e5e4dee708
AC_PID: stop libraries including AP_Logger.h in .h files
...
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h
This necessitated moving The PID_Info structure out of AP_Logger's
namespace. This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!
There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
3 years ago
8d330a95b5
AC_PID: replace reset_I_smoothly with relax_integrator
3 years ago
e84a05d5ba
AC_PID: add slew_rate modifier
3 years ago
476e9fc15a
AC_PID: use CLASS_NO_COPY()
4 years ago
95b375dc87
AC_PID: log SRate in pid info and expose slew rate
4 years ago
6f2e592943
AC_PID: allow for slew limit scaler
...
used by plane to have slew limiter in deg/s
4 years ago
62afa46924
AC_PID: added accessor for IMAX
4 years ago
c565536afa
AC_PID: add support to smoothly reset the integrator
4 years ago
739410953b
AC_PID: added slew limiter AC_PID
...
this adds the fixed wing slew limiter as an optional part of
AC_PID. It allows the user to configure a maximum slew limit to
prevent oscillations in PIDs when gains are too high
4 years ago
c78dcb15a1
AC_PID: remove dead get_ff(float target) method as per TODO comment
4 years ago
0052dcc8f8
AC_PID: update pid_info when integrator set
5 years ago
ab0bdc9fe6
AC_PID: upgrade to PID object
6 years ago
cae020c307
AC_PID: minor format fix
6 years ago
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
6 years ago
b381ae7bf3
AC_PID: support storing actual
7 years ago
4e8155f4e5
AC_PID: allow non-zero ff gain default
7 years ago
91d489d91e
AC_PID: implement reset_filter
7 years ago
b97bf5d15e
AC_PID: added feed-forward to AC_PID
8 years ago
ccae8979c1
AC_PID: expose filt_hz as a AP_Float
...
this allows defaults to be overridden
8 years ago
2086b591a2
AC_PID: expose ff() method in AC_PID
...
this allows for an abstract AC_PID class to be used in
AC_AttitudeControl for both multicopter and heli
8 years ago
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.
8 years ago
412dc10353
AC_PID: expose parameters as AP_Float
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this enables full tuning capability
9 years ago
5bd034a5a8
Global: start using cmath instead of math.h
9 years ago
f637a29ab6
AC_PID: replace header guard with pragma once
9 years ago
286d084d83
AC_PID: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
10 years ago
3ec8857fbc
AC_PID: added set_desired_rate() interface
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used to setup _pid_info for logging
10 years ago
967071ca62
AC_PID: Integrate PID Logging functionality.
10 years ago
9d74f57ed3
AP_PID: replace fabs() with fabsf()
10 years ago
6ea91d012e
AC_PID: calculate filt_alpha every time the filter is run
10 years ago
c10b0b34ca
AC_PID: replace set_filt_hz method with filt_hz
...
Thanks to Jonathan Challinger for spotting this bug
Also add sanity check to filt_hz
10 years ago
517448e536
AC_PID: add input filtering and restructure
10 years ago
0a46afa6c4
AC_PID: init members to reduce compiler warnings
11 years ago
b35ec4339e
AC_PID: Add method to set the D-term Filter Rate from main code.
11 years ago
f1c3f2a3d1
AC_PID: Remove get_leaky_i function which is now found in AC_HELI_PID.
11 years ago
ef7dc815cd
AC_PID: Change Private members to Protected so that AC_HELI_PID can access them.
11 years ago
fbc5af2705
AC_PID: results returned as float
11 years ago
8c25a504c3
AC_PID: fixed indent-tabs-mode
12 years ago
2294acc652
AC_PID: fixed build on ARM
12 years ago
9349259487
AC_PID: updates for new AP_Param API
12 years ago
050a878935
AC_PID: Ported to AP_HAL.
12 years ago
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
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* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
12 years ago
5e7ca5b0f8
AC_PID: suppress the derivative immediately after reset
...
use _last_derivative == NAN to flag that the derivative is invalid
12 years ago
eac1ad49d6
AC_PID: save 8 bytes per AC_PID object
...
we don't need the _derivative or _output variables
12 years ago
1d12b781a0
AC_PID: Create Leaky Integrator Function.
12 years ago
6c5757e775
uncrustify libraries/AC_PID/AC_PID.h
13 years ago
5e8fe8d93e
AP_Param: update PID libraries for new constructor syntax
13 years ago
24a471ff8f
AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods
13 years ago
b094f6ce52
added set integrator
13 years ago
452749149f
convert AC_PID library to AP_Param
13 years ago
af79eb273f
Added D term to APM_PI - need to refactor this as a parent class and two child classes to save code space, remove dupes
13 years ago
Peter Barker
Leonard Hall
Andy Piper
Andrew Tridgell
bnsgeyer
Randy Mackay
Mathieu OTHACEHE
Ricardo de Almeida Gonzaga
Lucas De Marchi
Gustavo Jose de Sousa
Robert Lefebvre
Tom Pittenger
Jonathan Challinger
Andrew Tridgell
Pat Hickey
uncrustify
Jason Short