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Fixed bug in alt hold caused by false Sonar readings.

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Reverted to prior Rangefinderlib in case that was causing bad sonar readings.
reduced crosstrack gains and max angle to avoid overshoots and oscillations.
added additional D gain to Loiter hold to prevent overshoots
added D gain to WP_nav to avoid speed oscillations
upped navigation speed to 6m/s from 4.5m/s


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2710 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-07-01 00:19:10 +00:00
parent 98632a97c0
commit 1158e35945
3 changed files with 16 additions and 9 deletions
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11
ArduCopterMega/ArduCopterMega.pde
View File

@ -1336,10 +1336,15 @@ void update_alt()
sonar_alt = (float)sonar_alt * temp; sonar_alt = (float)sonar_alt * temp;
*/ */
scale = (sonar_alt - 300) / 300; if(baro_alt < 800){
scale = constrain(scale, 0, 1); scale = (sonar_alt - 300) / 300;
scale = constrain(scale, 0, 1);
current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt; current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt;
}else{
current_loc.alt = baro_alt + home.alt;
}
}else{ }else{
baro_alt = read_barometer(); baro_alt = read_barometer();

12
ArduCopterMega/config.h
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@ -388,6 +388,8 @@
# define YAW_IMAX 1 // degrees * 100 # define YAW_IMAX 1 // degrees * 100
#endif #endif
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Autopilot control limits // Autopilot control limits
// //
@ -407,7 +409,7 @@
# define NAV_LOITER_I 0.08 // upped a bit to deal with wind faster # define NAV_LOITER_I 0.08 // upped a bit to deal with wind faster
#endif #endif
#ifndef NAV_LOITER_D #ifndef NAV_LOITER_D
# define NAV_LOITER_D 0.03 // Added some D 2.20, untested # define NAV_LOITER_D 0.15 //
#endif #endif
#ifndef NAV_LOITER_IMAX #ifndef NAV_LOITER_IMAX
# define NAV_LOITER_IMAX 20 // 20° # define NAV_LOITER_IMAX 20 // 20°
@ -422,7 +424,7 @@
# define NAV_WP_I 0.5 // this is a fast ramp up # define NAV_WP_I 0.5 // this is a fast ramp up
#endif #endif
#ifndef NAV_WP_D #ifndef NAV_WP_D
# define NAV_WP_D 0 // slight dampening of a few degrees at most # define NAV_WP_D .3 //
#endif #endif
#ifndef NAV_WP_IMAX #ifndef NAV_WP_IMAX
# define NAV_WP_IMAX 40 // degrees # define NAV_WP_IMAX 40 // degrees
@ -430,7 +432,7 @@
#ifndef WAYPOINT_SPEED #ifndef WAYPOINT_SPEED
# define WAYPOINT_SPEED 450 // for 4.5 ms error = 13.5 pitch # define WAYPOINT_SPEED 600 // for 6m/s error = 13mph
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
@ -468,10 +470,10 @@
// Crosstrack compensation // Crosstrack compensation
// //
#ifndef XTRACK_GAIN #ifndef XTRACK_GAIN
# define XTRACK_GAIN 5 // deg/m # define XTRACK_GAIN 2 // deg/m
#endif #endif
#ifndef XTRACK_ENTRY_ANGLE #ifndef XTRACK_ENTRY_ANGLE
# define XTRACK_ENTRY_ANGLE 40 // deg # define XTRACK_ENTRY_ANGLE 8 // deg
#endif #endif

2
ArduCopterMega/system.pde
View File

@ -40,7 +40,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
}; };
// Create the top-level menu object. // Create the top-level menu object.
MENU(main_menu, "AC 2.0.30 Beta", main_menu_commands); MENU(main_menu, "AC 2.0.31 Beta", main_menu_commands);
void init_ardupilot() void init_ardupilot()
{ {