Jason Short
a143e7bef6
Config.h:
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decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
2012-07-03 17:37:37 -07:00
Jason Short
4a2e9b692d
Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise.
2012-07-03 17:18:33 -07:00
Jason Short
50d1ff56c5
Config.h : shortening the landing time to 10s
2012-07-02 17:52:38 -07:00
Jason Short
99d6a45948
Config.h
...
Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
2012-07-01 13:40:11 -07:00
rmackay9
9624f8c179
ArduCopter: updated STABILIZE_ROLL_I to 0.01 (was 0.1) as instructed by Marco
2012-06-30 19:26:14 +09:00
Jason Short
40e0d88d12
Config.h: Optimizing Nav gains
2012-06-29 21:20:28 -07:00
Jason Short
3fcd3100cc
Added user editable define for Super simple radius
2012-06-26 10:38:46 -07:00
Jason Short
7a5347fb1f
Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm
2012-06-25 23:06:28 -07:00
Jason Short
014f0f9a99
Config.h - returned low to original 120
2012-06-20 15:22:35 -07:00
Jason Short
25a67c9953
lowered minimum throttle
2012-06-20 08:47:47 -07:00
Jason Short
d7fab41234
decreased I term based on the tests last weekend in high winds
2012-06-20 08:47:47 -07:00
rmackay9
3618ac62e0
ArduCopter: made Robert's new yaw method optional (off by default).
...
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
2012-06-13 21:50:16 +09:00
Jason Short
ee78818f5a
Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch.
2012-06-12 13:58:49 -07:00
rmackay9
1b9ed1444e
ArduCopter: updated standard loiter pids.
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Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
2012-06-12 20:56:31 +09:00
Jason Short
71111a5816
Stabilization patches
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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
Michael Oborne
7d2532450a
enable mavlink10 by default
2012-06-04 08:02:08 +08:00
Jason Short
9ea54b3171
Lowered I term - causes oscillations in SIM
2012-05-29 12:43:01 -07:00
Jason Short
cb68adfff2
Loiter Gains based on new SIM
2012-05-15 22:01:01 -07:00
Robert Lefebvre
a9349a6e87
More CopterLEDS changes.
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Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2. Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2. Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code. Legacy users should see no difference.
2012-05-15 12:00:21 -04:00
Robert Lefebvre
9e73dc4bd8
CopterLEDS changes for APM2
2012-05-15 10:07:03 -04:00
Adam M Rivera
788df5ed6f
config.h: Removed comment.
2012-04-23 00:16:41 -05:00
Adam M Rivera
692bbee233
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
rmackay9
3b5ffe0f61
ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame
2012-04-21 23:46:36 +09:00
rmackay9
ce6dd8bb32
ArduCopter - changed Optical Flow for APM2 to use A3 pin
2012-04-21 20:15:16 +09:00
Adam M Rivera
d09916422a
Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach
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Conflicts:
Tools/ArdupilotMegaPlanner/Common.cs
2012-04-19 11:08:34 -05:00
Adam M Rivera
9181eedf5a
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter
2012-04-19 10:17:36 -05:00
Adam M Rivera
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
James Goppert
0a38e2b8d4
Updated ArduPlane/ArduCopter cmake options.
2012-04-18 15:16:02 -04:00
Adam M Rivera
3135cd91d0
config.h: Added RTL_APPROACH_DELAY config value.
2012-04-16 14:00:08 -05:00
rmackay9
ac9555a3b4
ArduCopter - LEDS - added new COPTER_LEDS definition
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Code by Robert Lefebvre
2012-04-12 22:55:32 +09:00
Andrew Tridgell
58f539ca35
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
Adam M Rivera
0727955fe3
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
2012-03-30 14:25:06 +11:00
rmackay9
441413f1c6
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
Jason Short
74893f6959
Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator
2012-03-22 10:01:24 -07:00
rmackay9
0ba48a8556
ArduCopter - increased default THROTTLE_CRUISE to 450
2012-03-20 16:34:07 +09:00
rmackay9
7bf4e22c7b
ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore
2012-03-18 14:53:19 +09:00
Jason Short
27f276a066
ACM: Lowered gains from flight tests today with 3DR Quad
2012-03-17 11:04:01 -07:00
Jason Short
09995aed62
ACM: Softer Loiter Gains
2012-03-16 14:10:19 -07:00
Jason Short
ce14ef1b2b
Tune down Loiter_P a hair
2012-03-15 19:17:27 -07:00
Jason Short
72d03a8046
ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.
2012-03-13 10:23:31 -07:00
Jason Short
953b93293e
ACM: removing old define
2012-03-12 13:11:30 -07:00
Jason Short
38153f15e0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
2012-03-12 10:37:15 -07:00
Jason Short
d9ccd4f6bd
ACM: made same as Loiter I
2012-03-11 23:21:49 -07:00
Jason Short
e279106b44
ACM: Tuning based on flights today
2012-03-11 23:21:49 -07:00
Adam M Rivera
566bbed7ad
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Jason Short
9f47a79a3a
ACM: decreased rate P for alt hold to remove bumpy repsonse
2012-03-10 12:41:06 -08:00
Jason Short
11e5f7d40f
ACM: Increased the altitude error P for smoother alt hold response
2012-03-10 12:40:44 -08:00
Jason Short
20a3cfdcde
decreased the loiter rate P for overshoot
2012-03-10 12:40:07 -08:00
Andrew Tridgell
1591d41b33
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
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