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140 Commits

Author SHA1 Message Date
rmackay9
7dc18b53ad 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
rmackay9
ce6b1ccc75 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
rmackay9
485cebf85c 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
Jason Short
f6638d00d6 ACM: Smoother Speed calcs 2012-03-16 14:10:19 -07:00
Jason Short
0c6a87db3f ACM: Disabled D term experiment for Loiter until more testing 2012-03-15 19:20:03 -07:00
Jason Short
0edc1020ac ACM: Loiter D performance updates 2012-03-13 10:23:31 -07:00
Jason Short
580c5e109e 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
56d2b9ef05 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
68d210660e ACM: Added note about scaling rates 2012-03-10 12:43:28 -08:00
Jason Short
4b75f74d2c ACM: Altered the scaling speed for altitude changes for faster rises. 2012-03-10 12:43:01 -08:00
Jason Short
874f5aaef6 ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes. 2012-03-10 12:42:22 -08:00
rmackay9
9986776e0d ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde 2012-03-11 01:27:58 +09:00
Jason Short
9a2be4701f removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short
22982cda0f Loiter updates 2012-02-23 22:03:26 -08:00
Jason Short
151e710668 Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short
a4b8119c24 added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short
cbe297b634 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short
0b011e3cd3 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short
8cc480f7e6 upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short
0f3c3bb563 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
Jason Short
5de459a160 tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short
ba81e2aa69 pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short
25c2c9b437 removed filter. Don't need it. 2012-01-29 17:10:52 -08:00
Jason Short
0213f4dd88 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short
86c7742dc0 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
Jason Short
32241319c1 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short
04a2eee410 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Jason Short
e1f7fa34ea Fixed speed governor which was letting speed get to 0. 
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
 2012-01-21 22:12:57 -08:00
Jason Short
ab8bf0b560 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short
0475dbf8ae relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short
589f8bc557 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short
8416de7e9c Added Ryan's GPS lag filter 
Removed unused code
refined alt change
 2012-01-12 22:28:58 -08:00
Jason Short
464038b3ea New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short
36516161b5 Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short
12493d6431 Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short
a640311f58 Added Note 2012-01-06 10:20:59 -08:00
Andrew Tridgell
a6808162d6 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Jason Short
bf8e3975ec Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short
24bddb1c47 Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short
1d636219f9 New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short
4535bc4fd9 lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short
4bfa5def76 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short
e42d5cb4f9 Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Randy Mackay
ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Jason Short
a4e00f7459 Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Jason Short
c8ca841bd7 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short
c7da9c63f1 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Jason Short
29788b98bd Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short
3edd471983 Upped the max pitch to deal with wind - based on T3 testing 2011-12-12 10:10:33 -08:00
Jason Short
b442a1b23c added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short
a0cef1cc88 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short
0969bf3146 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Randy Mackay
f4fd6e0910 Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i 2011-12-09 22:13:37 +09:00
Jason Short
e3700365d4 Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00
Jason Short
7e1d41be14 Fix error with calc_nav_pitch_roll 2011-11-28 21:27:29 -08:00
Jason Short
104f93cef5 Fixed navigation bug 2011-11-28 14:22:05 -08:00
Jason Short
2e0b55d887 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Jason Short
f75f514681 added param for crosstrack gain defaulted to 4 2011-11-19 13:59:37 -08:00
Jason Short
332684f649 Added optimizations for radian calls to remove a division. 
added a protection for entering AP modes without Home being set by GPS lock.
 2011-11-19 11:08:13 -08:00
Jason Short
01a4a120df Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-10 10:02:08 -08:00
Jason Short
124527b108 Trying to break Nav to test a feature 2011-11-10 10:01:57 -08:00
Andrew Tridgell
48eb35c45a fixed build error 
the prototype extractor was finding the commented out version of
cross_track_test(), which had a different prototype
 2011-11-10 22:01:09 +11:00
Jason Short
811ec3ec58 made crosstrack functions static 2011-11-09 23:30:16 -08:00
Jason Short
289d54038f renamed original_target_bearing 2011-11-09 23:04:04 -08:00
Jason Short
d8dcb0e0d0 Added in crosstrack correction - test for SIM 2011-11-09 22:56:09 -08:00
Jason Short
4d27b725db Tuning nav_WP 
Added more notes
 2011-11-09 12:06:37 -08:00
Andrew Tridgell
87d5581046 ArduCopter: use specific sized data types in a lot of places 
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
 2011-11-08 11:05:36 +11:00
Jason Short
4149819bf7 Loiter updates 
Added new option to do rate based Loiter with lat and long values, avoiding GPS heading latency issues.
 2011-10-27 12:37:33 -07:00
Jason Short
9f50cd14d1 tweaked Alt hold PIDs, loiter PIDs based on SIM testing and feedback. 
Increased distance error for loiter for faster return to center.
 2011-10-16 15:41:54 -07:00
Jason Short
327679b999 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-15 16:35:09 -07:00
Michael Oborne
a84d0cb406 ac quick redo fix 2011-10-16 06:58:03 +08:00
Jason Short
3c51ce6a5f Made wpspeed governor run per second so 1hz gps doesn't fail. Gave a 1m/s minimum. Increased WPspeed max to 4.0m/s 2011-10-15 15:35:18 -07:00
Jason Short
c3b93d70df Added Andrew's user hooks. 2011-10-15 15:29:33 -07:00
Jason Short
23c0bb9814 Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
Jason Short
1a222fa2f4 slowed acceleration from WP 2011-10-13 10:54:51 -07:00
Andrew Tridgell
661b6c4508 merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Jason Short
3be34ed31a Implementing a limiter for the ramp up of speed to WPs. 2011-10-03 10:37:56 -07:00
Jason Short
df1a39f650 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
Jason Short
b805263974 Attempting to mimic loiter values for 4.0.42 
lowered Rate Error max in loiter
 2011-09-28 23:11:19 -07:00
Jason Short
d0405b0a0a 2.0.46 -Not flight tested! 
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
 2011-09-27 09:35:05 -07:00
Jason Short
a2886fc991 turned off Stabilize_I by default because it was hurting loiter 
tweaked speed control of rate_nav
 2011-09-24 21:49:45 -07:00
Jason Short
e0b4a26dee Added Loiter Turns - It orbits the Current location 
Added WP to Loiter_time so you can spec a specific location in the planner
added new Navigation alg. Should perform better (doesn't rely on 45° flow fields like last one)
Added "Jump" counter so missions don't get overwritten in flight.
removed I term by default for Rate pitch and roll
 2011-09-24 17:40:29 -07:00
Jason Short
790bd6f8c9 Altered CIRCLE mode to allow Loiter_N_Turns to work in AP mode. 2011-09-21 13:19:36 -07:00
Jason Short
59a2d2a256 Converted Millis to Micros 
added navigation check to return a failed navigation
 2011-09-19 22:24:57 -07:00
Jason Short
0d31d775b8 cleanup 
added more ifdef for optflow
 2011-09-15 23:41:15 -07:00
Jason Short
9a508a20f4 Integration of optical flow 
bug fixes for new Simple mode
increased Baro filter by 2 fields
 2011-09-15 23:33:00 -07:00
Jason Short
7e79612125 Removed last of Xtrack 2011-09-11 20:40:05 -07:00
Jason Short
7d57dfa3ec removed Xtrack and increased rate error limit 2011-09-11 20:36:20 -07:00
jasonshort
ec68835898 circle mode patch 2011-09-09 11:59:42 +10:00
Andrew Tridgell
be8864f424 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00