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165 Commits

Author SHA1 Message Date
Robert Lefebvre 1d589c0b7d ACM: TradHeli 
Fixes for Attitude rate controllers.
 2012-12-04 14:42:04 -05:00
Robert Lefebvre 07d7d90882 ACM: TradHeli 
Bringing in Low Pass Filter for Rate Controllers
 2012-11-26 21:51:23 -05:00
Robert Lefebvre 3f0e8dd358 ACM: TradHeli 
Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
 2012-11-26 21:21:12 -05:00
Robert Lefebvre e8d619acad ACM: Begin creation of TradHeli rate control. 
May affect Multi-Rotors.
 2012-11-26 21:02:41 -05:00
Robert Lefebvre 95eeda7cf7 ACM: TradHeli 
Removing Angle Boost function.
Does not make sense for helis due to aerodynamics.  Can cause more problems than it solves.
 2012-11-26 18:58:21 -05:00
Robert Lefebvre 6ffc115236 Changes to get_throttle_rate() 
Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
 2012-11-21 17:11:38 -05:00
rmackay9 07a7a1acd8 ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
Jason Short 5f57678a9c ACM Nav_throttle- removed sign inversion 2012-11-16 17:38:57 -08:00
rmackay9 ac5dcc8d49 ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables 2012-11-12 12:35:58 +09:00
Jason Short 69db678252 ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller. 2012-11-11 18:22:54 -08:00
Jason Short 5ad38a32bf ACM : Attitude : added nav param reset 2012-11-09 22:15:15 -08:00
Jason Short 3c78c4a7a3 ACM : Attitude.pde added ap bitfield for failsafe bit 2012-11-09 22:15:15 -08:00
Jason Short a42c6bb609 ACM : Attitude.pde removed stabilize D 2012-11-09 22:15:15 -08:00
rmackay9 14cbe37d3e ArduCopter: remove unused get_stabilize_rate_yaw 2012-11-07 23:28:25 +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
rmackay9 a1b4ec6d0e ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Jason Short 8a8ed7a711 ACM : Formatting 2012-10-28 12:12:38 -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
rmackay9 5e8043fd9c ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters 
Changes on behalf of Leonard Hall
 2012-10-23 21:30:50 +09:00
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 583f2e49a3 ArduCopter: integrated Leonard Hall's improved ACRO mode 2012-10-18 23:24:34 +09:00
rmackay9 b944d9df26 ArduCopter: bug fix in earthframe->body frame translation. 
Provided by Leonard Hall.

Also removed large unnecessary comments.
 2012-10-17 19:15:25 +09:00
rmackay9 5fbe53a84d ArduCopter: bug fix for get_yaw_rate_stabilized_ef 
Provided by Leonard Hall
 2012-10-17 10:18:24 +09:00
LeonardTHall d7b7e1cefa New Yaw controller using rate feed forward and stabilize. 
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
 2012-10-15 11:37:49 +09:00
rmackay9 997fe85880 ArduCopter: fixed acro mode 
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
 2012-10-14 17:47:46 +09:00
rmackay9 2848bb8ee6 ArduCopter: freeze I terms if motor limits breached 2012-10-11 17:20:00 +09:00
rmackay9 7cf60e61b4 ArduCopter: bug fix in earth-frame to body-frame conversion for roll 2012-10-07 19:14:40 +09:00
rmackay9 05fd04134a ArduCopter: fix heli build 2012-10-06 13:46:19 +09:00
rmackay9 e375a27058 ArduCopter: prioritise rate controllers, rate controller targets converted to body frame 2012-10-03 14:10:31 +09:00
rmackay9 361ff0c08f ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in. 2012-09-18 23:19:23 +09:00
uncrustify f783ace0de uncrustify ArduCopter/Attitude.pde 2012-08-21 19:19:50 -07:00
Jason Short 0a25a189eb ACM | Attitude.pde - removed next_wp.alt reset. 2012-08-18 12:25:48 -07:00
Jason Short bc631b656e ACM: Added a more sane limit to Angle boost 2012-08-18 09:04:21 -07:00
rmackay9 87d5b5944d ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings 2012-08-18 16:03:49 +09:00
rmackay9 92688a793a ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch. 2012-08-18 11:48:12 +09:00
Jason Short 9cee1b2fa0 ACM : Upped Yaw Limit to 2200 2012-08-16 15:38:46 -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 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 132ac7d412 ACM : attitude.pde - removed unused function 2012-08-09 17:04:12 -07:00
Jason Short 5d756decd2 ACM : Attitude.pde 
yaw limit, moved toy code out of att to it's own pre
 2012-08-09 16:59:43 -07:00
Jason Short 8c47b0c087 ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling. 2012-07-30 15:43:05 -07:00
Jason Short 613849a8df Arducopter: Force nav_yaw to match auto_yaw when starting a mission 2012-07-19 22:59:03 -07:00
Jason Short 610d1d1795 Arducopter: deprecated the get_nav_yaw_offset function. 
Small Toy mode updates
 2012-07-19 17:41:52 -07:00
Jason Short aa645afe2b Arducopter: Altitude change nav 
Split altitude hold into two controls to parallel navigation.
 2012-07-18 22:57:10 -07:00
Jason Short 584e7dcda4 Arducopter: Removed Yaw Limit for Quads 2012-07-14 14:06:34 -07:00
Jason Short 44b16b7b61 Arducopter: Temp reversion to old Yaw controller. 2012-07-14 12:26:13 -07:00
Robert Lefebvre 59e133235f Implementing Yaw Fix. Tried to blend with Jason's changes. 2012-07-14 00:24:22 -04:00
Jason Short 6f9e2bf3a8 Arducopter: Toy mode update 
Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
 2012-07-11 17:46:06 -07:00
Jason Short 1feaaa4655 Arducopter: Toy mode refinements 2012-07-10 21:53:38 -07:00