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ardupilot/ArduCopterMega/APM_Config.h

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clean up to work better with the Mission planner and enable Camera control. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2697 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-28 03:31:18 -03:00
// Example config file. Take a look at confi.h. Any term define there can be overridden by defining it here.
undid accidentical commit of local changes sorry about that! git-svn-id: https://arducopter.googlecode.com/svn/trunk@1806 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-21 04:35:54 -03:00
// GPS is auto-selected
Added APM's current sensing. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2234 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-09 12:46:56 -03:00
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
undid accidentical commit of local changes sorry about that! git-svn-id: https://arducopter.googlecode.com/svn/trunk@1806 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-21 04:35:54 -03:00
Big update 2.0.38 moved ground start to first arming added ground start flag moved throttle_integrator to 50hz loop CAMERA_STABILIZER deprecated - now always on renamed current logging bit mask to match APM added MA filter to PID - D term Adjusted PIDs based on continued testing and new PID filter added MASK_LOG_SET_DEFAULTS to match APM moved some stuff out of ground start into system start where it belonged Added slower Yaw gains for DCM when the copter is in the air changed camera output to be none scaled PWM fixed bug where ground_temperature was unfiltered shortened Baro startup time fixed issue with Nav_WP integrator not being reset RTL no longer yaws towards home Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 17:42:54 -03:00
//#define HIL_MODE HIL_MODE_ATTITUDE
Big update from Field testing. Includes updated motor tests. These need to be verified. Nav loiter D was added (.03) - verify this helps. Nav_lat is now filtered for Rate control. This is to keep jerky pitching to a minimum. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2448 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-31 02:29:06 -03:00
AC2.0.24b git-svn-id: https://arducopter.googlecode.com/svn/trunk@2567 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-16 14:03:26 -03:00
Big update 2.0.38 moved ground start to first arming added ground start flag moved throttle_integrator to 50hz loop CAMERA_STABILIZER deprecated - now always on renamed current logging bit mask to match APM added MA filter to PID - D term Adjusted PIDs based on continued testing and new PID filter added MASK_LOG_SET_DEFAULTS to match APM moved some stuff out of ground start into system start where it belonged Added slower Yaw gains for DCM when the copter is in the air changed camera output to be none scaled PWM fixed bug where ground_temperature was unfiltered shortened Baro startup time fixed issue with Nav_WP integrator not being reset RTL no longer yaws towards home Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 17:42:54 -03:00
//#define BROKEN_SLIDER 0 // 1 = yes (use Yaw to enter CLI mode)
2.0.39 Change the way Rate nav works. we now take into account both forward *and lateral* rates. The signs may be backward so be careful! Let me know if the quad shoots off to one side and I'll flip the signs. git-svn-id: https://arducopter.googlecode.com/svn/trunk@3049 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-08 13:54:56 -03:00
#define FRAME_CONFIG QUAD_FRAME
added reference to FRAME_TYPE git-svn-id: https://arducopter.googlecode.com/svn/trunk@2277 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-14 23:04:52 -03:00
/*
options:
2.0.6 Beta updates. Frame options + X moved to AP_Var. Updated nav code. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2345 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-18 20:38:24 -03:00
QUAD_FRAME
TRI_FRAME
HEXA_FRAME
Y6_FRAME
Added resetting of Loiter location based on stick input. Fly it to a location and let it stick. Added Octo Support Fixed Loiter issue regarding Yaw towards loiter location Added Yaw control alternative for testing decreased Yaw deadband to +-5° revved to 2.0.10 git-svn-id: https://arducopter.googlecode.com/svn/trunk@2389 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-23 23:14:18 -03:00
OCTA_FRAME
Traditional Heli - merged heli code into ACM trunk code! git-svn-id: https://arducopter.googlecode.com/svn/trunk@2548 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-12 09:14:10 -03:00
HELI_FRAME
added reference to FRAME_TYPE git-svn-id: https://arducopter.googlecode.com/svn/trunk@2277 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-14 23:04:52 -03:00
*/
added reference to FRAME_TYPE git-svn-id: https://arducopter.googlecode.com/svn/trunk@2276 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-14 23:03:23 -03:00
