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248 Commits

Author SHA1 Message Date
Randy Mackay fe412437c2 Copter: add flags for upper and lower throttle limits 
Freeze desired altitude when motors hit a limit
 2013-07-28 18:18:39 +09:00
Randy Mackay c5851d2ddf Copter: remove throttle rate's I and D calcs 2013-07-23 11:02:04 +09:00
Randy Mackay 740970efa6 Copter: remove stabilize's call to calc I terms 
I terms all moved to rate controllers so this will be a small
performance improvement
 2013-07-23 10:37:10 +09:00
Randy Mackay c9a875da52 Copter: remove unused earth frame rate controllers 2013-07-21 14:08:39 +09:00
Randy Mackay 43379f20c3 Copter Motors: replace limit bitmask with structure 2013-07-21 13:58:24 +09:00
Robert Lefebvre 2a9f4bbbad TradHeli: Creating new unified roll/pitch rate controller. 2013-07-19 16:16:12 +09:00
Robert Lefebvre 23ea151ca5 TradHeli: Fix Heli rate controller filter rates. 2013-07-19 16:16:10 +09:00
Robert Lefebvre c812d07993 TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future. 2013-07-19 16:16:08 +09:00
Robert Lefebvre cea0812b82 TradHeli: Rate PID Improvement. Limit Integrator wind-up when PID output is saturated. Also a little bit of general clean-up for readability. 2013-07-19 16:16:01 +09:00
Randy Mackay aefb38e486 Copter: remove param to disable accel based throttle controller 2013-07-12 22:57:30 +09:00
Randy Mackay 1685ff274d TradHeli: compile error fix related to new ACRO 
The motors_runup_complete must be a feature that Rob has implemented in
his clone which has not yet reached master.  We will need to restore
these lost few trad-heli specific lines once Rob's changes make it to
master.
 2013-07-11 22:33:55 +09:00
Leonard Hall 64ce9b017d Copter: Body frame ACRO upgrade 2013-07-11 17:53:25 +09:00
Randy Mackay f459d35e3e Copter: roll-pitch fix to allow I to reduce 
Contributed by Leonard Hall
 2013-07-10 15:52:15 +09:00
Andrew Tridgell da4137b731 Copter: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Randy Mackay 227185fd0f Copter: remove constraint on rate yaw controller 2013-07-05 14:18:58 -10:00
Randy Mackay 40612ed551 Copter: yaw limit fix to allow I to reduce 
We now allow the I term even if we've hit the yaw limits as long as
updating the I term will reduce it
 2013-07-05 13:52:03 -10:00
Randy Mackay 404cd5f3da Copter: rename g.pid_throttle to g.pid_throttle_rate 
Small code clean-up to make throttle rate controller's pid more obvious
 2013-06-30 00:04:21 -10:00
Randy Mackay b3da8a462f Copter: CH6 tuning definition clean-up 
Renamed and reorganised the CH6 #defines and parameter definitions
 2013-06-29 23:51:43 -10:00
Randy Mackay fcf2429e39 Copter: remove throttle controller's ability to limit lean angle 2013-06-04 15:25:59 +09:00
Randy Mackay 40f5226518 Copter: reset yaw angle only when motors not spinning 2013-06-03 22:12:52 +09:00
Randy Mackay 5203ba9fe3 Copter: alt hold feed forward filter 2013-06-01 21:13:47 +09:00
Andrew Tridgell 25c576cad7 Copter: replaced constrain() with constrain_float() 2013-05-02 10:26:49 +10:00
Randy Mackay 0b29754920 Copter: simplify roll-pitch stabilize controller 
remove check of whether to freeze i term when attitude is less than 5
degrees from horizontal.  I terms have been moved to the rate
controllers.
 2013-04-22 18:47:56 +09:00
Andrew Tridgell c2c037ec0d Copter: use the right constrain() type in Attitude code 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 13:26:49 +10:00
Randy Mackay a9da3c9d3d Copter: remove unused throttle functions 
removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
 2013-04-21 23:43:04 +09:00
Randy Mackay 745df9b13c Copter: add SONAR_GAIN to tune reaction to sonar 
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
 2013-04-20 15:58:36 +09:00
Randy Mackay 50515e28e1 Copter: replace fabs with fabsf 2013-04-20 15:40:56 +09:00
Randy Mackay f5955d8915 Copter: auto climb and descent params removed 
These params now reside in the AC_WPNav library
 2013-04-18 14:52:21 +09:00
Randy Mackay 1ee825ee9a Copter: move alt and wp checking to AC_WPNAV 
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
 2013-04-14 10:39:23 +09:00
Randy Mackay 7c559333f5 Copter: get_throttle_rate's target_speed a float 2013-04-14 10:38:51 +09:00
Randy Mackay ee7f40cfe9 Copter: Leonard's alt-hold feed forward 2013-04-14 10:38:37 +09:00
Randy Mackay f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay 1516972eaa Copter: add panorama to CIRCLE mode 
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
 2013-04-14 10:38:01 +09:00
Randy Mackay 49828eba7d Copter: integrate AC_WPNav 2013-04-14 10:37:48 +09:00
Randy Mackay 24dd167607 Copter: ACRO bug fix from Jason 2013-04-01 11:44:28 +09:00
Andrew Tridgell b280857025 Copter: use common angle wrap code 2013-03-29 13:14:31 +11:00
Randy Mackay fdcb78ccf7 Copter: leonard's smoother alt-hold transition 
Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
 2013-03-17 13:24:49 +09:00
Randy Mackay 37040adfaa Copter: bug fix for auto missions over 320m 
get_throttle_althold_with_slew's target_alt parameter defined as int16_t
(instead of int32_t) meaning missions with altitudes >320m could wrap
around and become negative.
 2013-03-17 11:14:35 +09:00
Randy Mackay f9539384a1 Copter: rename failsafe to failsafe_radio 
Makes way for separation of failsafes for throttle, gps and gcs
 2013-03-16 17:14:21 +09:00
Randy Mackay 476a6d0164 Copter: fix for acro throttle bug 2013-03-02 10:28:44 +09:00
Randy Mackay d8515ff85e Compass: basic compensation for motor interference 2013-03-02 00:03:16 +09:00
Randy Mackay df1c0d92bd Copter: manual throttle scaling fix 
Scaling of bottom half of throttle was changed from THR_MIN ~ 500.
Previously it was from 0 ~ 500.
 2013-02-01 22:37:33 +09:00
Randy Mackay a0b65a262b Copter: use scaled throttle for accel-throttle's I term 
Accel throttle's I term is taken from scaled manual throttle
 2013-02-01 22:37:25 +09:00
Randy Mackay 06a71af12f Copter: THR_MID used to scale manual throttle 2013-02-01 22:37:16 +09:00
Randy Mackay aaecc25ac7 Copter: leonard's inav2 
Moved loiter controller to navigation.pde
 2013-01-25 15:16:35 +09:00
Randy Mackay deafbf1f56 Copter: inav loiter comment changes 
removed unused get_loiter_vel function
 2013-01-24 11:14:38 +09:00
Randy Mackay 68fc9ac1d8 Copter: add "f" to end of float constants 
This is a small performance improvement for the px4
 2013-01-23 14:51:37 +09:00
Randy Mackay 9a09f086d2 Copter: Leonard Hall's inertial nav ver 2 2013-01-23 12:34:49 +09:00
rmackay9 ab1978ad50 Copter: Leonard Hall's inertial nav based loiter 2013-01-22 18:38:00 +09:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00