Commit Graph

3093 Commits

Author SHA1 Message Date
Randy Mackay a5602c5f14 Copter: updated contributors list
Add JulianD and SandroT and replaced tabs with spaces
2014-04-24 11:28:41 +09:00
Ju1ien 78a3e0f5a2 Copter: Hybrid removed Wind_comp_estimate filter
Removed useless call of function
hybrid_get_wind_comp_lean_angles(hybrid.wind_comp_roll,
hybrid.wind_comp_pitch);
Removed 10Hz filter for hybrid_update_wind_comp_estimate()
2014-04-24 11:28:37 +09:00
Randy Mackay 287af8f66e Copter: disable optical flow by default
We have run out of flash on the APM2, it was a choice between Hybrid
flight mode and OF_Loiter
2014-04-23 15:27:08 +09:00
Randy Mackay 55e7e1eb3e Copter: allow HYBRID to be disabled to save flash
Hybrid flight mode costs 4.5k of flash which currently puts us over the
limit for APM1 and APM2 unless optical flow or other features are
disabled
2014-04-23 15:27:05 +09:00
Randy Mackay ba94fc9796 Copter: Hybrid move reset_I into structure
Saves 1 byte of RAM
2014-04-23 15:00:09 +09:00
Ju1ien ff532a06ec Copter: Hybrid fixes to wind_comp, brake pitch timer, thr peaks
There was an error in the velocity axis used to update
brake_timeout_pitch (vel_right instead of vel_fw)

The wind_comp was not enough filtered for the Pixhawk (400Hz), so I
added a specific time constant (TC_WIND_COMP) to have the expected
filter with 400Hz controllers.

About throttle peaks, after some tests and from logs, they happen when
hybrid switches to loiter.
There is always a difference between Alt and DesiredAlt (DAlt), but,
when loiter engages, it initializes DAlt = Alt and the copter tries
immediatelly to reach that new setpoint. So the solution would be to
init_loiter_target() just as it was in pre-onion code : only x/y and not
z. and to be able to pass parameters like that
wp_nav.init_loiter_target(inertial_nav.get_position(), Vector3f(0,0,0));

Well, from this new code structure, it seems not possible with current
functions so I've used set_loiter_target that init position passed as
parameter and velocity to 0 (as expected).
BTW, I think there was something wrong with set_loiter_target function,
the "Vector3f& position" parameter was not used at all...
I moved the reset flag from init_loiter_target to set_loiter_target.
2014-04-23 15:00:04 +09:00
Ju1ien 14cbb09804 Copter: hybrid add Brake or Loiter to Pilot override transition
Corrected a little mistake in get_wind_comp...()
Mixed transition not only from loiter but as well from brake to manual
override
2014-04-23 15:00:01 +09:00
Ju1ien 43b1dd748b Copter: hybrid init brake roll and pitch at loiter exit 2014-04-23 14:59:59 +09:00
Ju1ien d745060c80 Copter: fix Hybrid flight mode in Parameter description 2014-04-23 14:59:56 +09:00
Ju1ien f8e8d4024d Copter: Hybrid's max brake angle to 30deg 2014-04-23 14:59:53 +09:00
Ju1ien b3e8112d24 Copter: Hybrid fix wind_comp time constant
Corrected timer init values and wind_comp time constant to get the best
behaviour

Check if wider deadband required (current is 30).
We were using a comparison to a 70-100 cdeg deadband in our initial
code. The deadband was there to avoid unwanted switches in case of
inaccurate fingers/radio

