rmackay9
ac9555a3b4
ArduCopter - LEDS - added new COPTER_LEDS definition
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Code by Robert Lefebvre
2012-04-12 22:55:32 +09:00
Andrew Tridgell
58f539ca35
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
Adam M Rivera
0727955fe3
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
2012-03-30 14:25:06 +11:00
rmackay9
441413f1c6
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
Jason Short
74893f6959
Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator
2012-03-22 10:01:24 -07:00
rmackay9
0ba48a8556
ArduCopter - increased default THROTTLE_CRUISE to 450
2012-03-20 16:34:07 +09:00
rmackay9
7bf4e22c7b
ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore
2012-03-18 14:53:19 +09:00
Jason Short
27f276a066
ACM: Lowered gains from flight tests today with 3DR Quad
2012-03-17 11:04:01 -07:00
Jason Short
09995aed62
ACM: Softer Loiter Gains
2012-03-16 14:10:19 -07:00
Jason Short
ce14ef1b2b
Tune down Loiter_P a hair
2012-03-15 19:17:27 -07:00
Jason Short
72d03a8046
ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.
2012-03-13 10:23:31 -07:00
Jason Short
953b93293e
ACM: removing old define
2012-03-12 13:11:30 -07:00
Jason Short
38153f15e0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
2012-03-12 10:37:15 -07:00
Jason Short
d9ccd4f6bd
ACM: made same as Loiter I
2012-03-11 23:21:49 -07:00
Jason Short
e279106b44
ACM: Tuning based on flights today
2012-03-11 23:21:49 -07:00
Adam M Rivera
566bbed7ad
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Jason Short
9f47a79a3a
ACM: decreased rate P for alt hold to remove bumpy repsonse
2012-03-10 12:41:06 -08:00
Jason Short
11e5f7d40f
ACM: Increased the altitude error P for smoother alt hold response
2012-03-10 12:40:44 -08:00
Jason Short
20a3cfdcde
decreased the loiter rate P for overshoot
2012-03-10 12:40:07 -08:00
Andrew Tridgell
1591d41b33
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Jason Short
43b3e1ccd1
ACM -
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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
5117ddff26
ACM: Updated config values
2012-03-06 22:12:24 -08:00
Andrew Tridgell
91c3f993b4
ACM: set default RC fast speed to 400Hz
2012-03-02 17:57:08 +11:00
Jason Short
4e2a54566b
added stab_d gain scheduling - off by default
2012-02-28 20:16:40 -08:00
Jason Short
f8e9fa8b61
Set loiter rate enabled by default
2012-02-26 12:29:28 -08:00
Jason Short
bab1faf644
Added OPtion for non-rate based loiter
2012-02-26 11:33:37 -08:00
Jason Short
cd55498a5c
increased speed of alt hold I term based on Jani's Logs
2012-02-25 13:31:21 -08:00
Jason Short
ed5db98522
updated Gains for Marco's loiter test
2012-02-23 22:03:26 -08:00
Jason Short
aeed144180
updated max throttle define
2012-02-18 21:14:13 -08:00
Jason Short
aa57fce9f4
some better defaults for JDrones
2012-02-18 14:23:21 -08:00
Jason Short
9c7b8586d5
Adjusted gains to move closer to Marco's tests
2012-02-16 22:19:39 -08:00
Jason Short
bb4c02fbff
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
f20952df49
new defaults for params
2012-02-15 09:10:15 -08:00
Jason Short
a69dc32020
Lowered for Jani
2012-02-13 15:25:23 -08:00
Pat Hickey
db4195b7a0
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
f369a02aab
Gain adjustments for 3d frame.
2012-02-11 15:29:11 -08:00
Jason Short
32e7b075d9
Moved to Rate_I by default for Jani to test
2012-02-10 22:32:55 -08:00
Jason Short
b29384581a
Up Nav_Rate_P
2012-02-09 22:38:36 -08:00
Jason Short
7cb4711e8e
reverted to Save_WP now that CH7 triggering is fixed
2012-02-09 22:33:01 -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
Randy Mackay
7745239c13
ArduCopter - CH7 - changed default to CH7_DO_NOTHING
2012-02-09 20:26:01 +09:00
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.
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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.
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Modified optical flow hold to use aggregated position instead of speed.
2012-01-25 21:55:14 +09:00