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158 Commits

Author SHA1 Message Date
Andrew Tridgell 820729186a AP_TECS: sync TECS with plane4.0 2020-05-11 18:14:48 +10:00
Andrew Tridgell 4f243aca02 AP_TECS: prevent rapid changing of pitch limits on landing approach 
when on landing approach we estimate time to flare based on two noisy
numbers, the vertical speed and height above ground. With noisy
rangefinders this can change rapidly, which resulted in the pitch
limit changing rapidly, leading to a porpoising movement

this limits the rate of change, and also prevents it coming down once
it has nosed up due to pending flare on approach
 2019-08-01 11:28:22 +10:00
Andrew Tridgell 4fd3008b4e AP_TECS: log pitch limits 2019-08-01 11:28:22 +10:00
Andrew Tridgell 3c8ed3d8e1 AP_TECS: fixed flare pitch limits 
when limits are out of bounds
 2019-08-01 11:28:22 +10:00
Andrew Tridgell d72ded4a9e AP_TECS: prevent numerical error with zero max throttle 2019-08-01 11:28:22 +10:00
Andrew Tridgell 587aa33617 AP_TECS: added TECS_OPTIONS 
used for full-time glider
 2019-08-01 11:28:22 +10:00
Andrew Tridgell df0cc40bba AP_TECS: allow TECS_PITCH_MAX to be negative 2019-08-01 11:28:22 +10:00
Peter Barker c0f25a96fb AP_TECS: move include of logger to .cpp file 2019-07-09 10:57:20 +10:00
Michael du Breuil ca65b214af AP_TECS: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Andrew Tridgell c3545be8a1 AP_TECS: fixed a bug in changes from rate-limited to non-limited airspeed 
The calculation of the non-limited airspeed rate demand used the last
non-limited airspeed, whereas it should have used the last adjusted
value. This led to a single frame spike in airspeed demand, which fed
through to a sudden change in pitch integrator.
 2019-04-01 12:14:25 +11:00
Andrew Tridgell 6898ec5776 AP_TECS: prevent airspeed demand spikes causing large pitch changes 
a short term spike in the derivative of speed demand could cause the
constraint on the pitch integrator to push the pitch integrator to
very low values, causing a sharp nose down which takes a long time to
recover from
 2019-03-31 21:05:09 +11:00
Nathan E 9ae5ada82f Correct AP_TECS.cpp typos per magicrub comments 
poper changed to proper
 2019-01-23 09:24:18 -07:00
Nathan E 24f3abde99 Update AP_TECS.cpp 2019-01-23 09:24:18 -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
Andrew Tridgell 60ec695f55 AP_TECS: set default pitch max to 15 2018-08-17 20:42:29 +10:00
Andrew Tridgell f3336fdb60 AP_TECS: removed dependency on soaring controller 2018-07-30 13:09:15 +10:00
Peter Barker f0daf392a5 AP_TECS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker ffcb9ce945 AP_TECS: use baro singleton 2018-03-08 21:20:05 -08:00
Andrew Tridgell b6ecce8329 AP_TECS: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Peter Barker 22f1b5ed6f TECS: support for units on fields 2017-11-23 10:40:30 +11:00
Andrew Tridgell 5bd92b4b7e AP_TECS: improved support for VTOL transitions 2017-10-21 18:50:01 +11:00
Lucas De Marchi 61a629d766 AP_TECS: add static create method 2017-09-26 03:01:21 +01:00
JU Han eebef857f1 AP_TECS: gain scaler K_STE2Thr multiplies by (THRmax - THRmin) 
Makes both feed forward and feed-back consistent
 2017-08-15 14:27:43 +01:00
Andrey Kolobov 5fdebe23cc AP_TECS: disable bad descent for soaring 2017-03-14 08:53:11 +11:00
akolobov a3f3097941 AP_TECS: added function to reset integrator 2017-03-14 08:20:48 +11:00
Michael du Breuil 666c63da9f AP_TECS: Update for AHRS NED changes 2017-02-13 09:23:14 +11:00
Tom Pittenger 61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Tom Pittenger bf835c7aee AP_TECS: abstract out the landing stage checks 2017-01-26 13:11:43 -08:00
Tom Pittenger d1434602a5 AP_TECS: bug fix - use takeoff integrator during land abort 2017-01-26 13:11:43 -08:00
Tom Pittenger 063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND 
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
 2016-12-30 23:50:03 -08:00
Tom Pittenger 84e11fd899 Plane, AP_TECS: do not pass auto_land flag to TECS, it already knows it 2016-12-30 23:50:03 -08:00
Tom Pittenger 8019cedf5b AP_Vehicle,AP_SpdHgtControl,AP_TECS: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:02 -08:00
Tom Pittenger b614b41d6d AP_TECS: fixed compiler warning 
- AP_Landing _landing was declared out-of-order
 2016-12-05 16:46:55 -08:00
Tom Pittenger c7bbb6998a TECS: set landing params as private and use accessors 2016-11-25 19:07:30 -08:00
Tom Pittenger 9035dcbbc5 AP_TECS: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Peter Barker daf9a45efd AP_TECS: correct parameter metadata 
Correct incomplete Description of LAND_PDAMP

Add DisplayName for LAND_PDAMP
 2016-10-27 09:15:03 -07:00
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
Andrew Tridgell 1171b33419 AP_TECS: added TECS_SYNAIRSPEED parameter 
this allows for the synthetic airspeed estimate to be used in TECS
 2016-10-20 13:22:39 +11:00
Andrew Tridgell 7ee42d3a7e AP_TECS: fixed missing doc comment 2016-10-20 13:22:22 +11:00
Andrew Tridgell 2fab15dcd5 AP_TECS: added use_synthetic_airspeed() API 
used by quadplane during transitions
 2016-10-05 11:52:34 +11:00
Tom Pittenger e5bd23e34a Revert "AP_TECS: Convert references to AP_Airspeed." 
This reverts commit 09d53eaeca.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 8dad05d12e Revert "Airspeed: store reference in libraries and populate it" 
This reverts commit c090ba2257.
 2016-08-07 17:54:24 -07:00
Tom Pittenger c090ba2257 Airspeed: store reference in libraries and populate it 
- also had to move the initial definition in plane.h so it happened before the others.
 2016-08-04 11:06:44 -07:00
AndersonRayner 09d53eaeca AP_TECS: Convert references to AP_Airspeed. 2016-08-04 10:09:04 -07:00
Murilo Belluzzo d8b58690ad AP_TECS: Remove useless 'if' statement 
This should fix CID 91386.

Before removing the 'if', I checked the log to confirm that both branch
didn't end-up being equal by mistake in some commit. But it looks like
the file was added in the project this way.
 2016-07-25 18:51:56 -03:00
Tom Pittenger 7be15be185 AP_TECS: slew the hgt_lag_filter when starting a land 2016-07-19 17:19:10 -07:00
Andrew Tridgell 2527859b59 AP_TECS: update comment on underspeed clearing 2016-07-20 08:21:08 +10:00
Andrew Tridgell d3d2ce3e0d AP_TECS: use full throttle in initial takeoff 
during the first part of a takeoff when we have not yet reached the
target airspeed this forces the throttle to maximum. This fixes a case
where the throttle may drop too low during the first part of takeoff
and lead to a stall.
 2016-07-16 08:14:29 +10:00
Tom Pittenger 773372d2f3 Revert "AP_TECS: coverity scan - variables not initialized in constructor" 
This reverts commit 753c0d47f0.
 2016-07-11 22:01:26 -07:00