Jason Short
6edad4d9ef
ACM: Larger filter for Loiter D
2012-03-13 10:23:30 -07:00
Jason Short
953b93293e
ACM: removing old define
2012-03-12 13:11:30 -07:00
Jason Short
580c5e109e
ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed.
2012-03-12 13:11:05 -07:00
Jason Short
38153f15e0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
2012-03-12 10:37:15 -07:00
Jason Short
56d2b9ef05
ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter.
2012-03-11 23:21:49 -07:00
Jason Short
5c3cb1c5d0
ACM: removed Filtering code for motors in Quad for testing
2012-03-11 23:21:49 -07:00
Jason Short
d9ccd4f6bd
ACM: made same as Loiter I
2012-03-11 23:21:49 -07:00
Jason Short
e279106b44
ACM: Tuning based on flights today
2012-03-11 23:21:49 -07:00
Jason Short
38a60df189
ACM: Rate_d filter for PID loop of Loiter.
2012-03-11 23:21:49 -07:00
Jason Short
2ac29effe9
ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time.
2012-03-11 23:21:49 -07:00
rmackay9
7cf635889d
ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees
2012-03-12 12:09:04 +09:00
Andrew Tridgell
1e47ab26f2
AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED
...
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
2012-03-11 21:46:41 +11:00
Adam M Rivera
2e1cacd67f
AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained.
...
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
566bbed7ad
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
...
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Jason Short
8b887b77bd
ACM: Added Loiter D tuning
2012-03-10 14:17:57 -08:00
Jason Short
7b2b5e858e
ACM: Added Loiter_D for tuning as #23
2012-03-10 14:17:16 -08:00
Jason Short
149a484984
ACM: Firmware rev
2012-03-10 12:45:03 -08:00
Jason Short
a9e7194e3d
ACM: disabled auto_calibration until more testing can be done
2012-03-10 12:44:49 -08:00
Jason Short
3c1f4b1ad7
ACM: changed alt hold initialization of altitude to be immediate
2012-03-10 12:44:18 -08:00
Jason Short
68d210660e
ACM: Added note about scaling rates
2012-03-10 12:43:28 -08:00
Jason Short
4b75f74d2c
ACM: Altered the scaling speed for altitude changes for faster rises.
2012-03-10 12:43:01 -08:00
Jason Short
874f5aaef6
ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes.
2012-03-10 12:42:22 -08:00
Jason Short
9f47a79a3a
ACM: decreased rate P for alt hold to remove bumpy repsonse
2012-03-10 12:41:06 -08:00
Jason Short
11e5f7d40f
ACM: Increased the altitude error P for smoother alt hold response
2012-03-10 12:40:44 -08:00
Jason Short
20a3cfdcde
decreased the loiter rate P for overshoot
2012-03-10 12:40:07 -08:00
Jason Short
bb56cea1ac
ACM: increased the available rate error constrain, it was too low
2012-03-10 12:39:16 -08:00
Jason Short
285f2dd791
ACM: removed the experiment for rate error.
2012-03-10 12:38:29 -08:00
Jason Short
0ccfdc664d
added Force_new_altitude call for alt hold
2012-03-10 12:37:54 -08:00
Jason Short
037221cd02
upped throttle manual boost to 225
2012-03-10 12:37:28 -08:00
rmackay9
9986776e0d
ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde
2012-03-11 01:27:58 +09:00
rmackay9
a72b20f42d
ArduCopter - fix to dataflash logging of Mag heading
2012-03-11 01:27:29 +09:00
Andrew Tridgell
f39d8dbde8
GCS: get_integrator() is now get_gyro_drift() in DCM
2012-03-10 10:34:33 +11:00
Andrew Tridgell
4f739ea28f
make 'ENABLE' and 'ENABLED' mean the same things
...
users get this wrong far too often!
2012-03-10 10:34:33 +11:00
Andrew Tridgell
a874f920d5
ACM: removed the ADC filtering code
2012-03-10 10:34:32 +11:00
Andrew Tridgell
e2c525434a
ACM: removed quaternion special cases in CLI code
2012-03-10 10:34:31 +11:00
Andrew Tridgell
e870e7bd82
ACM: removed the DCM tuning overrides
...
not needed now that DCM scales with deltat
2012-03-10 10:34:31 +11:00
Andrew Tridgell
13bddf05b0
ACM: removed the special case for quaternions in GCS code
2012-03-10 10:34:31 +11:00
Andrew Tridgell
1547977e1b
ACM: no need to fetch offsets at startup
...
AP_Param handles this
2012-03-10 10:34:31 +11:00
Andrew Tridgell
34d25ab298
ACM: removed a lot of the special case code for quaternions
2012-03-10 10:34:31 +11:00
Andrew Tridgell
e780dd2b44
ACM: change DCM loop to 100Hz
...
On my APM2 quad this seems to give better results
2012-03-10 10:34:31 +11:00
Andrew Tridgell
756a91a3ee
ACM: removed incorrect mode definition
2012-03-10 10:34:30 +11:00
Andrew Tridgell
04826065ef
Quaternion: show "Quaternion test" on startup if enabled
2012-03-10 10:34:29 +11:00
Andrew Tridgell
1591d41b33
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Andrew Tridgell
bc81d8e6ac
ACM: only call the fast loop if the imu has new data
...
this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a54d6f744e
HWSTATUS: if we don't know the voltage, report it as zero
...
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
9393b21a8d
ACM: adjust yaw drift correction constants
...
this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Andrew Tridgell
b07a3eb966
ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM
2012-03-10 10:34:27 +11:00
Jason Short
13e9608fb8
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
Jason Short
df812dd78a
temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest.
2012-03-06 22:23:06 -08:00
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