Leonard Hall
6f14673f08
APM_Control: support for upgrade to PID object
2019-07-25 17:38:15 +09:00
Leonard Hall
157f786adf
Global: rename desired to target in PID info
2019-07-25 17:38:15 +09:00
Peter Barker
cb692c6946
APM_Control: move logger include to .cpp
2019-07-09 10:57:20 +10:00
Andrew Tridgell
05bd0cb9f4
APM_Control: added decay_I() function
...
used by VTOL planes to decay integrator on fixed wing components when
at very low airspeed
2019-07-07 18:16:47 +10:00
Michael du Breuil
197804412a
APM_Control: Fix AP_GPS include
2019-06-18 10:02:05 +10:00
Randy Mackay
a96c146758
AR_AttitudeControl: set-throttle-out-stop considered same as running speed controller
...
update the speed-last-ms time when set-throttle-out-stop runs or else the desired throttle will not be acceleration limited when the desired speed is next increased above zero
2019-06-08 09:35:36 +09:00
Randy Mackay
4e68d16526
AR_AttitudeControl: use speed_control_active in get_desired_speed_accel_limited
...
also minor formatting fixes
this is a non-functional change
2019-05-10 06:55:35 +09:00
Randy Mackay
6d4d1bc20a
AR_AttitudeControl: add get_turn_rate_from_heading
2019-05-10 06:55:35 +09:00
Randy Mackay
8907b727f6
AR_AttitudeControl: add get_turn_rate_from_lat_accel
2019-05-10 06:55:35 +09:00
Peter Hall
505e1d8c1d
APM_Control: AP_RollContorller: move rate limit
2019-05-06 19:16:26 +10:00
Randy Mackay
415042e557
AR_AttitudeControl: minor declaration ordering change
2019-05-04 14:49:32 +09:00
Randy Mackay
f6f5967a82
AR_AttitudeControl: minor param desc fix
2019-05-04 14:49:26 +09:00
Tom Pittenger
0a95785ff0
APM_Control: rename dataflash to logger
2019-03-28 16:40:57 +11:00
IamPete1
49ec059420
APM_Control: add function to relax rover i terms
2019-02-27 08:51:24 +09:00
Tom Pittenger
752804c2a5
APM_Control: unify singleton naming to _singleton and get_singleton()
2019-02-10 19:09:58 -07:00
Andrew Tridgell
d7f90963ea
APM_Control: fill in Act field of PID logs for plane
2019-01-28 09:38:32 +09:00
Nathan E
548a573803
Update AP_YawController.cpp
2019-01-23 09:24:18 -07:00
Nathan E
f9aac6919c
Update AP_RollController.cpp
2019-01-23 09:24:18 -07:00
Nathan E
fbb2252fd9
Update AP_PitchController.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
Peter Barker
d1f5bcb1ab
APM_Control: stop taking reference to dataflash, use singleton
2019-01-18 14:14:22 +11:00
Peter Barker
b276034c60
APM_Control: correct use of incorrect abs functions
2018-10-19 08:46:43 +11:00
IamPete1
e443b864c6
AR_AttitudeControl: add sail heel PID
2018-09-28 10:40:12 +09:00
Andrew Tridgell
3ab7fe348a
APM_Control: halve the default pitch D term for planes
...
this is based on feedback from the 3.9.1 release
2018-09-14 07:32:13 +10:00
Randy Mackay
d7d6c6ab04
AR_AttitudeControl: clarify units of get_steering_out_heading argument
...
also update comments
2018-09-11 14:39:50 +09:00
Randy Mackay
96097586c3
AR_AttitudeControl: reset I if speed controller not called recently
2018-09-04 15:00:41 +09:00
Randy Mackay
106b8abab7
AR_AttitudeControl: get_throttle_out_from_pitch accepts vehicle speed
2018-08-27 16:44:33 +09:00
Randy Mackay
d5ef3c2e0f
AR_AttitudeControl: get_throttle_out_from_pitch uses motor limits
...
