35fae44527
Nulling controller parameters for additional safety
12 years ago
82c4dbaaa8
param load / store cleanup, storage location selection now exclusively through dedicated "param select <path>" command
12 years ago
80ac43e21d
Fine tuning of manual control
12 years ago
56a0f14b34
Minor last tweaks
12 years ago
12e1cf3710
Fixed error term calculation for yaw position
12 years ago
ab63a77edf
Reducing stack sizes to free some RAM
12 years ago
4db0ec03ce
Better yaw position control, but not quite there yet
12 years ago
fedf5470d6
Correctly initializing and updating yaw setpoint, sign still to be checked
12 years ago
c3fe915b44
Checkpoint - moving things out of the NuttX configs/*/src directories
12 years ago
ea36154e39
Accomodating for offboard control setups
12 years ago
a3f2114d54
Removed bogus time scalings
12 years ago
42c61271ea
remove bogus dt from att rate
12 years ago
5ec5754f26
brought controller back to last tuned state
12 years ago
dff0051568
Map inputs to the controller we actually want
12 years ago
2d631fb005
Various fixes to attitude control, flyable, needs parameter tuning
12 years ago
5d3d17d025
Increased priority of MAVLink receiver thread
12 years ago
32e586d4b7
Controller and estimator updates
13 years ago
b50bc7798a
Wip on inner rate loop
13 years ago
fef4362e79
Merged new EKF version
13 years ago
613e12fcac
working offboard
13 years ago
dd50c88f07
Fixed GPS lost issue, fixed accel scale initialization, fixed code style in rate controller
13 years ago
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.
...
Arbitrary large limit values were hard coded into multirotor_attitude_control.c. These should be changed to parametric values or something sensible.
This commit will temporarily break fixedwing_control.c. A following commit will repair it along with significant changes to the inner loop control.
This commit has been tested to compile with fixedwing_control.c temporarily removed. No other testing has been completed.
13 years ago
2fa0dec369
Back out testing changes that are a bit too much ahead of time for master
13 years ago
2a06b66845
Fixed inner yaw rate loop
13 years ago
733975ed2d
fixed Rate controller
13 years ago
dfae108e6a
Go back to the FIFO scheduler for now, as we don't have time to shake out the RR scheduler changeover just yet.
...
Make the "default" scheduler a centralized definition so that changes are easier in future.
13 years ago
f3cb2cf8a3
rate controller update
13 years ago
beca2b072e
Moved from raw gyro to estimated angular rate from EKF for rate control
13 years ago
affa3af4e6
Clean 250 Hz updates in filter, partial updates enabled
13 years ago
93c200d281
Add new 'task_spawn' interface for starting new tasks in the PX4 world
13 years ago
2c5c314105
Cleanup of lots of debugging printfs
13 years ago
7f15309892
Calibration should not freeze anymore, ardrone flying but estimator is not able to use calibrated magnetometer data
13 years ago
ec3949bf82
Fix a bug where the rate controller is always active
13 years ago
201fdbc42c
ardrone flying now (still workaround of disabled rates controller)
13 years ago
abbe998506
ardrone in the air again (workaround: rate controller disabled)
13 years ago
705172d302
Untested, but fully implemented attitude and/or inner rate control
13 years ago
8b951ec417
WIP on HIL
13 years ago
a9b21886f3
Halfway-working fixed wing waypoint control, needs more effort
13 years ago
082074f991
Completely implemented offboard control
13 years ago
291f4f3a33
Reworked control interface, needs testing / validation
13 years ago
df03433034
g
...
Signed-off-by: tnaegeli <naegelit@student.ethz.ch>
13 years ago
f5dea9a1a5
Debugging / fixing attitude aliasing
13 years ago
b573804456
Got rid of a bunch of magic numbers, manual controls can now be set up fine-grained
13 years ago
e440fc4027
Rewrote SD logging app, simpler, but effective. Pending testing
13 years ago
80c6252c0a
Limited Z-compensation much stronger to prevent throttle jumps
13 years ago
27c5cef054
Added RC params, fixed attitude and position control
13 years ago
cca865eff0
Improved commandline hints
13 years ago
db6ec2d7d2
Various minor fixes and improvements across system
13 years ago
41dde1ea64
Fix issue where the roll controller never receives parameter updates.
13 years ago
edaa40f1d3
Fix typo in roll controller initialization; now roll and pitch controllers respond in a comparable fashion.
13 years ago
Lorenz Meier
Tobias Naegeli
px4dev
daregger
Doug Weibel
Julian Oes