d2deaaa686
Copter: Acro add rate constrain and combine limit calc
2013-08-05 21:04:47 +09:00
39ab4f62ef
Copter: add SPORT mode
2013-08-05 21:04:41 +09:00
9672742b42
Copter: bug fix to look_ahead_yaw
...
Fix received from David Dewey
Was incorrectly using the direction instead of heading when deciding
whether to point forward or not. Reduced YAW_LOOK_AHEAD_MIN_SPEED to
1m/s because bug meant it was nearly always pointing forward and 10m/s
(the old value) seemed too high
2013-08-01 14:12:55 +09:00
9a1a999fba
Copter: landing check changes
2013-07-28 18:18:50 +09:00
24d15517ff
Copter: clear thr accel I term on take-off
2013-07-28 18:18:45 +09:00
c3daf78340
Copter: reset loiter target when landed
2013-07-28 18:18:41 +09:00
fe412437c2
Copter: add flags for upper and lower throttle limits
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Freeze desired altitude when motors hit a limit
2013-07-28 18:18:39 +09:00
c5851d2ddf
Copter: remove throttle rate's I and D calcs
2013-07-23 11:02:04 +09:00
740970efa6
Copter: remove stabilize's call to calc I terms
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I terms all moved to rate controllers so this will be a small
performance improvement
2013-07-23 10:37:10 +09:00
c9a875da52
Copter: remove unused earth frame rate controllers
2013-07-21 14:08:39 +09:00
43379f20c3
Copter Motors: replace limit bitmask with structure
2013-07-21 13:58:24 +09:00
2a9f4bbbad
TradHeli: Creating new unified roll/pitch rate controller.
2013-07-19 16:16:12 +09:00
23ea151ca5
TradHeli: Fix Heli rate controller filter rates.
2013-07-19 16:16:10 +09:00
c812d07993
TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future.
2013-07-19 16:16:08 +09:00
cea0812b82
TradHeli: Rate PID Improvement. Limit Integrator wind-up when PID output is saturated. Also a little bit of general clean-up for readability.
2013-07-19 16:16:01 +09:00
aefb38e486
Copter: remove param to disable accel based throttle controller
2013-07-12 22:57:30 +09:00
1685ff274d
TradHeli: compile error fix related to new ACRO
...
The motors_runup_complete must be a feature that Rob has implemented in
his clone which has not yet reached master. We will need to restore
these lost few trad-heli specific lines once Rob's changes make it to
master.
2013-07-11 22:33:55 +09:00
64ce9b017d
Copter: Body frame ACRO upgrade
2013-07-11 17:53:25 +09:00
f459d35e3e
Copter: roll-pitch fix to allow I to reduce
...
Contributed by Leonard Hall
2013-07-10 15:52:15 +09:00
da4137b731
Copter: changes for GPS field changes
2013-07-10 14:04:22 +10:00
227185fd0f
Copter: remove constraint on rate yaw controller
2013-07-05 14:18:58 -10:00
40612ed551
Copter: yaw limit fix to allow I to reduce
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We now allow the I term even if we've hit the yaw limits as long as
updating the I term will reduce it
2013-07-05 13:52:03 -10:00
404cd5f3da
Copter: rename g.pid_throttle to g.pid_throttle_rate
...
Small code clean-up to make throttle rate controller's pid more obvious
2013-06-30 00:04:21 -10:00
b3da8a462f
Copter: CH6 tuning definition clean-up
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Renamed and reorganised the CH6 #defines and parameter definitions
2013-06-29 23:51:43 -10:00
fcf2429e39
Copter: remove throttle controller's ability to limit lean angle
2013-06-04 15:25:59 +09:00
40f5226518
Copter: reset yaw angle only when motors not spinning
2013-06-03 22:12:52 +09:00
5203ba9fe3
Copter: alt hold feed forward filter
2013-06-01 21:13:47 +09:00
25c576cad7
Copter: replaced constrain() with constrain_float()
2013-05-02 10:26:49 +10:00
0b29754920
Copter: simplify roll-pitch stabilize controller
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remove check of whether to freeze i term when attitude is less than 5
degrees from horizontal. I terms have been moved to the rate
controllers.
