Doug Weibel
2bb1d17c7e
Changes to the PID controller. Adds "limit" to the parameter set. Implements an output limit where the output magnitude is limited by the parameter value "limit". Also changes the integrator saturation such that the integrator is not updated (added to) if either updating it will cause the integrator values magnitude to exceed "intmax" or if the output magnitude would exceed "limit" with an updated integrator value.
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Arbitrary large limit values were hard coded into multirotor_attitude_control.c. These should be changed to parametric values or something sensible.
This commit will temporarily break fixedwing_control.c. A following commit will repair it along with significant changes to the inner loop control.
This commit has been tested to compile with fixedwing_control.c temporarily removed. No other testing has been completed.
2012-10-07 14:46:26 -06:00
Lorenz Meier
2fa0dec369
Back out testing changes that are a bit too much ahead of time for master
2012-10-04 16:38:11 +02:00
Lorenz Meier
67a2c8a173
Added controller parameters, added vicon position reading
2012-10-04 15:33:39 +02:00
Lorenz Meier
607e902b88
Cleaned up / simplified position control, attacking pos control implementation next
2012-10-04 14:50:34 +02:00
Lorenz Meier
2a06b66845
Fixed inner yaw rate loop
2012-10-04 10:56:55 +02:00
px4dev
dfae108e6a
Go back to the FIFO scheduler for now, as we don't have time to shake out the RR scheduler changeover just yet.
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Make the "default" scheduler a centralized definition so that changes are easier in future.
2012-10-03 23:13:20 -07:00
Doug Weibel
067361e2d4
Just a test commit. No content other than a test comment.
2012-10-03 08:47:56 -06:00
Lorenz Meier
beca2b072e
Moved from raw gyro to estimated angular rate from EKF for rate control
2012-10-03 15:02:47 +02:00
Lorenz Meier
053ce0e2f8
Exposed measurement noise covariance and process noise covariance as MAVLink parameters for attitude EKF
2012-10-03 14:45:55 +02:00
Lorenz Meier
921c391db4
Commit finished attitude estim cleanup
2012-10-03 14:00:04 +02:00
Lorenz Meier
affa3af4e6
Clean 250 Hz updates in filter, partial updates enabled
2012-10-03 13:39:26 +02:00
Lorenz Meier
992a415ffc
Merge branch 'master' of github.com:PX4/Firmware
2012-10-03 10:27:45 +02:00
Lorenz Meier
b5d2ec3d92
Merge branch 'master' of github.com:PX4/Firmware
2012-10-02 22:28:22 +02:00
Lorenz Meier
7ef4655b0e
Fixed HIL joystick support
2012-10-02 22:28:14 +02:00
Lorenz Meier
a95aa1bbba
Simplified pos estimator, ready for tests
2012-10-02 13:50:59 +02:00
Lorenz Meier
178462edcd
Minor cleanups in debug output and offboard control arming
2012-10-02 13:02:57 +02:00
Lorenz Meier
5895a2e966
Updated update / telemetry rates, updated covariance
2012-10-02 10:41:46 +02:00
Lorenz Meier
9de6a81543
Updated EKF filter, fixed uploader (reverted to master)
2012-10-02 09:23:47 +02:00
Lorenz Meier
d3e7b5e0bf
Merge branch 'master' of https://github.com/tnaegeli/Firmware into task_spawn
2012-10-01 17:29:36 +02:00
tnaegeli
e42655e7c6
EKF
2012-10-01 17:21:59 +02:00
px4dev
93c200d281
Add new 'task_spawn' interface for starting new tasks in the PX4 world
2012-10-01 00:02:38 -07:00
Lorenz Meier
6005077d54
Fixed typo
2012-09-29 22:06:30 +02:00
Lorenz Meier
6c4bddd996
Fixed a bug in HIL input
2012-09-29 22:04:00 +02:00
Lorenz Meier
7949ac1ad8
Fixed heading calculation, fixed heading controller
2012-09-29 18:00:01 +02:00
Lorenz Meier
1725069c18
Merge branch 'update_rate' of https://github.com/sjwilks/Firmware into ardrone
2012-09-29 12:46:20 +02:00
Lorenz Meier
fb691c9ff1
Fix a bug where under really adverse conditions the system id is not read before the first heartbeat is send out, resulting in an immediately timing out system in the GCS
2012-09-28 16:28:51 +02:00
Simon Wilks
4933d1dbbd
Only provide update rate mod support to modes supporting 4 PWM channels
2012-09-28 08:37:24 +02:00
px4dev
78c2f99f85
Merge branch 'master' of https://github.com/PX4/Firmware
2012-09-27 19:50:20 -07:00
Simon Wilks
7a5ac6892e
Support custom PWM update rates
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Rates of 50 to 400 can be specified using the -u <rate in hz> parameter
with the fmu command in the startup script.
