rmackay9
14cbe37d3e
ArduCopter: remove unused get_stabilize_rate_yaw
2012-11-07 23:28:25 +09:00
rmackay9
1f801714e8
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
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
Jason Short
8a8ed7a711
ACM : Formatting
2012-10-28 12:12:38 -07:00
rmackay9
4877348c49
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
5e8043fd9c
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
a0752dc7dc
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
583f2e49a3
ArduCopter: integrated Leonard Hall's improved ACRO mode
2012-10-18 23:24:34 +09:00
rmackay9
b944d9df26
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
5fbe53a84d
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
d7b7e1cefa
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
997fe85880
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
2848bb8ee6
ArduCopter: freeze I terms if motor limits breached
2012-10-11 17:20:00 +09:00
rmackay9
7cf60e61b4
ArduCopter: bug fix in earth-frame to body-frame conversion for roll
2012-10-07 19:14:40 +09:00
rmackay9
05fd04134a
ArduCopter: fix heli build
2012-10-06 13:46:19 +09:00
rmackay9
e375a27058
ArduCopter: prioritise rate controllers, rate controller targets converted to body frame
2012-10-03 14:10:31 +09:00
rmackay9
361ff0c08f
ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.
2012-09-18 23:19:23 +09:00
uncrustify
f783ace0de
uncrustify ArduCopter/Attitude.pde
2012-08-21 19:19:50 -07:00
Jason Short
0a25a189eb
ACM | Attitude.pde - removed next_wp.alt reset.
2012-08-18 12:25:48 -07:00
Jason Short
bc631b656e
ACM: Added a more sane limit to Angle boost
2012-08-18 09:04:21 -07:00
rmackay9
87d5b5944d
ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings
2012-08-18 16:03:49 +09:00
rmackay9
92688a793a
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
9cee1b2fa0
ACM : Upped Yaw Limit to 2200
2012-08-16 15:38:46 -07:00
rmackay9
36f947acb9
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
a72bf6ef57
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
3ad08b7ffc
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
132ac7d412
ACM : attitude.pde - removed unused function
2012-08-09 17:04:12 -07:00
Jason Short
5d756decd2
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
8c47b0c087
ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling.
2012-07-30 15:43:05 -07:00
Jason Short
613849a8df
Arducopter: Force nav_yaw to match auto_yaw when starting a mission
2012-07-19 22:59:03 -07:00
Jason Short
610d1d1795
Arducopter: deprecated the get_nav_yaw_offset function.
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Small Toy mode updates
2012-07-19 17:41:52 -07:00
Jason Short
aa645afe2b
Arducopter: Altitude change nav
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Split altitude hold into two controls to parallel navigation.
2012-07-18 22:57:10 -07:00
Jason Short
584e7dcda4
Arducopter: Removed Yaw Limit for Quads
2012-07-14 14:06:34 -07:00
Jason Short
44b16b7b61
Arducopter: Temp reversion to old Yaw controller.
2012-07-14 12:26:13 -07:00
Robert Lefebvre
59e133235f
Implementing Yaw Fix. Tried to blend with Jason's changes.
2012-07-14 00:24:22 -04:00
Jason Short
6f9e2bf3a8
Arducopter: Toy mode update
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Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
2012-07-11 17:46:06 -07:00
Jason Short
1feaaa4655
Arducopter: Toy mode refinements
2012-07-10 21:53:38 -07:00
Jason Short
226bba48a6
Toy Mode Yaw Rate fix
2012-07-09 13:13:32 -07:00
Jason Short
c62706ad06
Toy Mode: Yaw performance update.
2012-07-03 17:14:54 -07:00
Jason Short
16b25a26c2
Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks.
2012-07-02 17:52:38 -07:00
Jason Short
e0b3309500
Yaw mode:
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Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
2012-07-01 13:40:12 -07:00
Jason Short
3ce867508b
Attitude.pde: Toy mode logic
2012-06-29 21:20:27 -07:00
Jason Short
eeab4c5363
Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco.
2012-06-26 10:39:42 -07:00
Jason Short
812bf7d874
Attitude.pde - Added small boost to alt hold for takeoff.
2012-06-25 23:12:19 -07:00
Robert Lefebvre
1064dcbd34
Open up constraint on Rate Yaw Output for all copters.
2012-06-22 10:06:01 -04:00
Jason Short
27e0aee03f
Small fix to angle boost - increases by about 20% to deal with inefficiencies of non-downward thrust
2012-06-20 08:47:47 -07:00
Jason Short
c42f9ece43
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
rmackay9
65050775e1
ArduCopter: made Robert's new yaw method optional (off by default).
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Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
2012-06-13 21:50:16 +09:00
Robert Lefebvre
c5916a8b4d
Opening up the Yaw Rate constraint for Trad Heli.
2012-06-07 22:40:25 -04:00
Robert Lefebvre
e2496181ff
Yaw Fix
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Modified Nav_Yaw controller to better track intended heading changes.
2012-06-07 17:15:33 -04:00