2013-04-22 18:47:56 +09:00
c2c037ec0d
Copter: use the right constrain() type in Attitude code
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Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-04-22 13:26:49 +10:00
a9da3c9d3d
Copter: remove unused throttle functions
...
removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
2013-04-21 23:43:04 +09:00
745df9b13c
Copter: add SONAR_GAIN to tune reaction to sonar
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Some users report the response to sonar is too violent, this allows that
reaction to be reduced
2013-04-20 15:58:36 +09:00
50515e28e1
Copter: replace fabs with fabsf
2013-04-20 15:40:56 +09:00
f5955d8915
Copter: auto climb and descent params removed
...
These params now reside in the AC_WPNav library
2013-04-18 14:52:21 +09:00
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
2013-04-14 10:39:23 +09:00
7c559333f5
Copter: get_throttle_rate's target_speed a float
2013-04-14 10:38:51 +09:00
ee7f40cfe9
Copter: Leonard's alt-hold feed forward
2013-04-14 10:38:37 +09:00
f82ce449d7
AC_WPNav: add angle limits and set from AC's throttle controller
2013-04-14 10:38:34 +09:00
1516972eaa
Copter: add panorama to CIRCLE mode
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Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
2013-04-14 10:38:01 +09:00
49828eba7d
Copter: integrate AC_WPNav
2013-04-14 10:37:48 +09:00
24dd167607
Copter: ACRO bug fix from Jason
2013-04-01 11:44:28 +09:00
b280857025
Copter: use common angle wrap code
2013-03-29 13:14:31 +11:00
fdcb78ccf7
Copter: leonard's smoother alt-hold transition
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Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
2013-03-17 13:24:49 +09:00
37040adfaa
Copter: bug fix for auto missions over 320m
...
get_throttle_althold_with_slew's target_alt parameter defined as int16_t
(instead of int32_t) meaning missions with altitudes >320m could wrap
around and become negative.
2013-03-17 11:14:35 +09:00
f9539384a1
Copter: rename failsafe to failsafe_radio
...
Makes way for separation of failsafes for throttle, gps and gcs
2013-03-16 17:14:21 +09:00
476a6d0164
Copter: fix for acro throttle bug
2013-03-02 10:28:44 +09:00
d8515ff85e
Compass: basic compensation for motor interference
2013-03-02 00:03:16 +09:00
df1c0d92bd
Copter: manual throttle scaling fix
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Scaling of bottom half of throttle was changed from THR_MIN ~ 500.
Previously it was from 0 ~ 500.
2013-02-01 22:37:33 +09:00
a0b65a262b
Copter: use scaled throttle for accel-throttle's I term
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Accel throttle's I term is taken from scaled manual throttle
2013-02-01 22:37:25 +09:00
06a71af12f
Copter: THR_MID used to scale manual throttle
2013-02-01 22:37:16 +09:00
aaecc25ac7
Copter: leonard's inav2
...
Moved loiter controller to navigation.pde
2013-01-25 15:16:35 +09:00
deafbf1f56
Copter: inav loiter comment changes
...
removed unused get_loiter_vel function
2013-01-24 11:14:38 +09:00
68fc9ac1d8
Copter: add "f" to end of float constants
...
This is a small performance improvement for the px4
2013-01-23 14:51:37 +09:00
9a09f086d2
Copter: Leonard Hall's inertial nav ver 2
2013-01-23 12:34:49 +09:00
ab1978ad50
Copter: Leonard Hall's inertial nav based loiter
2013-01-22 18:38:00 +09:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
175f69a64f
ArduCopter: smooth throttle when switching from manual throttle to alt hold
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new set_accel_throttle_I_from_pilot_throttle function copies the
difference between the pilot's throttle and hover throttle to the
accelerometer based throttle controller's I term.
2013-01-13 20:00:59 +11:00
21b6c78d12
ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes
...
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
2013-01-13 19:51:47 +11:00
860f4b2605
Copter: merge the latest 2.9 changes into master
2013-01-08 14:37:40 -08:00
ead38f917f
Copter: use GRAVITY_MSS
2013-01-02 14:45:08 +11:00
51d987a890
Copter: removed unusued variable
2013-01-02 09:55:55 +11:00
677b38a48e
ArduCopter: first implementation of surface tracking using sonar
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Note: not yet enabled as part of any flight mode
2013-01-02 09:55:37 +11:00
daac540e08
ArduCopter: get_throttle_althold - add check to avoid divide by zero
2013-01-02 09:55:37 +11:00
576af6d487
ArduCopter: bug fix to althold desired rate calculation. Fix from Jonathan.