2012-09-27 23:36:56 +02:00
Julian Oes
d206327541
Magnetometer calibration fixed
2012-09-27 18:43:04 +02:00
Julian Oes
2c5c314105
Cleanup of lots of debugging printfs
2012-09-27 17:08:29 +02:00
Julian Oes
7f15309892
Calibration should not freeze anymore, ardrone flying but estimator is not able to use calibrated magnetometer data
2012-09-27 16:50:20 +02:00
Julian Oes
a05c4d0504
Merge branch 'ardrone' of https://github.com/PX4/Firmware into ardrone
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Conflicts:
apps/ardrone_interface/ardrone_motor_control.c
2012-09-27 13:44:47 +02:00
px4dev
62a4aa96b6
Merge branch 'master' of file:///Users/Shared/NuttX
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git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5197 42af7a65-404d-4744-a932-0658087f49c3
2012-09-27 00:18:03 -07:00
Lorenz Meier
ec3949bf82
Fix a bug where the rate controller is always active
2012-09-26 22:25:39 +02:00
Lorenz Meier
f93464e64f
Fixed RC scaling in sensors app
2012-09-26 22:17:13 +02:00
Lorenz Meier
d7456e61ff
Fixed a max value in the AR.Drone interface
2012-09-26 22:16:57 +02:00
Lorenz Meier
cbb1f1c9ed
Fixed RC and offboard control state machine
2012-09-26 21:30:33 +02:00
Lorenz Meier
66aa281c07
Merge branch 'master' of github.com:PX4/Firmware into ardrone
2012-09-26 19:45:10 +02:00
Julian Oes
ac43a67a0f
ardrone max motor output was slightly to high
2012-09-26 14:29:47 +02:00
Julian Oes
201fdbc42c
ardrone flying now (still workaround of disabled rates controller)
2012-09-26 10:11:57 +02:00
patacongo
731b466aca
If server fails to create a thread because of lack-of-resources (EAGAIN), don't terminate. Keep serving... Memory may become available again later. From Kate.
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git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5191 42af7a65-404d-4744-a932-0658087f49c3
2012-09-25 22:47:11 +00:00
patacongo
2be7847efe
Hook in NxWidgets configuration logic; Add a untested ADS7843E touchscreen support for the Shenzhou board; Complete the Shenzhou NxWM configuration (also untested).
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git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5190 42af7a65-404d-4744-a932-0658087f49c3
2012-09-25 22:04:51 +00:00
Julian Oes
abbe998506
ardrone in the air again (workaround: rate controller disabled)
2012-09-25 21:35:02 +02:00
Julian Oes
0eae48d480
Merge remote-tracking branch 'upstream/ardrone'
2012-09-25 18:19:12 +02:00
Julian Oes
5c00ca343f
forgot to remove printfs of magnetometer calibration
2012-09-25 16:39:15 +02:00
Julian Oes
6b0ed71ae0
Simplified magnetometer calibration routine
2012-09-25 16:36:33 +02:00
Julian Oes
e217540e01
write all params to EEPROM for now (workaround to prevent standard values being written)
2012-09-25 10:51:13 +02:00
Julian Oes
268874fdb7
auto save after calibration (however the rest is reset to stock)
2012-09-25 10:31:19 +02:00
Julian Oes
b5ec9c50f2
fix to set device for ardrone interface
2012-09-24 17:47:06 +02:00
Doug Weibel