Jason Short
885710fce6
updated max throttle define
2012-02-18 21:14:13 -08:00
Jason Short
1b46daa12e
some better defaults for JDrones
2012-02-18 14:23:21 -08:00
Jason Short
b052dab80d
Adjusted gains to move closer to Marco's tests
2012-02-16 22:19:39 -08:00
Jason Short
3d63bb6cd4
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
21856e7696
new defaults for params
2012-02-15 09:10:15 -08:00
Jason Short
4faba2048c
Lowered for Jani
2012-02-13 15:25:23 -08:00
Pat Hickey
470fd8788e
ArduCopter Channel Config: config vars for user override of MOT_n mapping
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* config variable CONFIG_CHANNELS has possible values
CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
2012-02-11 16:05:51 -08:00
Jason Short
0a63f104ab
Gain adjustments for 3d frame.
2012-02-11 15:29:11 -08:00
Jason Short
dc15fe4c5d
Moved to Rate_I by default for Jani to test
2012-02-10 22:32:55 -08:00
Jason Short
50aaa09348
Up Nav_Rate_P
2012-02-09 22:38:36 -08:00
Jason Short
62627e9b57
reverted to Save_WP now that CH7 triggering is fixed
2012-02-09 22:33:01 -08:00
Jason Short
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
Randy Mackay
fe7a0a97ab
ArduCopter - CH7 - changed default to CH7_DO_NOTHING
2012-02-09 20:26:01 +09:00
Randy Mackay
b851d39eaa
OptFlow - reenable OF_LOITER pid controller and reduce I term
2012-02-01 08:04:18 +09:00
Jason Short
21bd48b6c3
Loiter PIDs
2012-01-30 21:13:03 -08:00
Jani Hirvinen
009e87105f
Minor changes for PID for jDrones motors due latest changes on control laws.
2012-01-31 09:00:31 +07:00
Jason Short
a3862ced62
cosmetic
2012-01-29 21:55:17 -08:00
Jason Short
02aacc454b
Lowering the throttle_P values by default
2012-01-29 16:27:13 -08:00
Jason Short
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
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Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Randy Mackay
122623f64b
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Randy Mackay
8dee001657
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Randy Mackay
2c906b7b27
OpticalFlow - replaced PI controller with PID controller.
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Modified optical flow hold to use aggregated position instead of speed.
2012-01-25 21:55:14 +09:00
Jason Short
74daadb252
Revert "test to switch loiter controls"
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This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
2012-01-22 14:19:27 -08:00
Jason Short
6476ba22f2
test to switch loiter controls
2012-01-22 12:28:34 -08:00
Jason Short
7edd16e5fe
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
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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
c190f83bb0
AutoLanding timeout for Mission Planner
2012-01-20 22:52:30 -08:00
Jason Short
d2c78d2b75
Stab_D changes units with the new dampening controller updates
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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
85f10589b2
slowed down slightly
2012-01-20 22:52:29 -08:00
Doug Weibel
ed9f7cb1b6
Update battery monitoring code for ArduCopter
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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
95ac9d163e
lowered Loiter I, commented out unused var
2012-01-14 11:20:40 -08:00
Jason Short
154411c96c
removed unused defines
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lowered default Loiter gain
2012-01-12 22:28:58 -08:00
Jason Short
257890d5be
New Loiter Gains for new Loiter methods
2012-01-11 22:41:51 -08:00
Pat Hickey
a30558e9b2
ArduCopter config.h: add standard ifndef/define header macro wrappers
2012-01-09 21:57:01 -08:00
Randy Mackay
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
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Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
Randy Mackay
3dfa26920f
ArduCopter - changed Sonar to use A1 (was AN4)
2012-01-08 17:48:30 +09:00
Jason Short
06e032db68
Quad frame - X is default
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added wind comp stability option to config - off by default
2012-01-07 22:27:26 -08:00
Jason Short
67bf991598
removed unused Airspeed config
2012-01-04 09:28:36 -08:00
Jason Short
74b203c7f2
Lowered Yaw to prevent overshoot based on feedback
2011-12-31 10:10:45 -08:00
Jason Short
c7f93f8718
Updated Configs based on field testing.
2011-12-30 23:48:04 -08:00
Jason Short
21460a57ae
Yaw Performance tweaks
2011-12-29 23:02:03 -08:00
Jason Short
95a70cf32e
lowered to nav_lat and nav_lon int16
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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
17acbc4572
updated Loiter gains
2011-12-29 23:02:03 -08:00
Jason Short
bb954bc479
Upped Yaw speed to deal with performance complaints
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Added new Stabilize D term default of .25
2011-12-29 23:02:02 -08:00
Jason Short
7e1e1f84b3
updated Loiter PIDs
2011-12-29 23:02:02 -08:00
Jason Short
4b5437afe8
Enable Magnetometer by default
2011-12-29 23:02:02 -08:00
Randy Mackay
bbe6dea980
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
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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
433df08cb3
ACM: enable compass by default on APM2
2011-12-28 20:30:35 +11:00
Jason Short
d7af42c925
Getting rid of Simple Logging
2011-12-23 18:44:30 -08:00
Jason Short
0f91fbcee5
Made WP radius 1 by default
2011-12-23 15:01:53 -08:00
Jason Short
a966a178f8
increased crosstrack thanks to float math fix
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decreased loiter iterm, decreased throttle iterm based on simulator runs
2011-12-23 14:42:50 -08:00