Robert Lefebvre
c5916a8b4d
Opening up the Yaw Rate constraint for Trad Heli.
2012-06-07 22:40:25 -04:00
Robert Lefebvre
e2496181ff
Yaw Fix
...
Modified Nav_Yaw controller to better track intended heading changes.
2012-06-07 17:15:33 -04:00
Jason Short
a9610a0761
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
9ab06c5542
Moved PID logging counter into define
2012-06-03 11:13:50 -07:00
Jason Short
2311d52d37
Renamed some variables to clarify functionality.
2012-05-29 12:42:37 -07:00
Jason Short
1a5e2f4e37
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
533772339e
ArduCopter - Attitude.pde - added logging of optical flow pid controller
2012-04-21 20:17:12 +09:00
rmackay9
df85051574
ArduCopter - added dataflash logging of roll and pitch rate controllers
2012-04-08 10:19:20 +09:00
rmackay9
aa4085183c
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
e0c9ab5a29
ACM: fixed heli build
2012-03-27 15:37:25 +11:00
Andrew Tridgell
47f9dfd125
ACM: fixed the build on the 1280
2012-03-27 15:37:24 +11:00
rmackay9
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
Andrew Tridgell
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
Jason Short
a0717f082e
ACM: Attitude.pde - consolidated wind I term resets
2012-03-18 22:31:21 -07:00
Jason Short
fc32da0d2e
ACM: increased the available rate error constrain, it was too low
2012-03-10 12:39:16 -08:00
Jason Short
bd4835a1b2
ACM: removed the experiment for rate error.
2012-03-10 12:38:29 -08:00
Jason Short
730476fdfd
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
a387956814
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
rmackay9
744e5b8c60
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
4a0989f95d
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
1ce267f904
increased the rate error for more responsive alt hold
2012-02-25 13:31:21 -08:00
rmackay9
57e5eee8c8
TradHeli - increase max yaw input to 45 degrees
2012-02-24 20:18:40 +09:00
Jason Short
364afe8da0
added a constraint to D term
2012-02-23 09:14:44 -08:00
Jason Short
265c5255a3
Added slow_wp default in AP mode
2012-02-19 13:15:40 -08:00
Jason Short
5218220f0f
re-implemented WII Dampening filter for Marco.
2012-02-16 22:38:23 -08:00
Jason Short
632cc783a1
cast D term to float just in case
2012-02-16 22:09:21 -08:00
Jason Short
3d63bb6cd4
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
fcb24ee17d
Added Acro_P
2012-02-15 09:10:14 -08:00
Andrew Tridgell
3b4cae3cc3
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00
Jason Short
c64d781dce
get_acro_yaw added
2012-02-10 22:32:55 -08:00
Jason Short
f40d40b0f9
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
b851d39eaa
OptFlow - reenable OF_LOITER pid controller and reduce I term
2012-02-01 08:04:18 +09:00
Jason Short
bf2cc6072d
limiting alt hold rate error to 1m/s
2012-01-29 17:08:34 -08:00
Jason Short
7833cea9d4
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
2c906b7b27
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
5cc19bbe7c
slightly less filtering for less latency
2012-01-21 22:04:54 -08:00
Jason Short
1aa6d0ea08
limiting the pitch throttle compensation
2012-01-21 11:59:49 -08:00
Jason Short
42b1362bba
cleanup
2012-01-20 22:52:30 -08:00
Jason Short
ed32ad30fd
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
95ac9d163e
lowered Loiter I, commented out unused var
2012-01-14 11:20:40 -08:00
Jason Short
c02b403a06
temp removed alt D term until more testing
2012-01-14 11:20:40 -08:00
Jason Short
7c475f178c
tuned down Alt hold D gain
2012-01-13 09:36:51 -08:00
Jason Short
ee7c948781
Added simple constrain for Alt d term
2012-01-13 08:49:55 -08:00
Jason Short
4459fc4e34
Added a small D term on alt hold
2012-01-12 22:28:58 -08:00
Jason Short
f36aba8af2
climb rate control
2012-01-10 23:42:26 -08:00
Jason Short
7b8767d846
Added comments
2012-01-10 23:42:26 -08:00
Randy Mackay
f68d23d91e
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
8ed2d96396
removed unused var
2012-01-04 09:28:37 -08:00
Jason Short
4e0e783e7c
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
1ef7f9fe62
Loiter I reset
2011-12-31 09:45:25 -08:00
