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38 Commits

Author SHA1 Message Date
Leonard Hall 50534b6e29 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
 2020-02-01 16:57:18 +09:00
Randy Mackay f3ccec329d AC_AutoTune: fix backup of yaw acceleration 2020-01-31 19:48:00 +09:00
Leonard Hall fd03320926 AC_AutoTune: Add check for reverse response abort. 2019-12-16 15:07:51 +09:00
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