James Cotton
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47fac7e31c
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Move the throttle setting code for alt hold into the fast accel loop.
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2012-02-18 18:16:15 -06:00 |
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James Cotton
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7d4582e5f0
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Update the altitude KF to use the updated measurements appropriately and check
in the relevant matlab code to check it and genererate it. Produces quite
smooth traces.
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2012-02-16 05:33:47 -06:00 |
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James Cotton
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f23f53dc4e
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Add settings for the altitude kalman filter settings and init the state when
first measurement arrives
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2012-02-12 09:07:27 -06:00 |
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James Cotton
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34ca5777dd
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Kalman filter for altitude
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2012-02-11 21:08:19 -06:00 |
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James Cotton
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3026527801
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Now the desired altitude is relative to when the switch was flipped so that the
baro altitude module can use a smoothed altitude estimate for the starting
point.
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2012-02-08 23:02:29 -06:00 |
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James Cotton
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80d602ef7b
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Switch order of some commands to make sure it loads the correct hover throttle
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2012-02-08 20:47:10 -06:00 |
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James Cotton
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ab41bae071
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Separately smooth the error estimate from the derivative
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2012-02-08 11:15:33 -06:00 |
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James Cotton
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60c951843d
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Use backtracking to limit integral in altitude hold and smooth the velocity
error. Initialize the throttle integral better.
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2012-02-08 10:39:31 -06:00 |
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James Cotton
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c6b1d6b8df
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Rework the altitude hold code a bit
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2012-02-08 09:42:10 -06:00 |
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James Cotton
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d2ce7761c5
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Add derivative term
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2012-01-03 12:37:18 -06:00 |
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James Cotton
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1783817b96
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INS: First pass at altitude hold code
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2011-09-13 01:44:53 -05:00 |
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