Jason Short
4829e937ea
ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling.
2012-07-30 15:43:05 -07:00
Jason Short
6067170f48
Arducopter: Force nav_yaw to match auto_yaw when starting a mission
2012-07-19 22:59:03 -07:00
Jason Short
219fed1441
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
5f7c5ff387
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
eafdfb2fea
Arducopter: Removed Yaw Limit for Quads
2012-07-14 14:06:34 -07:00
Jason Short
f36aa618cf
Arducopter: Temp reversion to old Yaw controller.
2012-07-14 12:26:13 -07:00
Robert Lefebvre
ef9cd54035
Implementing Yaw Fix. Tried to blend with Jason's changes.
2012-07-14 00:24:22 -04:00
Jason Short
b6715b2e53
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
23f8d20271
Arducopter: Toy mode refinements
2012-07-10 21:53:38 -07:00
Jason Short
ab603c7fcf
Toy Mode Yaw Rate fix
2012-07-09 13:13:32 -07:00
Jason Short
b2d932136a
Toy Mode: Yaw performance update.
2012-07-03 17:14:54 -07:00
Jason Short
88428743b2
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
0aabd4efe2
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
bcf6c03157
Attitude.pde: Toy mode logic
2012-06-29 21:20:27 -07:00
Jason Short
57e4fabb57
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
91cde15c27
Attitude.pde - Added small boost to alt hold for takeoff.
2012-06-25 23:12:19 -07:00
Robert Lefebvre
7eae382a22
Open up constraint on Rate Yaw Output for all copters.
2012-06-22 10:06:01 -04:00
Jason Short
0ccf5724aa
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
6dc1e02f76
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
3618ac62e0
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
3e6f37d540
Opening up the Yaw Rate constraint for Trad Heli.
2012-06-07 22:40:25 -04:00
Robert Lefebvre
1b789b7928
Yaw Fix
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Modified Nav_Yaw controller to better track intended heading changes.
2012-06-07 17:15:33 -04:00
Jason Short
71111a5816
Stabilization patches
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removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
2012-06-05 16:41:44 -07:00
Jason Short
5ce93faf51
Moved PID logging counter into define
2012-06-03 11:13:50 -07:00
Jason Short
2ae5d50261
Renamed some variables to clarify functionality.
2012-05-29 12:42:37 -07:00
Jason Short
6c999b5d54
Attitude.pde - Removed rate limit based on SIM flights. These should never have been in place and seriously detriment Acro flight.
2012-05-21 09:58:23 -07:00
rmackay9
bd8534ef14
ArduCopter - Attitude.pde - added logging of optical flow pid controller
2012-04-21 20:17:12 +09:00
rmackay9
c7edd7857c
ArduCopter - added dataflash logging of roll and pitch rate controllers
2012-04-08 10:19:20 +09:00
rmackay9
23c3f25654
ArduCopter - Attitude.pde - moved heli_get_angle_boost from heli.pde (which will be removed) to Attitude.pde. In fact we should combine heli_get_angle_boost and the regular get_angle_boost.
2012-04-04 22:51:39 +09:00
Andrew Tridgell
409c147ce3
ACM: fixed heli build
2012-03-27 15:37:25 +11:00
Andrew Tridgell
5d7c571fb1
ACM: fixed the build on the 1280
2012-03-27 15:37:24 +11:00
rmackay9
441413f1c6
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
Andrew Tridgell
690ad58a64
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
Jason Short
722a4d01e8
ACM: Attitude.pde - consolidated wind I term resets
2012-03-18 22:31:21 -07:00
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
43b3e1ccd1
ACM -
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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
27f6afd178
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
rmackay9
8da8ce5b58
ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine)
2012-02-28 22:56:26 +09:00
rmackay9
082cc70f1c
ArduCopter - Attitude.pde - updated get_rate_roll and get_rate_pitch to use new average filter.
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modified all int to int16_t in Attitude.pde
2012-02-28 21:26:37 +09:00
Jason Short
a3f65b4a23
increased the rate error for more responsive alt hold
2012-02-25 13:31:21 -08:00
rmackay9
ab0e1d7632
TradHeli - increase max yaw input to 45 degrees
2012-02-24 20:18:40 +09:00
Jason Short
b1340bbf80
added a constraint to D term
2012-02-23 09:14:44 -08:00
Jason Short
70d7a1f5d0
Added slow_wp default in AP mode
2012-02-19 13:15:40 -08:00
Jason Short
03aa28224b
re-implemented WII Dampening filter for Marco.
2012-02-16 22:38:23 -08:00
Jason Short
6913400221
cast D term to float just in case
2012-02-16 22:09:21 -08:00
Jason Short
bb4c02fbff
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
11d1973abd
Added Acro_P
2012-02-15 09:10:14 -08:00
Andrew Tridgell
1af6f08b1c
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00
Jason Short
4f44ccc182
get_acro_yaw added
2012-02-10 22:32:55 -08:00
