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3,619 Commits 71 Branches 509 Tags 789 MiB
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88 Commits

Author SHA1 Message Date
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 27f6afd178 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
rmackay9 8da8ce5b58 ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine) 2012-02-28 22:56:26 +09:00
rmackay9 082cc70f1c ArduCopter - Attitude.pde - updated get_rate_roll and get_rate_pitch to use new average filter. 
modified all int to int16_t in Attitude.pde
 2012-02-28 21:26:37 +09:00
Jason Short a3f65b4a23 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
rmackay9 ab0e1d7632 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short b1340bbf80 added a constraint to D term 2012-02-23 09:14:44 -08:00
Jason Short 70d7a1f5d0 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short 03aa28224b re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short 6913400221 cast D term to float just in case 2012-02-16 22:09:21 -08:00
Jason Short bb4c02fbff Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short 11d1973abd Added Acro_P 2012-02-15 09:10:14 -08:00
Andrew Tridgell 1af6f08b1c adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Jason Short 4f44ccc182 get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short f3547a04a5 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Randy Mackay 1a1f6cac5d OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short c855c81d2a limiting alt hold rate error to 1m/s 2012-01-29 17:08:34 -08:00
Jason Short 0213f4dd88 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Randy Mackay 2f84b54bbb OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Jason Short 02d6adb21f slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short 8f86caa3ff limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short 525f7cd40f cleanup 2012-01-20 22:52:30 -08:00
Jason Short d991a22453 Refined the D term for stabilize 
moved all the rest_I terms from code into 1 central place
 2012-01-20 22:52:29 -08:00
Jason Short 11e1df497d lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short f25d741f62 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short 9a0539f39e tuned down Alt hold D gain 2012-01-13 09:36:51 -08:00
Jason Short 09c4bbe46e Added simple constrain for Alt d term 2012-01-13 08:49:55 -08:00
Jason Short 5418d330f6 Added a small D term on alt hold 2012-01-12 22:28:58 -08:00
Jason Short 581657ab7a climb rate control 2012-01-10 23:42:26 -08:00
Jason Short 9d1b1dba77 Added comments 2012-01-10 23:42:26 -08:00
Randy Mackay 7b9701fdd5 ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
Jason Short 3d7f3f6b77 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short e6887aa3ec added Reset_Rate_I function 
Removed I term from Throttle rate calc
Added some basic constrains to Acro
 2012-01-04 09:28:37 -08:00
Jason Short e17c8705ba Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short 170a646ecf removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short 8fc73844ee Yaw Performance tweaks 2011-12-29 23:02:03 -08:00
Jason Short 89c705c8b9 removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short 83d52899b0 Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have. 2011-12-29 23:02:02 -08:00
Jason Short dc2103d67f the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -08:00
Jason Short ed818e4ccf Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
Jason Short 2b5c039eae turned off iterm for traverse 2011-12-15 20:51:41 -08:00
Jason Short 05e921f5d0 More power to descend 2011-12-15 20:51:40 -08:00
Jason Short d5666f287c added loiter control to reset nav 2011-12-14 22:08:41 -08:00
Randy Mackay 68d1fa6ec7 Arducopter - Attitude.pde - fixed small bug in pitch stabilise 2011-12-13 22:10:51 +09:00
Jason Short 424a11d269 Stability patch2 - Jose style. 2011-12-12 17:47:45 -08:00
Jason Short 4efbae4a1c Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short 64cb2a54cf eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Randy Mackay ced26d7ba2 TradHeli - Attitude.pde - made yaw contol use jason's stability patch 
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
 2011-12-08 22:23:50 +09:00
Randy Mackay ee8986c463 TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled 2011-12-08 21:30:47 +09:00
Jason Short e3700365d4 Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00