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99 Commits

Author SHA1 Message Date
Peter Barker
4df61b941f APM_Control: rename airspeed methods on AHRS to include EAS or TAS 
mixing these up has caused confusion in the past.

"estimate" could also be confused as to mean "synthetic", when it will often come from a sensor.
 2025-11-17 18:46:52 -06:00
Peter Barker
0f837ab44d APM_Control: rename AHRS get_roll etc accessors to include _rad 2025-06-05 17:28:41 +10:00
Peter Barker
74746eb7bf APM_Control: replace ToRad with radians and ToDeg with degrees 2025-05-29 11:24:56 +10:00
Ryan Friedman
dcba349010 APM_Control: Correct copy-paste error in roll/pitch param docstring 
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2025-04-21 10:39:09 +09:00
Iampete1
44d2fc1ac1 AMP_Control: move pitch and roll autotune_start into base AP_FW_Controller 2025-02-04 10:41:56 +11:00
Iampete1
f8dd0b2d76 APM_Control: add AP_FW_Controller as common base class to roll and pitch controllers 2025-02-04 10:41:56 +11:00
Andrew Tridgell
ad6502c9f1 APM_Control: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Andrew Tridgell
0430923639 APM_Control: change LIM_ROLL_CD to ROLL_LIMIT_DEG 2024-01-23 15:00:30 +11:00
Peter Barker
71a00dc733 APM_Control: make AHRS attitude member variables private 2024-01-14 12:47:47 +11:00
Andrew Tridgell
69bfe9b837 APM_Control: added D_FF support for fixed wing 2023-11-21 13:26:23 +11:00
Andy Piper
cfebae5857 APM_Control: update for new AC_PID settings 
enable filters with AP_FILTER_ENABLED
 2023-11-21 13:26:23 +11:00
Andy Piper
9211dba484 APM_Control: update docs for new AC_PID parameters 
add advanced flag to PIDs and selectively compile advanced PID options
 2023-11-21 13:26:23 +11:00
Leonard Hall
029950ef05 APM_Control: Support PD Max 2023-09-26 10:41:05 +10:00
Andy Piper
ab24f97275 APM_Control: implement single-cycle feed-forward scaler for roll and pitch 2023-09-13 18:02:44 +10:00
Iampete1
c99c17f1ce AMP_Control: Roll and Pitch Controller: don't reset pid_info.I in reset_I calls 2023-01-17 11:19:39 +11:00
Leonard Hall
2f2143ca6f AP_Control: Support changing update period 2022-12-13 17:10:06 +11:00
Henry Wurzburg
2d4d915b45 APM_Control: generalize pid descriptions 2022-11-22 10:55:45 +11:00
Peter Barker
7f202b8a0e APM_Control: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Andrew Tridgell
aafec1fbe7 APM_Control: fixed use of configured() vs configured_in_storage() 2022-06-06 13:11:50 +10:00
Hwurzburg
d1f02916cf APM_Control: correct metadata description for roll/pitch rate limits 2022-01-25 08:37:39 +11:00
Andrew Tridgell
5a996f308b APM_Control: fixed code style of plane rate controllers 2021-11-30 16:19:26 +11:00
Andrew Tridgell
8a73bdcbe6 APM_Control: suppress roll/pitch D term in ground_mode 
prevent oscillations which are quite common
 2021-10-30 18:45:53 +11:00
Iampete1
da4fd7a914 AP_PitchController: return floats 2021-10-20 18:29:58 +11:00
Ben Wolsieffer
68ee2c21dd AP_Control: apply pitch rate limit to turn coordination 
At high bank angles, for example when rolling to/from inverted, a large turn
coordination pitch rate offset is requested. Before this patch, this offset was
not subject to the configured pitch rate limit, which could result in pitch
controller integrator windup.
 2021-09-29 17:03:32 +01:00
Peter Barker
d2102ce9b7 APM_Control: stop taking references to ahrs in APM_Control 2021-07-21 18:27:23 +10:00
Andrew Tridgell
dd98f00947 APM_Control: prevent cross-axis tuning 
this should fix tuning at higher AUTOTUNE_LEVEL values
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
fa88967b6e APM_Control: adjust min value for tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell
ccd7b15d06 APM_Control: apply pitch limiting at high roll to rate 
this fixes an issue with a large elevator trim error when rolled at
close to 90 degrees
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
4694820ac3 APM_Control: allow for smaller minimum tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell
f88622def8 APM_Control: implement new autotune system 
use actuator/rate ratio with median filter for FF and Dmod/overshoot
for P,I,D
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
12fad55891 APM_Control: fixed pid_info for pitch controller 2021-04-15 06:57:16 +10:00
Andrew Tridgell
ead011c7c2 APM_Control: move to only ACPID 2021-04-15 06:57:16 +10:00
Andrew Tridgell
6ca9033dde APM_Control: run AC_PID in parallel with old PID for roll/pitch 2021-04-15 06:57:16 +10:00
Andrew Tridgell
d2a4505184 APM_Control: fixed bug in slew filter 2020-10-25 10:32:48 +11:00
Peter Barker
d20c6ceb3b APM_Control: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Paul Riseborough
548bab5d24 APM_Control: Add gyro feedback limit cycle protection 2020-07-13 13:47:50 +10:00
Mark Whitehorn
442fa60651 APM_Control: validate parameter ARSPD_FBW_MIN 2020-04-02 19:43:06 -07:00
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