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3,777 Commits 71 Branches 509 Tags 780 MiB
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87 Commits

Author SHA1 Message Date
Jason Short f6638d00d6 ACM: Smoother Speed calcs 2012-03-16 14:10:19 -07:00
Jason Short 0c6a87db3f ACM: Disabled D term experiment for Loiter until more testing 2012-03-15 19:20:03 -07:00
Jason Short 0edc1020ac ACM: Loiter D performance updates 2012-03-13 10:23:31 -07:00
Jason Short 580c5e109e 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 56d2b9ef05 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 68d210660e ACM: Added note about scaling rates 2012-03-10 12:43:28 -08:00
Jason Short 4b75f74d2c ACM: Altered the scaling speed for altitude changes for faster rises. 2012-03-10 12:43:01 -08:00
Jason Short 874f5aaef6 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 9986776e0d 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 9a2be4701f removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short 22982cda0f Loiter updates 2012-02-23 22:03:26 -08:00
Jason Short 151e710668 Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short a4b8119c24 added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short cbe297b634 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short 0b011e3cd3 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short 8cc480f7e6 upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short 0f3c3bb563 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 5de459a160 tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short ba81e2aa69 pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short 25c2c9b437 removed filter. Don't need it. 2012-01-29 17:10:52 -08:00
Jason Short 0213f4dd88 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 86c7742dc0 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
Jason Short 32241319c1 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short 04a2eee410 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Jason Short e1f7fa34ea 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 ab8bf0b560 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short 0475dbf8ae relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short 589f8bc557 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short 8416de7e9c Added Ryan's GPS lag filter 
Removed unused code
refined alt change
 2012-01-12 22:28:58 -08:00
Jason Short 464038b3ea New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short 36516161b5 Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short 12493d6431 Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short a640311f58 Added Note 2012-01-06 10:20:59 -08:00
Andrew Tridgell a6808162d6 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Jason Short bf8e3975ec 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 24bddb1c47 Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short 1d636219f9 New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short 4535bc4fd9 lowered to nav_lat and nav_lon int16 
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 4bfa5def76 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 e42d5cb4f9 Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Randy Mackay ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
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 a4e00f7459 Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Jason Short c8ca841bd7 Fixed resolution issue with Xtrack 
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 c7da9c63f1 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 29788b98bd Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short 3edd471983 Upped the max pitch to deal with wind - based on T3 testing 2011-12-12 10:10:33 -08:00
Jason Short b442a1b23c added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short a0cef1cc88 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short 0969bf3146 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Randy Mackay f4fd6e0910 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