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209 Commits

Author SHA1 Message Date
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
Leonard Hall 90b5bc6a2d AC_AutoTune: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Leonard Hall 30cda045f1 AC_Autotune: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Andrew Tridgell d9ee2b3c6c AC_AutoTune: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Peter Barker 092885f67f AC_AutoTune: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Leonard Hall 53439b19cd AC_AutoTune: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall 34fa62d51c AC_AutoTune: PosControl fixes 2021-05-24 20:13:37 +10:00
murata 49bb4d38a1 AC_AutoTune: Disable variables that are overwritten 2021-05-06 12:02:26 +10:00
Randy Mackay e78c6804a0 AC_AutoTune: remove start method and always init position controller 2021-05-03 20:23:27 -04:00
Peter Barker 1fb43d63e2 autotest: shorten statustext message to avoid chunking 2021-04-29 02:44:20 -04:00
Randy Mackay d1dda86f60 AC_AutoTune: report step in lower case 
also shortens displayed accuracy to 0.1deg and removes one pair of brackets
we should use lower case for reporting because it is easier to read and it takes up less space when displayed on MP's HUD (and probably other GCSs too)
 2021-02-06 14:45:53 +09:00
Randy Mackay 25beab4c82 AC_AutoTune: add failure to level warning 2021-02-06 14:45:53 +09:00
Randy Mackay 4032ac9884 AC_AutoTune: level criteria is 5deg for plane and 2.5 for all others 2021-02-06 14:45:53 +09:00
Patrick José Pereira 0ecbaa867d AC_AutoTune: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Josh Henderson 8ce5113c74 AC_AutoTune: privatize AHRS logging 2021-01-12 10:13:22 +11:00
Andy Piper fd96cdf6e0 AC_AutoTune: set FLTT to zero while twitching 
add pilot testing message
 2020-06-30 20:09:48 +10:00
Peter Barker 1a148afe1b AC_AutoTune: add ATDE log message documentation 2020-04-12 08:36:48 +10:00
Rishabh fe4d1f9316 AC_AutoTune: Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Peter Barker cf0875bb00 AC_AutoTune: add missing axis field to ATUN message 2020-03-22 18:35:14 +11:00
Peter Barker 1065317332 AC_AutoTune: add documentation for ATUN log message 2020-03-21 09:34:43 +11:00
Leonard Hall 152205fd52 AC_AutoTune: fix restoring of original gains 
current_gain_type was not being set when load_gains was called meaning subsequent calls to load_gains would fail if gain_type was GAIN_ORIGINAL
 2020-01-31 19:40:21 +09:00
Randy Mackay 2f568bbfcb AC_AutoTune: fix backup of yaw acceleration 2020-01-21 11:04:22 +09:00
Leonard Hall 33ca2a20dd AC_AutoTune: Add check for reverse response abort. 2019-12-16 15:06:24 +09:00
Peter Barker 561920aad6 AC_AutoTune: cope with change in namespace of LogEvent enum 2019-11-05 08:19:26 +08:00
Peter Barker 3e4e7bdd18 AC_AutoTune: Log_Write events directly rather than via subclass 2019-11-01 14:47:52 +08:00
Peter Barker 9cd30083a4 AC_AutoTune: correct abs to fabsf for roll_cd and pitch_cd 2019-09-18 12:57:02 +10:00
Leonard Hall c7196a4232 AC_AutoTune: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Peter Hall a0d8c04f3e AC_AutoTune: add public reset method 2019-05-07 09:23:50 +10:00
Peter Barker 79fa39e13b AC_AutoTune: cope with renamed spool state enums 2019-04-14 12:18:03 +09:00
Leonard Hall c4e3c4142e AP_AutoTune: replace set_throttle_out_unstabilized 2019-04-08 09:42:21 +09:00
Tom Pittenger ff043204dd AC_AutoTune: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker 71174f41f8 AC_AutoTune: correct multiplier on ATDE and ATUN 
These appear to be logging in degrees already, so the multiplier's wrong
 2019-03-26 10:18:05 +11:00
Peter Barker 020aa6bd49 AC_AutoTune: emit a warning every second while pilot overrides active 2019-03-18 09:35:52 +09:00
Peter Barker 87d05d843e AC_AutoTune: restrict scoping of LEVEL_ISSUE enum 
This gives us tighter type-checking and scoping
 2019-03-01 12:21:01 +11:00
Peter Barker 247a047177 AC_AutoTune: avoid int32_t<->float conversions 
We're currently bouncing backwards and forwards between types.  Just
choose one!
