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17 Commits

Author SHA1 Message Date
Philipp Oettershagen b3959fab2f TECS: Do not even calculate integrator state if integrator gain is zero 2018-06-29 15:55:46 +00:00
Philipp Oettershagen ccfba49971 TECS: Set the integrator output to zero if the gain is zero. Otherwise (e.g. after a climbout) it can happen that the integrator stays at a large constant value and thus distrubs the control loop 2018-06-29 15:55:46 +00:00
Daniel Agar a80b3ab610 set MODULE define for each library 
- this is needed for INFO, WARN, ERR messages when used within PX4
 2018-05-27 20:08:47 +02:00
Daniel Agar d6a3110918 visual studio build compatibility 2018-05-03 22:25:36 -04:00
Daniel Agar e5952fadaf cmake standalone build 2018-05-03 22:25:36 -04:00
Daniel Agar ba2b9dfdd9 update matrix lib usage 2018-03-28 17:57:51 -04:00
Roman Bapst 7964820412 tecs.cpp: tecs initialisation fixes (#411) 
- zero thrust integrator on initialisation, we already have a cruise throttle
variable
- if initialising from in_air condition set last throttle setpoint to
cruise throttle (_in_air ? throttle_cruise : 0.0f);
 2018-03-21 11:25:15 +11:00
Daniel Agar 35bc2cfcd9
tecs and l1 switch to matrix math library (#409) 2018-03-18 21:59:41 -04:00
Paul Riseborough 1ddd94f237 tecs: Remove redundant code 
The if() statement was there as provision to do something different with the speed demand derivative limits if an abnormal condition was present, however we have no basis for assigning different limits at this point in time.
 2018-01-28 22:01:28 +01:00
Paul Riseborough bdbc05cf91
Merge pull request #372 from PX4/pr-tecs_init 
TECS initialize throttle integrator at cruise if in air
 2017-12-28 09:09:14 +11:00
Daniel Agar 8320c8ba14
TECS initialize throttle integrator at cruise if in air 2017-12-21 16:29:14 -05:00
CarlOlsson dea0c8bb6a tecs: fixed some typos 2017-12-08 00:31:12 -05:00
Daniel Agar 22a51c6afd PX4_ISFINITE -> ISFINITE 2017-10-22 20:37:40 +02:00
Daniel Agar 9e13a2cb21 tecs move initialization 2017-10-22 20:37:40 +02:00
Daniel Agar 31a8e047d7 tecs one line setters and group 2017-10-22 20:37:40 +02:00
Daniel Agar 4f2d571c89 tecs fix code style 2017-10-22 20:37:40 +02:00
Paul Riseborough 79995b2c15 Create total energy control system implementation 
This is a new, clean and streamlined variant of the mathematical derivation I created a few years ago.
 2017-10-22 20:37:40 +02:00