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4,013 Commits 71 Branches 509 Tags 763 MiB
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92 Commits

Author SHA1 Message Date
Adam M Rivera c7c6dd70b9 navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error. 2012-04-18 23:06:15 -05:00
rmackay9 8f0bc57967 ArduCopter - navigation.pde - added logging of Loiter PID controllers 2012-04-11 23:52:25 +09:00
rmackay9 7dc18b53ad ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint 2012-03-20 17:11:22 +09:00
rmackay9 ce6b1ccc75 ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!) 2012-03-20 16:13:38 +09:00
rmackay9 485cebf85c ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations) 2012-03-18 12:11:12 +09:00
Jason Short f6638d00d6 ACM: Smoother Speed calcs 2012-03-16 14:10:19 -07:00
Jason Short 0c6a87db3f ACM: Disabled D term experiment for Loiter until more testing 2012-03-15 19:20:03 -07:00
Jason Short 0edc1020ac ACM: Loiter D performance updates 2012-03-13 10:23:31 -07:00
Jason Short 580c5e109e ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed. 2012-03-12 13:11:05 -07:00
Jason Short 56d2b9ef05 ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter. 2012-03-11 23:21:49 -07:00
Jason Short 68d210660e ACM: Added note about scaling rates 2012-03-10 12:43:28 -08:00
Jason Short 4b75f74d2c ACM: Altered the scaling speed for altitude changes for faster rises. 2012-03-10 12:43:01 -08:00
Jason Short 874f5aaef6 ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes. 2012-03-10 12:42:22 -08:00
rmackay9 9986776e0d ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde 2012-03-11 01:27:58 +09:00
Jason Short 9a2be4701f removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short 22982cda0f Loiter updates 2012-02-23 22:03:26 -08:00
Jason Short 151e710668 Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short a4b8119c24 added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short cbe297b634 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short 0b011e3cd3 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short 8cc480f7e6 upped max target speed to center of loiter 2012-02-10 22:46:27 -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
Jason Short 5de459a160 tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short ba81e2aa69 pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short 25c2c9b437 removed filter. Don't need it. 2012-01-29 17:10:52 -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 86c7742dc0 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
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 e1f7fa34ea Fixed speed governor which was letting speed get to 0. 
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
 2012-01-21 22:12:57 -08:00
Jason Short ab8bf0b560 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short 0475dbf8ae relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short 589f8bc557 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short 8416de7e9c Added Ryan's GPS lag filter 
Removed unused code
refined alt change
 2012-01-12 22:28:58 -08:00
Jason Short 464038b3ea New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short 36516161b5 Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short 12493d6431 Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short a640311f58 Added Note 2012-01-06 10:20:59 -08:00
Andrew Tridgell a6808162d6 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Jason Short bf8e3975ec Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short 24bddb1c47 Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short 1d636219f9 New Style WP navigation for high wind 2011-12-30 23:48:05 -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 4bfa5def76 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short e42d5cb4f9 Fixes for Smooth Loiter 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
Jason Short a4e00f7459 Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Jason Short c8ca841bd7 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short c7da9c63f1 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Jason Short 29788b98bd Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00