619f4976a2
AR_AttitudeControl: get_turn_rate_from_heading applies acceleration limit
...
Limits rate output so that vehicle will not overshoot the target heading
3 years ago
d1f02916cf
APM_Control: correct metadata description for roll/pitch rate limits
3 years ago
91d40b768c
AR_AttitudeControl: get_throttle_speed_pid_info.FF includes base throttle
3 years ago
53135b2df0
AR_AttitudeControl: improve get_turn_lat_accel accessor comments
3 years ago
639447142a
APM_Control: use EKF yaw bias to correct fixed wing yaw damper
3 years ago
c83da810da
APM_Control: tweaks from review feedback
3 years ago
81d20ae49d
APM_Control: support yaw rate controller autotune
3 years ago
6685ce0527
APM_Control: added yaw rate controller for fixed wing
...
enabled with YAW_RATE_ENABLE parameter
3 years ago
5a996f308b
APM_Control: fixed code style of plane rate controllers
3 years ago
724301ea53
APM_Control: make 2nd reduction of P smaller
...
this prevents severe P reductions when we get a small oscillation
glitch after we've already got the primary P gain
3 years ago
e85a95f21c
AR_AttitudeControl: reduce some param defaults
...
These reductions are based on experirence helping users setup new vehicle. In the vast majority of cases the existing values are too high
STEER_ANG_P is the default for the angle-to-rate controller and is used during pivot turns. This value may still be slightly too high.
STEER_RATE_MAX is the maximum turn rate so the new value allows a 360 turn in 3 seconds
STEER_ACCEL_MAX is the acceleration for the turn rate meaning a vehicle can get to 120 deg/sec in 1 sec
THR_ACCEL_MAX is the maximum acceleration. This new value means a vehicle can accelerate to 1m/s in 1 second.
3 years ago
9c54b3d252
AR_AttitudeControl: move param defines from .h to .cpp
3 years ago
8a73bdcbe6
APM_Control: suppress roll/pitch D term in ground_mode
...
prevent oscillations which are quite common
3 years ago
a590a675d6
AP_RollController: return floats
3 years ago
da4fd7a914
AP_PitchController: return floats
3 years ago
08fcfa04ae
APM_Control: only save autotune gains when P finished
...
this prevents saving values which are temporarily high due to tuning
process
See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
3 years ago
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.
3 years ago
570c12215d
AR_AttitudeControl: fix get_throttle_out_speed use of passed in limits
3 years ago
066ad0f8da
APM_Control: remove unused variables
4 years ago
47854ac4b7
APM_Control: lower the tuning trigger threshold
...
this allows for slower stick movements during tuning
This is based on analysing the log from kir850 on rcgroups
4 years ago
bb624074dd
APM_Control: remove outdated tuning guide
4 years ago
45cf726a4b
APM_Control: new autotune scheme
...
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
4 years ago
d2102ce9b7
APM_Control: stop taking references to ahrs in APM_Control
4 years ago
1633afb6cd
APM_Control: adjust fixed wing filter defaults
...
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
4 years ago
cd43c0ecef
APM_Control: use FF to increase but not reduce tau in autotune
...
if user wants a slow time constant we should not override
4 years ago
4f4389df2f
APM_Control: make centideg metadata incr and range consistent
4 years ago
bc90ba5486
AR_AttitudeControl: get_steering_out_rate use abs speed for G limit
4 years ago
b4fd9848df
AR_AttitudeControl: add get_stop_speed accessor
4 years ago
980c41e273
APM_Control: G limit all turn rates
4 years ago
f64c6f9ba1
APM_Control: fixed cygwin build
...
FF0 is a macro in cygwin
4 years ago
767a0b2a99
APM_Control: tweak the activation detection to catch more events
4 years ago
bb1dc7192b
APM_Control: lower default target filter frequencies
...
this will remove a lot of the level flight noise causing oscillation
at higher gains
4 years ago
dd98f00947
APM_Control: prevent cross-axis tuning
...
this should fix tuning at higher AUTOTUNE_LEVEL values
4 years ago
320d3d20c2
APM_Control: log autotune at 25Hz
4 years ago
72b51a389c
APM_Control: use ATRP log msg via structure
4 years ago
7b073a61f1
APM_Control: allow for gain reductions when idle
4 years ago
91856b1d8c
APM_Control: prevent bad init of FF in autotune
4 years ago
3fdd507157
APM_Control: log I and prevent numercial errors in autotune
4 years ago
24d53eade4
APM_Control: adjust filter for autotune to 0.75 Hz
...
this should give a better FF estimate
4 years ago
9e6561e6b5
APM_Control: Ensure adequate trim speed
4 years ago
fa88967b6e
APM_Control: adjust min value for tconst
4 years ago
b079da33c5
APM_Control: use slew rate to move gains more smoothly
4 years ago
772b1262d4
APM_Control: added proportional reduction to D and P
4 years ago
d561cd358f
APM_Control: log RMAX and TAU
4 years ago
d914ce6829
APM_Control: reset filters on autotune start
4 years ago
7e64875a02
APM_Control: tweak tuning settings
4 years ago
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
4 years ago
4694820ac3
APM_Control: allow for smaller minimum tconst
4 years ago
97f88f67f6
APM_Control: allow for AUTOTUNE_LEVEL=0
...
this means keep the existing TCONST and RMAX parameters, if non-zero
4 years ago
316541017a
APM_Control: fixed handling of clipped actuator in autotune
4 years ago
Randy Mackay
Hwurzburg
Andrew Tridgell
Iampete1
Ben Wolsieffer
Peter Barker
Paul Riseborough