rmackay9
dc92da818c
ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore
2012-03-18 14:53:19 +09:00
Jason Short
491af02d8a
ACM: Lowered gains from flight tests today with 3DR Quad
2012-03-17 11:04:01 -07:00
Jason Short
3038da1dc3
ACM: Softer Loiter Gains
2012-03-16 14:10:19 -07:00
Jason Short
a52a14bf12
Tune down Loiter_P a hair
2012-03-15 19:17:27 -07:00
Jason Short
48ba24a810
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
7034b709d1
ACM: removing old define
2012-03-12 13:11:30 -07:00
Jason Short
0b51d9b8b0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
2012-03-12 10:37:15 -07:00
Jason Short
a989b88680
ACM: made same as Loiter I
2012-03-11 23:21:49 -07:00
Jason Short
0d434ca92c
ACM: Tuning based on flights today
2012-03-11 23:21:49 -07:00
Adam M Rivera
2524f9c8df
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Jason Short
83729d0f75
ACM: decreased rate P for alt hold to remove bumpy repsonse
2012-03-10 12:41:06 -08:00
Jason Short
220d5a1c6e
ACM: Increased the altitude error P for smoother alt hold response
2012-03-10 12:40:44 -08:00
Jason Short
4b703e8842
decreased the loiter rate P for overshoot
2012-03-10 12:40:07 -08:00
Andrew Tridgell
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Jason Short
730476fdfd
ACM -
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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
c26eb6afcc
ACM: Updated config values
2012-03-06 22:12:24 -08:00
Andrew Tridgell
0fc646d666
ACM: set default RC fast speed to 400Hz
2012-03-02 17:57:08 +11:00
Jason Short
7c09e4a5e6
added stab_d gain scheduling - off by default
2012-02-28 20:16:40 -08:00
Jason Short
ba68d6d8a1
Set loiter rate enabled by default
2012-02-26 12:29:28 -08:00
Jason Short
e06d8142c1
Added OPtion for non-rate based loiter
2012-02-26 11:33:37 -08:00
Jason Short
cc5ab4aebf
increased speed of alt hold I term based on Jani's Logs
2012-02-25 13:31:21 -08:00
Jason Short
385828824d
updated Gains for Marco's loiter test
2012-02-23 22:03:26 -08:00
Jason Short
885710fce6
updated max throttle define
2012-02-18 21:14:13 -08:00
Jason Short
1b46daa12e
some better defaults for JDrones
2012-02-18 14:23:21 -08:00
Jason Short
b052dab80d
Adjusted gains to move closer to Marco's tests
2012-02-16 22:19:39 -08:00
Jason Short
3d63bb6cd4
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
21856e7696
new defaults for params
2012-02-15 09:10:15 -08:00
Jason Short
4faba2048c
Lowered for Jani
2012-02-13 15:25:23 -08:00
Pat Hickey
470fd8788e
ArduCopter Channel Config: config vars for user override of MOT_n mapping
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* config variable CONFIG_CHANNELS has possible values
CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
2012-02-11 16:05:51 -08:00
Jason Short
0a63f104ab
Gain adjustments for 3d frame.
2012-02-11 15:29:11 -08:00
Jason Short
dc15fe4c5d
Moved to Rate_I by default for Jani to test
2012-02-10 22:32:55 -08:00
Jason Short
50aaa09348
Up Nav_Rate_P
2012-02-09 22:38:36 -08:00
Jason Short
62627e9b57
reverted to Save_WP now that CH7 triggering is fixed
2012-02-09 22:33:01 -08:00
Jason Short
c35ad2d493
Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune.
2012-02-09 22:22:00 -08:00
Randy Mackay
fe7a0a97ab
ArduCopter - CH7 - changed default to CH7_DO_NOTHING
2012-02-09 20:26:01 +09:00
Randy Mackay
b851d39eaa
OptFlow - reenable OF_LOITER pid controller and reduce I term
2012-02-01 08:04:18 +09:00
Jason Short
21bd48b6c3
Loiter PIDs
2012-01-30 21:13:03 -08:00
Jani Hirvinen
009e87105f
Minor changes for PID for jDrones motors due latest changes on control laws.
2012-01-31 09:00:31 +07:00
Jason Short
a3862ced62
cosmetic
2012-01-29 21:55:17 -08:00
Jason Short
02aacc454b
Lowering the throttle_P values by default
2012-01-29 16:27:13 -08:00
Jason Short
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
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Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Randy Mackay
122623f64b
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Randy Mackay
8dee001657
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Randy Mackay
2c906b7b27
OpticalFlow - replaced PI controller with PID controller.
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Modified optical flow hold to use aggregated position instead of speed.
2012-01-25 21:55:14 +09:00
Jason Short
74daadb252
Revert "test to switch loiter controls"
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This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
2012-01-22 14:19:27 -08:00
Jason Short
6476ba22f2
test to switch loiter controls
2012-01-22 12:28:34 -08:00
Jason Short
7edd16e5fe
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
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Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
2012-01-21 22:09:13 -08:00
Jason Short
c190f83bb0
AutoLanding timeout for Mission Planner
2012-01-20 22:52:30 -08:00
Jason Short
d2c78d2b75
Stab_D changes units with the new dampening controller updates
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Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
2012-01-20 22:52:30 -08:00
Jason Short
85f10589b2
slowed down slightly
2012-01-20 22:52:29 -08:00
