13ee672eae
Copter: remove unused get_acro_pitch and roll
12 years ago
2696e160e6
Copter: surface tracking improvement
...
Separate correction speeds for pilot input vs altitude-above-ground
errors to allow slower correction to sonar signals.
Change SONAR_GAIN parameter to be altitude error -> desired speed. This
means it should be set 10x larger than before.
Replace hard-coded sonar cut-off percentage of 70% with
SONAR_RELIABLE_DISTANCE_PCT.
Reduce sonar cut-off percentage to 60%.
Add desired sonar altitude to dataflash log's CTUN message.
12 years ago
ac620e2140
Copter: Loiter and AltHold won't breach alt fence
12 years ago
8b79798e8d
Copter: Leonard's sport fix re slow roll
12 years ago
34b11f7be0
Copter: angle limiter fix for max lean angle
12 years ago
6969ab573d
Copter: configurable max lean angle
...
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
12 years ago
49dbdce89c
Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P
12 years ago
21e523b9ac
Copter: Acro trainer separated into limited and leveled
12 years ago
e32342163d
Copter: rename ACRO variables
12 years ago
d2deaaa686
Copter: Acro add rate constrain and combine limit calc
12 years ago
39ab4f62ef
Copter: add SPORT mode
12 years ago
9672742b42
Copter: bug fix to look_ahead_yaw
...
Fix received from David Dewey
Was incorrectly using the direction instead of heading when deciding
whether to point forward or not. Reduced YAW_LOOK_AHEAD_MIN_SPEED to
1m/s because bug meant it was nearly always pointing forward and 10m/s
(the old value) seemed too high
12 years ago
9a1a999fba
Copter: landing check changes
12 years ago
24d15517ff
Copter: clear thr accel I term on take-off
12 years ago
c3daf78340
Copter: reset loiter target when landed
12 years ago
fe412437c2
Copter: add flags for upper and lower throttle limits
...
Freeze desired altitude when motors hit a limit
12 years ago
c5851d2ddf
Copter: remove throttle rate's I and D calcs
12 years ago
740970efa6
Copter: remove stabilize's call to calc I terms
...
I terms all moved to rate controllers so this will be a small
performance improvement
12 years ago
c9a875da52
Copter: remove unused earth frame rate controllers
12 years ago
43379f20c3
Copter Motors: replace limit bitmask with structure
12 years ago
2a9f4bbbad
TradHeli: Creating new unified roll/pitch rate controller.
12 years ago
23ea151ca5
TradHeli: Fix Heli rate controller filter rates.
12 years ago
c812d07993
TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future.
12 years ago
cea0812b82
TradHeli: Rate PID Improvement. Limit Integrator wind-up when PID output is saturated. Also a little bit of general clean-up for readability.
12 years ago
aefb38e486
Copter: remove param to disable accel based throttle controller
12 years ago
1685ff274d
TradHeli: compile error fix related to new ACRO
...
The motors_runup_complete must be a feature that Rob has implemented in
his clone which has not yet reached master. We will need to restore
these lost few trad-heli specific lines once Rob's changes make it to
master.
12 years ago
64ce9b017d
Copter: Body frame ACRO upgrade
12 years ago
f459d35e3e
Copter: roll-pitch fix to allow I to reduce
...
Contributed by Leonard Hall
12 years ago
da4137b731
Copter: changes for GPS field changes
12 years ago
227185fd0f
Copter: remove constraint on rate yaw controller
12 years ago
40612ed551
Copter: yaw limit fix to allow I to reduce
...
We now allow the I term even if we've hit the yaw limits as long as
updating the I term will reduce it
12 years ago
404cd5f3da
Copter: rename g.pid_throttle to g.pid_throttle_rate
...
Small code clean-up to make throttle rate controller's pid more obvious
12 years ago
b3da8a462f
Copter: CH6 tuning definition clean-up
...
Renamed and reorganised the CH6 #defines and parameter definitions
12 years ago
fcf2429e39
Copter: remove throttle controller's ability to limit lean angle
12 years ago
40f5226518
Copter: reset yaw angle only when motors not spinning
12 years ago
5203ba9fe3
Copter: alt hold feed forward filter
12 years ago
25c576cad7
Copter: replaced constrain() with constrain_float()
12 years ago
0b29754920
Copter: simplify roll-pitch stabilize controller
...
remove check of whether to freeze i term when attitude is less than 5
degrees from horizontal. I terms have been moved to the rate
controllers.
12 years ago
c2c037ec0d
Copter: use the right constrain() type in Attitude code
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
a9da3c9d3d
Copter: remove unused throttle functions
...
removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
12 years ago
745df9b13c
Copter: add SONAR_GAIN to tune reaction to sonar
...
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
12 years ago
50515e28e1
Copter: replace fabs with fabsf
12 years ago
f5955d8915
Copter: auto climb and descent params removed
...
These params now reside in the AC_WPNav library
12 years ago
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
12 years ago
7c559333f5
Copter: get_throttle_rate's target_speed a float
12 years ago
ee7f40cfe9
Copter: Leonard's alt-hold feed forward
12 years ago
f82ce449d7
AC_WPNav: add angle limits and set from AC's throttle controller
12 years ago
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
12 years ago
49828eba7d
Copter: integrate AC_WPNav
12 years ago
24dd167607
Copter: ACRO bug fix from Jason
12 years ago
Randy Mackay
Leonard Hall
Robert Lefebvre
Andrew Tridgell