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65,758 Commits 71 Branches 509 Tags 756 MiB
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209 Commits

Author SHA1 Message Date
Leonard Hall 54618dd903 Copter: Autotune: Fail when bad tune is expected 2024-05-29 18:29:23 +10:00
Leonard Hall 13fb69be7c Copter: Autotune: Look for bounce earlier in test 2024-05-29 18:29:23 +10:00
Leonard Hall 18d18d14fc Copter: Autotune: Set D = 0 for Yaw test 2024-05-29 18:29:23 +10:00
Leonard Hall c000efdabe Copter: Autotune: Increase test timeout 2024-05-29 18:29:23 +10:00
Leonard Hall 327fd034da Copter: Autotune: Reduce default AGGR 2024-05-29 18:29:23 +10:00
Leonard Hall c47b3b8f03 Copter: Autotune: Reduce chance of desync 2024-05-29 18:29:23 +10:00
Andy Piper 2352990d90 AC_AutoTune: zero out D_FF during twitching 2024-05-14 16:33:38 +09:00
Peter Barker 2eede45f3a AC_AutoTune: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker e95b1e5dd3 AC_AutoTune: add and use header guards 2023-12-12 11:36:15 +11:00
Mykhailo Kuznietsov ad0b0a1c05 AC_AutoTune: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Andy Piper 813cf3660d AC_AutoTune: remove unsued variables 2023-07-13 11:02:40 +10:00
Andy Piper 0bad9451d5 AC_AutoTune: correct incorrect min raw rate valuee 2023-06-26 09:56:30 +10:00
Andy Piper 38adb308a9 AC_AutoTune: load test gains for correct axis when testing yaw D 2023-05-17 07:21:53 +10:00
Andy Piper 0f6d62c196 AC_AutoTune: add option for tuning yaw D-term 
don't touch yaw D or FLTE when tuning the other
make yaw D tune an "axis"
 2023-03-14 11:01:31 +11:00
Bill Geyer 6839f6c89b AC_AutoTune: Tradheli-modify I gain for angle p and tune check 2023-01-31 10:10:59 -05:00
Bill Geyer c8a7c128ad AC_AutoTune: Add Check Tune Sequence 2023-01-31 10:10:59 -05:00
Bill Geyer 0a0c02977d AC_Autotune: use DRP for tuning Angle P 2023-01-31 10:10:59 -05:00
Bill Geyer fc6a6ceaa8 AC_AutoTune: fix pilot testing bug 2022-11-22 08:10:00 +09:00
Peter Barker 771878be0e AC_AutoTune: remove GCS.h from library header files 2022-11-16 18:29:07 +11:00
Peter Barker e340c4655b AC_AutoTune: 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 7c4f48887a AC_AutoTune: params always use set method 2022-08-03 13:43:48 +01:00
Bill Geyer 4bb3b08a4a AC_AutoTune: fix tradheli bug with load gain set 2022-06-20 13:00:53 +09:00
Peter Barker 6f2fd9c4a4 AC_AutoTune: tidy includes 2022-05-03 09:14:58 +10:00
Andy Piper 742c2b034f AC_AutoTune: allow high ANGLE_P gains 2022-04-28 08:51:54 +09:00
Bill Geyer b8690ba109 AC_AutoTune: fix gain determination fail logic 2022-04-18 18:00:20 +09:00
Bill Geyer 8e35fd2658 AC_AutoTune: use failed state to exit 2022-04-18 18:00:20 +09:00
Bill Geyer b4059d3745 AC_AutoTune: use generic load gain method to save flash 2022-04-18 18:00:20 +09:00
Peter Barker 66f0a0f42b AC_AutoTune: 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
Bill Geyer f1a6865caa AC_Autotune: clean up variable init for dwell 2022-03-29 08:05:41 +09:00
Bill Geyer bd0df72863 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-29 08:05:41 +09:00
Bill Geyer ce725764d4 AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-29 08:05:41 +09:00
Bill Geyer ba28227483 AC_AutoTune: combine dwell_init methods 2022-03-29 08:05:41 +09:00
Bill Geyer bbc259329d AC_AutoTune:tradheli-streamline gcs messages 2022-03-29 08:05:41 +09:00
Peter Barker 28bc05eb84 AC_AutoTune: Vector tidying 2022-03-07 08:22:58 +09:00
Peter Barker 9539362320 AC_AutoTune_Heli: use structure assignment to clear structures 2022-03-07 08:22:58 +09:00
