Jason Short
7034b709d1
ACM: removing old define
2012-03-12 13:11:30 -07:00
Jason Short
73e2bd6cd8
ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed.
2012-03-12 13:11:05 -07:00
Jason Short
0b51d9b8b0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
2012-03-12 10:37:15 -07:00
Jason Short
deed802d1a
ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter.
2012-03-11 23:21:49 -07:00
Jason Short
b3795f1c00
ACM: removed Filtering code for motors in Quad for testing
2012-03-11 23:21:49 -07:00
Jason Short
a989b88680
ACM: made same as Loiter I
2012-03-11 23:21:49 -07:00
Jason Short
0d434ca92c
ACM: Tuning based on flights today
2012-03-11 23:21:49 -07:00
Jason Short
0ab6b6e592
ACM: Rate_d filter for PID loop of Loiter.
2012-03-11 23:21:49 -07:00
Jason Short
77fe7de55d
ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time.
2012-03-11 23:21:49 -07:00
rmackay9
a869a01294
ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees
2012-03-12 12:09:04 +09:00
Andrew Tridgell
2a03a0584f
AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED
...
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
2012-03-11 21:46:41 +11:00
Adam M Rivera
d3667faef4
AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained.
...
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
2524f9c8df
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
...
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Jason Short
62c2aa4924
ACM: Added Loiter D tuning
2012-03-10 14:17:57 -08:00
Jason Short
cb8729109c
ACM: Added Loiter_D for tuning as #23
2012-03-10 14:17:16 -08:00
Jason Short
0671bb9168
ACM: Firmware rev
2012-03-10 12:45:03 -08:00
Jason Short
f9d0dc9daa
ACM: disabled auto_calibration until more testing can be done
2012-03-10 12:44:49 -08:00
Jason Short
5ad7320505
ACM: changed alt hold initialization of altitude to be immediate
2012-03-10 12:44:18 -08:00
Jason Short
450f89ec5d
ACM: Added note about scaling rates
2012-03-10 12:43:28 -08:00
Jason Short
eb53200179
ACM: Altered the scaling speed for altitude changes for faster rises.
2012-03-10 12:43:01 -08:00
Jason Short
204f9957b0
ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes.
2012-03-10 12:42:22 -08:00
Jason Short
83729d0f75
ACM: decreased rate P for alt hold to remove bumpy repsonse
2012-03-10 12:41:06 -08:00
Jason Short
220d5a1c6e
ACM: Increased the altitude error P for smoother alt hold response
2012-03-10 12:40:44 -08:00
Jason Short
4b703e8842
decreased the loiter rate P for overshoot
2012-03-10 12:40:07 -08:00
Jason Short
fc32da0d2e
ACM: increased the available rate error constrain, it was too low
2012-03-10 12:39:16 -08:00
Jason Short
bd4835a1b2
ACM: removed the experiment for rate error.
2012-03-10 12:38:29 -08:00
Jason Short
29d6085bab
added Force_new_altitude call for alt hold
2012-03-10 12:37:54 -08:00
Jason Short
4ba600c0c5
upped throttle manual boost to 225
2012-03-10 12:37:28 -08:00
rmackay9
afc4aceb32
ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde
2012-03-11 01:27:58 +09:00
rmackay9
c7480f2281
ArduCopter - fix to dataflash logging of Mag heading
2012-03-11 01:27:29 +09:00
Andrew Tridgell
d75e883fe8
GCS: get_integrator() is now get_gyro_drift() in DCM
2012-03-10 10:34:33 +11:00
Andrew Tridgell
9a06d35772
make 'ENABLE' and 'ENABLED' mean the same things
...
users get this wrong far too often!
2012-03-10 10:34:33 +11:00
Andrew Tridgell
828ad7625b
ACM: removed the ADC filtering code
2012-03-10 10:34:32 +11:00
Andrew Tridgell
1016d3c95d
ACM: removed quaternion special cases in CLI code
2012-03-10 10:34:31 +11:00
Andrew Tridgell
8393c0299b
ACM: removed the DCM tuning overrides
...
not needed now that DCM scales with deltat
2012-03-10 10:34:31 +11:00
Andrew Tridgell
7291dfc25a
ACM: removed the special case for quaternions in GCS code
2012-03-10 10:34:31 +11:00
Andrew Tridgell
d6cfc51ae4
ACM: no need to fetch offsets at startup
...
AP_Param handles this
2012-03-10 10:34:31 +11:00
Andrew Tridgell
ef771fecdc
ACM: removed a lot of the special case code for quaternions
2012-03-10 10:34:31 +11:00
Andrew Tridgell
69c29d35ce
ACM: change DCM loop to 100Hz
...
On my APM2 quad this seems to give better results
2012-03-10 10:34:31 +11:00
Andrew Tridgell
2596acc8eb
ACM: removed incorrect mode definition
2012-03-10 10:34:30 +11:00
Andrew Tridgell
7a9b3d3388
Quaternion: show "Quaternion test" on startup if enabled
2012-03-10 10:34:29 +11:00
Andrew Tridgell
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Andrew Tridgell
9bff4e2c4c
ACM: only call the fast loop if the imu has new data
...
this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
Andrew Tridgell
367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
...
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
64cc04ae09
ACM: adjust yaw drift correction constants
...
this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a0ce202d87
ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM
2012-03-10 10:34:27 +11:00
Jason Short
486c56ce41
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
Jason Short
c8e9d57567
temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest.
2012-03-06 22:23:06 -08:00
Jason Short
730476fdfd
ACM -
...
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
2012-03-06 22:22:14 -08:00
Jason Short
c26eb6afcc
ACM: Updated config values
2012-03-06 22:12:24 -08:00
