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3138141cd1
* autopilot naming, function sharing * initial position hold setup * get current gps location * first position hold draft * basic control scheme * add debug values for testing * first working example with smoothed acceleration * add deadbands * Re-organise included files and functions thanks Karate * revise PID gains * PIDJ distance controller, not velocity based. Remove airmode check * sanity check notes * fix pid bug and improve iTerm handling * calculate PIDs independently for each axis, increas DJ gains * adjust pids and smoothing; smoothing cutoff to settings * force iTerm to zero when close to target * allow earth referencing in alt and pos hold * stop activation until throttle raised, but not require airmode use wasThrottleRaised in place of isAirmodeActivated where airmode isn't really needed * remove unnecessary debug * block arming if poshold or althold switches are on * basic sanity check and OSD warning * allow user to fly without mag only if they reverse the default * separate alt and pos hold deadbands if poshold deadband is zero, sticks are ignored if user tries to enable posHold and it can't work, they get stick with a deadband * try to prevent position hold if no mag without valid IMU fixes a bug in the last commit, also * retaisn iTerm just attenuate the output * struct for values * reset position at start when slowed down, retain rotated iTerm back * resolve bounceback and remove iTerm attenuation * adjust PID gains to 30 * force unit tests sto work * tidy up after merge * Use mpif * conditionally only do compass check if Mag is defined * fixe defines and remove const * comments to explain strange rc multiplier * fix small omission when refactoring after throttle raised PR * licence updates, refactoring from review comments * fix issues when pos hold deadband is set to zero * A for acceleration element, not J * compact the posHoldUpdate() function - thanks K * rename showPosHoldWarning to posHoldFailure * Use a function in gps.c to initate the posHold activity on new GPS data * Use autopilotAngle in place of posHoldAngle * separate function for gpsHeading truth * use FLIGHT_MODE(POS_HOLD_MODE) in place of isPosHoldRequested * removed non-required definitions * fix failure to initiate position hold from error in ifdef * refactoring from reviews, rename posHoldReset * move deadbands for pos and alt hold to their config files. * comment * fix for blackbox breakup of GPS values reverts use a function in gps.c to initate the posHold activity on new GPS data * fix for msp change for posHoldConfig * try to constrain aggressiveness at start, smaller deadband * allow greater overshoot at the start for high incoming speed rename justStarted to isDeceleratingAtStart * dynamically update smoothing at the start * retain iTerm when moving sticks, to keep attitude in the wind * fix unit tests * finally retain iTerm correctly while moving sticks, but reset at start * Fix iTerm reset and parameter rotation * absolute rotation vs incremental rotation, fix spike after resetting target location * don't rotate D or A, it reverses their sign inappropriately * Block yaw, allow in CLI, option to apply yaw correction code * restore debug * calc D from groundspeed and drift angle * add back some target based D * Earth Frame iTerm vector appears to work :-) * fix unit test * lower PID gains, slowly leak iTerm while sticks move * earth ref Dterm, not from GPS Speed smoother than using GPS Speed and heading * stronger PIDs * adjust debug * shoehorn the unit tests * Proper earth referencing, at last * clean up a bit * no need to duplicate wrapping done in sin_approx * add note about PT1 gain on PT2 filters * avoid unnecessary float conversions * Remove unnecessary CLI testing params * update PID gains, stronger tilt angle correction * improved distance to target. thanks to demvlad * Terminate start individually on each axis added comments * refactoring to avoid code duplication * implement reviews, reduce PID gains * upsampling filter at 5Hz * warn if posHold mode requested but throttle not above airmode activation point * disable angle feedforward in position hold * rebase, pass unit test * sequential PT1's, refactoring from reviews * PID and filter revision * bane of my life * lenient sanity check, message for noMag, possible DA vector limit code * replace angleTarget in pid.c only when autopilot is active * rearrange status checks * fix debug, tidy up EF axis names, add comments about sign and direction * stop more cleanly, easier sanity check, phases, debugs complete * extend sanity check distance while sticks move; refactor; comments * fix instability on hard stop, allow activation after arming but before takeoff * make altHoldState_t local, getter to pass unit tests. * hopefully the last cleanup of this test file * implement review from PL - thank you! * restore angle limiting in pid.c , max of 80 degrees allowed in CLI * fixes after review changes weren't right * fix braces * limit max angle to 50 by vector length * Fix curly brackets, comments and debug mistake * in autopilot modes, allow up to 85 deg for pos hold * limit pilot angle in position hold to half the configured position hold angle * use smaller of angle_limit or half the autopilot limit * increase alt_hold sensitivity 5x and narrow deadband to 20 * make altitude control 5x stronger with narrower deadband and new name * add suggestions from recent reviews * start autopilot gpsStamp at 0 * renaming variables * reset the upsampling filters when resetting position control * improved gpsStamp thanks PL Also cleanup names and notes * simplify altitude control * rename to GPS_distances to GPS_latLongVectors * alt_hold respect zero deadband, hold when throttle is zero * remove unused debug * fix unit test * re-name variables in alt_hold and update comments * more flexible limit on target vs current altitude * updates from reviews, thanks karate * review changes from PL * more updates from PL review * rationalise GPS_latLongVectors * remove static newGpsData and rescueThrottle * Thanks, PL, for your review * Modifications, but has a big twitch when sticks stop * Re-naming, fix the twitch, minor changes * remove unnecessary unit test reference * sanity dist to 10m at full stop, send task interval for upsampling filter * vector and parameter re-name Co-Authored-By: Jan Post <19867640+KarateBrot@users.noreply.github.com> * small changes from review Co-Authored-By: Mark Haslinghuis <8344830+haslinghuis@users.noreply.github.com> Co-Authored-By: Petr Ledvina <2318015+ledvinap@users.noreply.github.com> * comment PL Co-Authored-By: Petr Ledvina <2318015+ledvinap@users.noreply.github.com> * fix ltm alt_hold flightMode * NOINLINE some pid.c functions * Revert "NOINLINE some pid.c functions" This reverts commit |
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