79 commits

Author	SHA1	Message	Date
ctzsnooze	f988599f77	add suggestions from recent reviews	2024-11-27 07:43:52 +11:00
ctzsnooze	6d99af0d50	Fix curly brackets, comments and debug mistake	2024-11-27 07:43:52 +11:00
ctzsnooze	5d8b4112f8	limit max angle to 50 by vector length	2024-11-27 07:43:52 +11:00
ctzsnooze	add64ebfe1	fix braces	2024-11-27 07:43:52 +11:00
ctzsnooze	bc428c9cf5	fixes after review changes weren't right	2024-11-27 07:43:52 +11:00
ctzsnooze	a57507bba0	implement review from PL - thank you!	2024-11-27 07:43:52 +11:00
ctzsnooze	410f3af205	fix instability on hard stop, allow activation after arming but before takeoff	2024-11-27 07:43:51 +11:00
ctzsnooze	e0733f3691	extend sanity check distance while sticks move; refactor; comments	2024-11-27 07:43:51 +11:00
ctzsnooze	5db1da8b1a	stop more cleanly, easier sanity check, phases, debugs complete	2024-11-27 07:43:51 +11:00
ctzsnooze	27a7d2e4af	fix debug, tidy up EF axis names, add comments about sign and direction	2024-11-27 07:43:51 +11:00
ctzsnooze	d3e3fd0c1a	rearrange status checks	2024-11-27 07:43:51 +11:00
ctzsnooze	5719214d91	replace angleTarget in pid.c only when autopilot is active	2024-11-27 07:43:51 +11:00
ctzsnooze	93e8cb6415	lenient sanity check, message for noMag, possible DA vector limit code	2024-11-27 07:43:51 +11:00
ctzsnooze	3ba9d2a92a	PID and filter revision	2024-11-27 07:43:51 +11:00
ctzsnooze	d66141edea	sequential PT1's, refactoring from reviews	2024-11-27 07:43:51 +11:00
ctzsnooze	0f1e7bae2c	warn if posHold mode requested but throttle not above airmode activation point	2024-11-27 07:43:51 +11:00
ctzsnooze	a700bff52a	upsampling filter at 5Hz	2024-11-27 07:43:51 +11:00
ctzsnooze	532c8faa98	implement reviews, reduce PID gains	2024-11-27 07:43:51 +11:00
ctzsnooze	d5d38a422f	refactoring to avoid code duplication	2024-11-27 07:43:51 +11:00
ctzsnooze	f20bee86d5	Terminate start individually on each axis ... added comments	2024-11-27 07:43:51 +11:00
ctzsnooze	298ae8d6b9	improved distance to target. thanks to demvlad	2024-11-27 07:43:51 +11:00
ctzsnooze	43c38b26bd	update PID gains, stronger tilt angle correction	2024-11-27 07:43:51 +11:00
ctzsnooze	c52534d170	avoid unnecessary float conversions	2024-11-27 07:43:51 +11:00
ctzsnooze	7f9e69420a	add note about PT1 gain on PT2 filters	2024-11-27 07:43:51 +11:00
ctzsnooze	42597c8339	no need to duplicate wrapping done in sin_approx	2024-11-27 07:43:51 +11:00
ctzsnooze	7e25949465	clean up a bit	2024-11-27 07:43:51 +11:00
ctzsnooze	5b7dff57e3	Proper earth referencing, at last	2024-11-27 07:43:51 +11:00
ctzsnooze	63c93b2652	adjust debug	2024-11-27 07:43:51 +11:00
ctzsnooze	445a69451a	stronger PIDs	2024-11-27 07:43:51 +11:00
ctzsnooze	55814b3bac	earth ref Dterm, not from GPS Speed ... smoother than using GPS Speed and heading	2024-11-27 07:43:51 +11:00
ctzsnooze	c1f79e7d73	lower PID gains, slowly leak iTerm while sticks move	2024-11-27 07:43:51 +11:00
ctzsnooze	249c647e4d	Earth Frame iTerm vector ... appears to work :-)	2024-11-27 07:43:50 +11:00
ctzsnooze	95afb2fa12	add back some target based D	2024-11-27 07:43:50 +11:00
ctzsnooze	dab5242a78	calc D from groundspeed and drift angle	2024-11-27 07:43:50 +11:00
ctzsnooze	94c1f950da	restore debug	2024-11-27 07:43:50 +11:00
ctzsnooze	c856485727	Block yaw, allow in CLI, option to apply yaw correction code	2024-11-27 07:43:50 +11:00
ctzsnooze	5e81ff6977	don't rotate D or A, it reverses their sign inappropriately	2024-11-27 07:43:50 +11:00
ctzsnooze	1a81b3cdf3	absolute rotation vs incremental rotation, fix spike after resetting target location	2024-11-27 07:43:50 +11:00
ctzsnooze	39391acea4	Fix iTerm reset and parameter rotation	2024-11-27 07:43:50 +11:00
ctzsnooze	dc77f67c8e	finally retain iTerm correctly while moving sticks, but reset at start	2024-11-27 07:43:50 +11:00
ctzsnooze	a8c3278a53	retain iTerm when moving sticks, to keep attitude in the wind	2024-11-27 07:43:50 +11:00
ctzsnooze	d62792ad97	dynamically update smoothing at the start	2024-11-27 07:43:50 +11:00
ctzsnooze	376e5201df	allow greater overshoot at the start for high incoming speed ... rename justStarted to isDeceleratingAtStart	2024-11-27 07:43:50 +11:00
ctzsnooze	a56c3e7b29	try to constrain aggressiveness at start, smaller deadband	2024-11-27 07:43:50 +11:00
ctzsnooze	d60db13819	comment	2024-11-27 07:43:50 +11:00
ctzsnooze	8641fcd291	fix failure to initiate position hold from error in ifdef	2024-11-27 07:43:50 +11:00
ctzsnooze	bf7cff3c4c	removed non-required definitions	2024-11-27 07:43:50 +11:00
ctzsnooze	35d3006ecd	Use autopilotAngle in place of posHoldAngle	2024-11-27 07:43:50 +11:00
ctzsnooze	c39b6ab06e	compact the posHoldUpdate() function - thanks K	2024-11-27 07:43:49 +11:00
ctzsnooze	5b2f209074	A for acceleration element, not J	2024-11-27 07:43:49 +11:00