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
b9a1621d38
AR_AttitudeControl: minor comment fix
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non-functional change
2017-11-27 10:35:26 +09:00
2a25011b14
AR_AttitudeControl: const local variables
2017-11-09 09:53:12 +09:00
76a6649a2d
AP_Autotune: remove unimplemented function
2017-11-08 17:21:56 +09:00
e9e1dac188
AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out
2017-11-08 15:45:35 +09:00
aa09541847
AR_AttitudeControl: const ahrs reference
2017-11-08 15:34:41 +09:00
d226ffeeb2
AP_AttitudeControl: remove tabs
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non-functional change
2017-11-08 15:06:25 +09:00
49887235df
AR_AttitudeControl: get_steering_out methods accept reverse argument
2017-11-08 14:36:23 +09:00
ce73d724c8
AR_AttitudeControl: rate-control for skid-steering uses I term even at low speeds
2017-10-26 19:45:04 +09:00
ee3daaa7c9
AR_AttitudeControl: reset input filter for steering and throttle controllers
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Also only set dt to non-zero value
2017-10-26 19:44:54 +09:00
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
49cbbf4d76
AR_AttitudeControl: minor comment fix
2017-10-26 19:44:32 +09:00
8daa8cba1f
AR_AttitudeControl: record desired turn rate and speed for logging
2017-10-26 19:44:26 +09:00
7e5f98b535
APM_Control: fix throttle and steering integrator calc
2017-10-07 14:55:16 +09:00
15527d762f
APM_Control: add static create method
2017-09-26 03:01:21 +01:00
c34104b369
APM_Control: Simpify yaw controller trig
2017-09-25 16:49:54 -07:00
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
164096225b
AP_SteerController: fix get_steering_out_rate bug when reversing
2017-08-05 11:20:58 +09:00
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
f6cc506791
APM_Control: Added derating of steering wheel
2016-12-27 13:33:52 +11:00
71e42a4eac
APM_Control: add missing parameter metadata
2016-10-27 09:15:03 -07:00
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
8dad05d12e
Revert "Airspeed: store reference in libraries and populate it"
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This reverts commit c090ba2257
2016-08-07 17:54:24 -07:00
c090ba2257
Airspeed: store reference in libraries and populate it
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- also had to move the initial definition in plane.h so it happened before the others.
2016-08-04 11:06:44 -07:00
cc5a2417a6
APM_Control: Convert references to AP_Airspeed.
2016-08-04 10:09:04 -07:00
8d6b417adb
AP_SteerController: Adding support for Rovers driving reverse
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This change is mostly for handling the reverse yaw.
2016-07-17 08:15:33 +10:00
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
d56e2b6a39
APM_Control: Get steer rate using earth frame.
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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
8d6cc587c5
APM_Control: Fix typos
2016-05-13 19:20:05 -03:00
a9f1b608ed
APM_Control: expose parameters as AP_Float
2016-05-07 18:34:06 +10:00
722095e56d
APM_Control: remove unused _last_error member
...
Resolves a compiler warning
2016-04-23 23:06:20 -07:00
8586b0ae5a
APM_Control: added tuning accessors
2016-04-16 20:37:33 +10:00
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
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
382b6f87fe
APM_Control: replace header guard with pragma once
2016-03-16 18:40:41 +11:00
8c98eb2b84
APMControl: Cast type to uint8
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* Clang requires that the type be explicitly cast
to uint8
2016-02-29 14:14:37 +11:00
cfb5bbeb9f
APM_Control: stop using Progmem.h
2015-12-27 15:58:12 -02:00
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
5244559010
Minimize AP_Progmem.h includes
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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
1b07dabeb7
Replace prog_char and prog_char_t with char
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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
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
1336d621be
Replace use of strcpy_P() with strcpy()
2015-10-30 14:35:12 +09:00
2c38e31c93
Remove use of PSTR
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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
417188d7eb
APM_Control: Fixed spelling error in parameter desc.
