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4,487 Commits 70 Branches 507 Tags 619 MiB
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100 Commits

Author SHA1 Message Date
Jason Short eea788b63f navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction. 2012-06-29 21:20:28 -07:00
Jason Short 53d2a46cd6 Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s 2012-06-25 23:06:28 -07:00
Jason Short c42f9ece43 Inertial Control 
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
Jason Short 9732b7d2dc navigation.pde: 
removed unneeded WP_Distance check
remove unneeded return for Navigate
removed unneeded rate_D calcs
removed unused functions
 2012-05-17 11:05:05 -07:00
Jason Short d1cd04486a removed retro loiter code since Angel has a branch now. 
shrank speed filter to avoid latency
removed unused forward estimator code

placed code for switchover to gps.groundspeed at 1.5m/s

added clamp for D term when below .5m/s to eliminate noise

added hybrid I-term based on speed error and position

changes Loiter D term to use position rather than acceleration to avoid noise
 2012-05-15 22:14:23 -07:00
Adam M Rivera b2a7227ae7 ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define. 2012-04-23 00:19:18 -05:00
Adam M Rivera 1676e09f12 navigation.pde: Put the new calc_GPS_velocity method in a compiler if that checks the new RETRO_LOITER_MODE config value (saves space and ensures its not being used unless retro loiter mode is enabled) 2012-04-19 10:21:04 -05:00
Adam M Rivera d29f1ef331 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
Adam M Rivera d4a4641ae6 navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error. 2012-04-18 23:06:15 -05:00
rmackay9 fad162989f ArduCopter - navigation.pde - added logging of Loiter PID controllers 2012-04-11 23:52:25 +09:00
rmackay9 66c4f752e3 ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint 2012-03-20 17:11:22 +09:00
rmackay9 22315cd41a ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!) 2012-03-20 16:13:38 +09:00
rmackay9 91b2b48fd8 ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations) 2012-03-18 12:11:12 +09:00
Jason Short 427dacba70 ACM: Smoother Speed calcs 2012-03-16 14:10:19 -07:00
Jason Short 7153b94ade ACM: Disabled D term experiment for Loiter until more testing 2012-03-15 19:20:03 -07:00
Jason Short 468d9c4b4f ACM: Loiter D performance updates 2012-03-13 10:23:31 -07:00
Jason Short 73e2bd6cd8 ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed. 2012-03-12 13:11:05 -07:00
Jason Short deed802d1a 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 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. 
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" 
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. 
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 
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 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Jason Short e36d2f6e96 Added Wind compensation for Stabilize 
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