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
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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
597dbb2df4
Copter: Compare bit variables, change set values.
...
Copter: Change from comment 1 to true.
8 years ago
0d1bcd3b94
Copter: added automatic yaw to autotune position control
8 years ago
fa119f8231
Copter: enable poshold in autotune only from LOITER or POSHOLD
8 years ago
37fca03db3
Copter: implement simple position hold during autotune
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this holds position during tuning with low gain
8 years ago
62a4867cd4
Copter: use avoidance adjusted climb rate in all modes
8 years ago
0f6d0c5ba9
Copter: combined tri, single, coax and multicopter into a single build
...
this allows copter to be just 2 builds, one for heli, and one for
everything else
8 years ago
a2474667a8
Copter: minor formatting fix
...
no functional change
8 years ago
53486a5725
Copter: increase Autotune test time out for large copters
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
5894a54a16
Copter: althold uses current alt target if active
...
Previously we always reset the altitude target to the current altitude but this causes a jump if the vehicle is already in an alt-hold flight mode but has an altitude error
8 years ago
7091daa1cf
Copter: remove out of date comment regarding autotune
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no functional change
8 years ago
3349e24492
Copter: fix autotune unit conversions for step sizes
9 years ago
Andrew Tridgell
Peter Barker
Michael du Breuil
Randy Mackay
Leonard Hall
Ebin
ChrisBird
Lucas De Marchi
murata
Mathieu OTHACEHE