fad162989f
ArduCopter - navigation.pde - added logging of Loiter PID controllers
13 years ago
66c4f752e3
ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint
13 years ago
22315cd41a
ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!)
13 years ago
91b2b48fd8
ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations)
13 years ago
427dacba70
ACM: Smoother Speed calcs
13 years ago
7153b94ade
ACM: Disabled D term experiment for Loiter until more testing
13 years ago
468d9c4b4f
ACM: Loiter D performance updates
13 years ago
73e2bd6cd8
ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed.
13 years ago
deed802d1a
ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter.
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
afc4aceb32
ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde
13 years ago
6e53949c2a
removed Constraint that caused JLN's horizontal drift.
13 years ago
24345d4f43
Loiter updates
13 years ago
81a861c8ac
Added slow wp option in calc_desired_speed
13 years ago
bcd5129f9b
added workaround for resetting alt.
13 years ago
908ca4e915
scaled X velocity
13 years ago
9a3e862b55
added option in code for Loiter specific gains
13 years ago
efce991bfb
upped max target speed to center of loiter
13 years ago
c35ad2d493
Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune.
13 years ago
8aaf88e13b
tweaks to Loiter
13 years ago
23709bafef
pid_nav_lat incorrectly labeled
13 years ago
ae65a0f03f
removed filter. Don't need it.
13 years ago
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
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Added AC_PID lib
Updated landing code
bug fixes
13 years ago
25529dec69
added loiter_d to allow users to configure alternate Loiter alg
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
fffa1af3b3
Fixed speed governor which was letting speed get to 0.
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added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
13 years ago
8cb645f3c2
increasing the velocity near WP
13 years ago
6784989e83
relocated reset_I term functions to central location
13 years ago
6591089110
Disabled Ryans filter until we get real-world testing in.
13 years ago
569ff5046f
Added Ryan's GPS lag filter
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Removed unused code
refined alt change
13 years ago
99ea69ef7b
New Loiter control
13 years ago
3e8ff39d4b
Climb rate control
13 years ago
63be9c5f7b
Moved wind comp into a define
13 years ago
c9f60f239d
Added Note
13 years ago
2913948520
ACM: fixed a warning
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comment out some unused debug code
13 years ago
e36d2f6e96
Added Wind compensation for Stabilize
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moved speed calc to it's own function
decreased acceleration from WPs
13 years ago
26d0bf93ff
Added more constraints around velocity
13 years ago
c6586810cf
New Style WP navigation for high wind
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
53c09774e5
removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position.
13 years ago
fa49aa5eec
Fixes for Smooth Loiter
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
1afa25d9ef
Tweaks to fix Loiter
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Changed save location to int32
added some filtering and smoothing
13 years ago
5518882c69
Fixed resolution issue with Xtrack
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Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
13 years ago
c6657f4a93
updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing
13 years ago
edc3a731d4
Adjustments for High Wind enviroments
13 years ago
d83ad1acd4
Upped the max pitch to deal with wind - based on T3 testing
13 years ago
rmackay9
Jason Short
Andrew Tridgell