Commit Graph

133 Commits

Author SHA1 Message Date
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