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
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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
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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
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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
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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
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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
b280857025
Copter: use common angle wrap code
12 years ago
fdcb78ccf7
Copter: leonard's smoother alt-hold transition
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Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
12 years ago
37040adfaa
Copter: bug fix for auto missions over 320m
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get_throttle_althold_with_slew's target_alt parameter defined as int16_t
(instead of int32_t) meaning missions with altitudes >320m could wrap
around and become negative.
12 years ago
f9539384a1
Copter: rename failsafe to failsafe_radio
...
Makes way for separation of failsafes for throttle, gps and gcs
12 years ago
476a6d0164
Copter: fix for acro throttle bug
12 years ago
d8515ff85e
Compass: basic compensation for motor interference
12 years ago
df1c0d92bd
Copter: manual throttle scaling fix
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Scaling of bottom half of throttle was changed from THR_MIN ~ 500.
Previously it was from 0 ~ 500.
12 years ago
a0b65a262b
Copter: use scaled throttle for accel-throttle's I term
...
Accel throttle's I term is taken from scaled manual throttle
12 years ago
06a71af12f
Copter: THR_MID used to scale manual throttle
12 years ago
aaecc25ac7
Copter: leonard's inav2
...
Moved loiter controller to navigation.pde
12 years ago
deafbf1f56
Copter: inav loiter comment changes
...
removed unused get_loiter_vel function
12 years ago
68fc9ac1d8
Copter: add "f" to end of float constants
...
This is a small performance improvement for the px4
12 years ago
9a09f086d2
Copter: Leonard Hall's inertial nav ver 2
12 years ago
ab1978ad50
Copter: Leonard Hall's inertial nav based loiter
12 years ago
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
12 years ago
175f69a64f
ArduCopter: smooth throttle when switching from manual throttle to alt hold
...
new set_accel_throttle_I_from_pilot_throttle function copies the
difference between the pilot's throttle and hover throttle to the
accelerometer based throttle controller's I term.
12 years ago
21b6c78d12
ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes
...
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
12 years ago
860f4b2605
Copter: merge the latest 2.9 changes into master
12 years ago
ead38f917f
Copter: use GRAVITY_MSS
12 years ago
51d987a890
Copter: removed unusued variable
12 years ago
677b38a48e
ArduCopter: first implementation of surface tracking using sonar
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Note: not yet enabled as part of any flight mode
12 years ago
daac540e08
ArduCopter: get_throttle_althold - add check to avoid divide by zero
12 years ago
576af6d487
ArduCopter: bug fix to althold desired rate calculation. Fix from Jonathan.
12 years ago
ff40fa6aab
ArduCopter: alt hold bug fix - should use 2x linear distance when calculating the desired rate
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Bug fix from Leonard.
12 years ago
Randy Mackay
Leonard Hall
Andrew Tridgell
James Bielman