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3653 commits 192 branches 113 tags 512 MiB
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2579 commits

Author SHA1 Message Date
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
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
Konstantin Sharlaimov (DigitalEntity)
6357509853 RTH: Bugfix for altitude hold being disabled when GPS loss is encountered during RTH-3D 2016-04-02 20:31:17 +10:00
Konstantin Sharlaimov (DigitalEntity)
1c20cdad75 Merge branch 'rth-safety' 
Fixes #129
 2016-04-02 17:00:01 +10:00
Konstantin Sharlaimov (DigitalEntity)
eed3852776 GPS: Fix GPS glitch detection. Closes #136 2016-04-01 17:11:51 +10:00
Konstantin Sharlaimov (DigitalEntity)
5e45c692f7 SURFACE: Improve surface tracking 2016-04-01 14:37:01 +10:00
Konstantin Sharlaimov (DigitalEntity)
c180856b4f BARO: Remove averaging and extra LPF filtering. Changed defaults for sensor fusion for INAV 2016-03-29 11:13:15 +10:00
Konstantin Sharlaimov (DigitalEntity)
14a777dcaf SURFACE: Bugfixes 2016-03-29 09:57:19 +10:00
Konstantin Sharlaimov (DigitalEntity)
d528005626 SURFACE: Improved surface offset handling logic 2016-03-28 22:42:14 +10:00
Konstantin Sharlaimov (DigitalEntity)
b90d13ac30 SURFACE: New flight mode behavour fixed. Surface tracking can be enabled at any time during ALTHOLD and POSHOLD_3D modes 2016-03-28 14:13:26 +10:00
Konstantin Sharlaimov (DigitalEntity)
6d12c38b6c RTH: Better RTH safety. Prevent RTH from activating on airplanes if close to home. Initiate a land on multirotors when close to home. 2016-03-28 13:05:07 +10:00
Konstantin Sharlaimov (DigitalEntity)
37bd01a186 NAV: Surface tracking 2016-03-28 12:35:52 +10:00
Konstantin Sharlaimov
517c958d17 Merge pull request #84 from iNavFlight/gps-remove-svinfo 
GPS: Remove satellites in view data, report HDOP and proper fix type.
 2016-03-27 21:34:25 +10:00
Konstantin Sharlaimov
3c5ea84863 Merge pull request #117 from iNavFlight/thr-mid-hover 
NAV: Make altitude hold aware of throttle expo curve midpoint. Closes #105
 2016-03-27 21:15:36 +10:00
Konstantin Sharlaimov (DigitalEntity)
9a36b1ef45 NAV: Use Throttle expo curve midpoint as hover point for multicopters 2016-03-27 21:14:11 +10:00
Konstantin Sharlaimov
005b038b81 Merge pull request #114 from iNavFlight/rth-gps-timeout 
RTH: Implement GPS wait timeout if no GPS available on RTH activation. Fixes #113
 2016-03-27 19:35:20 +10:00