62c2aa4924
ACM: Added Loiter D tuning
13 years ago
cb8729109c
ACM: Added Loiter_D for tuning as #23
13 years ago
0671bb9168
ACM: Firmware rev
13 years ago
f9d0dc9daa
ACM: disabled auto_calibration until more testing can be done
13 years ago
5ad7320505
ACM: changed alt hold initialization of altitude to be immediate
13 years ago
450f89ec5d
ACM: Added note about scaling rates
13 years ago
eb53200179
ACM: Altered the scaling speed for altitude changes for faster rises.
13 years ago
204f9957b0
ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes.
13 years ago
83729d0f75
ACM: decreased rate P for alt hold to remove bumpy repsonse
13 years ago
220d5a1c6e
ACM: Increased the altitude error P for smoother alt hold response
13 years ago
4b703e8842
decreased the loiter rate P for overshoot
13 years ago
fc32da0d2e
ACM: increased the available rate error constrain, it was too low
13 years ago
bd4835a1b2
ACM: removed the experiment for rate error.
13 years ago
29d6085bab
added Force_new_altitude call for alt hold
13 years ago
4ba600c0c5
upped throttle manual boost to 225
13 years ago
afc4aceb32
ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde
13 years ago
c7480f2281
ArduCopter - fix to dataflash logging of Mag heading
13 years ago
d75e883fe8
GCS: get_integrator() is now get_gyro_drift() in DCM
13 years ago
9a06d35772
make 'ENABLE' and 'ENABLED' mean the same things
...
users get this wrong far too often!
13 years ago
828ad7625b
ACM: removed the ADC filtering code
13 years ago
1016d3c95d
ACM: removed quaternion special cases in CLI code
13 years ago
8393c0299b
ACM: removed the DCM tuning overrides
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not needed now that DCM scales with deltat
13 years ago
7291dfc25a
ACM: removed the special case for quaternions in GCS code
13 years ago
d6cfc51ae4
ACM: no need to fetch offsets at startup
...
AP_Param handles this
13 years ago
ef771fecdc
ACM: removed a lot of the special case code for quaternions
13 years ago
69c29d35ce
ACM: change DCM loop to 100Hz
...
On my APM2 quad this seems to give better results
13 years ago
2596acc8eb
ACM: removed incorrect mode definition
13 years ago
7a9b3d3388
Quaternion: show "Quaternion test" on startup if enabled
13 years ago
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
13 years ago
9bff4e2c4c
ACM: only call the fast loop if the imu has new data
...
this prevents us spinning waiting for the sensors to gather some data
13 years ago
367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
...
this will tell us if board_voltage() is really working
13 years ago
64cc04ae09
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
13 years ago
a0ce202d87
ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM
13 years ago
486c56ce41
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
13 years ago
c8e9d57567
temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest.
13 years ago
730476fdfd
ACM -
...
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
13 years ago
c26eb6afcc
ACM: Updated config values
13 years ago
8b256cf924
ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down
13 years ago
72a775cc2a
ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down.
13 years ago
706bea5992
ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino
13 years ago
46d7da4d14
Added define for throttle range for altitude changes, updated it to 250
13 years ago
a480b32400
Added support for TradHeli H1 swashplate type. Added new param heli_h1_swash_enabled.
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Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
13 years ago
0ff44563ec
ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls
13 years ago
0fc646d666
ACM: set default RC fast speed to 400Hz
13 years ago
e213f6780e
ACM: added RC_SPEED MAVLink parameter
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this will set the speed for APM_RC.SetFastOutputChannels()
13 years ago
f781bd735b
ACM: fixed Parameters.h to avoid duplicate keys
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unfortunately everyone needs to reload
13 years ago
cb874d6097
ACM: added board_voltage()
13 years ago
e49c2d2871
Rescale TradHeli roll_out and pitch_out into the min and max ranges to provide linear motion across the input range instead of stopping when the input hits the constrain value. These calculations are based on an assumption of the user specified roll_max and pitch_max coming into this equation at 4500 or less, and based on the original assumption of the total g.heli_servo_x.servo_out range being -4500 to 4500.
...
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
13 years ago
7c09e4a5e6
added stab_d gain scheduling - off by default
13 years ago
a387956814
added stab_d gain scheduling
13 years ago
Jason Short
rmackay9
Andrew Tridgell
Robert Lefebvre