c29a0bc3f8
Navigation
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increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
13 years ago
1a6549fef7
removed GPS ground speed calc - was causing some funny business during the transition.
13 years ago
eea788b63f
navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction.
13 years ago
53d2a46cd6
Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s
13 years ago
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
9732b7d2dc
navigation.pde:
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removed unneeded WP_Distance check
remove unneeded return for Navigate
removed unneeded rate_D calcs
removed unused functions
13 years ago
d1cd04486a
removed retro loiter code since Angel has a branch now.
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shrank speed filter to avoid latency
removed unused forward estimator code
placed code for switchover to gps.groundspeed at 1.5m/s
added clamp for D term when below .5m/s to eliminate noise
added hybrid I-term based on speed error and position
changes Loiter D term to use position rather than acceleration to avoid noise
13 years ago
b2a7227ae7
ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define.
13 years ago
1676e09f12
navigation.pde: Put the new calc_GPS_velocity method in a compiler if that checks the new RETRO_LOITER_MODE config value (saves space and ensures its not being used unless retro loiter mode is enabled)
13 years ago
d29f1ef331
Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff.
13 years ago
d4a4641ae6
navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error.
13 years ago
fad162989f
ArduCopter - navigation.pde - added logging of Loiter PID controllers
13 years ago
66c4f752e3
ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint
13 years ago
22315cd41a
ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!)
13 years ago
91b2b48fd8
ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations)
13 years ago
427dacba70
ACM: Smoother Speed calcs
13 years ago
7153b94ade
ACM: Disabled D term experiment for Loiter until more testing
13 years ago
468d9c4b4f
ACM: Loiter D performance updates
13 years ago
73e2bd6cd8
ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed.
13 years ago
deed802d1a
ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter.
13 years ago
450f89ec5d
ACM: Added note about scaling rates
13 years ago
eb53200179
ACM: Altered the scaling speed for altitude changes for faster rises.
13 years ago
204f9957b0
ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes.
13 years ago
afc4aceb32
ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde
13 years ago
6e53949c2a
removed Constraint that caused JLN's horizontal drift.
13 years ago
24345d4f43
Loiter updates
13 years ago
81a861c8ac
Added slow wp option in calc_desired_speed
13 years ago
bcd5129f9b
added workaround for resetting alt.
13 years ago
908ca4e915
scaled X velocity
13 years ago
9a3e862b55
added option in code for Loiter specific gains
13 years ago
efce991bfb
upped max target speed to center of loiter
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
8aaf88e13b
tweaks to Loiter
13 years ago
23709bafef
pid_nav_lat incorrectly labeled
13 years ago
ae65a0f03f
removed filter. Don't need it.
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
25529dec69
added loiter_d to allow users to configure alternate Loiter alg
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
fffa1af3b3
Fixed speed governor which was letting speed get to 0.
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added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
13 years ago
8cb645f3c2
increasing the velocity near WP
13 years ago
6784989e83
relocated reset_I term functions to central location
13 years ago
6591089110
Disabled Ryans filter until we get real-world testing in.
13 years ago
569ff5046f
Added Ryan's GPS lag filter
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Removed unused code
refined alt change
13 years ago
99ea69ef7b
New Loiter control
13 years ago
3e8ff39d4b
Climb rate control
13 years ago
63be9c5f7b
Moved wind comp into a define
13 years ago
c9f60f239d
Added Note
13 years ago
2913948520
ACM: fixed a warning
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comment out some unused debug code
13 years ago
e36d2f6e96
Added Wind compensation for Stabilize
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moved speed calc to it's own function
decreased acceleration from WPs
13 years ago
Jason Short
Adam M Rivera
rmackay9
Andrew Tridgell