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 |
|