5d5ccc8c78
Copter: Update ACRO to use rate parameters and update expo function
3 years ago
f3dc47ce3d
Copter: Add units to the AC_AttitudeControl Library
3 years ago
a1ad194abd
Copter: seperate kinimatic shaping from pid limit setting
4 years ago
3b0a870504
Copter: Rename set_yaw_target_to_current_heading
4 years ago
e294991b08
Copter: Fix before squash
4 years ago
4bae8f03a4
Copter: Use PosControl fixes
4 years ago
67e15f8d07
Copter: autotune entry checks moved to init
4 years ago
c42681f4f2
Copter: add exit() method to Mode class
4 years ago
1e0f106ed4
Copter: make AutoTune object private state to ModeAutoTune
4 years ago
f4eed612d7
Copter: add allows_autotune function to Mode class
4 years ago
0cce5699b2
Copter: change from control_mode to flightmode
4 years ago
c75848435e
Copter: fix heli land detector and incoporate reset_I_smoothly
4 years ago
afa153fb6f
Copter: remove wrapper for get_avoidance_adjusted_climbrate
...
Only the modes are interested in this - there's no point having it on
the Copter object.
5 years ago
5ece75a09a
Copter: AC_AutoTune writes events itself now
5 years ago
b4537bebd8
Copter: move control_mode_t into being Mode::Number enum class
...
Fixes this compiler error:
In file included from ../../ArduCopter/sensors.cpp:1:
In file included from ../../ArduCopter/Copter.h:195:
../../ArduCopter/mode.h:1291:9: fatal error: declaration shadows a variable in the global namespace [-Wshadow]
AUTO, // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
^
../../ArduCopter/defines.h:38:5: note: previous declaration is here
AUTO = 3, // fully automatic waypoint control using mission commands
^
1 error generated.
5 years ago
676d75c391
Copter: correct namespacing of Copter modes
...
This makes us look like Rover and Plane in terms of namespacing for the
Mode classes, and removes a wart where we #include mode.h in the middle
of the Mode class.
This was done mechanically for the most part.
I've had to remove the convenience reference for ap as part of this.
6 years ago
3fe63d5bc0
Copter: only save autotune gains if disarmed in autotue
6 years ago
46a6f45e4a
Copter: adjust for desired spool state and spool state renames
6 years ago
e744df585c
Copter: avoid int32_t<->float conversions
6 years ago
3521d98b52
Copter: move handling Write_Event into AP_Logger
6 years ago
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
6 years ago
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
6 years ago
2ddb3f6697
Copter: desired-ground-idle replaces spin-when-armed
6 years ago
b897551e0b
Copter: log PIDs at full rate during AUTOTUNE twitch
6 years ago
89d54767b1
Copter: convert to use AC_AutoTune library
...
this maintains existing behaviour
6 years ago
e02a645354
Copter: use fabsf() instead of labs()
...
wrap_180_cd returns a float
substracting a float from an int32 returns a float
6 years ago
7e1ed948f5
Copter: Cope with AC_PosControl renaming
6 years ago
214adc121f
Copter: mode_autotune: factor out common filter reset code
7 years ago
9c72a8ecc7
Copter: simplify autotune's filter value determination
7 years ago
f4be542169
Copter: autotune: raise priorities of autotune success and param saved
...
Closes #8734
7 years ago
a38507623d
Copter: autotune minor comment fix
7 years ago
1b38a377ff
Copter: autotune replace 1 with true
7 years ago
7204d46ccb
Copter: Autotune - Fix low angle P issue
7 years ago
5c1d895f82
Copter: autotune announce only while tuning
7 years ago
83fac326a4
Copter: autotune check for vel overshoot in angle P
...
this change reduces the chance of over tuned angle P
7 years ago
d8f56b3511
ArduCopter: changed signature for get_pilot_desired_lean_angles()
...
Removes first two redundant input parameters, makes fn non static, makes fn const
7 years ago
8ac653cabf
Copter: AutoTune integrate renamed use_sqrt_controller
7 years ago
93de23e7c4
Copter: get-pilot-desired-lean-angles accepts another angle-max
7 years ago
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
7 years ago
bb9af3b79d
Copter: autotune: correct compilation when logging disabled
7 years ago
0ed75052f8
Copter: enable parameters inside mode objects
...
this adds FHLD_* parameters for FlowHold mode. It is a large patch as
it needs to disentagle the mode class to enable it to be used in
Parameters.h
7 years ago
ab7a9c9073
Copter: use zero_throttle_and_relax_ac in poshold, drift and autotune
7 years ago
996115c0d3
Copter: eliminate MAIN_LOOP_SECONDS macro
7 years ago
c3fbf2671c
Copter: rename control_xx.cpp files to mode_xx.cpp
7 years ago
06fbe8f3a7
Copter: rename FlightMode class to Mode
...
also remove unused print_FlightMode method
7 years ago
8870897847
Copter: FlightMode objects use lower case
7 years ago
4ae2be55aa
Copter: fix up autotune namespacing
...
This moves static variables into the autotune flightmode object.
It also adjusts namespacing on everything to take advantage of
having everything encapsulated in the AutoTune object
7 years ago
67063d6b1e
Copter: FlightMode - convert AUTOTUNE flight mode
7 years ago
caaeae3d0a
Copter: Separate max ascent and descent speeds
...
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN
New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN
Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).
Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF
Update a section in GUIDED mode but I don't think it is ever used but update just in case.
It will use the PILOT_SPEED_UP for ascending max velocity. For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
7 years ago
be402374ea
ArduCopter: use FALLTHROUGH define
...
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
8 years ago
Leonard Hall
Randy Mackay
Tatsuya Yamaguchi
Peter Barker
bnsgeyer
Peter Hall
Andrew Tridgell
Michael du Breuil
Ebin
ChrisBird
Lucas De Marchi