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73,851 Commits 72 Branches 544 Tags
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Commit Graph
106 Commits
Author SHA1 Message Date
Peter Barker da9ecf550a APM_Control: remove convert_pid() 
AP_RollController::convert_pid() and AP_PitchController::convert_pid()
converted the old RLL2SRV_/PTCH2SRV_ gains into the AC_PID form.  Added
Apr-2021 and described in the code as "a temporary conversion function
during development"; present in the 4.3.0 release, so anybody running
4.3.0 or later has already had it applied.
 2026-09-01 20:49:36 +10:00
Peter Barker c5dda65c8b APM_Control: annotate PID parameter conversions 
AP_RollController::convert_pid() and AP_PitchController::convert_pid()
convert the old RLL2SRV_/PTCH2SRV_ gains into the AC_PID form.  Added
Apr-2021; they carried no PARAMETER_CONVERSION annotation.
 2026-08-31 08:18:26 +10:00
Iampete1 489bc1d9bb APM_Control: include 0 in param range for filter index 2026-08-22 21:38:02 +01:00
Iampete1 fb8e256b81 APM_Control: Fixedwing: add units to methods and variables and fix reset rate units bug 2026-07-07 00:29:57 +01:00
Iampete1 7e7960e032 APM_Control: add input shaping to roll and pitch controllers 2026-07-07 00:29:57 +01:00
Iampete1 06fc4ca0fd APM_Control: Pitch: rework _get_coordination_rate_offset function to make it easyier to understand. 2026-04-07 10:04:36 +10:00
Iampete1 5054fbcd22 AMP_Control: move to common get_airspeed method 2026-04-07 10:04:36 +10:00
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