rmackay9
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
rmackay9
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
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"
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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.
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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
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
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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
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comment out some unused debug code
2012-01-05 10:14:53 +11:00
Jason Short
bf8e3975ec
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
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
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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
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
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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
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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
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
