George Zogopoulos
5ca8c0058c
AP_TECS: Small legibility improvements
...
AP_TECS: Fixed bad whitespace
2024-06-20 09:12:50 +10:00
Andrew Tridgell
eadf5596ed
AP_TECS: fixed adjusting speed without airspeed sensor
...
the pitch trim variable that was not connected in aparm is needed to
allow tuning of the flight speed using PTCH_TRIM_DEG and
TRIM_THROTTLE.
This was broken in 4.4.x by this PR:
https://github.com/ArduPilot/ardupilot/pull/22191
2024-03-03 20:28:38 +11:00
Paul Riseborough
870c6c5080
AP_TECS: Remove unused variable
2024-02-26 09:20:12 +11:00
Paul Riseborough
aecbd116e7
AP_TECS: Add /0 protection
2024-02-26 09:20:12 +11:00
Paul Riseborough
846eaecc0b
AP_TECS: Add option for speed to increase up to FBW max during descent
2024-02-26 09:20:12 +11:00
Andrew Tridgell
f51fa31aae
AP_TECS: fixed param names in comments
2024-01-23 15:00:30 +11:00
Andrew Tridgell
2c73c56403
AP_TECS: convert LAND_PITCH_CD to LAND_PITCH_DEG
2024-01-23 15:00:30 +11:00
Andrew Tridgell
7d5685c55f
AP_TECS: convert LIM_PITCH_MIN/MAX -> PTCH_LIM_MIN/MAX_DEG
2024-01-23 15:00:30 +11:00
Andrew Tridgell
d65809ffc1
AP_TECS: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX
2024-01-23 15:00:30 +11:00
Andrew Tridgell
c8813677b3
AP_TECS: convert remaining uses of TRIM_ARSPD_CM to AIRSPEED_CRUISE
2024-01-23 15:00:30 +11:00
Andrew Tridgell
b1e6c1de41
AP_TECS: change TRIM_ARSPD_CM to AIRSPEED_CRUISE
2024-01-23 15:00:30 +11:00
Tim Tuxworth
b1c8511386
AP_TECS: use new pitch_trim in degrees
2024-01-23 15:00:30 +11:00
Peter Barker
512c1f030f
AP_TECS: allow compilation with HAL_LOGGING_ENABLED false
2024-01-17 18:25:55 +11:00
Peter Barker
7f43facb37
AP_TECS: make AHRS attitude member variables private
2024-01-14 12:47:47 +11:00
coleschon
af898220e7
AP_TECS: improve velRateMin scaling wrt airspeed
2024-01-08 17:10:28 +11:00
Iampete1
97101b6bd0
TECS: move to new `using_airspeed_sensor` ahrs method
2023-10-31 10:39:21 +11:00
Mark Agate
31bc321b70
AP_TECS: log SKE weight since both weights are now [0,1]
2023-10-24 10:44:12 +11:00
Andrew Tridgell
4a181ede62
AP_TECS: fixed descent or lack of climb bug
...
this fixes a state where we either cannot climb or descend in an
uncontrolled manner in a TECS controlled mode
the conditions under which this happened were:
- _use_synthetic_airspeed_once was true due to quadplane takeoff
- we left _thr_clip_status as MAX from previous use of synthetic airspeed
- then run without airspeed
note that this can also impact users with an airspeed sensor if they
disable it or it fails in flight, particularly during a climb
2023-09-28 20:37:41 +10:00
Henry Wurzburg
a901d23de4
AP_TECS: correct/expand param metadata re synth airspeed
2023-09-26 09:04:51 +10:00
Peter Barker
99012bd525
AP_TECS: ensure good TECS state before running update_pitch_throttle
...
update_pitch_throttle can be called when update_50hz hasn't run in a very long time, or ever. This requires a main loop rate >50Hz, and for the mode change to occur in the same loop that update_50Hz doesn't run but update_pitch_throttle does.
