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67 Commits

Author SHA1 Message Date
Lorenz Meier c2abe3997c Minor cleanups in attitude control 2012-11-14 10:42:46 +01:00
Lorenz Meier 35fae44527 Nulling controller parameters for additional safety 2012-11-08 18:10:03 +01:00
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
tnaegeli 147c5bb664 Merge branch 'master' of https://github.com/PX4/Firmware 
Conflicts:
	apps/multirotor_att_control/multirotor_att_control_main.c
 2012-10-03 15:15:05 +02:00
tnaegeli f3cb2cf8a3 rate controller update 2012-10-03 15:05:50 +02:00
Lorenz Meier beca2b072e Moved from raw gyro to estimated angular rate from EKF for rate control 2012-10-03 15:02:47 +02:00
Lorenz Meier affa3af4e6 Clean 250 Hz updates in filter, partial updates enabled 2012-10-03 13:39:26 +02:00
px4dev 93c200d281 Add new 'task_spawn' interface for starting new tasks in the PX4 world 2012-10-01 00:02:38 -07:00
Julian Oes 2c5c314105 Cleanup of lots of debugging printfs 2012-09-27 17:08:29 +02:00
Julian Oes 7f15309892 Calibration should not freeze anymore, ardrone flying but estimator is not able to use calibrated magnetometer data 2012-09-27 16:50:20 +02:00
Julian Oes a05c4d0504 Merge branch 'ardrone' of https://github.com/PX4/Firmware into ardrone 
Conflicts:
	apps/ardrone_interface/ardrone_motor_control.c
 2012-09-27 13:44:47 +02:00
Lorenz Meier ec3949bf82 Fix a bug where the rate controller is always active 2012-09-26 22:25:39 +02:00
Julian Oes 201fdbc42c ardrone flying now (still workaround of disabled rates controller) 2012-09-26 10:11:57 +02:00
Julian Oes abbe998506 ardrone in the air again (workaround: rate controller disabled) 2012-09-25 21:35:02 +02:00
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 a9b21886f3 Halfway-working fixed wing waypoint control, needs more effort 2012-09-22 18:46:04 +02:00
Lorenz Meier 082074f991 Completely implemented offboard control 2012-09-21 12:55:41 +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
tnaegeli df03433034 g 
Signed-off-by: tnaegeli <naegelit@student.ethz.ch>
 2012-09-18 13:49:18 +02:00
Lorenz Meier f5dea9a1a5 Debugging / fixing attitude aliasing 2012-09-17 10:13:15 +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