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Commit Graph

82 Commits (00b79764d795edf2914e4c5dcb6e5eaa00376aee)

Author SHA1 Message Date
Lorenz Meier 4d1256e3f3 Removed left-over comment
12 years ago
Lorenz Meier 13000a7121 Yaw rate sanity checking for controller
12 years ago
Lorenz Meier 6ff4520904 Cleaned up PI wrapping code, still subject to testing
12 years ago
Julian Oes 129e6d73de Changed yaw position control to yaw speed control for multirotors, tested with ardrone
12 years ago
Julian Oes 2652b16d37 Distinction between yaw position and yaw speed control, just messsed around in the code, untested
12 years ago
Lorenz Meier c2abe3997c Minor cleanups in attitude control
12 years ago
Julian Oes a8dfcaace2 Several fixes, hex flies, failsafe not really tested yet
12 years ago
Lorenz Meier 0baca3ee31 Better, platform independent failsafe handling
12 years ago
Lorenz Meier a866fb2f2c Disable failsafe until its actually tested
12 years ago
Julian Oes 6c3a340d6e Made param name shorter, don't know if it was needed
12 years ago
Lorenz Meier 35fae44527 Nulling controller parameters for additional safety
12 years ago
Julian Oes 25ed791b70 Forgot to comment
12 years ago
Julian Oes 5995240a07 Failsafe throttle when RC is lost is now a parameter
12 years ago
Julian Oes 08d6ade585 Some failsafe hack when RC signal is lost
12 years ago
Lorenz Meier 82c4dbaaa8 param load / store cleanup, storage location selection now exclusively through dedicated "param select <path>" command
12 years ago
Tobias Naegeli 80ac43e21d Fine tuning of manual control
12 years ago
Lorenz Meier 56a0f14b34 Minor last tweaks
12 years ago
Lorenz Meier 12e1cf3710 Fixed error term calculation for yaw position
12 years ago
Lorenz Meier ab63a77edf Reducing stack sizes to free some RAM
12 years ago
Lorenz Meier 4db0ec03ce Better yaw position control, but not quite there yet
12 years ago
Lorenz Meier fedf5470d6 Correctly initializing and updating yaw setpoint, sign still to be checked
12 years ago
px4dev c3fe915b44 Checkpoint - moving things out of the NuttX configs/*/src directories
12 years ago
Lorenz Meier ea36154e39 Accomodating for offboard control setups
12 years ago
Lorenz Meier a3f2114d54 Removed bogus time scalings
12 years ago
Lorenz Meier 42c61271ea remove bogus dt from att rate
12 years ago
Lorenz Meier 5ec5754f26 brought controller back to last tuned state
12 years ago
Lorenz Meier dff0051568 Map inputs to the controller we actually want
12 years ago
Lorenz Meier 2d631fb005 Various fixes to attitude control, flyable, needs parameter tuning
12 years ago
Lorenz Meier 5d3d17d025 Increased priority of MAVLink receiver thread
12 years ago
daregger 32e586d4b7 Controller and estimator updates
12 years ago
daregger b50bc7798a Wip on inner rate loop
12 years ago
Lorenz Meier fef4362e79 Merged new EKF version
12 years ago
tnaegeli 613e12fcac working offboard
13 years ago
Lorenz Meier dd50c88f07 Fixed GPS lost issue, fixed accel scale initialization, fixed code style in rate controller
13 years ago
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.
13 years ago
Lorenz Meier 2fa0dec369 Back out testing changes that are a bit too much ahead of time for master
13 years ago
Lorenz Meier 2a06b66845 Fixed inner yaw rate loop
13 years ago
tnaegeli 733975ed2d fixed Rate controller
13 years ago
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.
13 years ago
tnaegeli f3cb2cf8a3 rate controller update
13 years ago
Lorenz Meier beca2b072e Moved from raw gyro to estimated angular rate from EKF for rate control
13 years ago
Lorenz Meier affa3af4e6 Clean 250 Hz updates in filter, partial updates enabled
13 years ago
px4dev 93c200d281 Add new 'task_spawn' interface for starting new tasks in the PX4 world
13 years ago
Julian Oes 2c5c314105 Cleanup of lots of debugging printfs
13 years ago
Julian Oes 7f15309892 Calibration should not freeze anymore, ardrone flying but estimator is not able to use calibrated magnetometer data
13 years ago
Lorenz Meier ec3949bf82 Fix a bug where the rate controller is always active
13 years ago
Julian Oes 201fdbc42c ardrone flying now (still workaround of disabled rates controller)
13 years ago
Julian Oes abbe998506 ardrone in the air again (workaround: rate controller disabled)
13 years ago
Lorenz Meier 705172d302 Untested, but fully implemented attitude and/or inner rate control
13 years ago
Lorenz Meier 8b951ec417 WIP on HIL
13 years ago