84fe5f4e78
APM_Control: move to airspeed_estimate with pointer
2020-01-14 22:34:37 -07:00
157f786adf
Global: rename desired to target in PID info
2019-07-25 17:38:15 +09:00
d7f90963ea
APM_Control: fill in Act field of PID logs for plane
2019-01-28 09:38:32 +09:00
fbb2252fd9
Update AP_PitchController.cpp
2019-01-23 09:24:18 -07:00
b276034c60
APM_Control: correct use of incorrect abs functions
2018-10-19 08:46:43 +11:00
3ab7fe348a
APM_Control: halve the default pitch D term for planes
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this is based on feedback from the 3.9.1 release
2018-09-14 07:32:13 +10:00
9e2933df89
APM_Control: raised default PID gains for roll/pitch
2018-08-17 20:42:25 +10:00
0f5d1ae2dd
APM_Control: Use SI units conventions in parameter units
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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
152edf7189
Global: remove mode line from headers
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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
82777873af
Revert "APM_Control: Convert references to AP_Airspeed."
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This reverts commit cc5a2417a6
2016-08-07 17:54:24 -07:00
cc5a2417a6
APM_Control: Convert references to AP_Airspeed.
2016-08-04 10:09:04 -07:00
8a03b3ba22
APM_Control: reduce elevator when past LIM_ROLL_CD
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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
ab07781c66
APM_Control: raise default P and I gains, and set a lower limit on I for pitch
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Too many users have very low I gains, which causes a lot of problems for TECS
2016-03-25 09:54:53 +11:00
2591261af6
Global: rename min and max macros to uppercase
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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
fe718a6ce8
APM_Control: use millis/micros/panic functions
2015-11-20 12:28:20 +09:00
831d8acca5
Remove use of PROGMEM
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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
db9f037e4b
APM_Control: standardize inclusion of libaries headers
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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
e45f3537cf
APM_Control: Remove duplicate include statements
2015-06-25 10:23:47 +10:00
86a3bca88c
APM_Control: added FF parameters to roll and pitch controllers
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these are much easier to tune with the new PID_TUNING messages
2015-05-27 14:28:47 +10:00
216a78a9f0
APM_Control: added get_pid_info() interface
2015-05-27 14:28:44 +10:00
ec70042d25
APM_Control: raise default IMAX to 3000
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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
3b6c732b3b
APM_Control: changed default I gain for roll/pitch controllers to non-zero
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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
8f3dad0d1c
APM_Control: increase available range for roll and pitch
2014-08-16 18:07:22 +10:00
ae7293ef68
APM_Control: added support for AUTOTUNE_LEVEL
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10 levels of tune, for what type of tune the user wants
2014-04-13 22:11:57 +10:00
50fc75917e
APM_Control: first version of APM_Control autotuning
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this adds autotune to the roll/pitch controllers using a very simple
mechanism. The plan is that this provides a framework which Paul and
Jon will build upon.
2014-04-12 14:11:33 +10:00
779e32d79f
AP_Control : Add true airspeed compensation to pitch controller
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turn rate to pitch rate calculation should use true airspeed
2013-12-17 14:17:43 +11:00
9b5cae2134
APM_Control: reduce roll compensation in pitch controller by cos(pitch)
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This reduces the use of the pitch compensation when in a steep climb
or dive
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-11-04 21:21:42 +11:00
97cdd36dd8
APM_Control : Moved scaler on roll and pitch integrator to be before integrator
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This means that the value of aileron and elevator trim offset won't change with airspeed
2013-10-25 22:37:49 +11:00
d27f5e89d7
APM_Control: remove public AP_PitchController::get_coordination_rate_of|cat()
2013-10-05 07:42:48 +10:00
97b7130bb9
libraries: update license header to GPLv3
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we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
c6e37aaec3
APM_Control: use a ahrs reference, not pointer
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saves pointer check
2013-08-14 14:56:18 +10:00
a7cbebbeba
APM_Control: rename 'stabilize' to 'disable_integrator'
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this better reflects what it does
2013-08-02 21:54:48 +10:00
57752df68e
APM_Control: set a small D value by default
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0.02 may help with some planes that have slow response
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-26 16:07:00 +10:00
c5028c04da
APM_Control: scale controllers for altitude
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this allows the attitude controllers to better handle a wider range of
altitudes
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-22 12:50:01 +10:00
3e21d0594c
APM_Control: pass in aircraft parameters and expose coordinate rate offset
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this will make it possible to do rate based pitch control without
having a coordinated turn, for in ACRO mode
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-18 14:53:26 +10:00
5901b8b22a
APM_Control: allow for a wider range of P values for roll/pitch
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values above 1.0 are sometimes needed
2013-07-18 09:05:17 +10:00
cc778a68ae
APM_Control: changed attitude controllers to take angular error not angle
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this makes it easier for ACRO mode
2013-07-13 21:45:58 +10:00
f2316747f5
APM_Control: re-work to allow for rate based control
2013-07-11 09:10:41 +10:00
2204b30e66
Plane: Added APM_Control integrator limits to table used to covert old PID values
2013-06-22 21:59:47 +10:00
147856e73c
APM_Control: Added integrator limiting adjustable by an advanced user parameter
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this is compatible with the old IMAX settings
2013-06-22 21:55:27 +10:00
d8dab7b5c7
APM_Control: Pitch Control - Reduced the speed below which the integrator is locked
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This is to allow for slow speed flare manoeuvres in FBW modes
2013-06-22 21:49:40 +10:00
3ad35363be
Plane : APM_Control : Removed scaler incorrectly applied to the integrator path
2013-06-04 18:09:06 +10:00
05889391e5
APM_Control: cope with zero integrator or tconst
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if the user zeros the integrator tuning factor, we need to zero the
integrator
2013-06-01 22:29:38 +10:00
14c8c1bdfc
APM_Control: tweak code layout and param descriptions
2013-05-31 17:24:55 +10:00
f4efa92d3b
APM_Control: fixed parameter names
2013-05-31 15:31:25 +10:00
3e8af05d15
APM_Control: match parameter names with old PID controllers
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this will make upgrading easier
2013-05-31 14:06:56 +10:00
716c124f73
APM_control: Modified gain definitions for roll and pitch controllers so PID gains behave like previous servo PIDS
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Gain definitions in roll and pitch controllers were updated previously
so that the old PID tuning values could be transferred across.
Updated tuning guide for revised gain definition.
2013-05-31 07:58:20 +10:00
6c5718a63b
APM_Control: fixed indent-tabs-mode
2013-05-30 09:53:02 +10:00
46c6aa8a9a
APM_Control: tweak the parameter names
2013-05-05 21:51:09 +10:00
400777b059
APM_Control: support inverted flight in AP_PitchController
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auto-reverse pitch control when inverted. This is useful not just for
inverted flight mode, but also for recovering from poor manual flight
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-05-05 21:51:09 +10:00
Peter Hall
Leonard Hall
Andrew Tridgell
Nathan E
Peter Barker
Dr.-Ing. Amilcar Do Carmo Lucas
Mathieu OTHACEHE
Tom Pittenger
AndersonRayner
Lucas De Marchi
Caio Marcelo de Oliveira Filho
Gustavo Jose de Sousa
Michael du Breuil
Andrew Tridgell
Paul Riseborough