2.0.39 Change the way Rate nav works. we now take into account both forward *and lateral* rates. The signs may be backward so be careful! Let me know if the quad shoots off to one side and I'll flip the signs. git-svn-id: https://arducopter.googlecode.com/svn/trunk@3049 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-08 13:54:56 -03:00
#define FRAME_ORIENTATION X_FRAME
2.0.6 Beta updates. Frame options + X moved to AP_Var. Updated nav code. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2345 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-18 20:38:24 -03:00
/*
PLUS_FRAME
X_FRAME
Big update 2.0.38 moved ground start to first arming added ground start flag moved throttle_integrator to 50hz loop CAMERA_STABILIZER deprecated - now always on renamed current logging bit mask to match APM added MA filter to PID - D term Adjusted PIDs based on continued testing and new PID filter added MASK_LOG_SET_DEFAULTS to match APM moved some stuff out of ground start into system start where it belonged Added slower Yaw gains for DCM when the copter is in the air changed camera output to be none scaled PWM fixed bug where ground_temperature was unfiltered shortened Baro startup time fixed issue with Nav_WP integrator not being reset RTL no longer yaws towards home Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 17:42:54 -03:00
V_FRAME
2.0.6 Beta updates. Frame options + X moved to AP_Var. Updated nav code. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2345 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-18 20:38:24 -03:00
*/
2.0.39 Change the way Rate nav works. we now take into account both forward *and lateral* rates. The signs may be backward so be careful! Let me know if the quad shoots off to one side and I'll flip the signs. git-svn-id: https://arducopter.googlecode.com/svn/trunk@3049 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-08 13:54:56 -03:00
#define CHANNEL_6_TUNING CH6_NONE
Lots of little things. Yaw control is updated based on Jani's logs. Thanks! Takeoff now works well. better logging. tuned down kD for Yaw - was causing some bad behavior. Auto mission now resets when entering mode. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1914 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-21 02:15:45 -03:00
/*
CH6_NONE
New PIDs - I rewrote the control laws from scratch to add a PI Rate function. The end result should fly nearly identically to the current version. The nice detail is that we can use NG PID values for easy transition! Before: -> After Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value) Stabilize I –> Stabilize I (Stays same value) Stabilize D –> Rate P (Stays same value) –> Rate I (new) Added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs. Added framework for using DCM corrected Accelerometer rates. Code is commented out for now. Added set home at Arming. Crosstrack is now a full PID loop, rather than just a P gain for more control. Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written. Added Octa_Quad support - Max git-svn-id: https://arducopter.googlecode.com/svn/trunk@2836 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-10 21:47:08 -03:00
CH6_STABILIZE_KP
CH6_STABILIZE_KI
CH6_RATE_KP
CH6_RATE_KI
CH6_THROTTLE_KP
CH6_THROTTLE_KD
CH6_YAW_KP
CH6_YAW_KI
CH6_YAW_RATE_KP
CH6_YAW_RATE_KI
CH6_TOP_BOTTOM_RATIO
CH6_PMAX
2.0.39 Change the way Rate nav works. we now take into account both forward *and lateral* rates. The signs may be backward so be careful! Let me know if the quad shoots off to one side and I'll flip the signs. git-svn-id: https://arducopter.googlecode.com/svn/trunk@3049 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-08 13:54:56 -03:00
CH6_RELAY
Lots of little things. Yaw control is updated based on Jani's logs. Thanks! Takeoff now works well. better logging. tuned down kD for Yaw - was causing some bad behavior. Auto mission now resets when entering mode. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1914 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-21 02:15:45 -03:00
*/
2.0.29 Fixed Mavlink issue Added look at home option for SIMPLE mode. Off be default. Untested. Upped performance of Yaw. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2695 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-27 14:01:53 -03:00
// experimental!!
// Yaw is controled by targeting home. you will not have Yaw override.
// flying too close to home may induce spins.
Big update 2.0.38 moved ground start to first arming added ground start flag moved throttle_integrator to 50hz loop CAMERA_STABILIZER deprecated - now always on renamed current logging bit mask to match APM added MA filter to PID - D term Adjusted PIDs based on continued testing and new PID filter added MASK_LOG_SET_DEFAULTS to match APM moved some stuff out of ground start into system start where it belonged Added slower Yaw gains for DCM when the copter is in the air changed camera output to be none scaled PWM fixed bug where ground_temperature was unfiltered shortened Baro startup time fixed issue with Nav_WP integrator not being reset RTL no longer yaws towards home Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 17:42:54 -03:00
//#define SIMPLE_LOOK_AT_HOME 0