2015-09-16 09:33:27 +09:00
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
4a595bd797
APM_Control: use ARRAY_SIZE
2015-07-21 14:24:52 +09:00
e45f3537cf
APM_Control: Remove duplicate include statements
2015-06-25 10:23:47 +10:00
aa04c81e3c
APM_Control: Fix a typo in the docstring for YAW2SRV_SLIP
2015-06-25 10:22:36 +10:00
6cd81ae1fb
APM_Control: Add PID logging to yaw controller
2015-06-22 15:41:44 +10:00
131b345ccc
APM_Control: cleanup some coverity warnings
2015-06-20 13:30:32 +10:00
5e80f0cf72
APM_Control: allow for multiple stop calls in autotune
2015-06-15 09:20:54 +10:00
02aa6983a7
APM_Control: fixed FF handling in steering controller
2015-06-09 13:28:26 +10:00
5105d510b8
APM_Control: added pid_info and FF to steering controller
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used for realtime ground steering tuning
2015-06-09 12:48:55 +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
9ae85ed9ab
APM_Control/AP_AutoTune: use 64-bit timestamps for dataflash logs
2015-05-27 11:54:17 +10:00
d8cd986696
APM_Control: fix for HAL_SITL rename
2015-05-05 09:45:54 +10:00
7132b39dcf
AP_AutoTune: fix compile warnings re float constants
2015-04-24 12:24:19 +09:00
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
198ada2b42
APM_Control: avoid some float conversion warnings
2014-07-08 20:26:20 +10:00
eb1fb63e57
APM_Control: added logging of parameter changes in AUTOTUNE
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this will make it easier to analyse logs
2014-04-30 22:22:13 +10:00
871d0c0e44
APM_Control: moved the log structure to ArduPlane core
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this allows it to work with old style .log files
2014-04-30 21:22:28 +10:00
7f9a9107c7
APM_Control: logging_started needs to be static
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prevents writing log headers twice
2014-04-21 07:13:06 +10:00
b4c5f31b17
APM_Control: reduce the number of parameter saves in autotune
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don't save a parameter unless it has changed by 0.1%
2014-04-17 17:20:40 +10:00
ccc7d36493
APM_Control: Modify D and I gain scaling
2014-04-17 17:11:48 +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
df192a9efd
AP_AutoTune: lower min tau to 0.2
2014-04-13 19:25:54 +10:00
3343af602e
APM_Control: fixed saving of new rate gains
2014-04-13 15:35:52 +10:00
b9a8ef3b51
APM_Control: fixed a bug in autotune servo saturation check
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its in degrees not centi-degrees
2014-04-13 15:28:36 +10:00
64170d0f04
APM_Control: added dataflash logging to autotune
2014-04-12 18:21:50 +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
1db3c6e688
AP_Arming: param doc fixes
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These were confusing the parser, or just incorrect
2014-01-10 10:40:53 +09:00
e68cf2d1c5
Plane: Fix parameter documentation
...
Fixes some problems with incorrect docs which would in turn generate
bad amp.pdef.xml files for ground stations.
merge with below
2014-01-09 14:02:21 +09:00
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
2930184680
AP_YawController: update for AHRS API change
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
64c8cb4739
APM_Control: improved auto docs for AP_SteerController
2013-10-07 09:31:02 +11:00
39bfd809c2
APM_Control: disable integrator below minimum speed
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this reduces the impact on initial takeoff
2013-10-05 18:11:35 +10:00
58187ea449
APM_Control: change minspeed on steering controller to 1.0
2013-10-05 12:56:28 +10:00
5abf060c41
APM_Control: enable integrator in ACRO rate controller
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this work better for unlocked mode
2013-10-05 07:42:48 +10:00
d27f5e89d7
APM_Control: remove public AP_PitchController::get_coordination_rate_of|cat()
2013-10-05 07:42:48 +10:00
bd848a6a7f
APM_Control: added rate and angle steering controllers
2013-10-05 07:42:48 +10:00
0784c01f19
APM_Control: added STEER2SRV_MINSPD
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this is the assumed min speed when in STEERING or AUTO mode
2013-09-30 09:05:37 +10:00
af2d7232c5
APM_Control: make the default time constant 0.75
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thanks to Tom for the testing!
2013-09-24 07:37:12 +10:00
3e24ff1b07
AP_SteerController: change the scaling of the D term
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this should cope better with low speed
2013-09-16 09:42:45 +10:00
98b4ed1522
AP_SteerController: lower the default STEER2SRV_D
2013-09-16 08:26:29 +10:00
fbe4be94cf
APM_Control: changed to AP_Vehicle.h
2013-09-13 11:46:22 +10:00
2171f2a80b
AP_SteerController: move scaler onto integrator input
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this should make integrator scale with speed
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-09-12 07:48:57 +10:00
0918393fed
APM_Control: fixed some documentation typos
2013-09-09 18:04:40 +10:00
7413c15959
APM_Control: added a ground vehicle steering controller
...
this will be used both for the rover code, and for ground steering of
a plane on takeoff
2013-09-09 18:04:40 +10:00
97b7130bb9
libraries: update license header to GPLv3
...
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
...
saves pointer check
2013-08-14 14:56:18 +10:00
a7cbebbeba
APM_Control: rename 'stabilize' to 'disable_integrator'
...
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
Grant Morphett
Randy Mackay
khancyr
Daniel Widmann
Lucas De Marchi
Michael du Breuil
Dr.-Ing. Amilcar Do Carmo Lucas
Andrew Tridgell
Peter Barker
Mathieu OTHACEHE
Tom Pittenger
AndersonRayner
Ricardo de Almeida Gonzaga
Will Sackfield
Caio Marcelo de Oliveira Filho
Gustavo Jose de Sousa
Michael du Breuil
Andrew Tridgell
Peter Barker
Paul Riseborough
Don Gagne