Commit Graph

84 Commits

Author SHA1 Message Date
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem
AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Caio Marcelo de Oliveira Filho e839892524 PID: use millis/micros/panic functions 2015-11-20 12:35:42 +09:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files
these were APM2 specific
2015-11-16 08:05:17 +11:00
Andrew Tridgell 1ffe899a18 PID: fixed example build 2015-11-16 08:04:44 +11:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf()
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +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 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
Caio Marcelo de Oliveira Filho e8d9c4dc9b PID: remove unnecessary includes from example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00
Gustavo Jose de Sousa e925820d90 PID: 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 16:38:25 +10:00
Andrew Tridgell fce95178e7 PID: convert example from .pde to .cpp 2015-06-01 17:07:08 +10:00
Andrew Tridgell f449b34fdd PID: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Tom Pittenger f3d13656ba PID: fix compile warnings re float constants 2015-04-24 14:04:24 +09:00
Andrew Tridgell 184420355d PID: fixed example build 2014-08-13 22:12:24 +10:00
Kevin Hester c2184cb8e4 PID: fixup line endings 2014-04-15 15:57:56 +09:00
Andrew Tridgell 37ad9e3f82 PID: fixed example build 2013-09-24 11:57:21 +10:00
Andrew Tridgell 6862791d66 PID: fixed indent-tabs-mode 2013-05-30 09:50:37 +10:00
Andrew Tridgell ba83950fc4 libraries: replace constrain() with constrain_float()
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
2013-05-02 10:25:40 +10:00
Andrew Tridgell 6123ea2dac PID: added get_pid_4500()
this is a version of get_pid() that returns an int16_t constrained to
-4500 to 4500. This will prevent overflow errors for large PID gains
in ArduPlane and Rover
2013-04-01 22:17:04 +11:00
Andrew Tridgell fe964fcda0 PID: change to float input/output
this makes the PID library a bit more flexible for smaller range
numbers. Note that this library is used on ArduPlane and Rover, not
Copter
2013-02-09 20:36:26 +11:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles.
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
Andrew Tridgell 374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell 62bfded26c PID: fixed example build 2012-12-20 14:52:36 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Andrew Tridgell 306d53b4ae PID: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Pat Hickey 39d14c8a93 PID: ported to AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
2012-12-20 14:51:19 +11:00
Andrew Tridgell 816fe9d35a PID: use NAN to flag a D reset
this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
2012-11-27 18:41:31 +11:00
Andrew Tridgell f6fce1e238 PID: don't reset _last_error on reset_I()
resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers

Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
2012-11-27 13:35:09 +11:00
Andrew Tridgell d13d117e61 APM: removed reset_I() and instead auto-reset integrator in PID library
this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
2012-08-28 20:18:23 +10:00
uncrustify 13e0dd2c70 uncrustify libraries/PID/PID.h 2012-08-21 19:04:31 -07:00
uncrustify 330c6c07e3 uncrustify libraries/PID/PID.cpp 2012-08-21 19:04:31 -07:00
uncrustify 84816966ec uncrustify libraries/PID/examples/pid/pid.pde 2012-08-21 19:04:31 -07:00
Andrew Tridgell 5e8fe8d93e AP_Param: update PID libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Andrew Tridgell f6d7d1bc59 APM: changed PID library to do automatic deltat calculation
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
2012-07-06 19:59:18 +10:00
Andrew Tridgell 23ed5c2cee fixed imax load/save in PID 2012-02-13 16:22:53 +11:00
Andrew Tridgell 150a67c262 fixed PID initialisation 2012-02-13 16:22:53 +11:00
Andrew Tridgell 9c5a5473ab added indexes to group info structures 2012-02-13 16:22:52 +11:00
Andrew Tridgell f760b3c717 restore _fCut that was lost in AP_Param development 2012-02-13 16:22:51 +11:00
Andrew Tridgell bf4a77da81 convert libraries to new typesafe macros 2012-02-13 16:22:51 +11:00
Andrew Tridgell e5a0074312 modify the PID library for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 9c1e257826 fixed example in PID library 2012-01-23 08:47:46 +11:00
James Goppert 0c7c508541 Optional recursion added. 2011-09-30 17:17:51 -04:00
James Goppert 5489b84f8e Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert d887a28b91 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
unknown a4e001bbcf Adding CMake support 2011-09-14 15:44:55 +02:00
jasonshort 4ec8805216 Reverted to older PID. Restored the older filter, and removed PI command. I am no longer using PID for the quad and have switched to PIPI loops which perform much better. The D term in this class is not that great.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3241 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 17:47:07 +00:00