This allows removing I-term build up from throttle hitting 100%
2018-08-27 16:44:33 +09:00
Randy Mackay
65b020eac3
AR_AttitudeControl: re-order pitch control to match other similar methods
2018-08-27 16:44:33 +09:00
Andrew Tridgell
9e2933df89
APM_Control: raised default PID gains for roll/pitch
2018-08-17 20:42:25 +10:00
Randy Mackay
1c18d06aa3
AR_AttitudeControl: move unnecessary else
2018-08-06 11:30:22 +09:00
Randy Mackay
9b60e0844b
AR_AttitudeControl: add get_desired_pitch accessor
2018-08-06 11:30:22 +09:00
Ebin
ccb32cf357
APM_Control: BRAKE param default is true
2018-07-20 14:41:32 +10:00
Ebin
1dc1b28234
APM_Control: changed default PID for Balance Bot
2018-07-20 14:41:32 +10:00
Randy Mackay
9eebb6225a
AR_AttitudeControl: brake fix to set limit in only one direction
2018-07-19 09:04:50 +08:00
Ebin
30b3d63e8a
APM_Control: New default PID values for balance bots
2018-07-06 19:41:09 +10:00
Ebin
ce182fd307
APM_Control: fixed test condition in AR_AttutudeControl.cpp
2018-07-06 19:41:09 +10:00
Ebin
97a260a980
APM_Control: get_throttle_out_from_pitch() accepts dt as argument
2018-06-28 21:55:20 +09:00
Ebin
657ff06380
APM_Control: added balancing function for BalanceBot
2018-06-28 21:55:20 +09:00
Randy Mackay
5e7b37f0b2
AR_AttitudeControl: remove constraint on steering output
2018-06-12 17:44:10 +09:00
Ammarf
b614ca9b75
AR_AttitudeControl: disable limits when _ACCEL_MAX is zero
2018-06-11 08:54:59 +09:00
Randy Mackay
67475a9eaa
AR_AttitudeControl: reset turn-rate I term if not run for 0.2sec
2018-06-01 15:06:13 +09:00
disgruntled-patzer
2c41db9e4d
AP_RollController.cpp: Updated description of ArduPlane Roll Controller for accuracy
...
AP_RollController's get_servo_out function does not return an elevator deflection as was previously described in the function comments.
Instead, it should return an aileron deflection. Thus, the function description should be updated to reflect this more accurately
2018-05-30 09:46:08 +09:00
Randy Mackay
e691b680ca
AR_AttitudeControl: add speed-control-active method
...
allows caller check if speed controller if active
also consolidated other methods to use this check to reduce a little bit of duplicate code
2018-05-29 16:37:31 +09:00
Randy Mackay
3b71d0360a
AR_AttitudeControl: const get_decel_max and get_stopping_distance
2018-05-29 16:37:31 +09:00
Michael du Breuil
84b1a6a58b
APM_Control: Supress some compilier warnings about strncpy
2018-05-29 00:10:40 +01:00
Randy Mackay
a7fbfe7767
AR_AttitudeControl: caller provides dt instead of calculated internally
...
This allows the vehicle's main loop rate to be used instead of an internally calculated dt which suffers from jitter
2018-05-24 11:06:20 +09:00
Randy Mackay
c032095c80
AR_AttitudeControl: reduce default accel max to 2m/s/s
2018-05-24 11:06:20 +09:00
Randy Mackay
856d592b1d
AR_AttitudeControl: accel limit stops
2018-05-24 11:06:20 +09:00
Ammarf
832778e471
AR_AttitudeControl: add separate decel limit
2018-05-23 17:17:29 +09:00
Randy Mackay
f6c06496e2
AR_AttitudeControl: fix accel limiting
2018-05-21 10:28:56 +09:00
Ammarf
a9ee949c32
AR_AttitudeControl: limit desired steering rate
2018-05-21 09:48:43 +09:00
Randy Mackay
56672c1c28
AR_AttitudeControl: fix get_steering_out_rate use of max turn rate and acceleration
2018-05-10 20:37:28 +09:00
Randy Mackay
9feaf9cfdd
AR_AttitudeControl: const some internal variables
...
