Added #defines for using optical flow vs. VRPN and using integrated gyro for yaw. Updated Gyro Z bias. Changed some sensor processing regarding optical flow.

Reverting first setpoint for autonomous back to current position. Was swtiched to (0, 0) for optical flow.

dawehr authored 7 years ago and dawehr committed 7 years ago

Optical flow data is being polled, part of the graph, and being logged now. It is not used for flight.

Moved yaw correction to its proper location (between velocity PID output and before pitch/roll PID input).
Eliminated leftover graph_add_node_SpecificTypeHere() functions.

Added define for USE_LIDAR. Lidar is still polled and the node is updated, but it is not used for altitude control by default.

Allowing throttle to be down during autonomous.

Properly setting sampling time for altitude PID with LiDAR. Fixed HW impl tests for lidar_t changes.

Refactored velocity configuration in control algorithm. Made default PID constants the good ones. Corrected the velocity sign. There might be sign errors with the velocity PID constants.

PID nodes have a second parameter, called alpha that is (1 - N*T_s), where N is equivalent to Simulink N.
If alpha == 0, no filtering (default).
Also fixed issue where sampling time for autonomous was 0 for the first iteration.

Increased max pitch/roll angle and maximum output from rate controllers. removed comment from log file being dumped.