ac5dcc8d49
ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables
12 years ago
69db678252
ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller.
12 years ago
5ad38a32bf
ACM : Attitude : added nav param reset
12 years ago
3c78c4a7a3
ACM : Attitude.pde added ap bitfield for failsafe bit
12 years ago
a42c6bb609
ACM : Attitude.pde removed stabilize D
12 years ago
14cbe37d3e
ArduCopter: remove unused get_stabilize_rate_yaw
12 years ago
1f801714e8
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
12 years ago
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
12 years ago
8a8ed7a711
ACM : Formatting
12 years ago
4877348c49
ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon.
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Increase other constraints from 3200 to 32000. These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
12 years ago
5e8043fd9c
ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters
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Changes on behalf of Leonard Hall
12 years ago
a0752dc7dc
ACM Acceleration management
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removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
12 years ago
583f2e49a3
ArduCopter: integrated Leonard Hall's improved ACRO mode
13 years ago
b944d9df26
ArduCopter: bug fix in earthframe->body frame translation.
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Provided by Leonard Hall.
Also removed large unnecessary comments.
13 years ago
5fbe53a84d
ArduCopter: bug fix for get_yaw_rate_stabilized_ef
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Provided by Leonard Hall
13 years ago
d7b7e1cefa
New Yaw controller using rate feed forward and stabilize.
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Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
13 years ago
997fe85880
ArduCopter: fixed acro mode
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Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
13 years ago
2848bb8ee6
ArduCopter: freeze I terms if motor limits breached
13 years ago
7cf60e61b4
ArduCopter: bug fix in earth-frame to body-frame conversion for roll
13 years ago
05fd04134a
ArduCopter: fix heli build
13 years ago
e375a27058
ArduCopter: prioritise rate controllers, rate controller targets converted to body frame
13 years ago
361ff0c08f
ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.
13 years ago
f783ace0de
uncrustify ArduCopter/Attitude.pde
13 years ago
0a25a189eb
ACM | Attitude.pde - removed next_wp.alt reset.
13 years ago
bc631b656e
ACM: Added a more sane limit to Angle boost
13 years ago
87d5b5944d
ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings
13 years ago
92688a793a
ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch.
13 years ago
9cee1b2fa0
ACM : Upped Yaw Limit to 2200
13 years ago
36f947acb9
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
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Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
13 years ago
a72bf6ef57
ArduCopter: replaced abs with labs as required in a few places.
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Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
13 years ago
3ad08b7ffc
ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second.
13 years ago
132ac7d412
ACM : attitude.pde - removed unused function
13 years ago
5d756decd2
ACM : Attitude.pde
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yaw limit, moved toy code out of att to it's own pre
13 years ago
8c47b0c087
ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling.
13 years ago
613849a8df
Arducopter: Force nav_yaw to match auto_yaw when starting a mission
13 years ago
610d1d1795
Arducopter: deprecated the get_nav_yaw_offset function.
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Small Toy mode updates
13 years ago
aa645afe2b
Arducopter: Altitude change nav
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Split altitude hold into two controls to parallel navigation.
13 years ago
584e7dcda4
Arducopter: Removed Yaw Limit for Quads
13 years ago
44b16b7b61
Arducopter: Temp reversion to old Yaw controller.
13 years ago
59e133235f
Implementing Yaw Fix. Tried to blend with Jason's changes.
13 years ago
6f9e2bf3a8
Arducopter: Toy mode update
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Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
13 years ago
1feaaa4655
Arducopter: Toy mode refinements
13 years ago
226bba48a6
Toy Mode Yaw Rate fix
13 years ago
c62706ad06
Toy Mode: Yaw performance update.
13 years ago
16b25a26c2
Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks.
13 years ago
e0b3309500
Yaw mode:
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Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
13 years ago
3ce867508b
Attitude.pde: Toy mode logic
13 years ago
eeab4c5363
Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco.
13 years ago
812bf7d874
Attitude.pde - Added small boost to alt hold for takeoff.
13 years ago
1064dcbd34
Open up constraint on Rate Yaw Output for all copters.
13 years ago
rmackay9
Jason Short
LeonardTHall
uncrustify
Robert Lefebvre