non-functional change
2018-05-10 20:37:28 +09:00
Randy Mackay
fa76a7c904
AR_AttitudeControl: get-steering-out-lat-accel uses negative speeds
2018-05-10 08:02:13 +09:00
Randy Mackay
5563691bd1
AR_AttitudeControl: assume positive steering output rotates vehicle clockwise
...
also remove steering scaling by speed which has been moved to AR_MotorsUGV
2018-05-10 08:02:13 +09:00
Randy Mackay
ce44326ba8
AR_AttitudeControl: fix get_steering_out_heading while reversing
2018-05-06 16:58:00 +09:00
Randy Mackay
0f9b679e98
AR_AttitudeControl: increase angle err P and reduce steering accel max defaults
2018-04-26 14:16:22 +09:00
Randy Mackay
3f1f68b130
AR_AttitudeControl: support vectored thrust
...
steering output is not scaled for speed
steering integrator does not build up at low speed
2018-04-24 19:57:19 +09:00
Randy Mackay
9c2da896b9
AR_AttitudeControl: get_throttle_out_stop only stops once desired speed reaches zero
...
this reduces the final jerk to a when transitioning from forward to reverse and in cases where ATC_ACCEL_MAX is small
2018-04-24 12:24:53 +09:00
Randy Mackay
365e1030db
AR_AttitudeControl: separate speed limiting to new method
...
This allows the desired speed limiting (by acceleration) to be done before the speed-to-throttle PID controller is run.
This is required so the avoidance calls (which work on the desired speed) can be run after limiting but before the PID controllers
2018-04-24 12:24:53 +09:00
Randy Mackay
23ed735304
AR_AttitudeControl: reduce default steering I gain to 0.2
...
Also reduce default filter from 50hz to 10hz
2018-04-19 16:29:12 +09:00
Daniel Widmann
27234f78c6
AR_AttitudeControl: Allow using steer rate control for skid steer rovers without GPS
2018-04-13 09:12:03 +09:00
Randy Mackay
a8857726d1
AR_AttitudeControl: replace get_steering_out_angle_error with heading
...
internally uses AHRS's heading to determine angle error so overally a non-functional change
2018-04-05 12:14:59 +09:00
Randy Mackay
e6f8021519
AR_AttitudeControl: add angular accel and rate limits
...
This limits the change in desired turn rate to reduce impossible requests which should help avoid overshoot
Also add rotation rate limit to turn-rate controller
2018-04-05 12:14:59 +09:00
Randy Mackay
57f2eb6853
AR_AttitudeControl: minor comment fix
2018-03-31 14:47:30 +09:00
Peter Barker
e2de9d62cd
APM_Control: use ins singleton
2018-03-16 00:37:35 -07:00
Randy Mackay
89725a7aa5
AR_AttitudeControl: minor comment fix
...
non-functional change
2018-03-15 09:58:27 +09:00
Randy Mackay
d139f0e28e
AR_AttitudeControl: add get_stopping_distance
2018-03-14 12:40:04 +09:00
Randy Mackay
54d8a4852f
AR_AttitudeControl: reduce steer rate P default to 0.2
2018-03-09 13:17:38 +09:00
Randy Mackay
2aeda48512
AR_AttitudeControl: minor arg name fix
...
non-functional change
2018-02-09 17:36:21 +09:00
Randy Mackay
5e90cdbf59
AR_AttitudeControl: parameter desc range increase
...
new steering controller can use higher FF and zero P
2018-01-12 08:15:34 +09:00
Randy Mackay
1bb18bc941
AR_AttitudeControl: get_throttle_out_speed uses timeout definition
2018-01-05 13:33:21 +09:00
Randy Mackay
4ac5ef3a13
AR_AttitudeControl: allow filter to be zero
...
