7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
13 years ago
9bff4e2c4c
ACM: only call the fast loop if the imu has new data
...
this prevents us spinning waiting for the sensors to gather some data
13 years ago
486c56ce41
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
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
46d7da4d14
Added define for throttle range for altitude changes, updated it to 250
13 years ago
ceef8070ac
added stab_d gain scheduling
13 years ago
76c3cd88f0
Added heli_collectiveFactor array
...
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
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
17d94b61ed
ArduCopter - modified to work with new Filter library
13 years ago
517172ba20
Added Loiter Rate Tuning
13 years ago
8193c786ef
ArduCopter - added #include <Filter.h> to unbreak the build!
13 years ago
69132e0fe7
ArduCopter - change sonar to use new mode filter from Filter library
13 years ago
a924c3685e
Based on Jani's latest logs I've made two tweaks to alt hold.
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The first is to remove the filter on the throttle output for alt_hold.
The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
13 years ago
e2bbc795ad
ACM: use a NULL gps pointer in DCM init
...
current DCM API does need a GPS reference passed in, but it can be
NULL
13 years ago
698749dd92
ACM: don't pass a gps pointer to DCM
...
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
13 years ago
1cd3172954
ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch
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the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
13 years ago
242f54793c
revved a version
13 years ago
729c824809
made timer unsigned
13 years ago
30efbae0e9
removed old comments
13 years ago
cae49b3543
Added "slow WP" option for RTL.
13 years ago
b54d08f410
Updated manual throttle control during throttle hold
13 years ago
e146f225b1
ArduCopter - remove unnecessary block for next GPS value before saving home location
13 years ago
028de5d2c5
Axis lock beta (off by default)
13 years ago
b64c0da003
ArduCopter - updated version to 2.4
13 years ago
b532cb91b1
added Rate_D tuning value
13 years ago
0075901f77
upped rate loop to 250hz
13 years ago
36a120d8df
removed some unused vars,
...
formatting, made loop speed same as PIDT1 to eliminate variable.
13 years ago
e8b6f5ecee
allow auto-land if failsafe is triggered
13 years ago
e249c8466d
AP slew rate
13 years ago
05abe44f32
Added range setting via a parameter for CH6 tuning
13 years ago
c9b432955d
removed unused Vars
13 years ago
d4305e0ae2
fixed apm2beta build with AP_Param
13 years ago
3b4cae3cc3
adapted main ACM code for AP_Param
13 years ago
2c65fc9ddf
Cosmetic tweaks for tuning
13 years ago
b1d52da431
reset Rate_I for takeoff
13 years ago
19ab0f481e
made Yaw work like Roll and Pitch
13 years ago
4313d19bc5
2.3.1v
13 years ago
f40d40b0f9
Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that.
13 years ago
ef9418c2de
fix issue with low throttle in air
13 years ago
3288b518c0
credits
13 years ago
6dbcac855a
Incremented version number to 2.3
13 years ago
5934b503b8
tuning fixes
13 years ago
46e08fb46a
Added more attributions
13 years ago
650c0ed3f1
made Loiter over ride exit dependent not on speed, but centered sticks.
13 years ago
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
...
Added AC_PID lib
Updated landing code
bug fixes
13 years ago
d1fcebb5ca
Cosmetic changes
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GPS LED lock waits for home_is_set to be true
13 years ago
326a663c6b
changed tuning range
13 years ago
122623f64b
OpticalFlow - added OF_LOITER flightmode
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
1d9783652a
added Beta 4 tag
13 years ago
Andrew Tridgell
Jason Short
Robert Lefebvre
rmackay9
analoguedevices