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334 Commits

Author SHA1 Message Date
Jason Short
79e30b5f21 removed debugging code 2011-11-08 14:41:46 -08:00
Jason Short
d375de8424 SIM test 2011-11-08 14:11:02 -08:00
Andrew Tridgell
28634f51b7 ArduCopter: use specific sized data types in a lot of places 
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
 2011-11-08 11:05:36 +11:00
Jason Short
6bf0c32173 Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Jason Short
0446cae242 Alt hold fix 2011-11-07 12:00:37 -08:00
Jason Short
d1431f1070 default top_bottom ratio 1.0 2011-11-06 22:45:07 -08:00
Jason Short
c265555b69 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-04 21:42:10 -07:00
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
unknown
12f5f3f96e TradHeli - fix to allow tail servo to be reversed. Also increase max movement of tail servo to 45 degrees. 2011-11-05 12:31:30 +08:00
Jason Short
27fc6eea10 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Jason Short
c402311077 removed accel.z references 2011-11-01 09:28:23 -07:00
Jason Short
48db60a4eb Tweaks to alt hold 2011-11-01 09:25:23 -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
c6c7966205 Attitude 
Made the Acro mode more NG like. Should be much more nimble!
Tweaked the Accel hold with sim tests. not flight tested or enabled by default.
added option to set scalar in angle boost
 2011-10-27 12:31:46 -07:00
Michael Oborne
f9883bf382 fix make issue 2011-10-04 09:34:47 +08:00
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
f89da12387 Minimized the accel_filtered vector to be faster and more accurate. 
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
 2011-09-30 18:40:29 -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
bb8f97ec0b Better throttle boost value 2011-09-24 21:55:54 -07:00
Jason Short
a8befb189c Fixed throttle_boost 2011-09-23 15:34:18 -07:00
Jason Short
2ae163ef75 Trying to make Alt hold more aggressively change altitudes. 2011-09-23 13:58:39 -07:00
Jason Short
25b0a3c43b Added a default, but low throttle cruise value 
Added a clear integrator for Rate I to prevent tip ups at launch.
 2011-09-22 23:10:55 -07:00
Jason Short
991279851a Refined Throttle Timer reset 
Reduced Loiter I gain to decrease overshoot.
 2011-09-22 17:38:39 -07:00
Jason Short
078f64e276 Fixed Throttle integrator bug. Time was not being reset causing a big drop in throttle control. 2011-09-22 12:28:46 -07:00
Jason Short
a012e7981a removed debug statements 2011-09-21 22:34:27 -07:00
Jason Short
c91ad14e18 Fixed Timer overflow for throttle PI loop. 
Moved look at home to update_nav where it belongs
 2011-09-21 22:31:12 -07:00
Jason Short
b2b28cc90c Converted Millis to Micros 
added navigation check to return a failed navigation
 2011-09-19 22:24:57 -07:00
Jason Short
bf94ba551e changed PI Library to take Float for DeltaTime 
Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!
 2011-09-19 14:02:42 -07:00
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
Jason Short
02bfd43390 Fixes Alt hold mistake 
Moves tuning into runtime definable param
Added more IMax to throttle

Signed-off-by: Jason Short <jasonshort@gmail.com>
 2011-09-10 15:16:51 -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