460d697678
AC_AutoTune: loosen level threshold after 2s
6 years ago
d0bc1520f6
AC_AutoTune: reset step_scaler between tune types
6 years ago
d6a23fd22a
AC_AutoTune: fixed missing else statement
6 years ago
ce27eb5de1
AC_Autotune: Reduce rate step for over angle abort
6 years ago
6312a88d90
AC_Autotune: fixed waiting for level timeout
6 years ago
e0c24d6ecf
AC_Autotune: Include FF variable
6 years ago
4ea9f329e2
AC_AutoTune: use AHRS_View for RATE logging
6 years ago
b25f7a38e8
AC_Autotune: Include FF variable
6 years ago
b0f3674eee
AC_Autotune: Add level time out.
6 years ago
6d4e886bc9
AC_AutoTune: moved axes_completed init
...
thanks Randy
6 years ago
2277f70456
AC_AutoTune: allow save of completed axes
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this allows you to stop the tune by disarming part way through and
save the completed axes
6 years ago
c5a2065a86
AC_AutoTune; minor format fixes
6 years ago
d90edcbb1d
AC_AutoTune: fixed time subtraction bug
...
would have failed at time wrap point
6 years ago
47265c6fb7
AC_AutoTune: converted autotune mode to a library
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this allows for common code between copter and quadplanes
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
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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()
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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
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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
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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
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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
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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
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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
592729733e
Copter: eliminate GCS_MAVLINK::send_statustext_all
8 years ago
f60389d4aa
Copter: use send_text method on the GCS singleton
8 years ago
f29951c2bf
Copter: fix autotune accel max not being used until reboot
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Once autotune completes successfully, the discovered acceleration maximums should be used if the pilot tests the tune
8 years ago
356a405e2d
Copter: autotune minor format fix
8 years ago
2888096a42
Copter: autotune keeps constant attitude while holding position
8 years ago
c459a25194
Copter: adjust autotune poshold
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only reset position on pitch or roll input
also increases the max angle error for twitching in autotune. When a
vehicle is not well tuned the limit can prevent twitching
8 years ago
b4d7d4f43f
Copter: resolve compiler warnings in autotune GCS messages
8 years ago
d5afd01ef2
Copter: remove duplicate autotune rotation warning
8 years ago
34eae9d9cb
Copter: AutoTune: include axis being tuned in output
8 years ago
0bc17645fb
Copter: AutoTune: add gcs messages detailing wait-for-level state
8 years ago
586a5df814
Copter: add GCS messaging during autotune
8 years ago
Andrew Tridgell
Leonard Hall
Randy Mackay
Peter Barker
Michael du Breuil
Ebin
ChrisBird
Lucas De Marchi