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Commit Graph

350 Commits

Author SHA1 Message Date
Andrew Tridgell
81d20ae49d APM_Control: support yaw rate controller autotune 2021-11-30 16:19:26 +11:00
Andrew Tridgell
6685ce0527 APM_Control: added yaw rate controller for fixed wing 
enabled with YAW_RATE_ENABLE parameter
 2021-11-30 16:19:26 +11:00
Andrew Tridgell
5a996f308b APM_Control: fixed code style of plane rate controllers 2021-11-30 16:19:26 +11:00
Andrew Tridgell
724301ea53 APM_Control: make 2nd reduction of P smaller 
this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
 2021-11-30 10:31:34 +11:00
Randy Mackay
e85a95f21c AR_AttitudeControl: reduce some param defaults 
These reductions are based on experirence helping users setup new vehicle.  In the vast majority of cases the existing values are too high

STEER_ANG_P is the default for the angle-to-rate controller and is used during pivot turns.  This value may still be slightly too high.
STEER_RATE_MAX is the maximum turn rate so the new value allows a 360 turn in 3 seconds
STEER_ACCEL_MAX is the acceleration for the turn rate meaning a vehicle can get to 120 deg/sec in 1 sec
THR_ACCEL_MAX is the maximum acceleration.  This new value means a vehicle can accelerate to 1m/s in 1 second.
 2021-11-17 19:18:23 +11:00
Randy Mackay
9c54b3d252 AR_AttitudeControl: move param defines from .h to .cpp 2021-11-17 19:18:23 +11:00
Andrew Tridgell
8a73bdcbe6 APM_Control: suppress roll/pitch D term in ground_mode 
prevent oscillations which are quite common
 2021-10-30 18:45:53 +11:00
Iampete1
a590a675d6 AP_RollController: return floats 2021-10-20 18:29:58 +11:00
Iampete1
da4fd7a914 AP_PitchController: return floats 2021-10-20 18:29:58 +11:00
Andrew Tridgell
08fcfa04ae APM_Control: only save autotune gains when P finished 
this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
 2021-10-10 19:00:57 +11:00
Ben Wolsieffer
68ee2c21dd AP_Control: apply pitch rate limit to turn coordination 
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
 2021-09-29 17:03:32 +01:00
Randy Mackay
570c12215d AR_AttitudeControl: fix get_throttle_out_speed use of passed in limits 2021-09-10 07:50:00 +09:00
Peter Barker
066ad0f8da APM_Control: remove unused variables 2021-08-23 08:39:41 +09:00
Andrew Tridgell
47854ac4b7 APM_Control: lower the tuning trigger threshold 
this allows for slower stick movements during tuning

