Jason Short
158c4f8d14
ACM : Formatting
2012-10-28 12:12:38 -07:00
Jason Short
4eeaf4c984
ACM: Added notes, credit to decel code. added speed_min to calc.
2012-10-27 14:13:24 -07:00
rmackay9
e780bfd4c1
ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon.
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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
fb9fe2c9a5
ACM : fix compiler warning on non returning function
2012-10-21 14:37:42 -07:00
Jason Short
97d3134ff0
ACM : Cast to int32_T
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Don't think it really needs it, but I feel better with the cast.
2012-10-21 14:36:05 -07:00
Jason Short
96f0a32cd3
ACM Acceleration management
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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
0299e2b51e
ArduCopter: removed deprecated mag offset routine.
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Also removed commented-out block of code from navigation.pde.
2012-10-17 19:47:21 +09:00
rmackay9
5e6951d3f4
ArduCopter: position lead filters modified to use lag which varies by gps
2012-09-20 15:49:09 +09:00
uncrustify
a3f6cdc0bd
uncrustify ArduCopter/navigation.pde
2012-08-21 19:19:50 -07:00
Jason Short
1e546b54be
ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency.
2012-08-18 09:04:22 -07:00
rmackay9
1a2dd5b74b
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
1a1987b810
ACM : removed old note
2012-08-17 17:03:40 -07:00
Jason Short
7ac4d06d3f
ACM: made target bearing the lead filtered location
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Had some major nav trouble from crosstrack if I used the laggy position.
2012-08-16 15:38:25 -07:00
rmackay9
48b7d26c5d
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
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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
5f2c662fc9
ArduCopter: replaced abs with labs as required in a few places.
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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
2cc27b9804
ACM: Switched to filtered loc
2012-08-14 14:11:52 -07:00
Jason Short
0688eee9bc
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
1980e0464c
ACM: navigation - Alt cleanup, fast corner support
2012-08-09 16:59:44 -07:00
Andrew Tridgell
295a9ce39c
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
Jason Short
6177a1f5de
Added minimum speed for RTL
2012-07-20 13:27:35 -07:00
Jason Short
676f02da7c
Arducopter: Adjusted speed of climb to not stall out before hitting peak
2012-07-19 17:53:49 -07:00
Jason Short
05a2d3ae35
Arducopter: Fix compile issue
2012-07-19 10:09:16 -07:00
Jason Short
ec1d400adf
Arducopter: Slower WP deceleration for RTL and WP navigation
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Slower descent and slightly faster ascent
2012-07-19 09:50:18 -07:00
Jason Short
f29aa0dc25
Arducopter
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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
c5d3620d2b
Arducopter: INS
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updated Nav control to use INS
2012-07-18 22:57:10 -07:00
Jason Short
9de2c00d93
Arducopter: WP_radius
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Switching to stored WP_radius in meters, just like Arduplane
2012-07-10 21:53:38 -07:00
Andrew Tridgell
a643d2aa6b
ACM: use get_distance_cm() not get_distance()
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this fixes a bug introduced in 28f2eb6b9
2012-07-11 07:50:07 +10:00
Jason Short
9e796899e4
Airspeed patch:
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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
35b73b9d01
ACM: removed some Location functions which are now in AP_Math
2012-07-04 13:44:36 +10:00
Jason Short
fcc38889b4
Navigation
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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
c20c04ed24
removed GPS ground speed calc - was causing some funny business during the transition.
2012-07-03 17:16:14 -07:00
Jason Short
d893cde785
navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction.
2012-06-29 21:20:28 -07:00
Jason Short
50b3ef66a7
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
6dc1e02f76
Inertial Control
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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
95076bf08e
navigation.pde:
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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
7278e8d1e5
removed retro loiter code since Angel has a branch now.
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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
2ee8237b5f
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
4430f75344
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
ad13854ab7
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
c7c6dd70b9
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
8f0bc57967
ArduCopter - navigation.pde - added logging of Loiter PID controllers
2012-04-11 23:52:25 +09:00
rmackay9
7dc18b53ad
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
ce6b1ccc75
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
485cebf85c
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
f6638d00d6
ACM: Smoother Speed calcs
2012-03-16 14:10:19 -07:00
Jason Short
0c6a87db3f
ACM: Disabled D term experiment for Loiter until more testing
2012-03-15 19:20:03 -07:00
Jason Short
0edc1020ac
ACM: Loiter D performance updates
2012-03-13 10:23:31 -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
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
68d210660e
ACM: Added note about scaling rates
2012-03-10 12:43:28 -08:00