Peter Barker 7ff6442aeb AC_AutoTune: use structure assignment for test results 2022-03-07 08:22:58 +09:00
Peter Barker 33c7bb21cf AC_AutoTune: createstructure to hold specific test's sweep results 2022-03-07 08:22:58 +09:00
Andy Piper 8b563836ac AC_AutoTune: nuke clang warnings 2022-03-03 16:34:14 +11:00
Iampete1 607a7bfd70 AC_Autotune_Heli: print gains on axis completion 2022-02-23 07:44:24 +09:00
Iampete1 2ccf8af2bd AC_Autotune_Multi: print gains on axis completion 2022-02-23 07:44:24 +09:00
Iampete1 0e0f4c86dc AC_AutoTune: print gains on axis completion 2022-02-23 07:44:24 +09:00
Bill Geyer 0a65fbbcb5 AC_AutoTune: tradheli-update parameter descriptions and default values 2022-02-07 06:23:37 -05:00
murata 8fbdb01033 AC_AutoTune: Remove meaningless semicolons 2022-02-07 08:27:34 +09:00
Iampete1 894f924de0 AC_Autotune: add axis string function 2022-02-04 08:44:00 +09:00
Iampete1 58e2e84432 AC_Autotune: remove error string and start test 2022-02-04 08:44:00 +09:00
Iampete1 8376779038 AC_AutoTune: Multi: consolidate messages 2022-02-04 08:44:00 +09:00
Iampete1 08fcbedaee AC_AutoTune: remove check_level function and LevelIssue 2022-02-04 08:44:00 +09:00
Bill Geyer 6356970839 AC_AutoTune: reduce target angle for feedforward test 2022-02-01 23:06:51 -05:00
Bill Geyer a91cc7aad7 AC_AutoTune: fix code response for unknown tune type 2022-02-01 23:06:51 -05:00
Bill Geyer b260839b13 AC_AutoTune: fix yaw feedforward test 2022-02-01 23:06:51 -05:00
Bill Geyer f0042b3909 AC_AutoTune: add safety checks for max allowed gains and freq range 2022-02-01 23:06:51 -05:00
Bill Geyer 607004ce4c AC_AutoTune: combine update rate and angle update methods in freqresp library 2022-02-01 23:06:51 -05:00
Bill Geyer b218f6e5d5 AC_AutoTune: clean up the update gain methods 2022-02-01 23:06:51 -05:00
Bill Geyer d72f142ebe AC_AutoTune: fix heading error filter and streamline updating_rate_d_up 2022-02-01 23:06:51 -05:00
Bill Geyer fb5fec387e AC_AutoTune: consolidate gcs messages and add reset for update gain variables 2022-02-01 23:06:51 -05:00
Bill Geyer 9945c80fb4 AC_AutoTune: switch remaining variables over to using filter library 2022-02-01 23:06:51 -05:00
Bill Geyer 024645f0be AC_AutoTune: switch variables over to using filter library 2022-02-01 23:06:51 -05:00
Bill Geyer a2246cb1a4 AC_AutoTune: ff test modified to reset target att to current for recovery 2022-02-01 23:06:51 -05:00
Bill Geyer bc2455e285 AC_AutoTune: rename parameter for convention and put testing timeout in subclasses 2022-02-01 23:06:51 -05:00
Bill Geyer 66c6a5f877 AC_AutoTune: reorder defines and remove unused in heli 2022-02-01 23:06:51 -05:00
Bill Geyer 5cfd0502f7 AC_AutoTune: add internal error check for cases and methods multi should never use 2022-02-01 23:06:51 -05:00
Bill Geyer 36d627c1b0 AC_AutoTune: adjust code to move parameter variables into subclasses 2022-02-01 23:06:51 -05:00
Bill Geyer c817e92ada AC_AutoTune: make incrementing the tune type a function 2022-02-01 23:06:51 -05:00
Bill Geyer 24603f3cf1 AC_AutoTune: use if-else statements for new_meas and new_target 2022-02-01 23:06:51 -05:00
Bill Geyer a9d47532d0 AC_AutoTune: make initialize methods to restart testing 2022-02-01 23:06:51 -05:00
Bill Geyer 40321754fa AC_AutoTune: move load and backup gain methods to subclasses 2022-02-01 23:06:51 -05:00
Bill Geyer 476560d377 AC_AutoTune: fix max angle check to be circular 2022-02-01 23:06:51 -05:00
Bill Geyer 790a77d44a AC_AutoTune: init angle dwell test with proper init method 2022-02-01 23:06:51 -05:00
Bill Geyer 7bccaac327 AC_AutoTune: have circular buffers in freqresp object statically allocated 2022-02-01 23:06:51 -05:00