Also increase default filter to 50hz
2018-01-05 13:33:21 +09:00
Randy Mackay
16d3e5c00d
AR_AttitudeControl: add feed foward for speed and steering rate control
2018-01-05 13:33:21 +09:00
Randy Mackay
40bb2b0ad9
AR_AttitudeControl: set throttle speed pid dt
2018-01-05 13:33:21 +09:00
Randy Mackay
9930550cfc
AR_AttitudeControl: lengthen timeout to 200ms
...
This is required because occasionally the turn rate controller can be disabled for just over 100ms as new navigation commands are loaded
2018-01-05 13:33:21 +09:00
Randy Mackay
a2b1807ca0
AR_AttitudeControl: fix turn-rate controller timeout
2018-01-05 13:33:21 +09:00
Peter Barker
e0c586876b
APM_Control: use GPS singleton
2017-12-27 00:58:02 +00:00
Andrew Tridgell
1dac512567
APM_Control: 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
Randy Mackay
cabced82f1
AR_AttitudeControl: fix parameter descriptions
2017-12-11 17:01:18 +09:00
Michael Oborne
78f732c380
AR_AttitudeControl: fix parameter docs
2017-12-11 08:35:33 +09:00
Randy Mackay
744f4baf22
AR_AttitudeControl: add parameter description increment
2017-12-09 16:23:25 +09:00
Randy Mackay
f00f4ce79b
AR_AttitudeControl: fix get_desired_speed timeout
2017-12-09 16:23:22 +09:00
Randy Mackay
36c5f057ae
AR_AttitudeControl: add get_desired_turn_rate lat_accel and speed
...
for reporting use only
2017-12-09 12:18:49 +09:00
Grant Morphett
f7db538220
APM_Control: Fixed the subparam indexs to start at 1
...
AFAIK there is still a bug in ArduPilot where subparams should not start at index 0. This is due to the way the index math and bit shifing works as it incorrectly offsets all 0 index params to 0. We allow 2 levels of sub params - 3 levels in total. So params, sub params and sub sub params. The 0 parameter in all those is unfortunately always references param[0]. So param[0] and subparam[0] and subsubparam[0] will reference the same parameter value. Its why we always say start the index from 1 as the math and bitshifting then works correctly.
Yeah this is worded badly - hard to explain.
2017-11-29 09:43:10 +09:00
Randy Mackay
b9a1621d38
AR_AttitudeControl: minor comment fix
...
non-functional change
2017-11-27 10:35:26 +09:00
khancyr
2a25011b14
AR_AttitudeControl: const local variables
2017-11-09 09:53:12 +09:00
khancyr
76a6649a2d
AP_Autotune: remove unimplemented function
2017-11-08 17:21:56 +09:00
khancyr
e9e1dac188
AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out
2017-11-08 15:45:35 +09:00
khancyr
aa09541847
AR_AttitudeControl: const ahrs reference
2017-11-08 15:34:41 +09:00
khancyr
d226ffeeb2
AP_AttitudeControl: remove tabs
...
non-functional change
2017-11-08 15:06:25 +09:00
Daniel Widmann
49887235df
AR_AttitudeControl: get_steering_out methods accept reverse argument
2017-11-08 14:36:23 +09:00
Randy Mackay
ce73d724c8
AR_AttitudeControl: rate-control for skid-steering uses I term even at low speeds
2017-10-26 19:45:04 +09:00
Randy Mackay
ee3daaa7c9
AR_AttitudeControl: reset input filter for steering and throttle controllers
...
