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4,318 Commits 71 Branches 509 Tags 780 MiB
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104 Commits

Author SHA1 Message Date
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 
Modified Nav_Yaw controller to better track intended heading changes.
 2012-06-07 17:15:33 -04:00
Jason Short 71111a5816 Stabilization patches 
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 - 
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. 
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
Jason Short f3547a04a5 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Randy Mackay 1a1f6cac5d OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short c855c81d2a limiting alt hold rate error to 1m/s 2012-01-29 17:08:34 -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
Randy Mackay 2f84b54bbb OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Jason Short 02d6adb21f slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short 8f86caa3ff limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short 525f7cd40f cleanup 2012-01-20 22:52:30 -08:00
Jason Short d991a22453 Refined the D term for stabilize 
moved all the rest_I terms from code into 1 central place
 2012-01-20 22:52:29 -08:00
Jason Short 11e1df497d lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short f25d741f62 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short 9a0539f39e tuned down Alt hold D gain 2012-01-13 09:36:51 -08:00
Jason Short 09c4bbe46e Added simple constrain for Alt d term 2012-01-13 08:49:55 -08:00
Jason Short 5418d330f6 Added a small D term on alt hold 2012-01-12 22:28:58 -08:00
Jason Short 581657ab7a climb rate control 2012-01-10 23:42:26 -08:00
Jason Short 9d1b1dba77 Added comments 2012-01-10 23:42:26 -08:00
Randy Mackay 7b9701fdd5 ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
Jason Short 3d7f3f6b77 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short e6887aa3ec added Reset_Rate_I function 
Removed I term from Throttle rate calc
Added some basic constrains to Acro
 2012-01-04 09:28:37 -08:00
Jason Short e17c8705ba Loiter I reset 2011-12-31 09:45:25 -08:00