Bill Geyer 38ff36fca7 AC_AutoTune: clean up variables 2022-02-01 23:06:51 -05:00
Bill Geyer 92cfd3fc63 AC_AutoTune: move heli specific methods to sub class 2022-02-01 23:06:51 -05:00
Bill Geyer da947d4498 AC_AutoTune: move multi specific methods into sub class 2022-02-01 23:06:51 -05:00
Bill Geyer e11c7185d0 AC_AutoTune: moved load_test_gains and Save_tuning_gains completely into sub classes 2022-02-01 23:06:51 -05:00
Bill Geyer 716fcc1cba AC_AutoTune: additional commenting and clean up 2022-02-01 23:06:51 -05:00
Bill Geyer 2d3228c699 AC_AutoTune: adding comments to code 2022-02-01 23:06:51 -05:00
Bill Geyer 1f6424c781 AC_AutoTune: fix build error 2022-02-01 23:06:51 -05:00
bnsgeyer f74279447e AC_AutoTune: incorporated suggested changes 2022-02-01 23:06:51 -05:00
Bill Geyer b1e65de2d4 AC_AutoTune: removeing static variables-not complete 2022-02-01 23:06:51 -05:00
Bill Geyer 58b6dae4d5 AC_AutoTune: modifcations based on suggested changes 2022-02-01 23:06:51 -05:00
Bill Geyer 12c7c19a9d AC_AutoTune: clean up static variables in methods 2022-02-01 23:06:51 -05:00
Bill Geyer 00f72dd92f AC_AutoTune: clean up #define constants in multi class 2022-02-01 23:06:51 -05:00
Bill Geyer 9d7291f28a AC_AutoTune: removed pilot control during angle P tuning, added vel feedback 2022-02-01 23:06:51 -05:00
Bill Geyer e780687f5f AC_AutoTune: Fix issue with parameters in quadplane 2022-02-01 23:06:51 -05:00
Bill Geyer c5cbf6ce37 AC_AutoTune: add conditional for constants based on build 2022-02-01 23:06:51 -05:00
Bill Geyer bff6f3a7a8 AC_AutoTune: Stop specifying bit widths 2022-02-01 23:06:51 -05:00
Bill Geyer 7e4c94f7ec AC_AutoTune: fix bug with test_max_accel 2022-02-01 23:06:51 -05:00
Bill Geyer a5c1d51430 AC_AutoTune: add rate limits for rate dwell test and unusual attitude protections 2022-02-01 23:06:51 -05:00
Bill Geyer 768648b14c AC_AutoTune: fix position holding during sweeps 2022-02-01 23:06:51 -05:00
Bill Geyer 2c1985aecd AC_AutoTune: comments in FreqResp and use M_2PI for 6.28 2022-02-01 23:06:51 -05:00
Bill Geyer af1c8dd9bc AC_AutoTune: clean up FreqResp library and add comments 2022-02-01 23:06:51 -05:00
Bill Geyer 9ff3a7e795 AutoTune: fix commit Add units to the AC_AttitudeControl Library after rebase 2022-02-01 23:06:51 -05:00
Bill Geyer 6cdf3b9109 AC_AutoTune: adding comments to FreqResp Library 2022-02-01 23:06:51 -05:00
Bill Geyer c757de153d AC_AutoTune: tradheli autotune, sqashed commits together 2022-02-01 23:06:51 -05:00
Randy Mackay 873924d6cd AC_AutoTune: formatting and comment improvements 2022-02-01 23:06:51 -05:00
bnsgeyer fae1917aa7 AC_Autotune: add heli autotune with review comments incorporated 2022-02-01 23:06:51 -05:00
Leonard Hall 5a97a232e7 AC_AutoTune: Move rate limit to AC_AttitudeControl 2022-01-11 10:57:53 +11:00
Andrew Tridgell a39040d864 AC_AutoTune: limit autotune target rates to parameter limits 
this makes it safer to autotune a large vehicle which may become
unstable at very high target rates
 2021-12-21 11:02:51 +09:00
Josh Henderson bd9361b701 AC_AutoTune: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Andy Piper 819645d1f6 AC_AutoTune: set slew rate to 0 while twitching 2021-11-11 08:13:23 +09:00
Peter Barker 8d00152815 AC_AutoTune: stop specifying bit-widths for state 
new: bin/arducopter  1670916  2544  194276  1867736
master: bin/arducopter  1671232  2544  194272  1868048

   new: bin/arduplane  1670692  2452  194364  1867508
master: bin/arduplane  1671012  2452  194364  1867828
 2021-09-28 11:00:30 +10:00