ardupilot

Commit Graph

Author	SHA1	Message	Date
Jason Short	a0978e06e5	Adjustments to the Inertial_nav lowered Rate_I and Rate_P to be less jumpy. raised throttle_p added a clear to rate when entering loiter moved the raw reporting	2012-06-20 08:47:47 -07:00
Jason Short	6dc1e02f76	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

Author

SHA1

Message

Date

Jason Short

a0978e06e5

Adjustments to the Inertial_nav

lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting

2012-06-20 08:47:47 -07:00

Jason Short

6dc1e02f76

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

2 Commits