Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 06:15:16 +03:00
Code Issues Wiki Activity
3485 commits 10 branches 287 tags 529 MiB
Commit graph

68 commits

Author SHA1 Message Date
borisbstyle
9ec26626b7 Accumulation Prevention in Saturation for AIR Mode // Refactoring 
Adjust shrink threshold for errorRatio
 2015-12-09 13:33:36 +01:00
borisbstyle
6a4682908f Rework Iterm Shrink for AIR Mode 
Rework Iterm Shrink for AIR Mode part 2
 2015-12-09 00:56:19 +01:00
borisbstyle
66fb254d62 Iterm Shrink Only Option for AIR Mode 
Fix previous Iterm
 2015-12-08 21:51:05 +01:00
borisbstyle
b84e9f4676 AIR MODE Safety Enhancements 2015-12-08 12:25:37 +01:00
borisbstyle
763ff23ede Further AIR MODE enhancements // Motor stop overules AIR MODE low throttle 
reset iterm for motor stop

fix luxfloat
 2015-12-07 10:16:32 +01:00
borisbstyle
400fe14e30 AIR MODE Optimalisations // Disable retarded arm 
enable level modes
 2015-12-06 23:58:18 +01:00
borisbstyle
fe5ec022de Cleanup unused variables 2015-12-06 02:20:27 +01:00
borisbstyle
83d186057f AIR MODE implementation 2015-12-06 02:19:35 +01:00
borisbstyle
769ddd39af Change D Scale to match CF transition better 2015-12-04 14:51:57 +01:00
borisbstyle
054868e0a4 Gyro Soft LPF Rework // Filter rework 
remove 3 point average

lux optimize
 2015-11-24 15:23:29 +01:00
borisbstyle
9190f1ad6b Configurable Angle Sensitivity Luxfloat 2015-11-13 15:21:05 +01:00
borisbstyle
6d5dcb5495 Configurable Yaw Pterm Filter 
Fix compile error
 2015-11-13 15:21:04 +01:00
borisbstyle
b4130ee726 Revert "Remove YawPtermState filter" 
This reverts commit 1a667442f2.
 2015-11-13 15:21:04 +01:00
borisbstyle
1a667442f2 Remove YawPtermState filter 2015-11-06 00:39:30 +01:00
borisbstyle
d685b4d6d8 Pid Controller Cleanup 
Correction to dump
 2015-10-23 01:10:21 +02:00
Konstantin Sharlaimov (DigitalEntity)
5df8ca926c Quaternion-based DCM IMU (original code my S.Madgwick) 
Restore binaries from merge
 2015-10-22 10:45:36 +02:00
borisbstyle
4cbff888df D scaling adjusted to match normal Cleanflight 2015-10-08 16:34:11 +02:00
borisbstyle
12c9f65f43 Merge branch 'master' into betaflight 
Conflicts:
	Makefile
	docs/Cli.md
	src/main/config/config.c
	src/main/drivers/accgyro_mpu3050.c
	src/main/drivers/accgyro_mpu6050.c
	src/main/drivers/accgyro_mpu6050.h
	src/main/drivers/accgyro_spi_mpu6000.c
	src/main/drivers/accgyro_spi_mpu6000.h
	src/main/drivers/accgyro_spi_mpu6500.c
	src/main/drivers/accgyro_spi_mpu6500.h
	src/main/drivers/barometer_bmp280.c
	src/main/drivers/sensor.h
	src/main/flight/pid.c
	src/main/mw.c
	src/main/rx/rx.c
	src/main/sensors/initialisation.c
	src/main/target/CC3D/target.h
 2015-10-07 17:12:54 +02:00
Dominic Clifton
123a4ccfc5 Merge branch 'GTune' of https://github.com/MJ666/cleanflight into 
MJ666-Harakiri_PID_update

Conflicts:
	Makefile
	src/main/blackbox/blackbox_fielddefs.h
	src/main/flight/pid.c
	src/main/io/serial_msp.c
	src/main/mw.c
	src/main/target/ALIENWIIF3/target.h
	src/main/target/CC3D/target.h
	src/main/target/NAZE/target.h
	src/main/target/NAZE32PRO/target.h
	src/main/target/SPARKY/target.h
 2015-10-06 20:16:37 +01:00
Dominic Clifton
d36da111b2 Delete autotune. 2015-10-06 19:38:02 +01:00
Michael Jakob
fe2f2f3053 Fix some BlackBox isues, remove redundant code from PID controllers. 2015-10-04 18:37:20 +02:00
Michael Jakob
e7e297ad53 Modified behavior of G-Tune switch and storing the tuned P values 
G-Tune documentation update
G-Tune will only activated and deactivated when armed.
G-Tune should deactivated while the copter is airborne.
Tuned P values will only be stored when G-Tune is enabled while disarmed
and G-Tune was used before.
 2015-10-04 18:37:19 +02:00
Michael Jakob
43f5792a61 G-Tune port from Harakiri 
Enabled for NAZE, ALIENWWIIF1 and ALIENWIIF3 targets
Implement G-Tune for all PID controllers
The G-Tune tuning results will be save if G-Tune mode will be disabled
during copter is disarmed.
Update PID controller and G-Tune documentation
 2015-10-04 18:37:18 +02:00
Michael Jakob
b20dc77a74 Harakiri PID controller make hardcoded parameters configurable 2015-10-04 18:37:17 +02:00
borisbstyle
af6f9de903 Jitter enhancements 2015-09-21 00:19:08 +02:00
borisbstyle
d8e62d0508 Remove multiplier by 3 from delta. (Better for defaults) 2015-09-21 00:19:07 +02:00
borisbstyle
0539abc649 Dterm scaling correction // Code cleanup 2015-09-21 00:19:06 +02:00
borisbstyle
85855425a8 yawPTermState filter 2015-09-19 14:41:21 +02:00
borisbstyle
e17554c29f Remove delta all pid controllers 2015-09-19 14:29:14 +02:00
borisbstyle
0501e5ff91 Code Cleanup 
More code cleanup and BUMP EEPROM

