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
26d0bf93ff
Added more constraints around velocity
13 years ago
c6586810cf
New Style WP navigation for high wind
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
53c09774e5
removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position.
13 years ago
fa49aa5eec
Fixes for Smooth Loiter
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
1afa25d9ef
Tweaks to fix Loiter
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Changed save location to int32
added some filtering and smoothing
13 years ago
5518882c69
Fixed resolution issue with Xtrack
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Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
13 years ago
c6657f4a93
updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing
13 years ago
edc3a731d4
Adjustments for High Wind enviroments
13 years ago
d83ad1acd4
Upped the max pitch to deal with wind - based on T3 testing
13 years ago
c1aa015ef1
added debug prints, broke out Angle val to debug
13 years ago
f89fed02c3
made it so nav is called in Simple mode
13 years ago
3ff7b047d5
Added Bearing to home, distance to home calcs
13 years ago
4dc2956ca9
Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i
13 years ago
6dfdd754ea
Stability patch updates,
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Cleanup
13 years ago
eb6d34e1fc
Fix error with calc_nav_pitch_roll
13 years ago
b4a0d8a275
Fixed navigation bug
13 years ago
b3bd4bd3c9
Cosmetic cleanup, commented functions for compiler warnings
13 years ago
39d0df4cef
added param for crosstrack gain defaulted to 4
13 years ago
35524f6da7
Added optimizations for radian calls to remove a division.
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added a protection for entering AP modes without Home being set by GPS lock.
13 years ago
3450e91039
Trying to break Nav to test a feature
13 years ago
2d204b727b
fixed build error
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the prototype extractor was finding the commented out version of
cross_track_test(), which had a different prototype
13 years ago
3f0b42f64f
made crosstrack functions static
13 years ago
Jason Short
Andrew Tridgell
Randy Mackay
Jason Short
Jason Short