rmackay9
eb3ad15843
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
rmackay9
8a0faebb21
ArduCopter: pass linear altitude error to throttle rate controllers.
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Previously the requested rate used the square root of the altitude error.
Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
2012-12-06 10:31:31 +09:00
rmackay9
dc0b35da30
ArduCopter: restored landing detector to landing throttle mode.
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Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
2012-12-06 10:31:20 +09:00
rmackay9
e629fe2eb0
ArduCopter: add set_throttle_mode to better control initialisation of variables
2012-12-06 10:31:04 +09:00
rmackay9
1285198b71
ArduCopter: added back in angle boost and recombined for heli and multicopter
2012-12-06 10:30:55 +09:00
rmackay9
c1ce0ae752
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
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Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
Robert Lefebvre
5863c737a1
ACM: TradHeli
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Fixes for Attitude rate controllers.
2012-12-04 14:42:04 -05:00
Robert Lefebvre
4463150122
ACM: TradHeli
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Bringing in Low Pass Filter for Rate Controllers
2012-11-26 21:51:23 -05:00
Robert Lefebvre
332b728ebf
ACM: TradHeli
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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
a4ae24de6c
ACM: Begin creation of TradHeli rate control.
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May affect Multi-Rotors.
2012-11-26 21:02:41 -05:00
Robert Lefebvre
311d190494
ACM: TradHeli
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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
211f964553
Changes to get_throttle_rate()
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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
38fdacd93b
ArduCopter: replaced digitalRead and digitalWrite with faster calls
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improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
Jason Short
ab215838a6
ACM Nav_throttle- removed sign inversion
2012-11-16 17:38:57 -08:00
rmackay9
702dd1fb2e
ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables
2012-11-12 12:35:58 +09:00
Jason Short
27a41c294b
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
d527d19635
ACM : Attitude : added nav param reset
2012-11-09 22:15:15 -08:00
Jason Short
9b295ca7cf
ACM : Attitude.pde added ap bitfield for failsafe bit
2012-11-09 22:15:15 -08:00
Jason Short
9b16fdf182
ACM : Attitude.pde removed stabilize D
2012-11-09 22:15:15 -08:00
rmackay9
499bdc1385
ArduCopter: remove unused get_stabilize_rate_yaw
2012-11-07 23:28:25 +09:00
rmackay9
af40201b14
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
rmackay9
0868917ff4
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
Jason Short
210148a432
ACM : Formatting
2012-10-28 12:12:38 -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
rmackay9
ab86eae860
ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters
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Changes on behalf of Leonard Hall
2012-10-23 21:30:50 +09:00
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
3b631f1edd
ArduCopter: integrated Leonard Hall's improved ACRO mode
2012-10-18 23:24:34 +09:00
rmackay9
25b3acab8c
ArduCopter: bug fix in earthframe->body frame translation.
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Provided by Leonard Hall.
Also removed large unnecessary comments.
2012-10-17 19:15:25 +09:00
rmackay9
7787bb4fd5
ArduCopter: bug fix for get_yaw_rate_stabilized_ef
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Provided by Leonard Hall
2012-10-17 10:18:24 +09:00
LeonardTHall
4203655646
New Yaw controller using rate feed forward and stabilize.
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Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
2012-10-15 11:37:49 +09:00
rmackay9
254fff6acd
ArduCopter: fixed acro mode
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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
be25e75d75
ArduCopter: freeze I terms if motor limits breached
2012-10-11 17:20:00 +09:00
rmackay9
f88ca4b7e4
ArduCopter: bug fix in earth-frame to body-frame conversion for roll
2012-10-07 19:14:40 +09:00
rmackay9
ae447ad6b6
ArduCopter: fix heli build
2012-10-06 13:46:19 +09:00
rmackay9
a35543bf96
ArduCopter: prioritise rate controllers, rate controller targets converted to body frame
2012-10-03 14:10:31 +09:00
rmackay9
69c29f5196
ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.
2012-09-18 23:19:23 +09:00
uncrustify
f8b7fdf7bb
uncrustify ArduCopter/Attitude.pde
2012-08-21 19:19:50 -07:00
Jason Short
5684934989
ACM | Attitude.pde - removed next_wp.alt reset.
2012-08-18 12:25:48 -07:00
Jason Short
5bbde052ba
ACM: Added a more sane limit to Angle boost
2012-08-18 09:04:21 -07:00
rmackay9
310ce05dc2
ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings
2012-08-18 16:03:49 +09:00
rmackay9
2d0bea7f9c
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
bd17c23e7e
ACM : Upped Yaw Limit to 2200
2012-08-16 15:38:46 -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
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
fb7e5724c7
ACM : attitude.pde - removed unused function
2012-08-09 17:04:12 -07:00
Jason Short
c3f01bebfc
ACM : Attitude.pde
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yaw limit, moved toy code out of att to it's own pre
2012-08-09 16:59:43 -07:00
Jason Short
4829e937ea
ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling.
2012-07-30 15:43:05 -07:00
Jason Short
6067170f48
Arducopter: Force nav_yaw to match auto_yaw when starting a mission
2012-07-19 22:59:03 -07:00
Jason Short
219fed1441
Arducopter: deprecated the get_nav_yaw_offset function.
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Small Toy mode updates
2012-07-19 17:41:52 -07:00
