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170 Commits

Author SHA1 Message Date
Jason Short 7a5347fb1f Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm 2012-06-25 23:06:28 -07:00
Jason Short 014f0f9a99 Config.h - returned low to original 120 2012-06-20 15:22:35 -07:00
Jason Short 25a67c9953 lowered minimum throttle 2012-06-20 08:47:47 -07:00
Jason Short d7fab41234 decreased I term based on the tests last weekend in high winds 2012-06-20 08:47:47 -07:00
rmackay9 3618ac62e0 ArduCopter: made Robert's new yaw method optional (off by default). 
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
 2012-06-13 21:50:16 +09:00
Jason Short ee78818f5a Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch. 2012-06-12 13:58:49 -07:00
rmackay9 1b9ed1444e ArduCopter: updated standard loiter pids. 
Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
 2012-06-12 20:56:31 +09:00
Jason Short 71111a5816 Stabilization patches 
removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
 2012-06-05 16:41:44 -07:00
Michael Oborne 7d2532450a enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Jason Short 9ea54b3171 Lowered I term - causes oscillations in SIM 2012-05-29 12:43:01 -07:00
Jason Short cb68adfff2 Loiter Gains based on new SIM 2012-05-15 22:01:01 -07:00
Robert Lefebvre a9349a6e87 More CopterLEDS changes. 
Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2.  Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2.  Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code.  Legacy users should see no difference.
 2012-05-15 12:00:21 -04:00
Robert Lefebvre 9e73dc4bd8 CopterLEDS changes for APM2 2012-05-15 10:07:03 -04:00
Adam M Rivera 788df5ed6f config.h: Removed comment. 2012-04-23 00:16:41 -05:00
Adam M Rivera 692bbee233 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
rmackay9 3b5ffe0f61 ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame 2012-04-21 23:46:36 +09:00
rmackay9 ce6dd8bb32 ArduCopter - changed Optical Flow for APM2 to use A3 pin 2012-04-21 20:15:16 +09:00
Adam M Rivera d09916422a Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera 9181eedf5a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera ad13854ab7 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
James Goppert 0a38e2b8d4 Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
Adam M Rivera 3135cd91d0 config.h: Added RTL_APPROACH_DELAY config value. 2012-04-16 14:00:08 -05:00
rmackay9 ac9555a3b4 ArduCopter - LEDS - added new COPTER_LEDS definition 
Code by Robert Lefebvre
 2012-04-12 22:55:32 +09:00
Andrew Tridgell 58f539ca35 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE 
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. 
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 - 
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