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87 Commits

Author SHA1 Message Date
Lorenz Meier cded2787f0 Fixed code style for multirotor_att_control app 2013-01-11 07:45:24 +01:00
Lorenz Meier 62a95bf8e6 Stabilization enabling / switching 2012-12-30 09:53:45 +01:00
Lorenz Meier f5bad08bd0 Cleaned up control mode state machine / flight mode / navigation state machine still needs a bit cleaning up 2012-12-27 18:27:08 +01:00
Lorenz Meier 61d7e1d285 Reverted changes to multirotor rate controller, changing to a discrete derivative does not help 2012-12-27 17:47:51 +01:00
Julian Oes 06407b166f My PID integral part fixes 2012-12-19 17:54:18 -08:00
Lorenz Meier d9a3103413 Merge branch 'development' of github.com:PX4/Firmware into development 2012-11-21 17:37:00 +01:00
Lorenz Meier 4d1256e3f3 Removed left-over comment 2012-11-21 17:36:52 +01:00
Lorenz Meier 13000a7121 Yaw rate sanity checking for controller 2012-11-20 16:51:13 +01:00
Lorenz Meier 6ff4520904 Cleaned up PI wrapping code, still subject to testing 2012-11-20 15:19:51 +01:00
Julian Oes 129e6d73de Changed yaw position control to yaw speed control for multirotors, tested with ardrone 2012-11-19 16:17:52 -08:00
Julian Oes 2652b16d37 Distinction between yaw position and yaw speed control, just messsed around in the code, untested 2012-11-19 09:26:38 -08:00
Julian Oes 33e750602a Merge remote-tracking branch 'upstream/master' into io 
Fixed Conflicts:
	apps/multirotor_att_control/multirotor_att_control_main.c

rc loss failsafe throttle tested
 2012-11-15 11:55:55 -08:00
Lorenz Meier c2abe3997c Minor cleanups in attitude control 2012-11-14 10:42:46 +01:00
Julian Oes a8dfcaace2 Several fixes, hex flies, failsafe not really tested yet 2012-11-11 11:55:27 -08:00
Lorenz Meier 0baca3ee31 Better, platform independent failsafe handling 2012-11-09 16:30:00 +01:00
Lorenz Meier a866fb2f2c Disable failsafe until its actually tested 2012-11-09 16:20:23 +01:00
Julian Oes 9f45770dc2 Merge branch 'master' of https://github.com/PX4/Firmware 2012-11-08 09:26:53 -08:00
Julian Oes 6c3a340d6e Made param name shorter, don't know if it was needed 2012-11-08 09:25:42 -08:00
Lorenz Meier 35fae44527 Nulling controller parameters for additional safety 2012-11-08 18:10:03 +01:00
Julian Oes 25ed791b70 Forgot to comment 2012-11-07 10:56:25 -08:00
Julian Oes 5995240a07 Failsafe throttle when RC is lost is now a parameter 2012-11-07 10:50:52 -08:00
Julian Oes 08d6ade585 Some failsafe hack when RC signal is lost 2012-11-06 19:01:04 -08:00
Lorenz Meier 82c4dbaaa8 param load / store cleanup, storage location selection now exclusively through dedicated "param select <path>" command 2012-11-02 15:21:37 +01:00
Tobias Naegeli 80ac43e21d Fine tuning of manual control 2012-11-01 16:50:52 +01:00
Lorenz Meier 56a0f14b34 Minor last tweaks 2012-10-30 17:57:26 +01:00
Lorenz Meier 12e1cf3710 Fixed error term calculation for yaw position 2012-10-30 17:38:26 +01:00
Lorenz Meier ab63a77edf Reducing stack sizes to free some RAM 2012-10-30 16:44:57 +01:00
Lorenz Meier 4db0ec03ce Better yaw position control, but not quite there yet 2012-10-30 11:16:01 +01:00
Lorenz Meier fedf5470d6 Correctly initializing and updating yaw setpoint, sign still to be checked 2012-10-30 07:20:23 +01:00
px4dev c3fe915b44 Checkpoint - moving things out of the NuttX configs/*/src directories 2012-10-23 23:51:12 -07:00
Lorenz Meier ea36154e39 Accomodating for offboard control setups 2012-10-22 16:08:48 +02:00
Lorenz Meier 64c5096c9f Merged with fixed-wing stabilization work, multirotor control tested 2012-10-22 14:42:50 +02:00
Lorenz Meier a3f2114d54 Removed bogus time scalings 2012-10-22 11:25:26 +02:00
Lorenz Meier 42c61271ea remove bogus dt from att rate 2012-10-20 19:53:49 +02:00
Lorenz Meier 5ec5754f26 brought controller back to last tuned state 2012-10-18 17:34:06 +02:00
Lorenz Meier dff0051568 Map inputs to the controller we actually want 2012-10-17 19:02:57 +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
daregger b50bc7798a Wip on inner rate loop 2012-10-16 16:49:45 +02:00
Lorenz Meier fef4362e79 Merged new EKF version 2012-10-16 11:10:09 +02:00
Doug Weibel 0a0215338a Merge branch 'master' of https://github.com/PX4/Firmware 2012-10-13 16:38:18 -06:00
tnaegeli 613e12fcac working offboard 2012-10-09 16:31:04 +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 2fa0dec369 Back out testing changes that are a bit too much ahead of time for master 2012-10-04 16:38:11 +02:00
tnaegeli 8dfa66cb97 Merge branch 'master' of https://github.com/PX4/Firmware 
Conflicts:
	apps/commander/commander.c
	apps/multirotor_att_control/multirotor_att_control_main.c
	apps/multirotor_att_control/multirotor_rate_control.c
 2012-10-04 16:01:42 +02:00
Lorenz Meier 2a06b66845 Fixed inner yaw rate loop 2012-10-04 10:56:55 +02:00
tnaegeli b9de72a8c9 Merge branch 'master' of https://github.com/PX4/Firmware 2012-10-04 09:29:46 +02:00
tnaegeli 733975ed2d fixed Rate controller 2012-10-04 09:28:04 +02:00
px4dev dfae108e6a Go back to the FIFO scheduler for now, as we don't have time to shake out the RR scheduler changeover just yet. 
Make the "default" scheduler a centralized definition so that changes are easier in future.
 2012-10-03 23:13:20 -07:00