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3,764 Commits 70 Branches 507 Tags 620 MiB
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90 Commits

Author SHA1 Message Date
Jason Short fc32da0d2e ACM: increased the available rate error constrain, it was too low 2012-03-10 12:39:16 -08:00
Jason Short bd4835a1b2 ACM: removed the experiment for rate error. 2012-03-10 12:38:29 -08:00
Jason Short 730476fdfd 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 a387956814 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
rmackay9 744e5b8c60 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 4a0989f95d 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 1ce267f904 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
rmackay9 57e5eee8c8 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short 364afe8da0 added a constraint to D term 2012-02-23 09:14:44 -08:00
Jason Short 265c5255a3 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short 5218220f0f re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short 632cc783a1 cast D term to float just in case 2012-02-16 22:09:21 -08:00
Jason Short 3d63bb6cd4 Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short fcb24ee17d Added Acro_P 2012-02-15 09:10:14 -08:00
Andrew Tridgell 3b4cae3cc3 adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Jason Short c64d781dce get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short f40d40b0f9 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 b851d39eaa OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short bf2cc6072d limiting alt hold rate error to 1m/s 2012-01-29 17:08:34 -08:00
Jason Short 7833cea9d4 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 2c906b7b27 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 5cc19bbe7c slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short 1aa6d0ea08 limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short 42b1362bba cleanup 2012-01-20 22:52:30 -08:00
Jason Short ed32ad30fd 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 95ac9d163e lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short c02b403a06 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short 7c475f178c tuned down Alt hold D gain 2012-01-13 09:36:51 -08:00
Jason Short ee7c948781 Added simple constrain for Alt d term 2012-01-13 08:49:55 -08:00
Jason Short 4459fc4e34 Added a small D term on alt hold 2012-01-12 22:28:58 -08:00
Jason Short f36aba8af2 climb rate control 2012-01-10 23:42:26 -08:00
Jason Short 7b8767d846 Added comments 2012-01-10 23:42:26 -08:00
Randy Mackay f68d23d91e 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 8ed2d96396 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short 4e0e783e7c 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 1ef7f9fe62 Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short 6a8391f0a7 removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short 21460a57ae Yaw Performance tweaks 2011-12-29 23:02:03 -08:00
Jason Short 10abb7871e removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short d055763947 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 79fff0f096 the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -08:00
Jason Short 47e4c875e1 Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
Jason Short 3019c35364 turned off iterm for traverse 2011-12-15 20:51:41 -08:00
Jason Short 4e280bb0dc More power to descend 2011-12-15 20:51:40 -08:00
Jason Short d2fd6c5ee5 added loiter control to reset nav 2011-12-14 22:08:41 -08:00
Randy Mackay 7f64080877 Arducopter - Attitude.pde - fixed small bug in pitch stabilise 2011-12-13 22:10:51 +09:00
Jason Short ba8fc57bd8 Stability patch2 - Jose style. 2011-12-12 17:47:45 -08:00
Jason Short 5d0e3664ad Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short 1f3abcf048 eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Randy Mackay 42421a09e2 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