Commit Graph

62 Commits

Author SHA1 Message Date
Peter Hall 84fe5f4e78 APM_Control: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
Leonard Hall 157f786adf Global: rename desired to target in PID info 2019-07-25 17:38:15 +09:00
Andrew Tridgell d7f90963ea APM_Control: fill in Act field of PID logs for plane 2019-01-28 09:38:32 +09:00
Nathan E fbb2252fd9 Update AP_PitchController.cpp 2019-01-23 09:24:18 -07:00
Peter Barker b276034c60 APM_Control: correct use of incorrect abs functions 2018-10-19 08:46:43 +11:00
Andrew Tridgell 3ab7fe348a APM_Control: halve the default pitch D term for planes
this is based on feedback from the 3.9.1 release
2018-09-14 07:32:13 +10:00
Andrew Tridgell 9e2933df89 APM_Control: raised default PID gains for roll/pitch 2018-08-17 20:42:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 0f5d1ae2dd APM_Control: Use SI units conventions in parameter units
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
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
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
Tom Pittenger 82777873af Revert "APM_Control: Convert references to AP_Airspeed."
This reverts commit cc5a2417a6.
2016-08-07 17:54:24 -07:00
AndersonRayner cc5a2417a6 APM_Control: Convert references to AP_Airspeed. 2016-08-04 10:09:04 -07:00
Andrew Tridgell 8a03b3ba22 APM_Control: reduce elevator when past LIM_ROLL_CD
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
Andrew Tridgell ab07781c66 APM_Control: raise default P and I gains, and set a lower limit on I for pitch
Too many users have very low I gains, which causes a lot of problems for TECS
2016-03-25 09:54:53 +11:00
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
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
Michael du Breuil e45f3537cf APM_Control: Remove duplicate include statements 2015-06-25 10:23:47 +10:00
Andrew Tridgell 86a3bca88c APM_Control: added FF parameters to roll and pitch controllers
these are much easier to tune with the new PID_TUNING messages
2015-05-27 14:28:47 +10:00
Andrew Tridgell 216a78a9f0 APM_Control: added get_pid_info() interface 2015-05-27 14:28:44 +10:00
Andrew Tridgell ec70042d25 APM_Control: raise default IMAX to 3000
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
Andrew Tridgell 3b6c732b3b APM_Control: changed default I gain for roll/pitch controllers to non-zero
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
Andrew Tridgell 8f3dad0d1c APM_Control: increase available range for roll and pitch 2014-08-16 18:07:22 +10:00
Andrew Tridgell ae7293ef68 APM_Control: added support for AUTOTUNE_LEVEL
10 levels of tune, for what type of tune the user wants
2014-04-13 22:11:57 +10:00
Andrew Tridgell 50fc75917e APM_Control: first version of APM_Control autotuning
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
Paul Riseborough 779e32d79f AP_Control : Add true airspeed compensation to pitch controller
turn rate to pitch rate calculation should use true airspeed
2013-12-17 14:17:43 +11:00
Andrew Tridgell 9b5cae2134 APM_Control: reduce roll compensation in pitch controller by cos(pitch)
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
Paul Riseborough 97cdd36dd8 APM_Control : Moved scaler on roll and pitch integrator to be before integrator
This means that the value of aileron and elevator trim offset won't change with airspeed
2013-10-25 22:37:49 +11:00
Andrew Tridgell d27f5e89d7 APM_Control: remove public AP_PitchController::get_coordination_rate_of|cat() 2013-10-05 07:42:48 +10:00
Andrew Tridgell 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
Andrew Tridgell c6e37aaec3 APM_Control: use a ahrs reference, not pointer
saves pointer check
2013-08-14 14:56:18 +10:00
Andrew Tridgell a7cbebbeba APM_Control: rename 'stabilize' to 'disable_integrator'
this better reflects what it does
2013-08-02 21:54:48 +10:00
Andrew Tridgell 57752df68e APM_Control: set a small D value by default
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
Andrew Tridgell c5028c04da APM_Control: scale controllers for altitude
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
Andrew Tridgell 3e21d0594c APM_Control: pass in aircraft parameters and expose coordinate rate offset
this will make it possible to do rate based pitch control without
having a coordinated turn, for in ACRO mode

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-18 14:53:26 +10:00
Andrew Tridgell 5901b8b22a APM_Control: allow for a wider range of P values for roll/pitch
values above 1.0 are sometimes needed
2013-07-18 09:05:17 +10:00
Andrew Tridgell cc778a68ae APM_Control: changed attitude controllers to take angular error not angle
this makes it easier for ACRO mode
2013-07-13 21:45:58 +10:00
Andrew Tridgell f2316747f5 APM_Control: re-work to allow for rate based control 2013-07-11 09:10:41 +10:00
Paul Riseborough 2204b30e66 Plane: Added APM_Control integrator limits to table used to covert old PID values 2013-06-22 21:59:47 +10:00
Paul Riseborough 147856e73c APM_Control: Added integrator limiting adjustable by an advanced user parameter
this is compatible with the old IMAX settings
2013-06-22 21:55:27 +10:00
Paul Riseborough d8dab7b5c7 APM_Control: Pitch Control - Reduced the speed below which the integrator is locked
This is to allow for slow speed flare manoeuvres in FBW modes
2013-06-22 21:49:40 +10:00
Paul Riseborough 3ad35363be Plane : APM_Control : Removed scaler incorrectly applied to the integrator path 2013-06-04 18:09:06 +10:00
Andrew Tridgell 05889391e5 APM_Control: cope with zero integrator or tconst
if the user zeros the integrator tuning factor, we need to zero the
integrator
2013-06-01 22:29:38 +10:00
Andrew Tridgell 14c8c1bdfc APM_Control: tweak code layout and param descriptions 2013-05-31 17:24:55 +10:00
Andrew Tridgell f4efa92d3b APM_Control: fixed parameter names 2013-05-31 15:31:25 +10:00
Andrew Tridgell 3e8af05d15 APM_Control: match parameter names with old PID controllers
this will make upgrading easier
2013-05-31 14:06:56 +10:00
Paul Riseborough 716c124f73 APM_control: Modified gain definitions for roll and pitch controllers so PID gains behave like previous servo PIDS
Gain definitions in roll and pitch controllers were updated previously
so that the old PID tuning values could be transferred across.
Updated tuning guide for revised gain definition.
2013-05-31 07:58:20 +10:00
Andrew Tridgell 6c5718a63b APM_Control: fixed indent-tabs-mode 2013-05-30 09:53:02 +10:00
Andrew Tridgell 46c6aa8a9a APM_Control: tweak the parameter names 2013-05-05 21:51:09 +10:00
Andrew Tridgell 400777b059 APM_Control: support inverted flight in AP_PitchController
auto-reverse pitch control when inverted. This is useful not just for
inverted flight mode, but also for recovering from poor manual flight

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-05-05 21:51:09 +10:00