Jason Short
3be34ed31a
Implementing a limiter for the ramp up of speed to WPs.
2011-10-03 10:37:56 -07:00
Jason Short
e5b66c1c7c
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-02 11:36:31 -07:00
Jason Short
7e81756ccd
Added second PI loop for alt hold.
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Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
2011-10-02 11:36:23 -07:00
Amilcar Lucas
101dc83239
Fix compilation
2011-10-02 14:52:02 +02:00
Amilcar Lucas
9d3e5a8e11
Use the new AP_Relay library
2011-10-02 14:22:27 +02:00
Jason Short
df1a39f650
Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller
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added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
2011-09-29 23:27:23 -07:00
Jason Short
b805263974
Attempting to mimic loiter values for 4.0.42
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lowered Rate Error max in loiter
2011-09-28 23:11:19 -07:00
Jason Short
469acff0fa
Added Loiter P tuning as #12
2011-09-27 09:39:32 -07:00
Jason Short
d0405b0a0a
2.0.46 -Not flight tested!
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restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
2011-09-27 09:35:05 -07:00
Michael Oborne
2de9e6a929
heli hil
2011-09-27 07:30:28 +08:00
Jason Short
059551de48
Fixed issue with Simple mode changes.
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Reverted to simpler, safer timer code for throttle hold
2011-09-25 14:16:35 -07:00
Jason Short
9dc42122f8
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-09-25 12:22:07 -07:00
Jason Short
18fea55f8d
Fixed Flip code to compile. Flip still not flight tested!
2011-09-25 12:21:54 -07:00
rmackay9
0e8a648043
TradHeli - added servo averaging to allow support of analog servos
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- moved heli parameters to 80 because they were causing flight modes to overlap with waypoints
2011-09-25 16:51:25 +09:00
Jason Short
e0b4a26dee
Added Loiter Turns - It orbits the Current location
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Added WP to Loiter_time so you can spec a specific location in the planner
added new Navigation alg. Should perform better (doesn't rely on 45° flow fields like last one)
Added "Jump" counter so missions don't get overwritten in flight.
removed I term by default for Rate pitch and roll
2011-09-24 17:40:29 -07:00
Jason Short
0f5c74f03a
Trying to make Alt hold more aggressively change altitudes.
2011-09-23 13:58:39 -07:00
Jason Short
f65390920a
Added a default, but low throttle cruise value
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Added a clear integrator for Rate I to prevent tip ups at launch.
2011-09-22 23:10:55 -07:00
Jason Short
5b57df5d1c
Refined Throttle Timer reset
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Reduced Loiter I gain to decrease overshoot.
2011-09-22 17:38:39 -07:00
Jason Short
ffb6f06f57
Fixed Throttle integrator bug. Time was not being reset causing a big drop in throttle control.
2011-09-22 12:28:46 -07:00
Jason Short
e4f87d7442
removed debug statements
2011-09-21 22:34:27 -07:00
Jason Short
7512e686b9
Fixed Timer overflow for throttle PI loop.
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Moved look at home to update_nav where it belongs
2011-09-21 22:31:12 -07:00
Jason Short
790bd6f8c9
Altered CIRCLE mode to allow Loiter_N_Turns to work in AP mode.
2011-09-21 13:19:36 -07:00
Jason Short
3f1faf70ac
upped to 2.0.44 - not flight tested
2011-09-20 23:23:42 -07:00
Jason Short
a57c0323ab
Fixed do_flip,
2011-09-20 23:20:33 -07:00
Jason Short
79c41fa9e2
Fixed Yaw for Auto mode.
2011-09-20 22:59:23 -07:00
Jason Short
9005cc6cda
Edited CH7 options to include Do Nothing and RTL.
2011-09-20 10:37:50 -07:00
Jason Short
59a2d2a256
Converted Millis to Micros
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added navigation check to return a failed navigation
2011-09-19 22:24:57 -07:00
Jason Short
3b4743ef03
changed PI Library to take Float for DeltaTime
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Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!
2011-09-19 14:02:42 -07:00
Jason Short
aeb70eb8e0
added contributor
2011-09-18 17:12:59 -07:00
Amilcar Lucas
e4d0646088
Added comment, spellcheck
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This reduces the diff to the APM_Camera branch
2011-09-18 14:57:55 +02:00
Jason Short
da65096ee2
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-09-17 12:23:22 -07:00
Jason Short
e81a666478
Added a GPS watchdog to stop navigating if we loose signal.
2011-09-17 12:23:16 -07:00
Amilcar Lucas
c9d9ee0d3b
Merge some small misc improvements from APM_Camera branch
2011-09-17 20:25:31 +02:00
rmackay9
6fda1e3f14
ArduCopter - small changes to fix compile errors when optical flow enabled
2011-09-17 22:09:18 +09:00
Andrew Tridgell
a13c68a404
fixed build of OpticalFlow code
2011-09-17 14:58:02 +10:00
Andrew Tridgell
ea26a06f49
updates for new DCM code
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G_Dt is no longer needed by the DCM
2011-09-17 14:58:02 +10:00
Jason Short
41dada23ea
removed DCM reference from OPT FLOW
2011-09-16 19:17:50 -07:00
Jason Short
024512e34a
Fixed CIRCLE mode trig error
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made loiter_radius * 100 in Params
updated gains
2011-09-16 16:54:45 -07:00
Jason Short
0d31d775b8
cleanup
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added more ifdef for optflow
2011-09-15 23:41:15 -07:00
Jason Short
9a508a20f4
Integration of optical flow
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bug fixes for new Simple mode
increased Baro filter by 2 fields
2011-09-15 23:33:00 -07:00
Jason Short
ae81a758de
Removed Simple Mode
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Added Simple option to mode switch positions
removed unused OptFlow code
added reset lat and lon error
removed unused init_auto
Fixed log formatting
Added simple mode bitmask
removed pitchmax
added CLI setup for enabling Simple mode to any switch position
2011-09-14 13:58:18 -07:00
Jason Short
4a2f58b013
Cleaned up guided mode
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Reduced ADC filter to 3 from 6 to increase speed of filter.
2011-09-12 12:57:36 -07:00
Jason Short
7e79612125
Removed last of Xtrack
2011-09-11 20:40:05 -07:00
Jason Short
db331efbae
Circle Mode now working
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250Hz loop implemented
2011-09-11 11:22:01 -07:00
Jason Short
bd52458e74
Added Nav Rate tuning
2011-09-10 18:37:28 -07:00
Jason Short
8ae158191f
Fixes Alt hold mistake
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Moves tuning into runtime definable param
Added more IMax to throttle
Signed-off-by: Jason Short <jasonshort@gmail.com>
2011-09-10 15:16:51 -07:00
jasonshort
ec68835898
circle mode patch
2011-09-09 11:59:42 +10:00
Andrew Tridgell
40c6edae0f
rename main pde file for arduino requirements
2011-09-09 11:51:21 +10:00