Commit Graph

221 Commits

Author SHA1 Message Date
Randy Mackay 6f27bc7ae5 Copter: remove filters from inav loiter 2013-02-24 14:41:44 +09:00
Randy Mackay 1410063a14 Copter: new ROLL_PITCH_WP_INAV roll-pitch mode
small corrections to allow waypoints to work with new inertial nav wp
controller
2013-02-24 14:41:40 +09:00
Randy Mackay 67c69a19ee Copter: remove baro-only alt hold
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
Randy Mackay 37d3e1d7e4 Copter: add zero slope checks to wpinav
also added RTL fix to set wpinav target explicitly
2013-02-24 14:41:25 +09:00
Randy Mackay 53ab1d5d9b Copter: add advance track call to actually move towards waypoint
Also added unrelated check that waypoint is valid before updating
waypoint distance.
2013-02-24 14:41:17 +09:00
Randy Mackay fcf102b2cf Copter: inertial nav waypoint controller
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
2013-02-24 14:41:09 +09:00
Randy Mackay d2767b911c AP_Math: switch get_distance_cm to return uint32_t
Includes changes required on ArduCopter and ArduPlane side as well
2013-01-26 17:04:12 +09:00
Randy Mackay aaecc25ac7 Copter: leonard's inav2
Moved loiter controller to navigation.pde
2013-01-25 15:16:35 +09:00
Randy Mackay fd02cfe706 Copter: added set_nav_mode to control initialisation of nav controllers
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
2013-01-25 15:16:29 +09:00
Robert Lefebvre dde713aaa5 Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this. 2013-01-20 21:32:00 +09:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles.
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
Randy Mackay 04677bfb95 Copter: constrain auto roll and pitch to 45 degrees 2013-01-15 12:17:32 +09:00
jschall d6b3d370c3 Correct spelling of run_navigation_contollers 2013-01-14 16:45:15 -08:00
Randy Mackay df2137ed72 Copter: constrain loiter so that it never commands more than 45 degrees of lean in lat or lon directions 2013-01-14 13:34:19 +09:00
Andrew Tridgell 860f4b2605 Copter: merge the latest 2.9 changes into master 2013-01-08 14:37:40 -08:00
rmackay9 576af6d487 ArduCopter: bug fix to althold desired rate calculation. Fix from Jonathan. 2013-01-02 09:55:37 +11:00
rmackay9 e77b54c7dc ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete. 2013-01-02 09:24:31 +11:00
Craig@3DR e350bfbba8 Removed 2 more degree symbols from comments 2013-01-02 09:20:08 +11:00
Robert Lefebvre 6e64b1b357 ACM: Precision Loiter RePositioning code.
Protected behind a #define
2013-01-02 09:19:39 +11:00
rmackay9 7a5e4b8549 ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log 2013-01-02 09:19:17 +11:00
rmackay9 4dfe3a2d73 ArduCopter: remove weird character from navigation.pde 2013-01-02 09:11:25 +11:00
Jason Short 19ae5c30eb ACM : Formatting 2012-12-13 20:12:39 -08:00
rmackay9 dadad8677e ArduCopter: added descriptions for most parameters that did not have them
Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
2012-12-10 21:45:57 +09:00
rmackay9 f522ef078e ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude 2012-12-10 17:30:50 +09:00
rmackay9 154e3c33f7 ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 8c2423f618 ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde 2012-12-09 15:24:19 +09:00
rmackay9 9dd978576b ArduCopter: auto yaw changes to allow pilot override of yaw during missions
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw).  We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
rmackay9 a5bb54e36e ArduCopter: RTL clean-up and slightly improved landing sensor
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
rmackay9 072ffec493 ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position 2012-12-06 10:31:41 +09:00
rmackay9 7035529953 ArduCopter: remove unused get_desired_climb_rate function 2012-12-06 10:31:09 +09:00
rmackay9 3cbef57c64 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
Robert Lefebvre 8c18a60766 ACM: Small fix to Yaw Look Ahead 2012-12-04 14:50:14 -05:00
Robert Lefebvre 315a7e8000 ACM: Yaw Look Ahead Changes 2012-12-04 13:26:41 -05:00
Andrew Tridgell bcae83c4f6 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
rmackay9 dcd98eee78 ArduCopter: remove some variables no longer required with introduction of AP_state 2012-11-12 12:41:25 +09:00
Jason Short ea7f639ebf ACM: Added fast descent with Bill P's equation for managed accerlation 2012-11-11 18:23:45 -08:00
Jason Short fb2180ddcd ACM : climb rate option using Bill P's equation 2012-11-09 22:15:16 -08:00
Jason Short d2a5928c06 Ap state updates 2012-11-09 22:15:15 -08:00