Code Cleanup

Fix loop trigger
 2015-09-19 01:37:48 +02:00
borisbstyle
49bc46bc37 Static FIR filter 2015-09-19 00:43:50 +02:00
borisbstyle
7a2762dbf6 Delta PID1 2015-09-19 00:39:24 +02:00
Stephen Willey
266ed02a81 Substitute pt1 filter of gyroADC for 7 Tap FIR filter 2015-09-18 15:23:09 -07:00
borisbstyle
77effd3b71 Luxfloat Level Mode (rcCommand scaled to max_angle_inclination) 2015-09-02 00:31:00 +02:00
borisbstyle
bb12ad8646 Yaw pterm_cut_hz (derived from pterm_cut_hz) 2015-09-02 00:30:57 +02:00
borisbstyle
07b9aceb7c Luxfloat Optimisation and new defaults 
Remove constraining of delta

Yaw D default to 10

Default change and rebase with master
 2015-09-02 00:30:38 +02:00
borisbstyle
d282ec3483 Remove TPA from Iterm PID1 2015-09-02 00:30:37 +02:00
borisbstyle
fdcfe71b73 Improve soft filtering function for reuse 
Reorder serial.c *_cut_hz parameters

Remove unnecessary dT calculation in luxfloat

Restructured filter

filter.h fix

Luxfloat remove internal dT

Void function for gyro fillter
 2015-09-02 00:30:35 +02:00
borisbstyle
a534868408 Luxfloat Optimisation and new defaults 
Remove constraining of delta

Yaw D default to 10

Default change and rebase with master
 2015-09-01 23:43:09 +02:00
Scott Shawcroft
e67a1435cd Correct rate comment 2015-07-09 12:13:03 -07:00
borisbstyle
10f2d35759 Soft Filtering (Gyro, Dterm, Pterm) 
pterm_cut_hz added

Let's play with this as well to get more noise filtered

Code Cleanup

Make filter more flexible for reuse

rewrite correction pterm

Define static delta in filter

Fix array count

ident

return function for filter

Filter Function enhanced

Full software filtering (DTerm, PTerm, Gyro, Acc)

Normalize Variables

Revert Back gyro settings

Bugfix gyro/acc filter // (MPU60xx equalize lpf settings)

Moved filtering to mw.c

This has been done to prevent reusing old cycletime for filter function.

acc_cut_hz removed (not needed)

Harakiri zero fix
 2015-06-27 14:13:10 +02:00
Dominic Clifton
a7532c6012 Merge pull request #942 from nzmichaelh/tidy 
various: improve readability by using enums and ARRAYLEN()
 2015-06-25 02:44:55 +01:00
Dominic Clifton
41d737e29a Merge pull request #869 from SteveAmor/remove_tricopter_yaw_gyro_smoothing 
Remove tricopter yaw gyro smoothing from imuUpdate
 2015-05-29 15:39:02 +01:00
Michael Hope
14869d0a99 various: use enums to make the code easier to read. 
Signed-off-by: Michael Hope <mlhx@google.com>
 2015-05-23 05:21:48 +02:00
Michael Jakob
42218f1ea5 The yaw_p_limit minimum is now set to 100 to prevent misconfigurations. 
Maximum value of 500 is now removing the limit (same as for
yaw_jump_prevention_limit)
Moving defines for PID controllers to headerfiles.
Some general code cleanup.
Documentation update
 2015-05-19 17:42:03 +02:00
Dominic Clifton
85acf7dc1d Merge pull request #895 from borisbstyle/pid1-horizon 
Fix for extreme D level term PID1 Horizon
 2015-05-17 21:32:50 +01:00
Steveis
6448b4b3d7 Replaced gyroData with gyroADC as they both contain the same value 2015-05-17 07:14:42 +01:00
borisbstyle
984eada98b PID1 Horizon sensitivity range increased 2015-05-15 15:28:03 +02:00
borisbstyle
4bdc64bff9 Fix for extreme D level term PID1 Horizon 2015-05-15 02:16:46 +02:00
Dominic Clifton
cf4a552b94 Merge pull request #891 from borisbstyle/pid1-horizon 
PID1 Horizon Mode Fixed
 2015-05-14 19:31:45 +01:00