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37 Commits

Author SHA1 Message Date
Jason Short 730476fdfd 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
Jason Short 3afaf2689c Fix for disabled CH7 value triggering WP saving 2012-02-09 22:32:04 -08:00
Jason Short 08a9249e2b cosmetic 2012-01-30 21:13:03 -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 d1fcebb5ca Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short 6784989e83 relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short f97d58c753 added notes, removed redundant save wp_total 2012-01-14 11:20:40 -08:00
Jason Short 6513b12eb2 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short 5d0e3664ad Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short 873daae095 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00
Jason Short 29554b7d73 Will add a landing command to last WP if we are on the ground. 2011-12-10 19:29:42 -08:00
Jason Short f3ff7aa0a8 rework of inflight trim. 2011-12-10 15:05:53 -08:00
Jason Short 69f1841d8e Debugging some motor issues 2011-12-10 10:19:20 -08:00
Jason Short 54c8e1033c Fixing reversed Simple mode switch 2011-12-03 17:54:57 -08:00
Jason Short 9931cacec7 Enabled Ch7 simple mode switching 2011-11-28 22:41:12 -08:00
Jason Short d0af4e7200 CH7 with params 2011-11-26 16:39:29 -08:00
Jason Short c6f9c532af renamed set_command_with_index 2011-11-20 00:22:52 -08:00
Jason Short bcfb3a0ee3 Fix for WP saving with CH7 2011-11-12 21:40:58 -08:00
Jason Short 630f2dbf05 Code formatting 2011-11-09 12:06:55 -08:00
Jason Short c8304114a3 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
Jason Short 07daf34ccc Added a slew rate to the alt change rate. 
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
 2011-10-28 21:29:10 -07:00
Jason Short 76bf784f8c RC_Channel Dead zone 
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
 2011-10-27 11:34:00 -07:00
Jason Short d551494b94 Added ability to dynamically set wp with toggle switch 2011-10-18 17:59:45 -07:00
Jason Short 6a5aefd0ec Added gains to adjust travel of camera. 2011-10-15 16:34:57 -07:00
Jason Short 142707711e Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
Jason Short b0bd9d1c44 Added second PI loop for alt hold. 
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
 2011-10-02 11:36:23 -07:00
Jason Short de61e87128 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
Jason Short c209d6e6dd 2.0.46 -Not flight tested! 
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
 2011-09-27 09:35:05 -07:00
Jason Short b2a2221474 Fixed issue with Simple mode changes. 
Reverted to simpler, safer timer code for throttle hold
 2011-09-25 14:16:35 -07:00
Jason Short f49621bde1 Fixed for sticky RTL CH7 option 2011-09-22 15:25:07 -07:00
Jason Short 0fba3e6742 Added Auto_trim to CH7 option 2011-09-21 16:24:09 -07:00
Jason Short c143e08d2e Logic fix for RTL option 2011-09-20 10:39:39 -07:00
Jason Short 020062498b Edited CH7 options to include Do Nothing and RTL. 2011-09-20 10:37:50 -07:00
Andrew Tridgell d4a068416f fixed bit-logic for simple modes 2011-09-17 14:58:02 +10:00
Jason Short d29cfbcee3 Integration of optical flow 
bug fixes for new Simple mode
increased Baro filter by 2 fields
 2011-09-15 23:33:00 -07:00
Jason Short 1ce2308d11 Removed Simple Mode 
Added Simple option to mode switch positions
removed unused OptFlow code
added reset lat and lon error
removed unused init_auto
Fixed log formatting
Added simple mode bitmask
removed pitchmax
added CLI setup for enabling Simple mode to any switch position
 2011-09-14 13:58:18 -07:00
Andrew Tridgell 1456a2a912 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00