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522 Commits

Author SHA1 Message Date
Jason Short b484fdab05 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Jason Short fa908795d9 renamed super simple 2011-12-15 20:51:41 -08:00
Jason Short 6a55fe18f6 added altitude to circle mission 2011-12-15 20:51:40 -08:00
Jason Short 4b52b61563 Allows user to specify just an altitude for Circle Mode 2011-12-15 20:51:40 -08:00
Jason Short 05e921f5d0 More power to descend 2011-12-15 20:51:40 -08:00
Jason Short 958693ee5e Addition of nav mode that tries to maintain level 2011-12-14 22:08:42 -08:00
Jason Short b4aafcce05 dupe of landing logic for scripting 2011-12-14 22:08:41 -08:00
Jason Short 96ce429537 made the last step of landing stop navigating so we can drop straight down. 2011-12-14 22:08:41 -08:00
Jason Short 66c974a949 Added failsafe check 2011-12-14 22:08:41 -08:00
Jason Short c7da9c63f1 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Jason Short d5666f287c added loiter control to reset nav 2011-12-14 22:08:41 -08:00
Jason Short 2a7f981fb0 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Doug Weibel 737447c8cf Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Doug Weibel 2687f1c77d Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Michael Oborne be9a741c88 add method of detecting if motors are armed 2011-12-14 06:18:29 +08:00
Randy Mackay 68d1fa6ec7 Arducopter - Attitude.pde - fixed small bug in pitch stabilise 2011-12-13 22:10:51 +09:00
Andrew Tridgell c007fb49b8 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell 4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short 29788b98bd Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short 424a11d269 Stability patch2 - Jose style. 2011-12-12 17:47:45 -08:00
Jason Short 6b1bedc381 Gain updates 2011-12-12 17:47:45 -08:00
Jason Short a386ea5e06 Added a simplified Log that is just GPS for my 1280 board 2011-12-12 17:47:45 -08:00
Jason Short 6bac318def Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Jason Short 3edd471983 Upped the max pitch to deal with wind - based on T3 testing 2011-12-12 10:10:33 -08:00
Jason Short e1146b6df6 Just upped the nav_imax value 2011-12-12 10:10:33 -08:00
Andrew Tridgell 6857d9af14 fixed LOGGING_ENABLED default on ArduCopter 2011-12-12 23:40:43 +11:00
Andrew Tridgell e184d1dfe4 quad: fixed the comments on the + motors 2011-12-12 21:01:58 +11:00
Andrew Tridgell ae1ec05dd4 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Andrew Tridgell 483754cb70 fixed == that should be = 2011-12-12 15:19:50 +11:00
Andrew Tridgell cadc5bde1d fixed hil ArduCopter build 2011-12-12 15:14:55 +11:00
Andrew Tridgell dd4498d113 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell 65ed8cc2c3 added sitl build target 2011-12-12 15:14:55 +11:00
Andrew Tridgell faf58a355b airspeed: use floating point values and better averaging in zero_airspeed() 
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
 2011-12-12 15:14:55 +11:00
Pat Hickey 067724b4f1 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey 6710cf5c5a Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey 67436d7ff2 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey bd00b629e7 ArduCopter Init: different call to barometer.init based on CONFIG_BARO 
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
 2011-12-11 15:21:10 -08:00
Pat Hickey 82b8f4d7b7 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 5fd8fea957 ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define 
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
  config.h takes care of this default.
 2011-12-11 15:21:09 -08:00
Pat Hickey 0b0922d04c ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 698a231dd6 ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey 05b6f4be81 ArduCopter CLI: Add imu.init before imu.init_accel for "level" 
* Depending on when you entered the CLI, the imu might not be
  initialized yet, and init_accel would hang.
 2011-12-11 15:19:46 -08:00
Pat Hickey 273492bc66 ArduCopter: Revert "Switched to Gyro only startup" 
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.

I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.

