Jason Short
13e9608fb8
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
43b3e1ccd1
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
fe5612d38b
Added define for throttle range for altitude changes, updated it to 250
2012-03-05 22:12:53 -08:00
Jason Short
a096292edb
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
Robert Lefebvre
b7ccfb0114
Added heli_collectiveFactor array
...
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-02-28 10:49:28 -05:00
rmackay9
8da8ce5b58
ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine)
2012-02-28 22:56:26 +09:00
rmackay9
701a21ff2f
ArduCopter - modified to work with new Filter library
2012-02-28 21:02:44 +09:00
Jason Short
3ce1633157
Added Loiter Rate Tuning
2012-02-26 11:33:37 -08:00
rmackay9
41ea8e3eff
ArduCopter - added #include <Filter.h> to unbreak the build!
2012-02-26 17:05:41 +09:00
rmackay9
add3133100
ArduCopter - change sonar to use new mode filter from Filter library
2012-02-26 15:35:14 +09:00
Jason Short
68739f3cc4
Based on Jani's latest logs I've made two tweaks to alt hold.
...
The first is to remove the filter on the throttle output for alt_hold.
The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
2012-02-25 13:31:21 -08:00
Andrew Tridgell
6b265c5034
ACM: use a NULL gps pointer in DCM init
...
current DCM API does need a GPS reference passed in, but it can be
NULL
2012-02-25 15:08:49 +11:00
Andrew Tridgell
ce5c7c2c85
ACM: don't pass a gps pointer to DCM
...
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
2012-02-25 14:51:08 +11:00
Andrew Tridgell
4edf311865
ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch
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the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
2012-02-24 11:52:55 +11:00
Jason Short
92cfc8913a
revved a version
2012-02-22 09:00:42 -08:00
Jason Short
207ffee856
made timer unsigned
2012-02-21 21:49:03 -08:00
Jason Short
7bfda28cdc
removed old comments
2012-02-19 14:21:27 -08:00
Jason Short
79a9665c9d
Added "slow WP" option for RTL.
2012-02-19 13:11:59 -08:00
Jason Short
ba2cfee2fb
Updated manual throttle control during throttle hold
2012-02-19 12:40:51 -08:00
Randy Mackay
7c4ef140b9
ArduCopter - remove unnecessary block for next GPS value before saving home location
2012-02-19 15:38:40 +09:00
Jason Short
f86e1ed63f
Axis lock beta (off by default)
2012-02-18 21:16:19 -08:00
Randy Mackay
cd89258294
ArduCopter - updated version to 2.4
2012-02-18 18:44:29 +09:00
Jason Short
677df0fe1c
added Rate_D tuning value
2012-02-17 15:23:59 -08:00
Jason Short
0d5f7ca072
upped rate loop to 250hz
2012-02-17 15:23:59 -08:00
Jason Short
43e695b1ac
removed some unused vars,
...
formatting, made loop speed same as PIDT1 to eliminate variable.
2012-02-16 22:09:21 -08:00
Jason Short
f2b6b86265
allow auto-land if failsafe is triggered
2012-02-15 10:53:54 -08:00
Jason Short
101979ed7b
AP slew rate
2012-02-15 09:10:15 -08:00
Jason Short
4ecbb19dcd
Added range setting via a parameter for CH6 tuning
2012-02-15 09:10:14 -08:00
Jason Short
ff627a8986
removed unused Vars
2012-02-13 15:25:23 -08:00
Andrew Tridgell
d2a4091716
fixed apm2beta build with AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
1af6f08b1c
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00
Jason Short
0315221bd1
Cosmetic tweaks for tuning
2012-02-11 15:29:11 -08:00
Jason Short
7c45d2bdc3
reset Rate_I for takeoff
2012-02-10 22:50:56 -08:00
Jason Short
927fc25421
made Yaw work like Roll and Pitch
2012-02-10 22:32:55 -08:00
Jason Short
a27bd9db46
2.3.1v
2012-02-09 22:22:01 -08:00
Jason Short
f3547a04a5
Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that.
2012-02-09 22:22:00 -08:00
Jason Short
d161c0451f
fix issue with low throttle in air
2012-02-03 13:29:59 +00:00
analoguedevices
256893f385
credits
2012-02-01 04:44:36 +00:00
analoguedevices
d86dbd1c6f
Incremented version number to 2.3
2012-02-01 04:39:15 +00:00
Jason Short
3050c1d765
tuning fixes
2012-01-30 21:13:03 -08:00
Jason Short
d93e259289
Added more attributions
2012-01-29 21:53:44 -08:00
Jason Short
af0b0d5a7f
made Loiter over ride exit dependent not on speed, but centered sticks.
2012-01-29 16:15:02 -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
8fcb2931d7
Cosmetic changes
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GPS LED lock waits for home_is_set to be true
2012-01-28 21:19:46 -08:00
Jason Short
a685510c38
changed tuning range
2012-01-28 21:18:43 -08:00
Randy Mackay
2db4d2bfe6
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Randy Mackay
2f84b54bbb
OpticalFlow - replaced PI controller with PID controller.
...
Modified optical flow hold to use aggregated position instead of speed.
2012-01-25 21:55:14 +09:00
Jason Short
8c4b955282
added Beta 4 tag
2012-01-21 22:15:23 -08:00
Jason Short
275815a7c9
Converted to cm for distance
2012-01-21 22:04:35 -08:00
Jason Short
fa06d4a2e3
Calc error for logs
2012-01-21 11:59:49 -08:00