This is based on analysing the log from kir850 on rcgroups
 2021-07-31 10:01:14 +10:00
Iampete1
bb624074dd APM_Control: remove outdated tuning guide 2021-07-28 18:26:31 +10:00
Andrew Tridgell
45cf726a4b APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-07-24 15:32:55 +10:00
Peter Barker
d2102ce9b7 APM_Control: stop taking references to ahrs in APM_Control 2021-07-21 18:27:23 +10:00
Andrew Tridgell
1633afb6cd APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-05 20:07:47 +10:00
Andrew Tridgell
cd43c0ecef APM_Control: use FF to increase but not reduce tau in autotune 
if user wants a slow time constant we should not override
 2021-05-25 12:14:38 +10:00
Hwurzburg
4f4389df2f APM_Control: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Iampete1
bc90ba5486 AR_AttitudeControl: get_steering_out_rate use abs speed for G limit 2021-05-19 16:02:20 +01:00
Randy Mackay
b4fd9848df AR_AttitudeControl: add get_stop_speed accessor 2021-05-11 15:31:17 +09:00
Iampete1
980c41e273 APM_Control: G limit all turn rates 2021-05-03 19:22:16 -04:00
Andrew Tridgell
f64c6f9ba1 APM_Control: fixed cygwin build 
FF0 is a macro in cygwin
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
767a0b2a99 APM_Control: tweak the activation detection to catch more events 2021-04-15 06:57:16 +10:00
Andrew Tridgell
bb1dc7192b APM_Control: lower default target filter frequencies 
this will remove a lot of the level flight noise causing oscillation
at higher gains
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
dd98f00947 APM_Control: prevent cross-axis tuning 
this should fix tuning at higher AUTOTUNE_LEVEL values
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
320d3d20c2 APM_Control: log autotune at 25Hz 2021-04-15 06:57:16 +10:00
Andrew Tridgell
72b51a389c APM_Control: use ATRP log msg via structure 2021-04-15 06:57:16 +10:00
Andrew Tridgell
7b073a61f1 APM_Control: allow for gain reductions when idle 2021-04-15 06:57:16 +10:00
Andrew Tridgell
91856b1d8c APM_Control: prevent bad init of FF in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell
3fdd507157 APM_Control: log I and prevent numercial errors in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell
24d53eade4 APM_Control: adjust filter for autotune to 0.75 Hz 
this should give a better FF estimate
 2021-04-15 06:57:16 +10:00
Paul Riseborough
9e6561e6b5 APM_Control: Ensure adequate trim speed 2021-04-15 06:57:16 +10:00
Andrew Tridgell
fa88967b6e APM_Control: adjust min value for tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell
b079da33c5 APM_Control: use slew rate to move gains more smoothly 2021-04-15 06:57:16 +10:00
Andrew Tridgell
772b1262d4 APM_Control: added proportional reduction to D and P 2021-04-15 06:57:16 +10:00
Andrew Tridgell
d561cd358f APM_Control: log RMAX and TAU 2021-04-15 06:57:16 +10:00
Andrew Tridgell
d914ce6829 APM_Control: reset filters on autotune start 2021-04-15 06:57:16 +10:00
Andrew Tridgell
7e64875a02 APM_Control: tweak tuning settings 2021-04-15 06:57:16 +10:00
Andrew Tridgell
ccd7b15d06 APM_Control: apply pitch limiting at high roll to rate 
this fixes an issue with a large elevator trim error when rolled at
close to 90 degrees
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
4694820ac3 APM_Control: allow for smaller minimum tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell
97f88f67f6 APM_Control: allow for AUTOTUNE_LEVEL=0 
this means keep the existing TCONST and RMAX parameters, if non-zero
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
316541017a APM_Control: fixed handling of clipped actuator in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell
9997b191a8 APM_Control: log smoothed rates 2021-04-15 06:57:16 +10:00
Andrew Tridgell
20ef242280 APM_Control: fixed restore of tconst on autotune abort 2021-04-15 06:57:16 +10:00
Andrew Tridgell
53ee13a083 APM_Control: use instance logging and allow AUTOTUNE_LEVEL adjustments 2021-04-15 06:57:16 +10:00
Andrew Tridgell
70c194c358 APM_Control: fixed LoggerDocumentation test 2021-04-15 06:57:16 +10:00
Andrew Tridgell
0b76a8018f APM_Control: move rmax and tau more slowly 2021-04-15 06:57:16 +10:00
Andrew Tridgell
3cb32a18f0 APM_Control: fixed for cygwin build 2021-04-15 06:57:16 +10:00
Andrew Tridgell
364fa0680d APM_Control: use shorter tau for autotune higher levels 2021-04-15 06:57:16 +10:00
Andrew Tridgell
f88622def8 APM_Control: implement new autotune system 
use actuator/rate ratio with median filter for FF and Dmod/overshoot
for P,I,D
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
12fad55891 APM_Control: fixed pid_info for pitch controller 2021-04-15 06:57:16 +10:00
Andrew Tridgell
ead011c7c2 APM_Control: move to only ACPID 2021-04-15 06:57:16 +10:00
Andrew Tridgell
6ca9033dde APM_Control: run AC_PID in parallel with old PID for roll/pitch 2021-04-15 06:57:16 +10:00
Randy Mackay
f0ffaa5624 AR_AttitudeControl: reset speed filter and I term when stopped 2021-03-04 09:07:32 +09:00
Andrew Tridgell
9a244eef29 APM_Control: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell
d2a4505184 APM_Control: fixed bug in slew filter 2020-10-25 10:32:48 +11:00
Peter Barker
d20c6ceb3b APM_Control: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Randy Mackay
2db57dffac AR_AttitudeControl: update param desc increment and range 2020-09-16 16:49:40 +09:00
Paul Riseborough
548bab5d24 APM_Control: Add gyro feedback limit cycle protection 2020-07-13 13:47:50 +10:00
Mark Whitehorn
442fa60651 APM_Control: validate parameter ARSPD_FBW_MIN 2020-04-02 19:43:06 -07:00
Peter Barker
c9f2b9ff87 AR_AttitudeControl: correct spelling error in param docs 2020-03-16 17:44:35 +11:00
Peter Hall
84fe5f4e78 APM_Control: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
Peter Hall
c71cbe2729 APM_Control: AR_AttitudeControl: add description for new PID params 2019-09-23 09:45:46 +09:00
Peter Barker
7fbaea7971 APM_Control: wrap_180_cd no longer solely returns floats 2019-09-18 12:57:02 +10:00
Randy Mackay
1b533295a8 AR_AttitudeControl: minor comment fixes 2019-08-06 20:00:05 +09:00
Peter Hall
65d8047165 AR_AttitudeControl: fix sailboat heel PID 2019-08-06 20:00:05 +09:00
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