Navigation-rewrite news and changelog

[digitalentity]

This is to track and discuss progress of nav-rewrite branch

[marksev1]

Congrats on your latest test flight, looks promising :)

[marksev1]

I'm liking the progress, hopefully the crash during rth didn't do too much damage.

[digitalentity]

Not much - broke an arm and a prop, teared off a wire from one motor. Lots of crashes during development of completely new code was not unforseen and I've got alot of spare parts, fortunately they are very cheap on eBay. I think I've found an issue with RTH, wil try and test again in a few days. Currently the thing that bothers me most is not working manual control during PH (#11) as I have no idea why this is happening...

[marksev1]

Are nav pids transferrable from harakiri?

[digitalentity]

Not really, PIDs behave differently than Harakiri's.

[marksev1]

DE do you have plans for also improving bmp085 althold. I recall harakiri has done some improvements for that baro, but when I was glancing that code I couldn't understand a lot.. :)

[digitalentity]

Probably yes, but currently I'm focused on getting navigation working. When it will be mostly flyable we can think of improving things.

[digitalentity]

@marksev1, I've looked at Harakiri code for baro, it looks like we've recently implemented the similar filtering in 6e041c5.

[marksev1]

Digitalentity, what the latest status on ph, rth and ah?

[digitalentity]

@marksev1
AH and PH work to certain level - require tuning, but algorythms are stable enough. RTH is not so good. Flight test of RTH today was a complere disaster. Nothing related to RTH seem to work. But that's fine - I can recall times when even AH wasn't working.

[strips]

Awesome work! I really hope you can make this work so it will be reliable!

[digitalentity]

@strips
Thanks! Code is getting more stable every day, improvements are made all the time. I hope I'll get this code past "flyable" milestone in about a month.

[digitalentity]

Some new changes are ready to be flight-tested. New binary cleanflight_NAZE.navigation-rewrite.Aug28.hex is built from 25a0e4f0e2cb47ad1729e835c476ce6633775e34 and is available in my Dropbox.
Most significant changes:

• code refactoring (slight possibility I might have broken some functionality)
• re-added sonar support for low altitude ALTHOLD, needs careful testing
• added compensation for BARO drift from GPS, needs testing - enable ALTHOLD and hover for couple of minutes - shouldn't drift for more than 0.5-1 meter
• PH changes, should tolerate wind better
• RTH changes, verify that PH is working before testing this
• reworked landing code, should now descend faster.