rmackay9 2b714ff7b0 ArduCopter: remove unused functions wrap_360f, wrap_180f and wrap_PI 2012-11-08 15:20:08 +09:00
rmackay9 1f801714e8 ArduCopter: incorporate new version of inertial navigation
Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
Jason Short 36040461df ACM : Formatting 2012-10-28 12:12:38 -07:00
Jason Short 5149a8c723 ACM: Added notes, credit to decel code. added speed_min to calc. 2012-10-27 14:13:24 -07:00
rmackay9 4877348c49 ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon.
Increase other constraints from 3200 to 32000.  These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
2012-10-24 22:04:35 +09:00
Jason Short 6a40fcd56a ACM : fix compiler warning on non returning function 2012-10-21 14:37:42 -07:00
Jason Short 8842a7dc1b ACM : Cast to int32_T
Don't think it really needs it, but I feel better with the cast.
2012-10-21 14:36:05 -07:00
Jason Short a0752dc7dc ACM Acceleration management
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
2012-10-21 14:32:39 -07:00
rmackay9 401fb4101c ArduCopter: removed deprecated mag offset routine.
Also removed commented-out block of code from navigation.pde.
2012-10-17 19:47:21 +09:00
rmackay9 b3ff368589 ArduCopter: position lead filters modified to use lag which varies by gps 2012-09-20 15:49:09 +09:00
uncrustify d49df965f3 uncrustify ArduCopter/navigation.pde 2012-08-21 19:19:50 -07:00
Jason Short 77f47a45d0 ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency. 2012-08-18 09:04:22 -07:00
rmackay9 64cfaf74b7 ArduCopter: renamed "_new_alt" parameter to just "new_alt" in force_new_altitude and set_new_altitude functions 2012-08-18 21:46:48 +09:00
Jason Short 1b7e27658b ACM : removed old note 2012-08-17 17:03:40 -07:00
Jason Short bdc1c41e62 ACM: made target bearing the lead filtered location
Had some major nav trouble from crosstrack if I used the laggy position.
2012-08-16 15:38:25 -07:00
rmackay9 36f947acb9 ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
2012-08-16 20:04:46 +09:00
rmackay9 a72bf6ef57 ArduCopter: replaced abs with labs as required in a few places.
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
2012-08-16 17:51:09 +09:00
Jason Short f1af837543 ACM: Switched to filtered loc 2012-08-14 14:11:52 -07:00
Jason Short 3ad08b7ffc ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second. 2012-08-10 10:02:32 -07:00
Jason Short adf5939ba4 ACM: navigation - Alt cleanup, fast corner support 2012-08-09 16:59:44 -07:00
Andrew Tridgell fb26160d3b ACM: change to use get_bearing_cd() instead of get_bearing() 2012-08-08 12:12:30 +10:00
Jason Short 1d085c8cf4 Added minimum speed for RTL 2012-07-20 13:27:35 -07:00
Jason Short f46e8468c4 Arducopter: Adjusted speed of climb to not stall out before hitting peak 2012-07-19 17:53:49 -07:00
Jason Short 6506ebf69f Arducopter: Fix compile issue 2012-07-19 10:09:16 -07:00
Jason Short 2df487ab7b Arducopter: Slower WP deceleration for RTL and WP navigation
Slower descent and slightly faster ascent
2012-07-19 09:50:18 -07:00
Jason Short c995749aaa Arducopter
upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.
2012-07-18 22:57:11 -07:00
Jason Short f73a2004be Arducopter: INS
updated Nav control to use INS
2012-07-18 22:57:10 -07:00
Jason Short 3048d2f9b4 Arducopter: WP_radius
Switching to stored WP_radius in meters, just like Arduplane
2012-07-10 21:53:38 -07:00
Andrew Tridgell be763a6ead ACM: use get_distance_cm() not get_distance()
this fixes a bug introduced in 28f2eb6b9
2012-07-11 07:50:07 +10:00
Jason Short 038116f521 Airspeed patch:
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
2012-07-09 13:13:32 -07:00
Andrew Tridgell 5ed345fe94 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Jason Short c29a0bc3f8 Navigation
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
2012-07-03 17:34:50 -07:00
Jason Short 1a6549fef7 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short eea788b63f navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction. 2012-06-29 21:20:28 -07:00
Jason Short 53d2a46cd6 Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s 2012-06-25 23:06:28 -07:00
Jason Short c42f9ece43 Inertial Control
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.
2012-06-13 22:34:45 -07:00
Jason Short 9732b7d2dc navigation.pde:
removed unneeded WP_Distance check
remove unneeded return for Navigate
removed unneeded rate_D calcs
removed unused functions
2012-05-17 11:05:05 -07:00
Jason Short d1cd04486a removed retro loiter code since Angel has a branch now.
shrank speed filter to avoid latency
removed unused forward estimator code

