65050775e1
ArduCopter: made Robert's new yaw method optional (off by default).
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Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
13 years ago
c5916a8b4d
Opening up the Yaw Rate constraint for Trad Heli.
13 years ago
e2496181ff
Yaw Fix
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Modified Nav_Yaw controller to better track intended heading changes.
13 years ago
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
9ab06c5542
Moved PID logging counter into define
13 years ago
2311d52d37
Renamed some variables to clarify functionality.
13 years ago
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
533772339e
ArduCopter - Attitude.pde - added logging of optical flow pid controller
13 years ago
df85051574
ArduCopter - added dataflash logging of roll and pitch rate controllers
13 years ago
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
e0c9ab5a29
ACM: fixed heli build
13 years ago
47f9dfd125
ACM: fixed the build on the 1280
13 years ago
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
13 years ago
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
13 years ago
a0717f082e
ACM: Attitude.pde - consolidated wind I term resets
13 years ago
fc32da0d2e
ACM: increased the available rate error constrain, it was too low
13 years ago
bd4835a1b2
ACM: removed the experiment for rate error.
13 years ago
730476fdfd
ACM -
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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.
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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.
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Added AC_PID lib
Updated landing code
bug fixes
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
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
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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)
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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
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Removed I term from Throttle rate calc
Added some basic constrains to Acro
13 years ago
rmackay9
Robert Lefebvre
Jason Short
Andrew Tridgell