Also only set dt to non-zero value
2017-10-26 19:44:54 +09:00
Randy Mackay
2986d3eb7d
AR_AttitudeControl: fix braking
...
this fix ensures the output throttle is never in the opposite direction from the desired-speed
there is a possibility that this could lead to rougher throttle response when the vehicle is transitioning from forward to backwards motion because the throttle response will immediately go to zero when the desired speed cross over zero
2017-10-26 19:44:38 +09:00
Randy Mackay
49cbbf4d76
AR_AttitudeControl: minor comment fix
2017-10-26 19:44:32 +09:00
Randy Mackay
8daa8cba1f
AR_AttitudeControl: record desired turn rate and speed for logging
2017-10-26 19:44:26 +09:00
Randy Mackay
7e5f98b535
APM_Control: fix throttle and steering integrator calc
2017-10-07 14:55:16 +09:00
Lucas De Marchi
15527d762f
APM_Control: add static create method
2017-09-26 03:01:21 +01:00
Michael du Breuil
c34104b369
APM_Control: Simpify yaw controller trig
2017-09-25 16:49:54 -07:00
Randy Mackay
9f876dc7a0
AR_AttitudeControl: throttle and steering control library
...
Throttle controller has these advantages over existing controller:
based on velocity in vehicle's forward-back axis rather than ground-speed
straight-forward PID controller using speed error as input
speed control acceleration limts
stop control slows vehicle smoothly
configurable filtering
Steer controller has these advantages over existing controller:
output scaled properly for skid-steering vehicles
layered P and PID controller for angular error and rate control
configurable filtering
2017-08-15 20:47:19 +09:00
Randy Mackay
164096225b
AP_SteerController: fix get_steering_out_rate bug when reversing
2017-08-05 11:20:58 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
0f5d1ae2dd
APM_Control: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
Andrew Tridgell
f6cc506791
APM_Control: Added derating of steering wheel
2016-12-27 13:33:52 +11:00
Peter Barker
71e42a4eac
APM_Control: add missing parameter metadata
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
Tom Pittenger
82777873af
Revert "APM_Control: Convert references to AP_Airspeed."
...
This reverts commit cc5a2417a6
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
cc5a2417a6
APM_Control: Convert references to AP_Airspeed.
2016-08-04 10:09:04 -07:00
Grant Morphett
8d6b417adb
AP_SteerController: Adding support for Rovers driving reverse
...
This change is mostly for handling the reverse yaw.
2016-07-17 08:15:33 +10:00
Andrew Tridgell
8a03b3ba22
APM_Control: reduce elevator when past LIM_ROLL_CD
...
this reduces elevator control when rolled over hard in fixed
wing. Using the elevator when on the side just caused earth frame yaw
and is counter productive. It can also prevent some aircraft from
recovering from inverted flight.
2016-06-24 11:28:18 +10:00
Grant Morphett
d56e2b6a39
APM_Control: Get steer rate using earth frame.
...
Rather then just using the standard z gyro by using the earth frame it
takes into account when a rover leans over in hard corners. My rover
leans 15 degrees no problem which is why this is needed.
2016-06-01 10:05:20 +09:00
Ricardo de Almeida Gonzaga
8d6cc587c5
APM_Control: Fix typos
2016-05-13 19:20:05 -03:00
Andrew Tridgell
a9f1b608ed
APM_Control: expose parameters as AP_Float
2016-05-07 18:34:06 +10:00
Randy Mackay
722095e56d
APM_Control: remove unused _last_error member
...
Resolves a compiler warning
2016-04-23 23:06:20 -07:00
Andrew Tridgell
8586b0ae5a
APM_Control: added tuning accessors
2016-04-16 20:37:33 +10:00
Ricardo de Almeida Gonzaga
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
Andrew Tridgell
ab07781c66
APM_Control: raise default P and I gains, and set a lower limit on I for pitch
...
Too many users have very low I gains, which causes a lot of problems for TECS
2016-03-25 09:54:53 +11:00
Lucas De Marchi
382b6f87fe
APM_Control: replace header guard with pragma once
2016-03-16 18:40:41 +11:00
Will Sackfield
8c98eb2b84
APMControl: Cast type to uint8
...
