2c906b7b27
OpticalFlow - replaced PI controller with PID controller.
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Modified optical flow hold to use aggregated position instead of speed.
13 years ago
74daadb252
Revert "test to switch loiter controls"
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This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
13 years ago
6476ba22f2
test to switch loiter controls
13 years ago
7edd16e5fe
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
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Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
13 years ago
c190f83bb0
AutoLanding timeout for Mission Planner
13 years ago
d2c78d2b75
Stab_D changes units with the new dampening controller updates
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Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
13 years ago
85f10589b2
slowed down slightly
13 years ago
ed9f7cb1b6
Update battery monitoring code for ArduCopter
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Fixes compatibility for APM2. Also a significant update to the battery monitoring code: We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos. These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere). Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs. The CLI battery and current monitoring tests were consolidated into 1 test.
changed
13 years ago
95ac9d163e
lowered Loiter I, commented out unused var
13 years ago
154411c96c
removed unused defines
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lowered default Loiter gain
13 years ago
257890d5be
New Loiter Gains for new Loiter methods
13 years ago
a30558e9b2
ArduCopter config.h: add standard ifndef/define header macro wrappers
13 years ago
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
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Removed optical flow from regular loiter for now until it's tested.
13 years ago
3dfa26920f
ArduCopter - changed Sonar to use A1 (was AN4)
13 years ago
06e032db68
Quad frame - X is default
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added wind comp stability option to config - off by default
13 years ago
67bf991598
removed unused Airspeed config
13 years ago
74b203c7f2
Lowered Yaw to prevent overshoot based on feedback
13 years ago
c7f93f8718
Updated Configs based on field testing.
13 years ago
21460a57ae
Yaw Performance tweaks
13 years ago
95a70cf32e
lowered to nav_lat and nav_lon int16
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added a version that didn't have I term added to get a better indication of velocity estimation
13 years ago
17acbc4572
updated Loiter gains
13 years ago
bb954bc479
Upped Yaw speed to deal with performance complaints
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Added new Stabilize D term default of .25
13 years ago
7e1e1f84b3
updated Loiter PIDs
13 years ago
4b5437afe8
Enable Magnetometer by default
13 years ago
bbe6dea980
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
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Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
13 years ago
433df08cb3
ACM: enable compass by default on APM2
13 years ago
d7af42c925
Getting rid of Simple Logging
13 years ago
0f91fbcee5
Made WP radius 1 by default
13 years ago
a966a178f8
increased crosstrack thanks to float math fix
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decreased loiter iterm, decreased throttle iterm based on simulator runs
13 years ago
f1624621b3
ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added
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CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
13 years ago
106801a59c
config settings for jD motors
13 years ago
f11f2c6d97
added some more throttle imax range
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renamed Super Simple
13 years ago
5d197ae337
Change logging to default on for 2560
13 years ago
c9b317fc27
Gain updates
13 years ago
e4559bbf5c
Added param option for Simple mode reset
13 years ago
6bc90d6289
Just upped the nav_imax value
13 years ago
a22893124d
fixed LOGGING_ENABLED default on ArduCopter
13 years ago
358dc91d41
fixed hil ArduCopter build
13 years ago
d7f77aec93
ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define
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* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
config.h takes care of this default.
13 years ago
62844d8ddc
ArduCopter: added config.h and defines.h to support CONFIG_BARO
13 years ago
e8e126a636
removed CLI switch by default, decreased Nav I
13 years ago
67855b207d
Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types
13 years ago
0b24914066
OptFlow - turning on optical by default
13 years ago
fa0723f115
ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2.
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modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
13 years ago
cc38189f71
ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280
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Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
13 years ago
e8a14c8d93
simple patch to improve alt hold based on stability patch
13 years ago
5ed300db7e
disabled Flash logs in 1280 by default
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Added stability patch I values and limits
13 years ago
38c85c44ae
ArduCopter: rename purple to APM2
13 years ago
3a542b3ef3
USB-MUX: enable USB MUX switching for ArduCopter
13 years ago
6093db948b
compass: added AP_COMPASS_APM2_SHIELD
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this makes the orientation clearer
13 years ago
Randy Mackay
Jason Short
Doug Weibel
Pat Hickey
Andrew Tridgell
Jani Hirvinen
Pat Hickey