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3,796 Commits 71 Branches 509 Tags 716 MiB
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88 Commits

Author SHA1 Message Date
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
Jason Short c35ad2d493 Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune. 2012-02-09 22:22:00 -08:00
Jason Short 8aaf88e13b tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short 23709bafef pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short ae65a0f03f removed filter. Don't need it. 2012-01-29 17:10:52 -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
Jason Short 25529dec69 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
Jason Short 74daadb252 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short 6476ba22f2 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Jason Short fffa1af3b3 Fixed speed governor which was letting speed get to 0. 
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
 2012-01-21 22:12:57 -08:00
Jason Short 8cb645f3c2 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short 6784989e83 relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short 6591089110 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short 569ff5046f Added Ryan's GPS lag filter 
Removed unused code
refined alt change
 2012-01-12 22:28:58 -08:00
Jason Short 99ea69ef7b New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short 3e8ff39d4b Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short 63be9c5f7b Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short c9f60f239d Added Note 2012-01-06 10:20:59 -08:00
Andrew Tridgell 2913948520 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Jason Short e36d2f6e96 Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short 26d0bf93ff Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short c6586810cf New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short 95a70cf32e lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short 53c09774e5 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short fa49aa5eec Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Randy Mackay bbe6dea980 OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Jason Short 1afa25d9ef Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Jason Short 5518882c69 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short c6657f4a93 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Jason Short edc3a731d4 Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short d83ad1acd4 Upped the max pitch to deal with wind - based on T3 testing 2011-12-12 10:10:33 -08:00
Jason Short c1aa015ef1 added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short f89fed02c3 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short 3ff7b047d5 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00