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976 Commits

Author SHA1 Message Date
Jason Short 56d2b9ef05 ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter. 2012-03-11 23:21:49 -07:00
Jason Short 5c3cb1c5d0 ACM: removed Filtering code for motors in Quad for testing 2012-03-11 23:21:49 -07:00
Jason Short d9ccd4f6bd ACM: made same as Loiter I 2012-03-11 23:21:49 -07:00
Jason Short e279106b44 ACM: Tuning based on flights today 2012-03-11 23:21:49 -07:00
Jason Short 38a60df189 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short 2ac29effe9 ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time. 2012-03-11 23:21:49 -07:00
rmackay9 7cf635889d ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees 2012-03-12 12:09:04 +09:00
Andrew Tridgell 1e47ab26f2 AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
 2012-03-11 21:46:41 +11:00
Adam M Rivera 2e1cacd67f AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera 566bbed7ad AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Jason Short 8b887b77bd ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short 7b2b5e858e ACM: Added Loiter_D for tuning as #23 2012-03-10 14:17:16 -08:00
Jason Short 149a484984 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short a9e7194e3d ACM: disabled auto_calibration until more testing can be done 2012-03-10 12:44:49 -08:00
Jason Short 3c1f4b1ad7 ACM: changed alt hold initialization of altitude to be immediate 2012-03-10 12:44:18 -08:00
Jason Short 68d210660e ACM: Added note about scaling rates 2012-03-10 12:43:28 -08:00
Jason Short 4b75f74d2c ACM: Altered the scaling speed for altitude changes for faster rises. 2012-03-10 12:43:01 -08:00
Jason Short 874f5aaef6 ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes. 2012-03-10 12:42:22 -08:00
Jason Short 9f47a79a3a ACM: decreased rate P for alt hold to remove bumpy repsonse 2012-03-10 12:41:06 -08:00
Jason Short 11e5f7d40f ACM: Increased the altitude error P for smoother alt hold response 2012-03-10 12:40:44 -08:00
Jason Short 20a3cfdcde decreased the loiter rate P for overshoot 2012-03-10 12:40:07 -08:00
Jason Short bb56cea1ac ACM: increased the available rate error constrain, it was too low 2012-03-10 12:39:16 -08:00
Jason Short 285f2dd791 ACM: removed the experiment for rate error. 2012-03-10 12:38:29 -08:00
Jason Short 0ccfdc664d added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short 037221cd02 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
rmackay9 9986776e0d ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde 2012-03-11 01:27:58 +09:00
rmackay9 a72b20f42d ArduCopter - fix to dataflash logging of Mag heading 2012-03-11 01:27:29 +09:00
Andrew Tridgell f39d8dbde8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00
Andrew Tridgell 4f739ea28f make 'ENABLE' and 'ENABLED' mean the same things 
users get this wrong far too often!
 2012-03-10 10:34:33 +11:00
Andrew Tridgell a874f920d5 ACM: removed the ADC filtering code 2012-03-10 10:34:32 +11:00
Andrew Tridgell e2c525434a ACM: removed quaternion special cases in CLI code 2012-03-10 10:34:31 +11:00
Andrew Tridgell e870e7bd82 ACM: removed the DCM tuning overrides 
not needed now that DCM scales with deltat
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 13bddf05b0 ACM: removed the special case for quaternions in GCS code 2012-03-10 10:34:31 +11:00
Andrew Tridgell 1547977e1b ACM: no need to fetch offsets at startup 
AP_Param handles this
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 34d25ab298 ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell e780dd2b44 ACM: change DCM loop to 100Hz 
On my APM2 quad this seems to give better results
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 756a91a3ee ACM: removed incorrect mode definition 2012-03-10 10:34:30 +11:00
Andrew Tridgell 04826065ef Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell 1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell bc81d8e6ac ACM: only call the fast loop if the imu has new data 
this prevents us spinning waiting for the sensors to gather some data
 2012-03-10 10:34:29 +11:00
Andrew Tridgell a54d6f744e HWSTATUS: if we don't know the voltage, report it as zero 
this will tell us if board_voltage() is really working
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 9393b21a8d ACM: adjust yaw drift correction constants 
this should give the compass a bit more authority
 2012-03-10 10:34:28 +11:00
Andrew Tridgell b07a3eb966 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +11:00
Jason Short 13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short df812dd78a temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest. 2012-03-06 22:23:06 -08:00
Jason Short 43b3e1ccd1 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 5117ddff26 ACM: Updated config values 2012-03-06 22:12:24 -08:00
rmackay9 8717d7dd7c ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down 2012-03-06 23:20:30 +09:00
rmackay9 8af43c4a19 ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down. 2012-03-06 22:19:19 +09:00
rmackay9 29aea35eae ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino 2012-03-06 22:15:02 +09:00