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349 Commits

Author SHA1 Message Date
Jason Short ce136d850a Better Loiter PIDs 
Fixed RTL overshoot bug
 2011-10-06 17:42:09 -07:00
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. 
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 
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 
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! 
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. 
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 
- 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 
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 
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 
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. 
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 
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 
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 
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 
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 
made loiter_radius * 100 in Params
updated gains
 2011-09-16 16:54:45 -07:00
Jason Short 0d31d775b8 cleanup 
added more ifdef for optflow
 2011-09-15 23:41:15 -07:00
Jason Short 9a508a20f4 Integration of optical flow 
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 
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 
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 
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 
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