b10975baaf
ACM : climb rate option using Bill P's equation
2012-11-09 22:15:16 -08:00
3e905ec750
Ap state updates
2012-11-09 22:15:15 -08:00
fabc149f45
ArduCopter: remove unused functions wrap_360f, wrap_180f and wrap_PI
2012-11-08 15:20:08 +09:00
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
158c4f8d14
ACM : Formatting
2012-10-28 12:12:38 -07:00
4eeaf4c984
ACM: Added notes, credit to decel code. added speed_min to calc.
2012-10-27 14:13:24 -07:00
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
fb9fe2c9a5
ACM : fix compiler warning on non returning function
2012-10-21 14:37:42 -07:00
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
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
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
5e6951d3f4
ArduCopter: position lead filters modified to use lag which varies by gps
2012-09-20 15:49:09 +09:00
a3f6cdc0bd
uncrustify ArduCopter/navigation.pde
2012-08-21 19:19:50 -07:00
1e546b54be
ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency.
2012-08-18 09:04:22 -07:00
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
1a1987b810
ACM : removed old note
2012-08-17 17:03:40 -07:00
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
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
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
2cc27b9804
ACM: Switched to filtered loc
2012-08-14 14:11:52 -07:00
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
1980e0464c
ACM: navigation - Alt cleanup, fast corner support
2012-08-09 16:59:44 -07:00
295a9ce39c
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
6177a1f5de
Added minimum speed for RTL
2012-07-20 13:27:35 -07:00
676f02da7c
Arducopter: Adjusted speed of climb to not stall out before hitting peak
2012-07-19 17:53:49 -07:00
05a2d3ae35
Arducopter: Fix compile issue
2012-07-19 10:09:16 -07:00
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
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
c5d3620d2b
Arducopter: INS
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updated Nav control to use INS
2012-07-18 22:57:10 -07:00
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
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
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
35b73b9d01
ACM: removed some Location functions which are now in AP_Math
2012-07-04 13:44:36 +10:00
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
c20c04ed24
removed GPS ground speed calc - was causing some funny business during the transition.
2012-07-03 17:16:14 -07:00
d893cde785
navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction.
2012-06-29 21:20:28 -07:00
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
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
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
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
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
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
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
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
8f0bc57967
ArduCopter - navigation.pde - added logging of Loiter PID controllers
2012-04-11 23:52:25 +09:00
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
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
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
f6638d00d6
ACM: Smoother Speed calcs
2012-03-16 14:10:19 -07:00
0c6a87db3f
ACM: Disabled D term experiment for Loiter until more testing
2012-03-15 19:20:03 -07:00
Jason Short
rmackay9
uncrustify
Andrew Tridgell
Adam M Rivera