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Author SHA1 Message Date
Konstantin Sharlaimov (DigitalEntity)
2131daf42e NAV: More consistent detection of good GPS on arming. BEEPER_ARMING_GPS_FIX will be triggered based on position estimation status, not satellite count 2016-04-10 22:28:03 +10:00
Konstantin Sharlaimov (DigitalEntity)
e5726c3c35 SURFACE: Better ground level detection. Reset sonar-based ground level each arming. Should make landing detection more reliable 2016-04-10 21:54:59 +10:00
Konstantin Sharlaimov (DigitalEntity)
a9a1f84b41 LANDING: Sonar-assised landing detection does not override 'classic' climb rate/throttle landing detection 2016-04-10 18:48:35 +10:00
Konstantin Sharlaimov
ab61b30259 Merge pull request #150 from iNavFlight/ah_ph_unarmed_reset 
Extra safety for ARMing with NAV modes enabled. Closes #87. Closes #153
 2016-04-10 14:05:06 +10:00
Konstantin Sharlaimov (DigitalEntity)
8ac607c47c Extend extra arming safety - prevent arming when any of NAV modes is selected 2016-04-10 14:03:49 +10:00
Konstantin Sharlaimov (DigitalEntity)
0aa1ae6ffd Prevent NAV modes from activating when not armed 2016-04-08 18:56:09 +10:00
Konstantin Sharlaimov (DigitalEntity)
2d2d1e27a5 FLIGHT: Make maximum inclination selectable for roll and pitch independantly. Closes #144 2016-04-08 17:57:50 +10:00
Konstantin Sharlaimov (DigitalEntity)
197ee2bb78 FW: Elevator compensation for banked turnes now adjustable. Controlled by 'nav_fw_roll2pitch' setting. Closes #142 2016-04-08 17:36:28 +10:00
Konstantin Sharlaimov (DigitalEntity)
9c5794bdee NAV: Disarm after landing. Controlled by 'nav_disarm_on_landing' setting. Closes #21 2016-04-08 17:28:34 +10:00
Konstantin Sharlaimov (DigitalEntity)
dc55a19803 Post-merge fixup. Enable LED_STRIP 2016-04-08 17:05:22 +10:00
Konstantin Sharlaimov (DigitalEntity)
e7c058beb3 Merge branch 'surface-tracking-mod' 2016-04-08 17:02:31 +10:00
Konstantin Sharlaimov (DigitalEntity)
f3a949578b EEPROM version bump 2016-04-08 17:00:55 +10:00
Konstantin Sharlaimov (DigitalEntity)
ec3c7d056b BEEPER: Fix not working beeper section in cli dump 2016-04-08 17:00:27 +10:00
Konstantin Sharlaimov
d5268f0b95 Merge pull request #146 from iNavFlight/air-cushion-effect-fix-master 
Smoother takeoff in AltHold mode
 2016-04-08 16:59:39 +10:00
Konstantin Sharlaimov
0c0a68ed3e Merge pull request #96 from iNavFlight/fp-pid 
New PID controller. Replaces Rewrite and Luxfloat.
 2016-04-08 16:59:12 +10:00
Konstantin Sharlaimov (DigitalEntity)
0876f73a6d VERSION: Update to 1.1 2016-04-07 18:59:19 +10:00
Konstantin Sharlaimov (DigitalEntity)
756cb4e4ab PID: New (safer) defaults 2016-04-07 18:57:26 +10:00
Konstantin Sharlaimov (DigitalEntity)
2c3323ca1e PID: Calculate D-term from measurement, not from error. Eliminates derivative kick, will reduce D-term induced jitter in ANGLE modes 2016-04-07 18:44:47 +10:00
Konstantin Sharlaimov (DigitalEntity)
a86e15a644 PID: Prevent I-term windup on multicopters with MOTOR_STOP in free fall 2016-04-07 18:44:47 +10:00
Konstantin Sharlaimov (DigitalEntity)
b1e81ae48e PID: Reset integral error if not ARMed or in PASSTHRU mode 2016-04-07 18:44:46 +10:00
Konstantin Sharlaimov (DigitalEntity)
e4cda3100f PID: Removed D from yaw axis - no positive effect 2016-04-07 18:44:46 +10:00
Konstantin Sharlaimov (DigitalEntity)
580a6209e5 PID: Typo fix 2016-04-07 18:44:45 +10:00
Konstantin Sharlaimov (DigitalEntity)
581cc5c336 PID: Use MAG PID gain for heading lock mode 2016-04-07 18:44:45 +10:00
Pawel Spychalski (DzikuVx)
8de87749ef PID coefficients computed in RX task to lower computational requirements in main PID loop 2016-04-07 18:44:44 +10:00
Konstantin Sharlaimov (DigitalEntity)
55925f615e PID: Reset heading lock integrator when disarmed or instructed by main loop 2016-04-07 18:44:43 +10:00
Pawel Spychalski (DzikuVx)
4f6633c5ba new default I gain for roll and pitch 2016-04-07 18:44:43 +10:00
Konstantin Sharlaimov (DigitalEntity)
58e51fe889 PID: Minor code rearrangement. Bugfix for HEADING LOCK mode working only in one direction 2016-04-07 18:44:42 +10:00
Pawel Spychalski (DzikuVx)
45595dbaa6 rate target limiting done only one per control loop 2016-04-07 18:44:42 +10:00
Konstantin Sharlaimov (DigitalEntity)
8b452ee5ef PID: Heading lock mode for mode locked-in yaw 2016-04-07 18:44:41 +10:00
Konstantin Sharlaimov (DigitalEntity)
b0125152e3 PID: Bugfixes. Furhter separation of inner/outer loops 2016-04-07 18:44:41 +10:00
Konstantin Sharlaimov (DigitalEntity)
55442008b9 PID: Massive code refactoring 2016-04-07 18:44:40 +10:00
Konstantin Sharlaimov (DigitalEntity)
a5f822f20a PID: Debug code cleanup 2016-04-07 18:44:40 +10:00
Pawel
15f3fe3a3b default I gain for FP-PID lower accordingly to changed prescaler 2016-04-07 18:44:39 +10:00
Pawel
28124b0981 Iterm scaling for FP-PID lowered by 4 2016-04-07 18:44:39 +10:00
Konstantin Sharlaimov (DigitalEntity)
8d49998426 MIXER: Linear and improved mixer from Betaflight; AIR_MODE now overrides MOTOR_STOP 2016-04-07 18:44:38 +10:00
Konstantin Sharlaimov (DigitalEntity)
a073f3ce11 PID: Fix for I-term windup in PASSTHRU more (airplanes) 2016-04-07 18:44:06 +10:00
Konstantin Sharlaimov (DigitalEntity)
4c6de77ae8 TPA revisited; removed some irrelevant and redundant code 2016-04-07 18:44:05 +10:00
Konstantin Sharlaimov (DigitalEntity)
8573b5846a PID: Log rateTarget to blackbox to assist debugging 2016-04-07 18:44:04 +10:00
Konstantin Sharlaimov (DigitalEntity)
e327d2dfc1 PID: Explanation for level lpf; Bugfix for filter initialisation 2016-04-07 18:44:04 +10:00
Konstantin Sharlaimov (DigitalEntity)
c0c726a272 ST gyro LPF fix. Default gyro lpd to 98Hz 2016-04-07 18:44:04 +10:00
Konstantin Sharlaimov (DigitalEntity)
f1aa9e6f44 PID: LuxFloat rewritten from scratch. New I-term back-tracking for anti-windup prevention 
AIRMODE: Air mode anti-windup improvements

