bdc1c41e62
ACM: made target bearing the lead filtered location
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Had some major nav trouble from crosstrack if I used the laggy position.
2012-08-16 15:38:25 -07:00
36f947acb9
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
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Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
2012-08-16 20:04:46 +09:00
a72bf6ef57
ArduCopter: replaced abs with labs as required in a few places.
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Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
2012-08-16 17:51:09 +09:00
f1af837543
ACM: Switched to filtered loc
2012-08-14 14:11:52 -07:00
3ad08b7ffc
ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second.
2012-08-10 10:02:32 -07:00
adf5939ba4
ACM: navigation - Alt cleanup, fast corner support
2012-08-09 16:59:44 -07:00
fb26160d3b
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
1d085c8cf4
Added minimum speed for RTL
2012-07-20 13:27:35 -07:00
f46e8468c4
Arducopter: Adjusted speed of climb to not stall out before hitting peak
2012-07-19 17:53:49 -07:00
6506ebf69f
Arducopter: Fix compile issue
2012-07-19 10:09:16 -07:00
2df487ab7b
Arducopter: Slower WP deceleration for RTL and WP navigation
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Slower descent and slightly faster ascent
2012-07-19 09:50:18 -07:00
c995749aaa
Arducopter
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upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.
2012-07-18 22:57:11 -07:00
f73a2004be
Arducopter: INS
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updated Nav control to use INS
2012-07-18 22:57:10 -07:00
3048d2f9b4
Arducopter: WP_radius
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Switching to stored WP_radius in meters, just like Arduplane
2012-07-10 21:53:38 -07:00
be763a6ead
ACM: use get_distance_cm() not get_distance()
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this fixes a bug introduced in 28f2eb6b9
2012-07-11 07:50:07 +10:00
038116f521
Airspeed patch:
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pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
2012-07-09 13:13:32 -07:00
5ed345fe94
ACM: removed some Location functions which are now in AP_Math
2012-07-04 13:44:36 +10:00
c29a0bc3f8
Navigation
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increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
2012-07-03 17:34:50 -07:00
1a6549fef7
removed GPS ground speed calc - was causing some funny business during the transition.
2012-07-03 17:16:14 -07:00
eea788b63f
navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction.
2012-06-29 21:20:28 -07:00
53d2a46cd6
Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s
2012-06-25 23:06:28 -07:00
c42f9ece43
Inertial Control
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I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.
This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.
Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.
The Log should record RAW messages with special debugging values.
2012-06-13 22:34:45 -07:00
9732b7d2dc
navigation.pde:
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removed unneeded WP_Distance check
remove unneeded return for Navigate
removed unneeded rate_D calcs
removed unused functions
2012-05-17 11:05:05 -07:00
d1cd04486a
removed retro loiter code since Angel has a branch now.
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shrank speed filter to avoid latency
removed unused forward estimator code
placed code for switchover to gps.groundspeed at 1.5m/s
added clamp for D term when below .5m/s to eliminate noise
added hybrid I-term based on speed error and position
changes Loiter D term to use position rather than acceleration to avoid noise
2012-05-15 22:14:23 -07:00
b2a7227ae7
ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define.
2012-04-23 00:19:18 -05:00
1676e09f12
navigation.pde: Put the new calc_GPS_velocity method in a compiler if that checks the new RETRO_LOITER_MODE config value (saves space and ensures its not being used unless retro loiter mode is enabled)
2012-04-19 10:21:04 -05:00
d29f1ef331
Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff.
2012-04-19 10:16:29 -05:00
d4a4641ae6
navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error.
2012-04-18 23:06:15 -05:00
fad162989f
ArduCopter - navigation.pde - added logging of Loiter PID controllers
2012-04-11 23:52:25 +09:00
66c4f752e3
ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint
2012-03-20 17:11:22 +09:00
22315cd41a
ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!)
2012-03-20 16:13:38 +09:00
91b2b48fd8
ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations)
2012-03-18 12:11:12 +09:00
427dacba70
ACM: Smoother Speed calcs
2012-03-16 14:10:19 -07:00
7153b94ade
ACM: Disabled D term experiment for Loiter until more testing
2012-03-15 19:20:03 -07:00
468d9c4b4f
ACM: Loiter D performance updates
2012-03-13 10:23:31 -07:00
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
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
450f89ec5d
ACM: Added note about scaling rates
2012-03-10 12:43:28 -08:00
eb53200179
ACM: Altered the scaling speed for altitude changes for faster rises.
2012-03-10 12:43:01 -08:00
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
afc4aceb32
ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde
2012-03-11 01:27:58 +09:00
6e53949c2a
removed Constraint that caused JLN's horizontal drift.
2012-02-26 11:33:37 -08:00
24345d4f43
Loiter updates
2012-02-23 22:03:26 -08:00
81a861c8ac
Added slow wp option in calc_desired_speed
2012-02-19 13:13:21 -08:00
bcd5129f9b
added workaround for resetting alt.
2012-02-19 12:40:08 -08:00
908ca4e915
scaled X velocity
2012-02-16 22:09:22 -08:00
9a3e862b55
added option in code for Loiter specific gains
2012-02-15 09:10:15 -08:00
efce991bfb
upped max target speed to center of loiter
2012-02-10 22:46:27 -08:00
c35ad2d493
Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune.
2012-02-09 22:22:00 -08:00
8aaf88e13b
tweaks to Loiter
2012-01-30 21:13:03 -08:00
Jason Short
rmackay9
Andrew Tridgell
Adam M Rivera