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Commit Graph

47 Commits

Author SHA1 Message Date
Corvus Corax
b5a27d05e7 OP-1197 configurable failsafes OP-1219 thrust control OP-1217 separate manualcontrolsettings apart 2014-02-09 19:37:22 +01:00
Corvus Corax
6d855fbaf0 OP-1177 remove cc algorithm from altitude hold code 2014-01-21 20:21:38 +01:00
Corvus Corax
92beb54e2d OP-1022 some small cosmetic fixes for AltitudeHold as suggested by Alessio 2014-01-15 18:43:47 +01:00
Corvus Corax
ca607ad924 OP-1022 overhaul of altitudehold and manualcontrol - cleanup,
reimplemented safe throttle cutoff and altitudevario features
2014-01-11 10:51:47 +01:00
Corvus Corax
cefcb9881a Altitude Hold - compensation for tilt 2013-12-29 19:09:54 +01:00
Corvus Corax
505d334c4b simplified altitude hold control loop 2013-12-27 18:37:27 +01:00
Corvus Corax
95d52c6b08 fixed signs in control loop 2013-12-08 14:00:18 +01:00
Corvus Corax
5cc8dedadf uncrustify changed things 2013-12-08 13:07:26 +01:00
Corvus Corax
3cea14a809 added missing object, added more debug output 2013-12-08 13:06:28 +01:00
Corvus Corax
4ad0e730da added status uavobject for easier debugging 2013-12-08 12:23:16 +01:00
Corvus Corax
90f689cfa1 throttle does not accelerate downwards but upwards - switched sign 2013-12-08 10:44:17 +01:00
Corvus Corax
8832ea24f5 proper uncrustification 2013-12-07 23:31:26 +01:00
Corvus Corax
623c25aa99 new design of altitude hold - warning not tested yet! 2013-12-07 23:16:22 +01:00
Corvus Corax
3e1b0fd114 Merge branch 'next' into corvuscorax/OP-1022_AH_improvements_amorale 2013-12-07 16:33:57 +01:00
Alessio Morale
e91bc28667 OP-1058 Get rid of Unions.
They caused stack usage increase with -fstrict-aliasing as stack slots are not reused when dealing with unions.
It has now been added the cast_struct_to_array macro in pios_struct_helper.h to handle such case where it is useful to access those homogeneous structs as arrays

+review OPReview-552
2013-09-01 12:10:55 +02:00
Alessio Morale
9e1acc3165 OP-1058: fix needed for fw_revolution code compilation 2013-07-31 15:24:26 +02:00
Alessio Morale
6b27ff1e27 OP-1022 add position lowpass, rework setting uavo, cleanup 2013-07-19 11:28:48 +00:00
Alessio Morale
005a68826d OP-1022 Converted to a plain Altitude PID + Velocity PI implementation 2013-07-17 08:38:44 +00:00
Werner Backes
45cebda628 Add a configurable lowpass filter to smooth throttle commands in
AltitudeHold mode.

Conflicts:
	flight/modules/AltitudeHold/altitudehold.c
	shared/uavobjectdefinition/altitudeholdsettings.xml
2013-07-16 21:21:21 +00:00
Werner Backes
7708aab313 Added vertical velocity as a control loop input to improve dynamics during
commanded ascend/decent.

