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Commit Graph
92 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 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
Andrew Tridgell 0de1946dce APM_Control: added an in_recovery flag to roll controller 
allows for very rapid recovery for quadplanes
 2025-08-20 15:45:06 +10:00
Andrew Tridgell fb7c40cadf APM_Control: avoid indecision in the roll controller 
when we are close to a 180 degree error, go with the last direction if
we are in a 40 degree angle wedge of 180 degree error
 2025-04-02 07:05:04 +11:00
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 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 a590a675d6 AP_RollController: return floats 2021-10-20 18:29:58 +11:00
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 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 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
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
Peter Hall 505e1d8c1d APM_Control: AP_RollContorller: move rate limit 2019-05-06 19:16:26 +10:00
Andrew Tridgell d7f90963ea APM_Control: fill in Act field of PID logs for plane 2019-01-28 09:38:32 +09:00
Nathan E f9aac6919c Update AP_RollController.cpp 2019-01-23 09:24:18 -07:00
Andrew Tridgell 9e2933df89 APM_Control: raised default PID gains for roll/pitch 2018-08-17 20:42:25 +10:00
disgruntled-patzer 2c41db9e4d AP_RollController.cpp: Updated description of ArduPlane Roll Controller for accuracy 
AP_RollController's get_servo_out function does not return an elevator deflection as was previously described in the function comments.
Instead, it should return an aileron deflection. Thus, the function description should be updated to reflect this more accurately
 2018-05-30 09:46:08 +09:00
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 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
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Caio Marcelo de Oliveira Filho fe718a6ce8 APM_Control: use millis/micros/panic functions 2015-11-20 12:28:20 +09:00