b052dab80d
Adjusted gains to move closer to Marco's tests
13 years ago
3d63bb6cd4
Added acro_p to the params
13 years ago
21856e7696
new defaults for params
13 years ago
4faba2048c
Lowered for Jani
13 years ago
470fd8788e
ArduCopter Channel Config: config vars for user override of MOT_n mapping
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* config variable CONFIG_CHANNELS has possible values
CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
13 years ago
0a63f104ab
Gain adjustments for 3d frame.
13 years ago
dc15fe4c5d
Moved to Rate_I by default for Jani to test
13 years ago
50aaa09348
Up Nav_Rate_P
13 years ago
62627e9b57
reverted to Save_WP now that CH7 triggering is fixed
13 years ago
c35ad2d493
Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune.
13 years ago
fe7a0a97ab
ArduCopter - CH7 - changed default to CH7_DO_NOTHING
13 years ago
b851d39eaa
OptFlow - reenable OF_LOITER pid controller and reduce I term
13 years ago
21bd48b6c3
Loiter PIDs
13 years ago
009e87105f
Minor changes for PID for jDrones motors due latest changes on control laws.
13 years ago
a3862ced62
cosmetic
13 years ago
02aacc454b
Lowering the throttle_P values by default
13 years ago
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
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Added AC_PID lib
Updated landing code
bug fixes
13 years ago
122623f64b
OpticalFlow - added OF_LOITER flightmode
13 years ago
8dee001657
Sonar - changed default pin to A0
13 years ago
2c906b7b27
OpticalFlow - replaced PI controller with PID controller.
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Modified optical flow hold to use aggregated position instead of speed.
13 years ago
74daadb252
Revert "test to switch loiter controls"
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This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
13 years ago
6476ba22f2
test to switch loiter controls
13 years ago
7edd16e5fe
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
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Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
13 years ago
c190f83bb0
AutoLanding timeout for Mission Planner
13 years ago
d2c78d2b75
Stab_D changes units with the new dampening controller updates
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Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
13 years ago
85f10589b2
slowed down slightly
13 years ago
ed9f7cb1b6
Update battery monitoring code for ArduCopter
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Fixes compatibility for APM2. Also a significant update to the battery monitoring code: We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos. These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere). Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs. The CLI battery and current monitoring tests were consolidated into 1 test.
changed
13 years ago
95ac9d163e
lowered Loiter I, commented out unused var
13 years ago
154411c96c
removed unused defines
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lowered default Loiter gain
13 years ago
257890d5be
New Loiter Gains for new Loiter methods
13 years ago
a30558e9b2
ArduCopter config.h: add standard ifndef/define header macro wrappers
13 years ago
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
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Removed optical flow from regular loiter for now until it's tested.
13 years ago
3dfa26920f
ArduCopter - changed Sonar to use A1 (was AN4)
13 years ago
06e032db68
Quad frame - X is default
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added wind comp stability option to config - off by default
13 years ago
67bf991598
removed unused Airspeed config
13 years ago
74b203c7f2
Lowered Yaw to prevent overshoot based on feedback
13 years ago
c7f93f8718
Updated Configs based on field testing.
13 years ago
21460a57ae
Yaw Performance tweaks
13 years ago
95a70cf32e
lowered to nav_lat and nav_lon int16
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added a version that didn't have I term added to get a better indication of velocity estimation
13 years ago
17acbc4572
updated Loiter gains
13 years ago
bb954bc479
Upped Yaw speed to deal with performance complaints
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Added new Stabilize D term default of .25
13 years ago
7e1e1f84b3
updated Loiter PIDs
13 years ago
4b5437afe8
Enable Magnetometer by default
13 years ago
bbe6dea980
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
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Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
13 years ago
433df08cb3
ACM: enable compass by default on APM2
13 years ago
d7af42c925
Getting rid of Simple Logging
13 years ago
0f91fbcee5
Made WP radius 1 by default
13 years ago
a966a178f8
increased crosstrack thanks to float math fix
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decreased loiter iterm, decreased throttle iterm based on simulator runs
13 years ago
f1624621b3
ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added
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CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
13 years ago
106801a59c
config settings for jD motors
13 years ago
Jason Short
Pat Hickey
Randy Mackay
Jani Hirvinen
Doug Weibel
Andrew Tridgell
Jani Hirvinen