Conflicts:
	flight/modules/AltitudeHold/altitudehold.c
	flight/modules/ManualControl/manualcontrol.c
	shared/uavobjectdefinition/altitudeholdsettings.xml
2013-07-16 21:17:32 +00:00
Alessio Morale
ed233efde2 OP-1022 Uncrustify 2013-07-16 20:02:03 +00:00
Alessio Morale
0203e2c6e2 OP-1022 Adding a proportional term on the square of the altitude error. 2013-07-16 20:01:16 +00:00
Alessio Morale
5b4d46819e OP-1022 Fix problem with EventSystem due to too high update rate 2013-07-16 12:25:58 +00:00
Alessio Morale
e975e4d9b7 OP-1022: replace old KF in alitude hold with status from filters 2013-07-16 12:25:57 +00:00
Alessio Morale
a57f8913ba OP-1022: replace old KF in alitude hold with status from filters 2013-07-16 12:25:57 +00:00
Alessio Morale
133ad414f8 OP-1022: Added a velocity loop in AH module, used when throttle is not in central position. 2013-07-16 12:25:57 +00:00
Werner Backes
23b5b37480 Scale down initial throttle when AH is engaged based on roll/pitch angle.
This improves AH behaviour when switching to AH while being in fast
forward flight.
2013-07-16 12:25:57 +00:00
Werner Backes
513d509865 Initialize altitude before switching to "running". Not doing this could
cause glitches during the very first switch to AH.
2013-07-16 12:25:57 +00:00
Werner Backes
1da68cda9a Scale up desired throttle in AH mode to compensate for roll/pitch 2013-07-16 12:25:57 +00:00
Werner Backes
723f308ac7 Removed obsolete (unused) code 2013-07-16 12:25:57 +00:00
Werner Backes
45ed66414f Changed AH to work with absolute instead of relative altitude 2013-07-16 12:25:56 +00:00
Corvus Corax
6163c5f53a Merge branch 'next' into corvuscorax/OP-947_stateestimator-module
Conflicts:
	flight/modules/AltitudeHold/altitudehold.c
	ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
	ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
	ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
	ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp
2013-06-22 18:44:03 +02:00
Alessio Morale
5318c20de6 OP-1019 add a simple altitude hold 2013-06-20 11:27:45 +02:00
Corvus Corax
1d17d08cca Merge branch 'next' into corvuscorax/OP-947_stateestimator-module 2013-06-12 18:32:01 +02:00
Alessio Morale
c1a1c04ad8 OP-999 trigger a failsafe condition in AH module when throttle is below 0 for more than 200ms
+review OPReview
2013-06-10 23:48:08 +02:00
Corvus Corax
6fdf554d4a Merge branch 'next' into corvuscorax/OP-947_stateestimator-module
Conflicts:
	flight/modules/Attitude/revolution/attitude.c
	ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
	shared/uavobjectdefinition/attitudesettings.xml
2013-06-06 19:25:54 +02:00
Mathieu Rondonneau
23b2907d08 OP-976: Add the ';' back
This compile successfuly with make all_flight
2013-06-03 20:37:40 -07:00
Sexy Pony
900f643bbd Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES 2013-05-19 17:37:30 +03:00
Corvus Corax
5284195c29 Refaktored sensor and state UAVObjects consistently into XXYSensor and XXYState 2013-05-18 19:36:45 +02:00
Corvus Corax
80caceb984 make uncrustify_all;make uncrustify_all; 2013-05-18 14:17:26 +02:00
Alessio Morale
ff16dd03e7 Merge branch 'amorale/OP-938_ah_improvements' into next
Conflicts:
	flight/modules/AltitudeHold/altitudehold.c
	flight/modules/ManualControl/manualcontrol.c
2013-05-13 23:30:46 +02:00
Richard Flay (Hyper)
fbc8bc698f OP-936: Merges branch 'next' into hyper/OP-936_task-monitor-rework, fixes damage/conflicts,
and brings the callback scheduler into the fold.

+review OPReview-461
2013-05-06 19:11:14 +09:30
Richard Flay (Hyper)
a2d8544931 OP-931: adds -Wextra compiler option for the flight code, and makes the bazillion code changes required
to make the flight code compile again. Needs careful review, particularly all the fixes for the
signed vs unsigned comparisons.

+review OPReview-459
2013-05-05 16:32:24 +09:30
Alessio Morale
9f65409c5a OP-938 Stop AH from running when board is not armed 2013-05-03 22:32:23 +02:00
Richard Flay (Hyper)
84e1a81f8b OP-936: Moves the task monitor code out of the flight library and into PiOS.
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem,
and pushes the responsibility for updating the TaskInfo UAVO into the System module.

+review OPReview
2013-05-03 07:01:14 +09:30
Richard Flay (Hyper)
7937ae6296 OP-931: Makes flight code compile with -Wfloat-equal and -Wunsuffixed-float-constants enabled.
Also fixes warnings (and bugs) in F4 STM32_USB_OTG_Driver code, allowing -Werror to be enabled for all flight code.
Fixes all other compiler warnings that would otherwise cause the flight code to not compile with -Werror enabled.
Along the way, this also adds some uses of isnan() to various places rather than questionable tests for x != x and
x == x to check for NaNs.

+review OPReview
2013-04-30 20:36:42 +09:30
Oleg Semyonov
66db978244 Rename Libraries->libraries, Modules->modules 2013-04-25 13:13:36 +03:00