune an "axis"
 2023-03-14 11:01:31 +11:00
Bill Geyer 6839f6c89b AC_AutoTune: Tradheli-modify I gain for angle p and tune check 2023-01-31 10:10:59 -05:00
Bill Geyer c8a7c128ad AC_AutoTune: Add Check Tune Sequence 2023-01-31 10:10:59 -05:00
Bill Geyer 0a0c02977d AC_Autotune: use DRP for tuning Angle P 2023-01-31 10:10:59 -05:00
Peter Barker e340c4655b AC_AutoTune: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Bill Geyer 4bb3b08a4a AC_AutoTune: fix tradheli bug with load gain set 2022-06-20 13:00:53 +09:00
Bill Geyer b8690ba109 AC_AutoTune: fix gain determination fail logic 2022-04-18 18:00:20 +09:00
Bill Geyer 8e35fd2658 AC_AutoTune: use failed state to exit 2022-04-18 18:00:20 +09:00
Bill Geyer b4059d3745 AC_AutoTune: use generic load gain method to save flash 2022-04-18 18:00:20 +09:00
Peter Barker 66f0a0f42b AC_AutoTune: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Bill Geyer f1a6865caa AC_Autotune: clean up variable init for dwell 2022-03-29 08:05:41 +09:00
Bill Geyer bd0df72863 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-29 08:05:41 +09:00
Bill Geyer ce725764d4 AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-29 08:05:41 +09:00
Bill Geyer ba28227483 AC_AutoTune: combine dwell_init methods 2022-03-29 08:05:41 +09:00
Bill Geyer bbc259329d AC_AutoTune:tradheli-streamline gcs messages 2022-03-29 08:05:41 +09:00
Peter Barker 28bc05eb84 AC_AutoTune: Vector tidying 2022-03-07 08:22:58 +09:00
Peter Barker 9539362320 AC_AutoTune_Heli: use structure assignment to clear structures 2022-03-07 08:22:58 +09:00
Peter Barker 7ff6442aeb AC_AutoTune: use structure assignment for test results 2022-03-07 08:22:58 +09:00
Peter Barker 33c7bb21cf AC_AutoTune: createstructure to hold specific test's sweep results 2022-03-07 08:22:58 +09:00
Iampete1 607a7bfd70 AC_Autotune_Heli: print gains on axis completion 2022-02-23 07:44:24 +09:00
Bill Geyer 0a65fbbcb5 AC_AutoTune: tradheli-update parameter descriptions and default values 2022-02-07 06:23:37 -05:00
murata 8fbdb01033 AC_AutoTune: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
Iampete1 894f924de0 AC_Autotune: add axis string function 2022-02-04 08:44:00 +09:00
Bill Geyer 6356970839 AC_AutoTune: reduce target angle for feedforward test 2022-02-01 23:06:51 -05:00
Bill Geyer b260839b13 AC_AutoTune: fix yaw feedforward test 2022-02-01 23:06:51 -05:00
Bill Geyer f0042b3909 AC_AutoTune: add safety checks for max allowed gains and freq range 2022-02-01 23:06:51 -05:00
Bill Geyer 607004ce4c AC_AutoTune: combine update rate and angle update methods in freqresp library 2022-02-01 23:06:51 -05:00
Bill Geyer b218f6e5d5 AC_AutoTune: clean up the update gain methods 2022-02-01 23:06:51 -05:00
Bill Geyer d72f142ebe AC_AutoTune: fix heading error filter and streamline updating_rate_d_up 2022-02-01 23:06:51 -05:00
Bill Geyer fb5fec387e AC_AutoTune: consolidate gcs messages and add reset for update gain variables 2022-02-01 23:06:51 -05:00
Bill Geyer 9945c80fb4 AC_AutoTune: switch remaining variables over to using filter library 2022-02-01 23:06:51 -05:00
Bill Geyer 024645f0be AC_AutoTune: switch variables over to using filter library 2022-02-01 23:06:51 -05:00
Bill Geyer a2246cb1a4 AC_AutoTune: ff test modified to reset target att to current for recovery 2022-02-01 23:06:51 -05:00
Bill Geyer bc2455e285 AC_AutoTune: rename parameter for convention and put testing timeout in subclasses 2022-02-01 23:06:51 -05:00
Bill Geyer 66c6a5f877 AC_AutoTune: reorder defines and remove unused in heli 2022-02-01 23:06:51 -05:00
Bill Geyer 36d627c1b0 AC_AutoTune: adjust code to move parameter variables into subclasses 2022-02-01 23:06:51 -05:00
Bill Geyer a9d47532d0 AC_AutoTune: make initialize methods to restart testing 2022-02-01 23:06:51 -05:00
Bill Geyer 40321754fa AC_AutoTune: move load and backup gain methods to subclasses 2022-02-01 23:06:51 -05:00
Bill Geyer 790a77d44a AC_AutoTune: init angle dwell test with proper init method 2022-02-01 23:06:51 -05:00
Bill Geyer 38ff36fca7 AC_AutoTune: clean up variables 2022-02-01 23:06:51 -05:00
Bill Geyer 92cfd3fc63 AC_AutoTune: move heli specific methods to sub class 2022-02-01 23:06:51 -05:00
Bill Geyer e11c7185d0 AC_AutoTune: moved load_test_gains and Save_tuning_gains completely into sub classes 2022-02-01 23:06:51 -05:00
Bill Geyer 716fcc1cba AC_AutoTune: additional commenting and clean up 2022-02-01 23:06:51 -05:00
Bill Geyer 2d3228c699 AC_AutoTune: adding comments to code 2022-02-01 23:06:51 -05:00
Bill Geyer 12c7c19a9d AC_AutoTune: clean up static variables in methods 2022-02-01 23:06:51 -05:00
Bill Geyer e780687f5f AC_AutoTune: Fix issue with parameters in quadplane 2022-02-01 23:06:51 -05:00
Bill Geyer 768648b14c AC_AutoTune: fix position holding during sweeps 2022-02-01 23:06:51 -05:00
Bill Geyer 2c1985aecd AC_AutoTune: comments in FreqResp and use M_2PI for 6.28 2022-02-01 23:06:51 -05:00
Bill Geyer c757de153d AC_AutoTune: tradheli autotune, sqashed commits together 2022-02-01 23:06:51 -05:00
Randy Mackay 873924d6cd AC_AutoTune: formatting and comment improvements 2022-02-01 23:06:51 -05:00