2013-01-02 09:55:37 +11:00
ff40fa6aab
ArduCopter: alt hold bug fix - should use 2x linear distance when calculating the desired rate
...
Bug fix from Leonard.
2013-01-02 09:55:37 +11:00
393c893cdb
ArduCopter: bug fix (attempt #2 ) for accel based throttle controller
...
Thanks to Jonathan for this.
2013-01-02 09:25:58 +11:00
e583ade62d
ArduCopter: bug fix to accel based throttle controller (was using m/s instead of cm/s)
2013-01-02 09:24:31 +11:00
e850ab7ccd
ArduCopter: add AUTO_VELZ_MIN, AUTO_VELZ_MAX and PILOT_VELZ_MAX to allow better control of climb/descent rate in auto and manual throttle modes
2013-01-02 09:24:31 +11:00
466097b383
ArduCopter: use inertial nav for current altitude and climb rate
2013-01-02 09:22:51 +11:00
7a5e4b8549
ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log
2013-01-02 09:19:17 +11:00
ac8af9a53f
ArduCopter: Leonard Hall's changes to alt hold including adding low pass filter to climb rate
...
get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
2013-01-02 09:19:17 +11:00
f4c50353b9
ArduCopter: allow tuning of the Throttle Rate D term
2013-01-02 09:16:48 +11:00
7ea34d4fb7
ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method
...
Also removed slow low pass filter meant to correct for accelerometer calibration. This is no longer required now that we have the improved calibration method.
2013-01-02 09:11:25 +11:00
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
af77425636
ArduCopter: fix Failed to Init Optflow message at startup
2012-12-11 00:09:45 +09:00
2f1b2b70e6
ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees
2012-12-10 22:27:46 +09:00
154e3c33f7
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
2012-12-10 00:43:11 +09:00
0eb57bf93d
ACM: TradHeli
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Fix to make update_throttle_cruise work with stab_throttle scaling.
2012-12-08 15:12:39 -05:00
1b97a92098
ACM: Code Cleanup
2012-12-08 14:49:38 -05:00
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
2dd4694eef
ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz)
2012-12-06 10:32:12 +09:00
39d524212f
ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter.
...
When disabled the original velocity based throttle controller is used.
2012-12-06 10:31:57 +09:00
a5bb54e36e
ArduCopter: RTL clean-up and slightly improved landing sensor
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Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
072ffec493
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
bdb47c449a
ArduCopter: pass linear altitude error to throttle rate controllers.
...
Previously the requested rate used the square root of the altitude error.
Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
2012-12-06 10:31:31 +09:00
7b4ed2d227
ArduCopter: restored landing detector to landing throttle mode.
...
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
2012-12-06 10:31:20 +09:00
a94826f182
ArduCopter: add set_throttle_mode to better control initialisation of variables
2012-12-06 10:31:04 +09:00
1036b35128
ArduCopter: added back in angle boost and recombined for heli and multicopter
2012-12-06 10:30:55 +09:00
3cbef57c64
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
...
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
1d589c0b7d
ACM: TradHeli
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Fixes for Attitude rate controllers.
2012-12-04 14:42:04 -05:00
07d7d90882
ACM: TradHeli
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Bringing in Low Pass Filter for Rate Controllers
2012-11-26 21:51:23 -05:00
3f0e8dd358
ACM: TradHeli
...
Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
2012-11-26 21:21:12 -05:00
e8d619acad
ACM: Begin creation of TradHeli rate control.
...
May affect Multi-Rotors.
2012-11-26 21:02:41 -05:00
95eeda7cf7
ACM: TradHeli
...
Removing Angle Boost function.
Does not make sense for helis due to aerodynamics. Can cause more problems than it solves.
2012-11-26 18:58:21 -05:00
6ffc115236
Changes to get_throttle_rate()
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Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
2012-11-21 17:11:38 -05:00
07a7a1acd8
ArduCopter: replaced digitalRead and digitalWrite with faster calls
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improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
5f57678a9c
ACM Nav_throttle- removed sign inversion
2012-11-16 17:38:57 -08:00
ac5dcc8d49
ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables
2012-11-12 12:35:58 +09:00
69db678252
ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller.
2012-11-11 18:22:54 -08:00
5ad38a32bf
ACM : Attitude : added nav param reset
2012-11-09 22:15:15 -08:00
Leonard Hall
Randy Mackay
Robert Lefebvre
Andrew Tridgell
James Bielman
Pat Hickey
Jason Short
Jason Short