placed code for switchover to gps.groundspeed at 1.5m/s

added clamp for D term when below .5m/s to eliminate noise

added hybrid I-term based on speed error and position

changes Loiter D term to use position rather than acceleration to avoid noise
2012-05-15 22:14:23 -07:00
Adam M Rivera b2a7227ae7 ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define. 2012-04-23 00:19:18 -05:00
Adam M Rivera 1676e09f12 navigation.pde: Put the new calc_GPS_velocity method in a compiler if that checks the new RETRO_LOITER_MODE config value (saves space and ensures its not being used unless retro loiter mode is enabled) 2012-04-19 10:21:04 -05:00
Adam M Rivera d29f1ef331 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
Adam M Rivera d4a4641ae6 navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error. 2012-04-18 23:06:15 -05:00
rmackay9 fad162989f ArduCopter - navigation.pde - added logging of Loiter PID controllers 2012-04-11 23:52:25 +09:00
rmackay9 66c4f752e3 ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint 2012-03-20 17:11:22 +09:00
rmackay9 22315cd41a ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!) 2012-03-20 16:13:38 +09:00
rmackay9 91b2b48fd8 ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations) 2012-03-18 12:11:12 +09:00
Jason Short 427dacba70 ACM: Smoother Speed calcs 2012-03-16 14:10:19 -07:00
Jason Short 7153b94ade ACM: Disabled D term experiment for Loiter until more testing 2012-03-15 19:20:03 -07:00
Jason Short 468d9c4b4f ACM: Loiter D performance updates 2012-03-13 10:23:31 -07:00
Jason Short 73e2bd6cd8 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 deed802d1a 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 450f89ec5d ACM: Added note about scaling rates 2012-03-10 12:43:28 -08:00
Jason Short eb53200179 ACM: Altered the scaling speed for altitude changes for faster rises. 2012-03-10 12:43:01 -08:00
Jason Short 204f9957b0 ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes. 2012-03-10 12:42:22 -08:00
rmackay9 afc4aceb32 ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde 2012-03-11 01:27:58 +09:00
Jason Short 6e53949c2a removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short 24345d4f43 Loiter updates 2012-02-23 22:03:26 -08:00
Jason Short 81a861c8ac Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short bcd5129f9b added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short 908ca4e915 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short 9a3e862b55 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short efce991bfb upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00