PID: Remove integer PID (leave only one PID controller), remove pid_controller setting, remove float-point PID parameters (scale integer parameters to use in float-point PIDC)

PID: New set of PID tuning multipliers for better tuning range

PID: Make max_angle_inclination a PID-profile variable

PID: Reinstate yaw_p_limit

PID: Switch to a noise-robust differentiator

Remove GTUNE

PID: Use same self-leveling strength for ANGLE and HORIZON

PID: Self-leveling LPF to smooth out leveling response to rapid attitude or target angle change
 2016-04-07 18:44:03 +10:00
Konstantin Sharlaimov (DigitalEntity)
00630fe3ff ALTHOLD: Jumpless takeoff in ALTHOLD mode 2016-04-06 23:59:51 +10:00
Konstantin Sharlaimov (DigitalEntity)
e4d479d37a ESTIMATOR: Detect air cushion effect during take off; ALTHOLD: Prevent jump during takeoff 2016-04-06 23:59:42 +10:00
Paweł Spychalski
6269f55a0e exotic mixers disabled on F1 targets with fallback to QuadX 
MIXER: Exotic mixers disabled on F1 targets with fallback to QuadX
 2016-04-06 22:39:29 +10:00
Konstantin Sharlaimov (DigitalEntity)
f9a6d4394c SURFACE: Different gains, proper climb rate calculation 2016-04-04 18:04:28 +10:00
Konstantin Sharlaimov (DigitalEntity)
0eb7139f78 MSP: Fix for incorrect length for MSP_GPSSTATISTICS message 2016-04-03 22:22:29 +10:00
Konstantin Sharlaimov (DigitalEntity)
8472a31f83 Merge remote-tracking branch 'origin/gps-remove-svinfo' 
Post-merge fixups - lost some commits from gps-remove-svinfo branch
 2016-04-03 22:11:33 +10:00
Konstantin Sharlaimov
b9f1b1b739 Merge pull request #140 from iNavFlight/failsafe-beeper-on-when-armed-once 
Mute failsafe beeper if machine wasn't armed at least once
 2016-04-03 09:40:19 +10:00
Pawel Spychalski (DzikuVx)
91d7c44476 tab from original commit fixed 2016-04-02 17:11:11 +02:00
Zap Andersson
2f455ad693 Add 'WAS_EVER_ARMED' arming flag 2016-04-02 17:09:19 +02:00