e362844532
Copter: added CH7 switch to enabling/disable the sonar in flight
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This indirectly switches surface tracking on/off which is useful to
avoid tracking the tops of uneven objects when far above the ground
2013-01-14 13:58:53 +09:00
4d21571d92
ArduCopter: changed alt hold to use the sonar if enabled and healthy
2013-01-10 21:43:13 +09:00
578b1b68ad
Copter: remove GPS_STATUS message
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this message is huge and slow, and is pointless as we have
num_satellites in GPS_RAW_INT
2013-01-05 20:54:57 +11:00
8b497cc61d
ArduCopter: log watchdog event to dataflash
2012-12-31 13:32:27 +09:00
bc4cd41a33
ArduCopter: added ERR dataflash message
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Failsafe events changed to errors so they are more obvious.
Errors recorded to dataflash for failure to init compass and optical flow sensor.
Errors recorded for pwm failure.
Resolved a compile error when dataflash logging is disabled.
2012-12-30 12:08:25 +09:00
b9dbdadc80
ArduCopter: first implementation of surface tracking using sonar
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Note: not yet enabled as part of any flight mode
2012-12-29 13:51:14 +09:00
d9873dcd7b
ArduCopter with the new Camera and Relay classes for APM1 and APM2.
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All changes by Sandro Benigno
2012-12-22 17:26:27 +09:00
c2b01e0d63
ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete.
2012-12-22 14:04:47 +09:00
e882a19bb7
Global change all references from
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GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
2012-12-21 11:19:32 -08:00
53acb324db
ACM: Restore Multi-mode support
2012-12-19 08:08:59 -08:00
f48ec39cfa
ACM: Precision Loiter RePositioning code.
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Protected behind a #define
2012-12-17 07:42:28 -05:00
1332ed3b5c
ArduCopter: restore initial climb to RTL
2012-12-17 16:17:49 +09:00
d8ea210019
ArduCopter: allow tuning of the Throttle Rate D term
2012-12-15 13:32:07 +09:00
b83049bdda
ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work.
2012-12-13 14:54:14 -05:00
6cdcf5e737
ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission
2012-12-09 18:04:31 +09:00
8af9f6ed46
ArduCopter: add comments to tuning parameters.
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Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
2012-12-09 16:44:42 +09:00
f62c377062
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
b973d50d79
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
5c3ca64c12
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
73b7d1deca
ArduCopter: update comments related to CH7 switch options
2012-12-06 17:40:36 +09:00
9750c14325
ArduCopter: RTL clean-up and slightly improved landing sensor
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Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
89e737728c
ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI)
2012-12-06 10:31:25 +09:00
dc0b35da30
ArduCopter: restored landing detector to landing throttle mode.
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Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
2012-12-06 10:31:20 +09:00
c1ce0ae752
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
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Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
c78ecc4fd1
ACM: Creating Yaw_Look_Ahead yaw mode.
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This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
d1ab9f59fd
ACM: support 16 character parameter names
2012-11-20 21:38:58 +11:00
3e905ec750
Ap state updates
2012-11-09 22:15:15 -08:00
af40201b14
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
0868917ff4
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
e90d2138f2
ACM: saved some more memory for strings
2012-10-22 18:57:08 +11:00
5f8f53ec0a
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
fc4f4d76c9
ArduCopter: allow DMP to run in parallel with DCM
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Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
2012-09-30 00:25:40 +09:00
04c92240c4
ArduCopter: tiny formatting change in defines.h
2012-09-27 17:40:54 +09:00
65dc4ccc6d
ACM : Added centralized Iterm logging at a lower rate. Logs all iterms.
2012-09-10 20:26:48 -07:00
6d9b4ec785
uncrustify ArduCopter/defines.h
2012-08-21 18:57:21 -07:00
0eed8853b4
ACM : Added CH7 multimode triggers, split Toy mode into two
2012-08-11 22:37:26 -07:00
4c067b4c3a
ACM Defines.h -added Toy mixer enums
2012-08-09 16:59:43 -07:00
83ab9be0eb
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +09:00
31fd74d94c
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
95e1f05f82
defines.h
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removed Approach mode enumeration
2012-07-01 13:40:11 -07:00
49243bc206
defines.h: Toy Mode defines for flight modes
2012-06-29 21:20:28 -07:00
57b75736ce
Added Toy mode to navigation
2012-06-29 21:20:27 -07:00
03879d9113
Added Toy Mode defines
2012-06-25 23:08:25 -07:00
3df1aac936
Change to increase Parameter space as we have run out.
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This will decrease the max number of waypoints from 186
to 169.
2012-05-30 20:41:53 -04:00
9e73dc4bd8
CopterLEDS changes for APM2
2012-05-15 10:07:03 -04:00
7866740d62
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
2012-04-24 22:24:58 +10:00
692bbee233
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
114e6a3551
ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion
2012-04-21 23:24:57 +09:00
5ee15da73b
Planner/defines.h: Updated the enumeration value for APPROACH so as not to disturb the order of the universe.
2012-04-18 10:32:01 -05:00
8128fb2d5f
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
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Conflicts:
ArduCopter/Parameters.h
2012-04-16 10:23:01 -05:00
Randy Mackay
Andrew Tridgell
Craig@3DR
Jason Short
Robert Lefebvre
uncrustify
Andreas M. Antonopoulos
Adam M Rivera