bd4835a1b2
ACM: removed the experiment for rate error.
13 years ago
730476fdfd
ACM -
...
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
13 years ago
a387956814
added stab_d gain scheduling
13 years ago
744e5b8c60
ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine)
13 years ago
4a0989f95d
ArduCopter - Attitude.pde - updated get_rate_roll and get_rate_pitch to use new average filter.
...
modified all int to int16_t in Attitude.pde
13 years ago
1ce267f904
increased the rate error for more responsive alt hold
13 years ago
57e5eee8c8
TradHeli - increase max yaw input to 45 degrees
13 years ago
364afe8da0
added a constraint to D term
13 years ago
265c5255a3
Added slow_wp default in AP mode
13 years ago
5218220f0f
re-implemented WII Dampening filter for Marco.
13 years ago
632cc783a1
cast D term to float just in case
13 years ago
3d63bb6cd4
Added acro_p to the params
13 years ago
fcb24ee17d
Added Acro_P
13 years ago
3b4cae3cc3
adapted main ACM code for AP_Param
13 years ago
c64d781dce
get_acro_yaw added
13 years ago
f40d40b0f9
Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that.
13 years ago
b851d39eaa
OptFlow - reenable OF_LOITER pid controller and reduce I term
13 years ago
bf2cc6072d
limiting alt hold rate error to 1m/s
13 years ago
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
...
Added AC_PID lib
Updated landing code
bug fixes
13 years ago
2c906b7b27
OpticalFlow - replaced PI controller with PID controller.
...
Modified optical flow hold to use aggregated position instead of speed.
13 years ago
5cc19bbe7c
slightly less filtering for less latency
13 years ago
1aa6d0ea08
limiting the pitch throttle compensation
13 years ago
42b1362bba
cleanup
13 years ago
ed32ad30fd
Refined the D term for stabilize
...
moved all the rest_I terms from code into 1 central place
13 years ago
95ac9d163e
lowered Loiter I, commented out unused var
13 years ago
c02b403a06
temp removed alt D term until more testing
13 years ago
7c475f178c
tuned down Alt hold D gain
13 years ago
ee7c948781
Added simple constrain for Alt d term
13 years ago
4459fc4e34
Added a small D term on alt hold
13 years ago
f36aba8af2
climb rate control
13 years ago
7b8767d846
Added comments
13 years ago
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
...
Removed optical flow from regular loiter for now until it's tested.
13 years ago
8ed2d96396
removed unused var
13 years ago
4e0e783e7c
added Reset_Rate_I function
...
Removed I term from Throttle rate calc
Added some basic constrains to Acro
13 years ago
1ef7f9fe62
Loiter I reset
13 years ago
6a8391f0a7
removing I term clearance
13 years ago
21460a57ae
Yaw Performance tweaks
13 years ago
10abb7871e
removed loiter I from Reset Nav
13 years ago
d055763947
Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have.
13 years ago
79fff0f096
the second accel test is just for fun.
...
Filtered output for Nav_throttle
13 years ago
47e4c875e1
Cleanup
...
removed Iterm experiment - no noticeable effect in actual flight
13 years ago
3019c35364
turned off iterm for traverse
13 years ago
4e280bb0dc
More power to descend
13 years ago
d2fd6c5ee5
added loiter control to reset nav
13 years ago
7f64080877
Arducopter - Attitude.pde - fixed small bug in pitch stabilise
13 years ago
ba8fc57bd8
Stability patch2 - Jose style.
13 years ago
5d0e3664ad
Hack to prevent fly aways
...
Cleanup to remove SIMPLE mode switch note
13 years ago
1f3abcf048
eased up on the i term blocker
13 years ago
42421a09e2
TradHeli - Attitude.pde - made yaw contol use jason's stability patch
...
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
13 years ago
68e6be5eeb
TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled
13 years ago
Jason Short
rmackay9
Andrew Tridgell