Jason Short
450f89ec5d
ACM: Added note about scaling rates
2012-03-10 12:43:28 -08:00
Jason Short
eb53200179
ACM: Altered the scaling speed for altitude changes for faster rises.
2012-03-10 12:43:01 -08:00
Jason Short
204f9957b0
ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes.
2012-03-10 12:42:22 -08:00
rmackay9
afc4aceb32
ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde
2012-03-11 01:27:58 +09:00
Jason Short
6e53949c2a
removed Constraint that caused JLN's horizontal drift.
2012-02-26 11:33:37 -08:00
Jason Short
24345d4f43
Loiter updates
2012-02-23 22:03:26 -08:00
Jason Short
81a861c8ac
Added slow wp option in calc_desired_speed
2012-02-19 13:13:21 -08:00
Jason Short
bcd5129f9b
added workaround for resetting alt.
2012-02-19 12:40:08 -08:00
Jason Short
908ca4e915
scaled X velocity
2012-02-16 22:09:22 -08:00
Jason Short
9a3e862b55
added option in code for Loiter specific gains
2012-02-15 09:10:15 -08:00
Jason Short
efce991bfb
upped max target speed to center of loiter
2012-02-10 22:46:27 -08:00
Jason Short
c35ad2d493
Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune.
2012-02-09 22:22:00 -08:00
Jason Short
8aaf88e13b
tweaks to Loiter
2012-01-30 21:13:03 -08:00
Jason Short
23709bafef
pid_nav_lat incorrectly labeled
2012-01-29 23:02:00 -08:00
Jason Short
ae65a0f03f
removed filter. Don't need it.
2012-01-29 17:10:52 -08:00
Jason Short
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
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Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Jason Short
25529dec69
added loiter_d to allow users to configure alternate Loiter alg
2012-01-22 14:19:27 -08:00
Jason Short
74daadb252
Revert "test to switch loiter controls"
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This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
2012-01-22 14:19:27 -08:00
Jason Short
6476ba22f2
test to switch loiter controls
2012-01-22 12:28:34 -08:00
Jason Short
fffa1af3b3
Fixed speed governor which was letting speed get to 0.
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added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
2012-01-21 22:12:57 -08:00
Jason Short
8cb645f3c2
increasing the velocity near WP
2012-01-21 11:59:49 -08:00
Jason Short
6784989e83
relocated reset_I term functions to central location
2012-01-20 22:52:30 -08:00
Jason Short
6591089110
Disabled Ryans filter until we get real-world testing in.
2012-01-13 12:48:02 -08:00
Jason Short
569ff5046f
Added Ryan's GPS lag filter
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Removed unused code
refined alt change
2012-01-12 22:28:58 -08:00
Jason Short
99ea69ef7b
New Loiter control
2012-01-11 22:41:51 -08:00
Jason Short
3e8ff39d4b
Climb rate control
2012-01-10 23:43:44 -08:00
Jason Short
63be9c5f7b
Moved wind comp into a define
2012-01-07 22:27:26 -08:00
Jason Short
c9f60f239d
Added Note
2012-01-06 10:20:59 -08:00
Andrew Tridgell
2913948520
ACM: fixed a warning
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comment out some unused debug code
2012-01-05 10:14:53 +11:00
Jason Short
e36d2f6e96
Added Wind compensation for Stabilize
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moved speed calc to it's own function
decreased acceleration from WPs
2012-01-04 09:28:37 -08:00
Jason Short
26d0bf93ff
Added more constraints around velocity
2011-12-31 10:59:59 -08:00
Jason Short
c6586810cf
New Style WP navigation for high wind
2011-12-30 23:48:05 -08:00
Jason Short
95a70cf32e
lowered to nav_lat and nav_lon int16
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added a version that didn't have I term added to get a better indication of velocity estimation
2011-12-29 23:02:03 -08:00
Jason Short
53c09774e5
removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position.
2011-12-29 23:02:03 -08:00
Jason Short
fa49aa5eec
Fixes for Smooth Loiter
2011-12-29 23:02:02 -08:00
Randy Mackay
bbe6dea980
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
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Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
2011-12-30 12:06:31 +09:00
Jason Short
1afa25d9ef
Tweaks to fix Loiter
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Changed save location to int32
added some filtering and smoothing
2011-12-25 15:44:49 -08:00
Jason Short
5518882c69
Fixed resolution issue with Xtrack
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Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
2011-12-23 14:46:32 -08:00
Jason Short
c6657f4a93
updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing
2011-12-14 22:08:41 -08:00
Jason Short
edc3a731d4
Adjustments for High Wind enviroments
2011-12-12 17:47:45 -08:00
Jason Short
d83ad1acd4
Upped the max pitch to deal with wind - based on T3 testing
2011-12-12 10:10:33 -08:00
Jason Short
c1aa015ef1
added debug prints, broke out Angle val to debug
2011-12-11 09:53:44 -08:00
Jason Short
f89fed02c3
made it so nav is called in Simple mode
2011-12-10 23:31:37 -08:00
Jason Short
3ff7b047d5
Added Bearing to home, distance to home calcs
2011-12-10 10:19:20 -08:00
Randy Mackay
4dc2956ca9
Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i
2011-12-09 22:13:37 +09:00
Jason Short
6dfdd754ea
Stability patch updates,
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Cleanup
2011-12-06 21:03:56 -08:00
Jason Short
eb6d34e1fc
Fix error with calc_nav_pitch_roll
2011-11-28 21:27:29 -08:00
Jason Short
b4a0d8a275
Fixed navigation bug
2011-11-28 14:22:05 -08:00
Jason Short
b3bd4bd3c9
Cosmetic cleanup, commented functions for compiler warnings
2011-11-27 22:23:02 -08:00
Jason Short
39d0df4cef
added param for crosstrack gain defaulted to 4
2011-11-19 13:59:37 -08:00