c76ac4543b
Added user editable define for Super simple radius
13 years ago
a0dc1f7ab1
Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm
13 years ago
7e0708ca36
Config.h - returned low to original 120
13 years ago
4f18e7f80b
lowered minimum throttle
13 years ago
39a253a273
decreased I term based on the tests last weekend in high winds
13 years ago
65050775e1
ArduCopter: made Robert's new yaw method optional (off by default).
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Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
13 years ago
ff0659535e
Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch.
13 years ago
c6f1d93849
ArduCopter: updated standard loiter pids.
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Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
13 years ago
a9610a0761
Stabilization patches
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removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
13 years ago
a71ed6c5ce
enable mavlink10 by default
13 years ago
9310d613e1
Lowered I term - causes oscillations in SIM
13 years ago
7f3e142fa8
Loiter Gains based on new SIM
13 years ago
c8fb9a6635
More CopterLEDS changes.
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Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2. Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2. Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code. Legacy users should see no difference.
13 years ago
a285e2779f
CopterLEDS changes for APM2
13 years ago
8e580729b7
config.h: Removed comment.
13 years ago
090f5aaa6f
ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame
13 years ago
919f004b27
ArduCopter - changed Optical Flow for APM2 to use A3 pin
13 years ago
d29f1ef331
Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff.
13 years ago
0e7e77760a
Updated ArduPlane/ArduCopter cmake options.
13 years ago
7b277d7044
config.h: Added RTL_APPROACH_DELAY config value.
13 years ago
84b07b5e6a
ArduCopter - LEDS - added new COPTER_LEDS definition
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Code by Robert Lefebvre
13 years ago
0bc604f030
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
13 years ago
51b70e4d36
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
13 years ago
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
13 years ago
e2560c5865
Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator
13 years ago
0773a25b5d
ArduCopter - increased default THROTTLE_CRUISE to 450
13 years ago
dc92da818c
ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore
13 years ago
491af02d8a
ACM: Lowered gains from flight tests today with 3DR Quad
13 years ago
3038da1dc3
ACM: Softer Loiter Gains
13 years ago
a52a14bf12
Tune down Loiter_P a hair
13 years ago
48ba24a810
ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.
13 years ago
7034b709d1
ACM: removing old define
13 years ago
0b51d9b8b0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
13 years ago
a989b88680
ACM: made same as Loiter I
13 years ago
0d434ca92c
ACM: Tuning based on flights today
13 years ago
2524f9c8df
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
13 years ago
83729d0f75
ACM: decreased rate P for alt hold to remove bumpy repsonse
13 years ago
220d5a1c6e
ACM: Increased the altitude error P for smoother alt hold response
13 years ago
4b703e8842
decreased the loiter rate P for overshoot
13 years ago
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
13 years ago
730476fdfd
ACM -
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Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
13 years ago
c26eb6afcc
ACM: Updated config values
13 years ago
0fc646d666
ACM: set default RC fast speed to 400Hz
13 years ago
7c09e4a5e6
added stab_d gain scheduling - off by default
13 years ago
ba68d6d8a1
Set loiter rate enabled by default
13 years ago
e06d8142c1
Added OPtion for non-rate based loiter
13 years ago
cc5ab4aebf
increased speed of alt hold I term based on Jani's Logs
13 years ago
385828824d
updated Gains for Marco's loiter test
13 years ago
885710fce6
updated max throttle define
13 years ago
1b46daa12e
some better defaults for JDrones
13 years ago
Jason Short
rmackay9
Michael Oborne
Robert Lefebvre
Adam M Rivera
James Goppert
Andrew Tridgell