25 Commits

Author	SHA1	Message	Date
Jonathan Challinger	ecefe78417	Copter: interpret input in stabilize as a tilt vector	2015-03-11 22:24:42 +09:00
Randy Mackay	b475a2fe10	Copter: AutoTune formatting fixes ... no functional change	2015-03-11 17:28:46 +09:00
Leonard Hall	36c91970f1	Copter: Autotune algorithm update	2015-03-09 18:02:55 +09:00
Leonard Hall	9bfb0e1f40	Copter: Autotune comment changes and formatting	2015-03-09 18:02:52 +09:00
Leonard Hall	1c57c6a266	Copter: Autotune update yaw filt and rate P max	2015-03-09 18:02:50 +09:00
Leonard Hall	1ebf2c40f5	Copter: Autotune rewrite ... Includes the following: Increase Autotune Limits Low Rate_P_Max prevents correct Rate_D prediction. make adjustment proportional increase the maximum value of Rate_P adjustment for zero overshoot Speed up autotune Reduce D bounce back requirement adapt matthewlloyd's switching Includes many enhancements to the basic code but doesn't bring in his speed up ideas Reduce Stab P down Add Calibration Repeat side to increase speed Update Autotune PI ratios fixup comments autotune incorporate aggressiveness parameter sets max accel for roll, pitch, yaw Update accel calc and set Yaw D to zero Calculate Accel correctly on SP Limit Send saved gains msg to GCS updates PID filter increase accel backoff save max accel if rate feedfwd enabled keep stabilizing	2015-03-06 14:02:04 +09:00
Andrew Tridgell	307b9e807f	Copter: reduced build warnings ... removed some unused code, and mark some functions with UNUSED_FUNCTION	2015-02-18 11:13:48 +11:00
Jonathan Challinger	f045c75bfe	Copter: play various tones	2014-12-15 14:09:12 +09:00
Randy Mackay	07975ed564	Copter: minor reformat of control_autotune	2014-11-05 21:08:39 +09:00
Brad Bosch	74fedc0897	Copter: allow starting autotune from flightmode switch ... ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.	2014-11-05 21:08:36 +09:00
lthall	2b4f5fa79d	Copter: increase autotune limits ... Rate D max to 0.020 (was 0.015) Rate P max to 0.35 (was 0.25) Stab P max to 20 (was 15)	2014-09-22 21:33:35 +09:00
Leonard Hall	85213dccbf	Copter: Autotune Fix	2014-08-14 11:47:40 +09:00
Randy Mackay	52a3dc2bde	Copter: reset target alt to current alt when landed	2014-08-04 16:56:03 +09:00
lthall	9202149fb1	Copter: integrate pre-takeoff throttle feedback ... This feature slightly revs the motors in response to the pilot's input before takeoff AltHold, Loiter, AutoTune, PosHold and Sport flight modes pair-programmed with Randy Mackay	2014-07-18 11:41:50 +09:00
Randy Mackay	08801eebf2	Copter: integrate AttControl's set_yaw_target_to_current_heading	2014-06-10 20:02:51 +09:00
Randy Mackay	77d5d682c1	Copter: integrate init_targets rename to relax_bf_rate_controller ... Also remove unnecessary init_targets from flight mode init functions.	2014-06-10 20:02:29 +09:00
Randy Mackay	a3036fc443	Copter: init pos_control z-axis after setting speed and accel	2014-04-30 21:46:17 +09:00
Randy Mackay	7d7a2aced7	Copter: init vert speed and accel for each flight mode ... This resolves issue #1021 in which LAND mode could descend at the PILOT_VELZ rate instead of the WPNAV_SPEED_DN Pilot defined acceleration is used for AltHold, AutoTune , Circle, Hybrid, Loiter, OF_Loiter and Sport flight modes Waypoint Nav (ie. AutoPilot) acceleration is used for Auto, Land, RTL	2014-04-30 21:46:10 +09:00
Randy Mackay	e89600afe3	Copter: integrate smoothing gain into flight modes	2014-03-04 22:23:52 +09:00
Randy Mackay	b259510095	Copter: init roll/pitch input filters	2014-02-16 13:35:30 +11:00
Randy Mackay	aab9b30bf6	Copter: replace APM_PI with AC_P ... Saves about 90bytes of RAM	2014-02-15 06:09:08 +11:00
Randy Mackay	3ccd1ad170	Copter: integrate AttControl method name changes	2014-02-15 06:09:08 +11:00
Randy Mackay	2c1ec9d0c0	Copter: remove control_roll, pitch, yaw from control files	2014-02-15 05:27:47 +11:00
Randy Mackay	1cd678f684	Copter: compiler warning for control_autotune	2014-02-15 05:27:45 +11:00
Randy Mackay	823485f763	Copter: add control_autotune.pde	2014-02-15 05:27:44 +11:00