1e546b54be
ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency.
2012-08-18 09:04:22 -07:00
1a2dd5b74b
ArduCopter: renamed "_new_alt" parameter to just "new_alt" in force_new_altitude and set_new_altitude functions
2012-08-18 21:46:48 +09:00
1a1987b810
ACM : removed old note
2012-08-17 17:03:40 -07:00
7ac4d06d3f
ACM: made target bearing the lead filtered location
...
Had some major nav trouble from crosstrack if I used the laggy position.
2012-08-16 15:38:25 -07:00
48b7d26c5d
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
...
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
5f2c662fc9
ArduCopter: replaced abs with labs as required in a few places.
...
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
2cc27b9804
ACM: Switched to filtered loc
2012-08-14 14:11:52 -07:00
0688eee9bc
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
1980e0464c
ACM: navigation - Alt cleanup, fast corner support
2012-08-09 16:59:44 -07:00
295a9ce39c
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
6177a1f5de
Added minimum speed for RTL
2012-07-20 13:27:35 -07:00
676f02da7c
Arducopter: Adjusted speed of climb to not stall out before hitting peak
2012-07-19 17:53:49 -07:00
05a2d3ae35
Arducopter: Fix compile issue
2012-07-19 10:09:16 -07:00
ec1d400adf
Arducopter: Slower WP deceleration for RTL and WP navigation
...
Slower descent and slightly faster ascent
2012-07-19 09:50:18 -07:00
f29aa0dc25
Arducopter
...
upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.
2012-07-18 22:57:11 -07:00
c5d3620d2b
Arducopter: INS
...
updated Nav control to use INS
2012-07-18 22:57:10 -07:00
9de2c00d93
Arducopter: WP_radius
...
Switching to stored WP_radius in meters, just like Arduplane
2012-07-10 21:53:38 -07:00
a643d2aa6b
ACM: use get_distance_cm() not get_distance()
...
this fixes a bug introduced in 28f2eb6b9
2012-07-11 07:50:07 +10:00
9e796899e4
Airspeed patch:
...
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
2012-07-09 13:13:32 -07:00
35b73b9d01
ACM: removed some Location functions which are now in AP_Math
2012-07-04 13:44:36 +10:00
fcc38889b4
Navigation
...
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
2012-07-03 17:34:50 -07:00
c20c04ed24
removed GPS ground speed calc - was causing some funny business during the transition.
2012-07-03 17:16:14 -07:00
d893cde785
navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction.
2012-06-29 21:20:28 -07:00
50b3ef66a7
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
6dc1e02f76
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
95076bf08e
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
7278e8d1e5
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
2ee8237b5f
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
4430f75344
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
ad13854ab7
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
c7c6dd70b9
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
8f0bc57967
ArduCopter - navigation.pde - added logging of Loiter PID controllers
2012-04-11 23:52:25 +09:00
7dc18b53ad
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
ce6b1ccc75
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
485cebf85c
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
f6638d00d6
ACM: Smoother Speed calcs
2012-03-16 14:10:19 -07:00
0c6a87db3f
ACM: Disabled D term experiment for Loiter until more testing
2012-03-15 19:20:03 -07:00
0edc1020ac
ACM: Loiter D performance updates
2012-03-13 10:23:31 -07:00
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
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
68d210660e
ACM: Added note about scaling rates
2012-03-10 12:43:28 -08:00
4b75f74d2c
ACM: Altered the scaling speed for altitude changes for faster rises.
2012-03-10 12:43:01 -08:00
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
9986776e0d
ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde
2012-03-11 01:27:58 +09:00
9a2be4701f
removed Constraint that caused JLN's horizontal drift.
2012-02-26 11:33:37 -08:00
22982cda0f
Loiter updates
2012-02-23 22:03:26 -08:00
151e710668
Added slow wp option in calc_desired_speed
2012-02-19 13:13:21 -08:00
a4b8119c24
added workaround for resetting alt.
2012-02-19 12:40:08 -08:00
cbe297b634
scaled X velocity
2012-02-16 22:09:22 -08:00
0b011e3cd3
added option in code for Loiter specific gains
2012-02-15 09:10:15 -08:00
Jason Short
rmackay9
Andrew Tridgell
Adam M Rivera