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23 Commits

Author SHA1 Message Date
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
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 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
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 a2886fc991 turned off Stabilize_I by default because it was hurting loiter 
tweaked speed control of rate_nav
 2011-09-24 21:49:45 -07:00
Jason Short 843b5b12ab Removed default Rate_I for pitch and roll 
added change speed control for missions
 2011-09-24 09:49:11 -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 6921d94d20 removed old CH6 tuning defines 2011-09-22 18:51:41 -07:00
Jason Short 45f9ab05f8 Better Tuning for default Quad 2011-09-22 18:30:29 -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 4425e72034 Added Piezo Support, code from Oliver. 2011-09-18 17:12:28 -07:00
Jason Short 41dada23ea removed DCM reference from OPT FLOW 2011-09-16 19:17:50 -07:00
Jason Short 4f6ac5c403 Lowered Loiter_I - higher value didn't test well. 2011-09-16 18:24:42 -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 689bfb803c increased imax 2011-09-11 20:28:43 -07:00
Jason Short 810d8e5cde Fixed Yaw mode for CIRCLE 2011-09-11 11:48:11 -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
Andrew Tridgell be8864f424 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00