2023-09-10 12:32:13 +10:00
Andy Piper
2e2491f4ff
AP_TECS: remove unused variables
2023-07-13 11:02:40 +10:00
Henry Wurzburg
5df9b8abf1
AP_TECS: set FW landing speed if not set
2023-07-04 10:24:30 +10:00
Henry Wurzburg
5dc7bfc718
AP_TECS: correct metadata for FLARE_HGT
2023-04-11 08:54:45 +10:00
Iampete1
6d552a32d7
AP_TECS: protect against low airspeed in reset
2023-02-19 10:20:03 -08:00
Ryan Beall
1d70180809
AP_Landing: Add Landing Max Throttle Option
2023-01-24 10:19:56 +11:00
Ryan Beall
4355d852b1
AP_TECS: Update documentation to alert user of maximum allowed
2023-01-24 10:19:56 +11:00
Andrew Tridgell
abb3cdd6b8
AP_TECS: added max throttle time for takeoff with no airspeed sensor
2023-01-15 12:17:27 +11:00
Paul Riseborough
403d51b39f
AP_TECS: Remove unused TECS_LAND_PTRIM parameter
2022-12-06 10:23:59 +11:00
Paul Riseborough
93ae6f1739
AP_TECS: Remove duplicate setting of flare pitch upper limit
2022-12-01 15:19:27 +11:00
Paul Riseborough
dab61bf3ef
AP_TECS: Fix flare initialisation bug
2022-12-01 15:19:27 +11:00
Paul Riseborough
9234e5168f
AP_TECS: Fix TECS_OPTIONS documentation
2022-11-18 05:43:59 +11:00
Paul Riseborough
d449ed885a
AP_TECS: Protect against too small values of TECS_HDEM_TCONST
2022-11-18 05:43:59 +11:00
Paul Riseborough
ec9445757e
AP_TECS: Fix TECS_LAND_PTRIM documentation typos
2022-11-18 05:43:59 +11:00
Paul Riseborough
0840bf5a21
AP_TECS: Implement improved control loops
2022-11-18 05:43:59 +11:00
Peter Barker
d438cd9ed2
AP_TECS: change namespace of MultiCopter and FixedWing params
...
this stops the libraries knowing anything about AP_Vehicle
2022-11-09 19:04:37 +11:00
Iampete1
3e8e846d1d
AP_TECS: reset vdot filter if not been called
2022-10-11 10:41:25 +11:00
jackhong12
4a4f361a17
all: use CLASS_NO_COPY() macro
2022-10-04 11:23:04 +11:00
Paul Riseborough
3f7071772e
AP_TECS: Assume flight at cruise speed if speed measurement not available
2022-09-26 14:17:53 +10:00
Joshua Henderson
e338e4cdb6
AP_TECS: use TECS log bitmask in constructor
2022-08-09 09:44:50 +10:00
Ryan Beall
033266f94b
TECS.cpp: Remove redundant throttle saturation
2022-07-23 18:23:27 -07:00
murata
531e92db8f
AP_TECS: Unify coding style for if statements
2022-07-01 11:54:46 -07:00
Ryan Beall
77f922a1ae
AP_TECS.cpp: remove line copy error
...
This was a copy paste error that is duplicated in the correct spot (in line 530)
2022-06-30 20:06:33 +10:00
Ruffalo-sunghwan
286e0f261e
AP_TECS : correct comment spelling
2022-05-24 20:27:45 +09:00
Peter Barker
e1dd53eb17
AP_TECS: stop libraries including AP_Logger.h in .h files
...
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h
This necessitated moving The PID_Info structure out of AP_Logger's
namespace. This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!
There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
2022-04-08 19:18:38 +10:00
Peter Hall
98c5704b92
AP_TECS: add reset throttle I function
2021-12-22 18:46:14 +11:00
Ryan Beall
beecca8da9
AP_TECS: Connsider throttle saturation in height demand limiting
2021-11-25 15:02:09 +11:00
Samuel Tabor
27078bccda
AP_TECS: Log input height demands.
2021-11-23 11:15:50 +11:00
Iampete1
e0f03a3e09
AP_TECS: no longer child of SpdHgtController
2021-11-13 08:05:39 +11:00
Iampete1
d69d493ea6
AP_TECS: use float for get_throttle_demand
2021-10-20 18:29:58 +11:00
Andrew Tridgell
61d5910d0a
AP_TECS: mark logger Write() calls as streaming where appropriate
2021-08-18 10:20:03 +10:00