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21 Commits

Author SHA1 Message Date
Lorenz Meier 64c5096c9f Merged with fixed-wing stabilization work, multirotor control tested 2012-10-22 14:42:50 +02:00
Lorenz Meier 42c61271ea remove bogus dt from att rate 2012-10-20 19:53:49 +02:00
Lorenz Meier 2d631fb005 Various fixes to attitude control, flyable, needs parameter tuning 2012-10-17 18:26:56 +02:00
Lorenz Meier 5d3d17d025 Increased priority of MAVLink receiver thread 2012-10-17 10:38:23 +02:00
daregger 32e586d4b7 Controller and estimator updates 2012-10-16 18:02:28 +02:00
Lorenz Meier fef4362e79 Merged new EKF version 2012-10-16 11:10:09 +02:00
Doug Weibel 2bb1d17c7e Changes to the PID controller. Adds "limit" to the parameter set. Implements an output limit where the output magnitude is limited by the parameter value "limit". Also changes the integrator saturation such that the integrator is not updated (added to) if either updating it will cause the integrator values magnitude to exceed "intmax" or if the output magnitude would exceed "limit" with an updated integrator value. 
Arbitrary large limit values were hard coded into multirotor_attitude_control.c.  These should be changed to parametric values or something sensible.

This commit will temporarily break fixedwing_control.c.  A following commit will repair it along with significant changes to the inner loop control.

This commit has been tested to compile with fixedwing_control.c temporarily removed.  No other testing has been completed.
 2012-10-07 14:46:26 -06:00
Lorenz Meier 705172d302 Untested, but fully implemented attitude and/or inner rate control 2012-09-23 12:11:46 +02:00
Lorenz Meier 8b951ec417 WIP on HIL 2012-09-22 20:55:44 +02:00
Lorenz Meier 291f4f3a33 Reworked control interface, needs testing / validation 2012-09-19 18:53:29 +02:00
Lorenz Meier b0b72b11eb Reworking control infrastructure for inner rate loop, preparing offboard interface 2012-09-18 18:28:49 +02:00
Lorenz Meier b573804456 Got rid of a bunch of magic numbers, manual controls can now be set up fine-grained 2012-09-11 23:54:26 +02:00
Lorenz Meier 80c6252c0a Limited Z-compensation much stronger to prevent throttle jumps 2012-09-09 22:18:21 +02:00
Lorenz Meier 27c5cef054 Added RC params, fixed attitude and position control 2012-09-08 22:38:44 +02:00
px4dev 41dde1ea64 Fix issue where the roll controller never receives parameter updates. 2012-09-04 23:37:16 -07:00
px4dev edaa40f1d3 Fix typo in roll controller initialization; now roll and pitch controllers respond in a comparable fashion. 2012-09-02 15:56:56 -07:00
Lorenz Meier cae070c73e Changed to publishing armed state in commander 2012-09-02 11:33:52 +02:00
Lorenz Meier 88f75ebc00 Ported attitude controller to new param interface 2012-08-23 13:31:40 +02:00
Lorenz Meier fa9f145b08 Fixed a bunch of issues in the arming state machine for multirotors, arming / disarming works fine now. Porting of various processes needed 2012-08-22 14:35:22 +02:00
Lorenz Meier c8645a7e53 Added more params, old read-in code not yet replaced 2012-08-21 09:02:09 +02:00
Lorenz Meier dae0b922f1 Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests 2012-08-19 15:52:59 +02:00