* Clang requires that the type be explicitly cast
to uint8
2016-02-29 14:14:37 +11:00
Lucas De Marchi
cfb5bbeb9f
APM_Control: stop using Progmem.h
2015-12-27 15:58:12 -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
fe718a6ce8
APM_Control: use millis/micros/panic functions
2015-11-20 12:28:20 +09:00
Lucas De Marchi
5244559010
Minimize AP_Progmem.h includes
...
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
Lucas De Marchi
1b07dabeb7
Replace prog_char and prog_char_t with char
...
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.
AVR-specific places were not changed.
2015-10-30 14:35:30 +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
Lucas De Marchi
1336d621be
Replace use of strcpy_P() with strcpy()
2015-10-30 14:35:12 +09:00
Lucas De Marchi
2c38e31c93
Remove use of PSTR
...
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Grant Morphett
417188d7eb
APM_Control: Fixed spelling error in parameter desc.
2015-09-16 09:33:27 +09:00
Gustavo Jose de Sousa
db9f037e4b
APM_Control: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:41 +10:00
Lucas De Marchi
4a595bd797
APM_Control: use ARRAY_SIZE
2015-07-21 14:24:52 +09:00
Michael du Breuil
e45f3537cf
APM_Control: Remove duplicate include statements
2015-06-25 10:23:47 +10:00
Michael du Breuil
aa04c81e3c
APM_Control: Fix a typo in the docstring for YAW2SRV_SLIP
2015-06-25 10:22:36 +10:00
Michael du Breuil
6cd81ae1fb
APM_Control: Add PID logging to yaw controller
2015-06-22 15:41:44 +10:00
Andrew Tridgell
131b345ccc
APM_Control: cleanup some coverity warnings
2015-06-20 13:30:32 +10:00
Andrew Tridgell
5e80f0cf72
APM_Control: allow for multiple stop calls in autotune
2015-06-15 09:20:54 +10:00
Andrew Tridgell
02aa6983a7
APM_Control: fixed FF handling in steering controller
2015-06-09 13:28:26 +10:00
Andrew Tridgell
5105d510b8
APM_Control: added pid_info and FF to steering controller
...
used for realtime ground steering tuning
2015-06-09 12:48:55 +10:00
Andrew Tridgell
86a3bca88c
APM_Control: added FF parameters to roll and pitch controllers
...
these are much easier to tune with the new PID_TUNING messages
2015-05-27 14:28:47 +10:00
Andrew Tridgell
216a78a9f0
APM_Control: added get_pid_info() interface
2015-05-27 14:28:44 +10:00
Peter Barker
9ae85ed9ab
APM_Control/AP_AutoTune: use 64-bit timestamps for dataflash logs
2015-05-27 11:54:17 +10:00
Andrew Tridgell
d8cd986696
APM_Control: fix for HAL_SITL rename
2015-05-05 09:45:54 +10:00
Tom Pittenger
7132b39dcf
AP_AutoTune: fix compile warnings re float constants
2015-04-24 12:24:19 +09:00
Andrew Tridgell
ec70042d25
APM_Control: raise default IMAX to 3000
...
on the first flight users often need more I gain to overcome poor
choices for the P gain
2015-02-19 16:15:33 +11:00
Andrew Tridgell
3b6c732b3b
APM_Control: changed default I gain for roll/pitch controllers to non-zero
...
too many people are still not tuning. At least this will give them a
chance to get their aircraft back in a cross-wind
2014-11-13 22:13:25 +11:00
Andrew Tridgell
8f3dad0d1c
APM_Control: increase available range for roll and pitch
2014-08-16 18:07:22 +10:00
Andrew Tridgell
198ada2b42
APM_Control: avoid some float conversion warnings
2014-07-08 20:26:20 +10:00
