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
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
Before: -> After
Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value)
Stabilize I –> Stabilize I (Stays same value)
Stabilize D –> Rate P (Stays same value)
–> Rate I (new)
Added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs.
Added framework for using DCM corrected Accelerometer rates. Code is commented out for now.
Added set home at Arming.
Crosstrack is now a full PID loop, rather than just a P gain for more control.
Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions
Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written.
Added Octa_Quad support - Max
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2836 f9c3cf11-9bcb-44bc-f272-b75c42450872
new Loiter PIDs
tuned down control on standard frame
shunk the mixing range for sonar from 3 meters to 2 meters
added framework for Guided mode - not tested!
removed pitch and roll deadzone
decoupled SIMPLE mode from LOITER PIDs
Synced Mavlink with APM
Logs report correct WP number now.
disabled Sonar spike filter.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2722 f9c3cf11-9bcb-44bc-f272-b75c42450872
updated motor setup test to be sequencial pulses of the motors in CW order.
Fixed Mission scripting logic
fixed Free yaw error in neutral throttle
fixed D term issue with Baro hold - was too high
incremented firmware revision, removed frame var
removed setup show from startup
removed unused EEPROM functions
fixed broken demo mission
fixed non working loiter with delay
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2275 f9c3cf11-9bcb-44bc-f272-b75c42450872
Robert Lefebvre
Andrew Tridgell
Jason Short
Jason Short
Jason Short
Jason Short
jasonshort
tridge60@gmail.com