Ju1ien
14cbb09804
Copter: hybrid add Brake or Loiter to Pilot override transition
...
Corrected a little mistake in get_wind_comp...()
Mixed transition not only from loiter but as well from brake to manual
override
2014-04-23 15:00:01 +09:00
Ju1ien
43b1dd748b
Copter: hybrid init brake roll and pitch at loiter exit
2014-04-23 14:59:59 +09:00
Ju1ien
b3e8112d24
Copter: Hybrid fix wind_comp time constant
...
Corrected timer init values and wind_comp time constant to get the best
behaviour
Check if wider deadband required (current is 30).
We were using a comparison to a 70-100 cdeg deadband in our initial
code. The deadband was there to avoid unwanted switches in case of
inaccurate fingers/radio
Adjusted timers to 100/400Hz
I_term does not init when in hybrid loiter
2014-04-23 14:59:43 +09:00
Randy Mackay
4778c73de2
Copter: Hybrid 10hz updates to wind comp lean angles
2014-04-23 14:59:40 +09:00
Randy Mackay
f87ab21063
Copter: Hybrid estimates wind when speed under 10cm/s
2014-04-23 14:59:38 +09:00
Randy Mackay
e2aaafe40b
Copter: hybrid works for 100hz and 400hz
2014-04-23 14:59:33 +09:00
Randy Mackay
705ff3f44f
Copter: add hybrid_mix_controls
...
Allow wind comp estimate to run when vehicle travelling up to 30cm/s
(was 10cm/s)
2014-04-23 14:59:30 +09:00
Randy Mackay
e48c93d93c
Copter: restructure hybrid into more states
2014-04-23 14:59:28 +09:00
Randy Mackay
754bae5748
Copter: refactor and split out wind compensation
2014-04-23 14:59:23 +09:00
Randy Mackay
d9c685323a
Copter: add hybrid state struct, formatting changes
2014-04-23 14:59:20 +09:00
Ju1ien
832fc62016
Copter: control_hybrid initial version
2014-04-23 14:59:15 +09:00