Adjusted timers to 100/400Hz

I_term does not init when in hybrid loiter
2014-04-23 14:59:43 +09:00
Randy Mackay 4778c73de2 Copter: Hybrid 10hz updates to wind comp lean angles 2014-04-23 14:59:40 +09:00
Randy Mackay f87ab21063 Copter: Hybrid estimates wind when speed under 10cm/s 2014-04-23 14:59:38 +09:00
Randy Mackay d36f137bf8 Copter: allow arming, disarming in Hybrid mode 2014-04-23 14:59:35 +09:00
Randy Mackay e2aaafe40b Copter: hybrid works for 100hz and 400hz 2014-04-23 14:59:33 +09:00
Randy Mackay 705ff3f44f Copter: add hybrid_mix_controls
Allow wind comp estimate to run when vehicle travelling up to 30cm/s
(was 10cm/s)
2014-04-23 14:59:30 +09:00
Randy Mackay e48c93d93c Copter: restructure hybrid into more states 2014-04-23 14:59:28 +09:00
Randy Mackay f467d7bc20 Copter: add Hybrid parameters 2014-04-23 14:59:25 +09:00
Randy Mackay 754bae5748 Copter: refactor and split out wind compensation 2014-04-23 14:59:23 +09:00
Randy Mackay d9c685323a Copter: add hybrid state struct, formatting changes 2014-04-23 14:59:20 +09:00
Randy Mackay b5ed23f592 Copter: integrate skeleton Hybrid mode 2014-04-23 14:59:17 +09:00
Ju1ien 832fc62016 Copter: control_hybrid initial version 2014-04-23 14:59:15 +09:00
Randy Mackay 5fc071f5f9 Copter: restore SITL to run at 100hz 2014-04-21 21:46:22 +09:00
Andrew Tridgell e07b70de4e Copter: set AHRS vehicle class 2014-04-21 18:13:13 +10:00
Randy Mackay 01538c5290 Copter: remove unused lon_error, lat_error 2014-04-21 15:06:32 +09:00
Randy Mackay 8ac14023b4 Copter: set main loop rate from CPU class
Previously this was determined by the board
2014-04-21 13:32:00 +09:00
Randy Mackay a1edf347bf Copter: STB_RLL_P and STB_PIT_P @Range 3 to 12 2014-04-21 10:41:01 +09:00
Randy Mackay b9845047f4 Copter: bug fix AP_Rally param directory 2014-04-19 22:37:01 +09:00
Randy Mackay 7af5d4a8ce Copter: remove RALLY_WP_SIZE definition 2014-04-19 15:00:30 +09:00
Andrew Chapman fa3732ac6d Copter: integrate AP_Rally 2014-04-19 15:00:23 +09:00
Randy Mackay 817c893f21 Copter: bug fix for conditional_distance command
Due to a race condition, the wp_distance was not being updated before
the conditional_distance
2014-04-17 22:23:28 +09:00
Randy Mackay f29ad3a2e0 Copter: bug fix for when WP_YAW_BEHAVIOR is 0 2014-04-17 16:53:06 +09:00
Randy Mackay c53a0fcfd9 Copter: conditional yaw fix
waypoint command was setting auto_yaw_mode when it was run after the
do-cmd
yaw_look_at_heading was being set to current heading which was
overwriting the caller's desired heading
2014-04-17 16:41:36 +09:00
Randy Mackay 7f00bd7f5d Copter: default WAYPOINT to current pos if lat, lon, alt are zero 2014-04-16 20:33:43 +09:00
Randy Mackay d2dad1b2c1 Copter: remove unused circle_desired_rotations
desired num rotations is already held in command so we save 1byte of RAM
2014-04-16 16:28:11 +09:00
Randy Mackay e6d2692eab Copter: Loiter_Turns moves to edge of circle if location provided 2014-04-16 16:28:08 +09:00
Randy Mackay f6676be400 Copter: integrate change in AC_Circle init
Removed init_loiter_target when vehicle landed.  We should add some
initialisation of the circle controller when landed.
2014-04-16 16:28:06 +09:00
jschall ff9838ea27 Copter: Document stream rate parameter functionality 2014-04-15 16:05:45 +09:00
Kevin Hester 4bfd6b8ddd Copter: fixup line endings to be newline 2014-04-15 15:54:13 +09:00
Randy Mackay cf86e304f0 Copter: add V-Tail to FRAME param's @Value 2014-04-15 12:18:31 +09:00
Randy Mackay 729026d80c Drift: get velocity using const reference 2014-04-14 11:34:17 +09:00
Emile Castelnuovo f5a68fdba1 Copter: clear RC in overrides on GCS failsafe. 2014-04-13 22:59:51 +09:00
TeamOSEOLA 7dda8afd60 Copter: Fixed GPS_ok() status checking
Fixed the GPS_ok() so that TRUE is returned in the cases of DGPS and Assisted GPS fixes, not just 3D fix.
2014-04-11 09:01:35 +10:00
Andrew Tridgell 1189978334 Copter: ensure we log both GPS at the time we receive a message 2014-04-10 10:30:10 +10:00
Randy Mackay e7d73aa856 Copter: enable GCS failsafe to RTL by default
This only triggers if the user has been using the GCS's RC override
2014-04-09 10:50:35 +09:00
Randy Mackay 037a0b4e5a Copter: dos2unix Parameters.h 2014-04-08 23:30:15 +09:00
Emile Castelnuovo a9bd4e9da1 VRBRAIN: added ignore board voltage check for VRBRAIN boards. 2014-04-08 16:19:20 +10:00
Emile Castelnuovo 9e31f032c2 Copter: added VRBRAIN board #includes and #defines 2014-04-08 16:19:20 +10:00
Randy Mackay 8a4d82f43a Copter: AC3.1.3 release notes 2014-04-07 14:28:12 +09:00
Randy Mackay 9bf9e0ede9 Copter: check parachute is enabled before manual_release 2014-04-07 13:37:15 +09:00