James Cotton
6b88a278b3
Disable overosync by default. It was triggering event system warnings due to
...
the extra updates from altholdsmoothed. Increase queue size when reenabled.
Also AltHold is is trigger warnings because other tasks starve it during
startup.
2012-03-21 00:29:09 -05:00
James Cotton
820ca6a970
Initialize loop variable OUTSIDE loop so that baro is used still for altitude
...
hold.
2012-03-10 11:28:51 -06:00
James Cotton
f4705551b6
Update task info to cover the AltitudeHold module
2012-03-10 11:14:30 -06:00
James Cotton
bc8b72623e
Get rid of some unused variables
2012-03-03 11:54:09 -06:00
James Cotton
7b548eaa54
Fix bug in the integral for altitude hold where it was accumulating wrong variable.
2012-02-21 00:40:55 -06:00
James Cotton
900780e10c
Add bias estimation to the altitude fusion algorithm. Necessary to increase
...
the gains on acceleration and velocity feedback terms (they are a problem when
biased).
2012-02-19 11:38:09 -06:00
James Cotton
47fac7e31c
Move the throttle setting code for alt hold into the fast accel loop.
2012-02-18 18:16:15 -06:00
James Cotton
7d4582e5f0
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.
2012-02-16 05:33:47 -06:00
James Cotton
f23f53dc4e
Add settings for the altitude kalman filter settings and init the state when
...
first measurement arrives
2012-02-12 09:07:27 -06:00
James Cotton
34ca5777dd
Kalman filter for altitude
2012-02-11 21:08:19 -06:00
James Cotton
3026527801
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.
2012-02-08 23:02:29 -06:00
James Cotton
80d602ef7b
Switch order of some commands to make sure it loads the correct hover throttle
2012-02-08 20:47:10 -06:00
James Cotton
ab41bae071
Separately smooth the error estimate from the derivative
2012-02-08 11:15:33 -06:00
James Cotton
60c951843d
Use backtracking to limit integral in altitude hold and smooth the velocity
...
error. Initialize the throttle integral better.
2012-02-08 10:39:31 -06:00
James Cotton
c6b1d6b8df
Rework the altitude hold code a bit
2012-02-08 09:42:10 -06:00
James Cotton
d2ce7761c5
Add derivative term
2012-01-03 12:37:18 -06:00
James Cotton
1783817b96
INS: First pass at altitude hold code
2011-09-13 01:44:53 -05:00
