rmackay9
7cf60e61b4
ArduCopter: bug fix in earth-frame to body-frame conversion for roll
13 years ago
rmackay9
05fd04134a
ArduCopter: fix heli build
13 years ago
rmackay9
e375a27058
ArduCopter: prioritise rate controllers, rate controller targets converted to body frame
13 years ago
rmackay9
361ff0c08f
ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.
13 years ago
uncrustify
f783ace0de
uncrustify ArduCopter/Attitude.pde
13 years ago
Jason Short
0a25a189eb
ACM | Attitude.pde - removed next_wp.alt reset.
13 years ago
Jason Short
bc631b656e
ACM: Added a more sane limit to Angle boost
13 years ago
rmackay9
87d5b5944d
ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings
13 years ago
rmackay9
92688a793a
ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch.
13 years ago
Jason Short
9cee1b2fa0
ACM : Upped Yaw Limit to 2200
13 years ago
rmackay9
36f947acb9
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
...
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
13 years ago
rmackay9
a72bf6ef57
ArduCopter: replaced abs with labs as required in a few places.
...
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
13 years ago
Jason Short
3ad08b7ffc
ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second.
13 years ago
Jason Short
132ac7d412
ACM : attitude.pde - removed unused function
13 years ago
Jason Short
5d756decd2
ACM : Attitude.pde
...
yaw limit, moved toy code out of att to it's own pre
13 years ago
Jason Short
8c47b0c087
ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling.
13 years ago
Jason Short
613849a8df
Arducopter: Force nav_yaw to match auto_yaw when starting a mission
13 years ago
Jason Short
610d1d1795
Arducopter: deprecated the get_nav_yaw_offset function.
...
Small Toy mode updates
13 years ago
Jason Short
aa645afe2b
Arducopter: Altitude change nav
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Split altitude hold into two controls to parallel navigation.
13 years ago
Jason Short
584e7dcda4
Arducopter: Removed Yaw Limit for Quads
13 years ago
Jason Short
44b16b7b61
Arducopter: Temp reversion to old Yaw controller.
13 years ago
Robert Lefebvre
59e133235f
Implementing Yaw Fix. Tried to blend with Jason's changes.
13 years ago
Jason Short
6f9e2bf3a8
Arducopter: Toy mode update
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Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
13 years ago
Jason Short
1feaaa4655
Arducopter: Toy mode refinements
13 years ago
Jason Short
226bba48a6
Toy Mode Yaw Rate fix
13 years ago
Jason Short
c62706ad06
Toy Mode: Yaw performance update.
13 years ago
Jason Short
16b25a26c2
Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks.
13 years ago
Jason Short
e0b3309500
Yaw mode:
...
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
13 years ago
Jason Short
3ce867508b
Attitude.pde: Toy mode logic
13 years ago
Jason Short
eeab4c5363
Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco.
13 years ago
Jason Short
812bf7d874
Attitude.pde - Added small boost to alt hold for takeoff.
13 years ago
Robert Lefebvre
1064dcbd34
Open up constraint on Rate Yaw Output for all copters.
13 years ago
Jason Short
27e0aee03f
Small fix to angle boost - increases by about 20% to deal with inefficiencies of non-downward thrust
13 years ago
Jason Short
c42f9ece43
Inertial Control
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I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.
This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.
Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.
The Log should record RAW messages with special debugging values.
13 years ago
rmackay9
65050775e1
ArduCopter: made Robert's new yaw method optional (off by default).
...
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
13 years ago
Robert Lefebvre
c5916a8b4d
Opening up the Yaw Rate constraint for Trad Heli.
13 years ago
Robert Lefebvre
e2496181ff
Yaw Fix
...
Modified Nav_Yaw controller to better track intended heading changes.
13 years ago
Jason Short
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
Jason Short
9ab06c5542
Moved PID logging counter into define
13 years ago
Jason Short
2311d52d37
Renamed some variables to clarify functionality.
13 years ago
Jason Short
1a5e2f4e37
Attitude.pde - Removed rate limit based on SIM flights. These should never have been in place and seriously detriment Acro flight.
13 years ago
rmackay9
533772339e
ArduCopter - Attitude.pde - added logging of optical flow pid controller
13 years ago
rmackay9
df85051574
ArduCopter - added dataflash logging of roll and pitch rate controllers
13 years ago
rmackay9
aa4085183c
ArduCopter - Attitude.pde - moved heli_get_angle_boost from heli.pde (which will be removed) to Attitude.pde. In fact we should combine heli_get_angle_boost and the regular get_angle_boost.
13 years ago
Andrew Tridgell
e0c9ab5a29
ACM: fixed heli build
13 years ago
Andrew Tridgell
47f9dfd125
ACM: fixed the build on the 1280
13 years ago
rmackay9
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
13 years ago
Andrew Tridgell
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
13 years ago
Jason Short
a0717f082e
ACM: Attitude.pde - consolidated wind I term resets
13 years ago
Jason Short
fc32da0d2e
ACM: increased the available rate error constrain, it was too low
13 years ago