Commit Graph

21 Commits

Author SHA1 Message Date
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
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
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 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
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
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 198ada2b42 APM_Control: avoid some float conversion warnings 2014-07-08 20:26:20 +10:00
Don Gagne 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
Andrew Tridgell 64c8cb4739 APM_Control: improved auto docs for AP_SteerController 2013-10-07 09:31:02 +11:00
Andrew Tridgell 39bfd809c2 APM_Control: disable integrator below minimum speed
this reduces the impact on initial takeoff
2013-10-05 18:11:35 +10:00
Andrew Tridgell 58187ea449 APM_Control: change minspeed on steering controller to 1.0 2013-10-05 12:56:28 +10:00
Andrew Tridgell bd848a6a7f APM_Control: added rate and angle steering controllers 2013-10-05 07:42:48 +10:00
Andrew Tridgell 0784c01f19 APM_Control: added STEER2SRV_MINSPD
this is the assumed min speed when in STEERING or AUTO mode
2013-09-30 09:05:37 +10:00
Andrew Tridgell af2d7232c5 APM_Control: make the default time constant 0.75
thanks to Tom for the testing!
2013-09-24 07:37:12 +10:00
Andrew Tridgell 3e24ff1b07 AP_SteerController: change the scaling of the D term
this should cope better with low speed
2013-09-16 09:42:45 +10:00
Andrew Tridgell 98b4ed1522 AP_SteerController: lower the default STEER2SRV_D 2013-09-16 08:26:29 +10:00
Andrew Tridgell 2171f2a80b AP_SteerController: move scaler onto integrator input
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
Andrew Tridgell 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