73 Commits

Author	SHA1	Message	Date
Jason Short	48db60a4eb	Tweaks to alt hold	2011-11-01 09:25:23 -07:00
Jason Short	07daf34ccc	Added a slew rate to the alt change rate. ... Added better reporting of throttle control upped constraints for alt hold Additional logging for CTUN lay hold	2011-10-28 21:29:10 -07:00
Jason Short	c6c7966205	Attitude ... Made the Acro mode more NG like. Should be much more nimble! Tweaked the Accel hold with sim tests. not flight tested or enabled by default. added option to set scalar in angle boost	2011-10-27 12:31:46 -07:00
Michael Oborne	f9883bf382	fix make issue	2011-10-04 09:34:47 +08:00
Jason Short	b0bd9d1c44	Added second PI loop for alt hold. ... Upped gains for default JDrones Frame added gains for second PI loop for alt removed some tests for 1280 space constraints	2011-10-02 11:36:23 -07:00
Jason Short	f89da12387	Minimized the accel_filtered vector to be faster and more accurate. ... Made the Filter include the Accels and moved from 8 to 4 terms in the filter	2011-09-30 18:40:29 -07:00
Jason Short	de61e87128	Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller ... added Position mode removed Added back in the accelerometer experiment Added filter_result boolean to enable filter on the fly	2011-09-29 23:27:23 -07:00
Jason Short	c209d6e6dd	2.0.46 -Not flight tested! ... restored 42 alt hold code removed throttle timer, replaced with safer constant increased alt control range reformatted nav_rate calls removed unused simple mode defines set alt hold home to 10m tuned down rateP to .13 from .14 for broader application.	2011-09-27 09:35:05 -07:00
Jason Short	b2a2221474	Fixed issue with Simple mode changes. ... Reverted to simpler, safer timer code for throttle hold	2011-09-25 14:16:35 -07:00
Jason Short	bb8f97ec0b	Better throttle boost value	2011-09-24 21:55:54 -07:00
Jason Short	a8befb189c	Fixed throttle_boost	2011-09-23 15:34:18 -07:00
Jason Short	2ae163ef75	Trying to make Alt hold more aggressively change altitudes.	2011-09-23 13:58:39 -07:00
Jason Short	25b0a3c43b	Added a default, but low throttle cruise value ... Added a clear integrator for Rate I to prevent tip ups at launch.	2011-09-22 23:10:55 -07:00
Jason Short	991279851a	Refined Throttle Timer reset ... Reduced Loiter I gain to decrease overshoot.	2011-09-22 17:38:39 -07:00
Jason Short	078f64e276	Fixed Throttle integrator bug. Time was not being reset causing a big drop in throttle control.	2011-09-22 12:28:46 -07:00
Jason Short	a012e7981a	removed debug statements	2011-09-21 22:34:27 -07:00
Jason Short	c91ad14e18	Fixed Timer overflow for throttle PI loop. ... Moved look at home to update_nav where it belongs	2011-09-21 22:31:12 -07:00
Jason Short	b2b28cc90c	Converted Millis to Micros ... added navigation check to return a failed navigation	2011-09-19 22:24:57 -07:00
Jason Short	bf94ba551e	changed PI Library to take Float for DeltaTime ... Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!	2011-09-19 14:02:42 -07:00
Jason Short	d29cfbcee3	Integration of optical flow ... bug fixes for new Simple mode increased Baro filter by 2 fields	2011-09-15 23:33:00 -07:00
Jason Short	1ce2308d11	Removed Simple Mode ... Added Simple option to mode switch positions removed unused OptFlow code added reset lat and lon error removed unused init_auto Fixed log formatting Added simple mode bitmask removed pitchmax added CLI setup for enabling Simple mode to any switch position	2011-09-14 13:58:18 -07:00
Jason Short	02bfd43390	Fixes Alt hold mistake ... Moves tuning into runtime definable param Added more IMax to throttle Signed-off-by: Jason Short <jasonshort@gmail.com>	2011-09-10 15:16:51 -07:00
Andrew Tridgell	1456a2a912	renamed top level directories ... ArduCopterMega -> ArduCopter added archives directory for old code	2011-09-09 11:27:41 +10:00