 2019-03-01 12:09:58 +11:00
Peter Barker 1859dd4234 AC_AutoTune: avoid climb rate conversion from float to int32_t to float 2019-03-01 12:09:58 +11:00
Peter Barker 923af1e301 AC_AutoTune: use abs not fabsf for integers 2019-02-20 19:23:54 +11:00
Tom Pittenger 3415d309ea AC_AutoTune: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Leonard Hall 4edc464b83 AC_AutoTune: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Andrew Tridgell a885f86ce7 AC_AutoTune: fixed testing of gains with aux switch 
this fixes the use of an aux switch for autotune to test gains before
disarm.

Many thanks to Mark Whitehorn for noticing this regression
 2019-01-14 09:43:15 +11:00
Andrew Tridgell e66a360e27 AC_AutoTune: added lower limit on scaler reduction 2018-12-22 15:10:23 +11:00
Andrew Tridgell e279fde505 AC_AutoTune: log 3 axis PIDs during twitch 2018-12-22 15:10:23 +11:00
Leonard Hall b5066cffb6 AC_Autotune: Log in degrees 2018-12-22 15:10:23 +11:00
Andrew Tridgell be9be889db AC_AutoTune: ensure we always have the right gains loaded 2018-12-22 15:10:23 +11:00
Andrew Tridgell 460d697678 AC_AutoTune: loosen level threshold after 2s 2018-12-22 15:10:23 +11:00
Andrew Tridgell d0bc1520f6 AC_AutoTune: reset step_scaler between tune types 2018-12-22 15:10:23 +11:00
Andrew Tridgell d6a23fd22a AC_AutoTune: fixed missing else statement 2018-12-22 15:10:23 +11:00
Leonard Hall ce27eb5de1 AC_Autotune: Reduce rate step for over angle abort 2018-12-22 15:10:23 +11:00
Andrew Tridgell 6312a88d90 AC_Autotune: fixed waiting for level timeout 2018-12-21 22:17:52 +11:00
Leonard Hall e0c24d6ecf AC_Autotune: Include FF variable 2018-12-21 22:17:52 +11:00
Andrew Tridgell 4ea9f329e2 AC_AutoTune: use AHRS_View for RATE logging 2018-12-21 22:17:52 +11:00
Leonard Hall b25f7a38e8 AC_Autotune: Include FF variable 2018-12-21 22:17:52 +11:00
Leonard Hall b0f3674eee AC_Autotune: Add level time out. 2018-12-21 22:17:52 +11:00
Andrew Tridgell 6d4e886bc9 AC_AutoTune: moved axes_completed init 
thanks Randy
 2018-12-18 18:56:10 +09:00
Andrew Tridgell 2277f70456 AC_AutoTune: allow save of completed axes 
this allows you to stop the tune by disarming part way through and
save the completed axes
 2018-12-18 18:56:10 +09:00
Randy Mackay c5a2065a86 AC_AutoTune; minor format fixes 2018-12-18 10:55:15 +09:00
Andrew Tridgell d90edcbb1d AC_AutoTune: fixed time subtraction bug 
would have failed at time wrap point
 2018-12-14 16:33:11 +11:00
Andrew Tridgell 47265c6fb7 AC_AutoTune: converted autotune mode to a library 
this allows for common code between copter and quadplanes
 2018-12-14 16:33:11 +11:00