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3,199 Commits 71 Branches 509 Tags 814 MiB
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107 Commits

Author SHA1 Message Date
Randy Mackay 1a1f6cac5d OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short 4402a92e85 Loiter PIDs 2012-01-30 21:13:03 -08:00
Jani Hirvinen b3dd07038b Minor changes for PID for jDrones motors due latest changes on control laws. 2012-01-31 09:00:31 +07:00
Jason Short cc45bd47fe cosmetic 2012-01-29 21:55:17 -08:00
Jason Short 370d633f51 Lowering the throttle_P values by default 2012-01-29 16:27:13 -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
Randy Mackay 2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay f27b41179b Sonar - changed default pin to A0 2012-01-26 22:50:48 +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 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 a3daae1530 Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning. 
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
 2012-01-21 22:09:13 -08:00
Jason Short bf8774c2f8 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short f504c79fb0 Stab_D changes units with the new dampening controller updates 
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
 2012-01-20 22:52:30 -08:00
Jason Short 7468889bb7 slowed down slightly 2012-01-20 22:52:29 -08:00
Doug Weibel 2ea9db84e0 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Jason Short 11e1df497d lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short b493cb1e55 removed unused defines 
lowered default Loiter gain
 2012-01-12 22:28:58 -08:00
Jason Short 2566f1fb95 New Loiter Gains for new Loiter methods 2012-01-11 22:41:51 -08:00
Pat Hickey bcb43ec9b5 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Randy Mackay 7b9701fdd5 ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
Randy Mackay 598593e1fc ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short 7e96e0f7fa Quad frame - X is default 
added wind comp stability option to config - off by default
 2012-01-07 22:27:26 -08:00
Jason Short c450cc4e92 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short bfd7608f4d Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short f5ffa7bd7e Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short 8fc73844ee Yaw Performance tweaks 2011-12-29 23:02:03 -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 723adffc48 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short ce990f3050 Upped Yaw speed to deal with performance complaints 
Added new Stabilize D term default of .25
 2011-12-29 23:02:02 -08:00
Jason Short 80e1715b12 updated Loiter PIDs 2011-12-29 23:02:02 -08:00
Jason Short db0a7be233 Enable Magnetometer by default 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
Andrew Tridgell 8df91ea885 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Jason Short bf29f09107 Getting rid of Simple Logging 2011-12-23 18:44:30 -08:00
Jason Short c9a30ccf1f Made WP radius 1 by default 2011-12-23 15:01:53 -08:00
Jason Short f892e0b00d increased crosstrack thanks to float math fix 
decreased loiter iterm, decreased throttle iterm based on simulator runs
 2011-12-23 14:42:50 -08:00
Pat Hickey 74530de4bb ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added 
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
 2011-12-19 21:04:51 -08:00
Jani Hirvinen 9d7eb9cd1a config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short b484fdab05 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Doug Weibel 737447c8cf Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Jason Short 6b1bedc381 Gain updates 2011-12-12 17:47:45 -08:00
Jason Short 6bac318def Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Jason Short e1146b6df6 Just upped the nav_imax value 2011-12-12 10:10:33 -08:00
Andrew Tridgell 6857d9af14 fixed LOGGING_ENABLED default on ArduCopter 2011-12-12 23:40:43 +11:00
Andrew Tridgell cadc5bde1d fixed hil ArduCopter build 2011-12-12 15:14:55 +11:00
Pat Hickey 5fd8fea957 ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define 
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
  config.h takes care of this default.
 2011-12-11 15:21:09 -08:00
Pat Hickey 0b0922d04c ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Jason Short c01361a79d removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Randy Mackay 62a7b19600 Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00