77e6375920
Change parameter names in FW control to fit within MAVLink parameter name size limit
2012-10-08 14:14:43 -06:00
4fea0a3fc1
This commit changes the inner loop control structures for fixed wing attitude control. Nested rate and angle loops are used with limits on both the rate setpoint
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A simple outer navigation loop is retained for navigation control. This will be replaced later. The pitch set point is hard coded to zero. Pitch stabilization should work.
This commit compiles, but needs further testing.
2012-10-07 14:50:07 -06:00
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
2fa0dec369
Back out testing changes that are a bit too much ahead of time for master
2012-10-04 16:38:11 +02:00
67a2c8a173
Added controller parameters, added vicon position reading
2012-10-04 15:33:39 +02:00
607e902b88
Cleaned up / simplified position control, attacking pos control implementation next
2012-10-04 14:50:34 +02:00
2a06b66845
Fixed inner yaw rate loop
2012-10-04 10:56:55 +02:00
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
216aa20ac2
Merge pull request #38 from dougweibel/master
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Test Pull Request
2012-10-03 10:06:21 -07:00
067361e2d4
Just a test commit. No content other than a test comment.
2012-10-03 08:47:56 -06:00
beca2b072e
Moved from raw gyro to estimated angular rate from EKF for rate control
2012-10-03 15:02:47 +02:00
053ce0e2f8
Exposed measurement noise covariance and process noise covariance as MAVLink parameters for attitude EKF
2012-10-03 14:45:55 +02:00
921c391db4
Commit finished attitude estim cleanup
2012-10-03 14:00:04 +02:00
affa3af4e6
Clean 250 Hz updates in filter, partial updates enabled
2012-10-03 13:39:26 +02:00
992a415ffc
Merge branch 'master' of github.com:PX4/Firmware
2012-10-03 10:27:45 +02:00
b5d2ec3d92
Merge branch 'master' of github.com:PX4/Firmware
2012-10-02 22:28:22 +02:00
7ef4655b0e
Fixed HIL joystick support
2012-10-02 22:28:14 +02:00
a95aa1bbba
Simplified pos estimator, ready for tests
2012-10-02 13:50:59 +02:00
178462edcd
Minor cleanups in debug output and offboard control arming
2012-10-02 13:02:57 +02:00
5895a2e966
Updated update / telemetry rates, updated covariance
2012-10-02 10:41:46 +02:00
21b86cba26
Updated upload script
2012-10-02 10:41:21 +02:00
d75266f390
Reverted different UART assignment
2012-10-02 09:24:52 +02:00
9de6a81543
Updated EKF filter, fixed uploader (reverted to master)
2012-10-02 09:23:47 +02:00
d3e7b5e0bf
Merge branch 'master' of https://github.com/tnaegeli/Firmware into task_spawn
2012-10-01 17:29:36 +02:00
e42655e7c6
EKF
2012-10-01 17:21:59 +02:00
93c200d281
Add new 'task_spawn' interface for starting new tasks in the PX4 world
2012-10-01 00:02:38 -07:00
6005077d54
Fixed typo
2012-09-29 22:06:30 +02:00
6c4bddd996
Fixed a bug in HIL input
2012-09-29 22:04:00 +02:00
7949ac1ad8
Fixed heading calculation, fixed heading controller
2012-09-29 18:00:01 +02:00
1725069c18
Merge branch 'update_rate' of https://github.com/sjwilks/Firmware into ardrone
2012-09-29 12:46:20 +02:00
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
4933d1dbbd
Only provide update rate mod support to modes supporting 4 PWM channels
2012-09-28 08:37:24 +02:00
78c2f99f85
Merge branch 'master' of https://github.com/PX4/Firmware
2012-09-27 19:50:20 -07:00
b02a5a9eb9
I don't want to track this script.
2012-09-27 23:44:05 +02:00
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
89ccd75949
Merge pull request #34 from julianoes/ardrone
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ardrone flying, simplified magnetometer calibration
2012-09-27 09:52:26 -07:00
d206327541
Magnetometer calibration fixed
2012-09-27 18:43:04 +02:00
2c5c314105
Cleanup of lots of debugging printfs
2012-09-27 17:08:29 +02:00
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
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
8b795e7ee4
Merge remote-tracking branch 'upstream/master'
2012-09-27 13:38:33 +02:00
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
9a0be89531
Correct some bad parameter checking
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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 03:13:50 +00:00
ebdc6a36e8
Fixes mostly related to touchscreen on Shenzhou board (still does not work)
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git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5196 42af7a65-404d-4744-a932-0658087f49c3
2012-09-27 01:26:47 +00:00
83f66b9e18
Shenzhou schematic is wrong: LCD WR signal is on PB14, not PD14
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git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5195 42af7a65-404d-4744-a932-0658087f49c3
2012-09-26 22:03:53 +00:00
ec3949bf82
Fix a bug where the rate controller is always active
2012-09-26 22:25:39 +02:00
f93464e64f
Fixed RC scaling in sensors app
2012-09-26 22:17:13 +02:00
d7456e61ff
Fixed a max value in the AR.Drone interface
2012-09-26 22:16:57 +02:00
d7561fc092
Shenzhou board has an SSD1289 LCD, not ILI93xx
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git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5194 42af7a65-404d-4744-a932-0658087f49c3
2012-09-26 19:41:54 +00:00
cbb1f1c9ed
Fixed RC and offboard control state machine
2012-09-26 21:30:33 +02:00
Doug Weibel