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39,260 Commits 852 Branches 161 Tags
55809e809c57a533240411841d003585d200cac4
Commit Graph
33 Commits
Author SHA1 Message Date
Silvan Fuhrer 55809e809c FW Position Control: add Eco mode in TECS and separate Eco climbrate 
Separate settings in Eco mode (beside airspeed):
- FW_T_CLMB_R_SP_E (slower climb for more efficiency)
- FW_T_ALT_TC_E (larger to reduce motor action due to altitude errors)
- FW_T_SPDWEIGHT_E (more weight to airspeed to reduce motor action due to altitude errors)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer 99e1e9deac TECS: add flight_phase field in tecs_status (Level, Climb, Descend) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
Silvan Fuhrer e76734fa5e TECS: directly publish tecs_status from within TECS instance 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-25 09:50:28 +01:00
RomanBapst 56cf77a74c addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
Roman Bapst d58d13b2e8 APX4-1617: Fix manual climb rate in TECS (#1463) 
* tecs: workaround for the fact that vel smoothing lib uses a DOWN coordinate system

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst 924298e9c3 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
RomanBapst 0ac3077bdc tecs: use trajectory generation library to compute height rate setpoint 
- added ability to specify maximum acceleration constraint for height rate setpoint
- added support for locking altitude setpoint when in height rate control
mode and height rate input is zero

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 18:04:33 +01:00
Daniel Agar 883624d915 lib/geo: move from ecl 2021-07-15 10:38:24 -04:00
RomanBapst ad9288536b TECS: enable direct height-rate control 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst a5cc449e69 tecs: propagate altitude setpoint based on target climb/sink rate 
- avoids tecs always climbing and sinking and max rates and allows to fine tune these rates
- avoid numerical calculation of feedforward velocity using derivative, this
 was prone to jitter in dt

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-06-04 14:51:27 +02:00
RomanBapst b06b46b224 log raw airspeed derivative, pitch setpoint and airspeed innovation for TECS 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-05-31 23:56:23 +02:00
Silvan Fuhrer 4b42a1639b TECS: in airspeed-less mode, set airspeed estimate to cruise airspeed 
In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-05-28 14:25:53 +02:00
RomanBapst b66ae5f2d4 tecs: use raw inertial acceleration for true airspeed complementary filter 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-31 20:12:40 -04:00
RomanBapst 82a2126f97 TECS: add feedforward gain for total energy balance rate 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-03-15 11:47:07 -04:00
CarlOlsson b4b424bf7d tecs: also fix the bug in update_vehicle_state_estimates() 2021-03-05 19:44:20 +01:00
CarlOlsson 0f461f7f60 TECS: Fix internal state init if dt is large 2021-03-05 19:44:20 +01:00
Daniel Agar cb7aabf932 fw_pos_control_l1: cleanup body velocity and acceleration usage 
- minimize storing unnecessary state (msg copies)
 2021-02-12 00:41:39 +01:00
Silvan Fuhrer 5e32e9be5a TECS: rename variables and methods to make clear which are EAS and which TAS 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-23 09:34:34 -05:00
RomanBapst f05599caff tecs: use speed derivative provided by local position 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst e546584555 tecs: moved trivial getter methods to header file 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Roman BapstandMathieu Bresciani 701c105ab6 Update src/lib/tecs/TECS.cpp 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst fa559aef43 TECS: stop learing integrator if airspeed is not available, but don't zero it 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst d4d1c0fe01 TECS: some cosmetics 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 97cc1e25dd TECS: hande pitch and throttle integrator saturation consistently 
- don't decay integrator during saturation but prevent it from being learned
into the direction which causes more actuator saturation

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 77627a08ca TECS: don't allow speed height weights to be larger than one 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 3102b9f071 TECS: remove throttle integral limits 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 5c4c2c240c tecs: dot not clip throttle integrator during saturation but only allow 
it to propagate into a direction which does not saturate

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer 2ca4269464 TECS: separate integral gains for throttle and pitch loops 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 01f891618b TECS: move to new control loop architecture 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 447e14906c TECS: log more TECS states to enable better analysis 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst 8823f5e1ec TECS: added method to get SKE weighting 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
RomanBapst d0e8b882a2 TECS: added alpha filter classes to energy rate and tas derivative 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Daniel Agar 87250ca47f move ecl L1, TECS, and data validator to PX4/Firmware 2020-06-18 19:26:30 -04:00