It is no longer valid to call IMU::init_gyro() before IMU::init().
 2011-12-11 14:50:02 -08:00
Jason Short 4efbae4a1c Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short c01361a79d removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Jason Short b442a1b23c added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short 4ff5d5016a fix for navigation scaleLongUp 2011-12-11 09:53:44 -08:00
Randy Mackay 26705111e1 ArduCopter - small fixes to fix HIL compile errors 2011-12-11 23:25:03 +09:00
Randy Mackay 62a7b19600 Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Jason Short a0cef1cc88 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short 995727383b Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short 37f1a574fa Set Nav_WP as home 2011-12-10 23:26:10 -08:00
Jason Short 64cb2a54cf eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Jason Short 9c3475f168 Made landing slower 2011-12-10 19:33:19 -08:00
Jason Short 2b06a54fc5 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00
Jason Short 6228dfb37c Will add a landing command to last WP if we are on the ground. 2011-12-10 19:29:42 -08:00
Jason Short 146d52d650 Switched to Gyro only startup 2011-12-10 15:13:20 -08:00
Jason Short 2defbe818f rework of inflight trim. 2011-12-10 15:05:53 -08:00
Jason Short 37f3875968 Removed Instant PWM from disarmed output 2011-12-10 10:33:25 -08:00
Jason Short 34213e745c Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Jason Short f444aac706 Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short 7c1a975a71 Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short a9e82e3fbd Debugging some motor issues 2011-12-10 10:19:20 -08:00
Jason Short 22e4ed67aa Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short 9afd99b834 Added notes to Imu.ax, ay, az 2011-12-10 10:19:20 -08:00
Jason Short 9ef902d4a5 Added enumeration for Land 2011-12-10 10:19:20 -08:00
Jason Short 718af404ed Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short 0969bf3146 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Jason Short b659d35f18 Added Land FLight mode definition 2011-12-10 10:19:20 -08:00
Randy Mackay f77131db94 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay f4ac36bd8b ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Pat Hickey 2a7013f7e2 ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280 
Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
 2011-12-09 15:06:10 -08:00
Randy Mackay f4fd6e0910 Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i 2011-12-09 22:13:37 +09:00
Randy Mackay ced26d7ba2 TradHeli - Attitude.pde - made yaw contol use jason's stability patch 
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
 2011-12-08 22:23:50 +09:00
Randy Mackay ee8986c463 TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled 2011-12-08 21:30:47 +09:00
Doug Weibel 4f6f9a6be4 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Jason Short e3700365d4 Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00
Jason Short 118a232b13 made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short ad94166c22 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short 55b2e5339a simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short 50afa16f31 Function call defs commented with // so the preprocessor doesn't get confused 2011-12-03 17:55:44 -08:00
Jason Short 11363a26cb Added new gain and clamp value for DCM 2011-12-03 17:55:11 -08:00
Jason Short fdcf9aecd5 Fixing reversed Simple mode switch 2011-12-03 17:54:57 -08:00
Jason Short be3dba817b Stability patch from 55 2011-12-03 17:54:38 -08:00
Jason Short 3dc43c21af Enabled the compass test 2011-12-03 15:39:02 -08:00
Jason Short ffa69f43ec disabled Flash logs in 1280 by default 
Added stability patch I values and limits
 2011-12-03 15:38:46 -08:00
Jason Short 8e0d8a860b Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Jason Short 06341cb1dc Added Deg to rad, rad to deg * 100 to save a float calc 2011-12-03 15:29:33 -08:00
Jason Short 8af8badcec formatting 2011-12-03 15:29:33 -08:00
Michael Oborne 1b63af896e Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 06:32:27 +08:00
Michael Oborne 21143d87b5 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Andrew Tridgell c1569e49a8 fixed the "reboot on GPS lock" bug 
the problem was that with APM2 we may not have a 2nd GCS instance. The
"gps alt: xxx" message was being unconditionally sent to both GCS
instances, which caused a crash
 2011-12-04 09:06:58 +11:00
Andrew Tridgell 63126ece83 MAVLink: use the configured system ID for ArduCopter 2011-12-03 07:54:36 +11:00
Jason Short 9b47e376d5 Enabled Ch7 simple mode switching 2011-11-28 22:41:12 -08:00
Jason Short a7e0135cd4 adding flag for finished mission 2011-11-28 22:28:51 -08:00
Jason Short 8a1fcfd0f4 cleanup 2011-11-28 21:40:22 -08:00
Jason Short 7e1d41be14 Fix error with calc_nav_pitch_roll 2011-11-28 21:27:29 -08:00
Doug Weibel b3b218fa40 Fix for intermittent bug of log #1 starting on page 2 and confusing file system 2011-11-28 19:43:10 -07:00
Doug Weibel aa6c336479 Add DataFlash.Init before doing a forced log erase on eeprom reset. 
Add progress indication during log erase
 2011-11-28 19:42:27 -07:00
Jason Short 104f93cef5 Fixed navigation bug 2011-11-28 14:22:05 -08:00