levinemax
0d3369af45
Motor mix update for X8 (octo quad),
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diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
2012-02-09 03:57:40 +00:00
Randy Mackay
31ff9a9318
ArduCopter - Camera.pde - turn off camera pitch control (which uses channel 6) when channel 6 is being used for tuning.
2012-02-08 23:51:53 +09:00
Randy Mackay
e9ef79c42d
Arducopter - reduced rate of decent when landing using sonar
2012-02-08 22:46:32 +09:00
Randy Mackay
54fe857236
ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments
2012-02-05 16:56:51 +09:00
Randy Mackay
bde1ebb56e
TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction.
2012-02-05 11:04:38 +09:00
Andrew Tridgell
c95a295fd6
allow for lower serial baud rates
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not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
2012-02-04 19:07:18 +11:00
Jason Short
d161c0451f
fix issue with low throttle in air
2012-02-03 13:29:59 +00:00
Michael Oborne
484b688700
fix issue 502
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to identify quad over mavlink
2012-02-03 06:53:08 +08:00
Pat Hickey
b65eb110bd
Revert all changes to ArduCopter Motors MOT mappings.
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Revert "Arducopter Motors Octa: Change V frame MOT_ output ordering."
This reverts commit bdab02f408ddc5451fcb4c6390b2475d31ac657f.
Revert "hexa frame FRAME_CONFIG fixup"
This reverts commit d15e692df613cb728ec671a54dce166f6f1940a0.
Revert "Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME"
This reverts commit cb0a8c62fbd07a8ae9dcb8d4fffce337ace1aa1c.
Revert "Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame"
This reverts commit 120d7f9050d5ec9f8fbe02c0ed4f38621949f4ee.
Revert "Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME"
This reverts commit 7d65ec311fd2e1222a36d0b34c366e21f3869fcc.
Revert "Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines."
This reverts commit 47c6e8662f4d5e8fb920f2049338541343d8d18e.
Revert "Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types."
This reverts commit 8259c90ec7cb29dedac19890cd9a4449b7399e36.
2012-02-01 10:14:46 -08:00
analoguedevices
256893f385
credits
2012-02-01 04:44:36 +00:00
analoguedevices
d86dbd1c6f
Incremented version number to 2.3
2012-02-01 04:39:15 +00:00
Pat Hickey
48b152d642
ArduCopter Octa: fix yaw motors for Octa V.
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* I based this off the APM1 Octa V diagram at
http://code.google.com/p/arducopter/wiki/AC2_Multi
2012-01-31 19:37:49 -08:00
Pat Hickey
ca18eb3f8f
Arducopter Motors Octa: Change V frame MOT_ output ordering.
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* I backed this out from Max's changes, but I'm not sure whether its correct.
2012-01-31 18:19:41 -08:00
Pat Hickey
417d75eb50
hexa frame FRAME_CONFIG fixup
2012-01-31 18:19:41 -08:00
Pat Hickey
41ea9079be
Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME
2012-01-31 18:19:41 -08:00
Pat Hickey
7d264d1150
Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame
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* This will change the output order for APM2, but not APM1.
2012-01-31 18:18:13 -08:00
Pat Hickey
5cee2b674b
Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME
2012-01-31 18:18:13 -08:00
Pat Hickey
8463acc978
Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines.
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* HEXA_X_FRAME and HEXA_PLUS_FRAME merged back into HEXA_FRAME
* OCTA_V_FRAME merged back into OCTA_FRAME
2012-01-31 18:18:13 -08:00
Pat Hickey
f32d089f33
Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types.
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* HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and
HEXA_PLUS_FRAME
* OCTA_FRAME stays the same name for X and +, but the V frame
configuration requires new OCTA_V_FRAME name.
2012-01-31 18:18:13 -08:00
Randy Mackay
1a1f6cac5d
OptFlow - reenable OF_LOITER pid controller and reduce I term
2012-02-01 08:04:18 +09:00
Jason Short
4402a92e85
Loiter PIDs
2012-01-30 21:13:03 -08:00
Jason Short
5de459a160
tweaks to Loiter
2012-01-30 21:13:03 -08:00
Jason Short
06d54bf0e8
ATT tuning update
2012-01-30 21:13:03 -08:00
Jason Short
c181186690
tuning
2012-01-30 21:13:03 -08:00
Jason Short
90ee552bd1
cosmetic
2012-01-30 21:13:03 -08:00
Jason Short
3050c1d765
tuning fixes
2012-01-30 21:13:03 -08:00
Jason Short
f2afa39bbd
Cosmetic
2012-01-30 21:13:03 -08:00
Jani Hirvinen
b3dd07038b
Minor changes for PID for jDrones motors due latest changes on control laws.
2012-01-31 09:00:31 +07:00
Jason Short
ba81e2aa69
pid_nav_lat incorrectly labeled
2012-01-29 23:02:00 -08:00
Jason Short
cc45bd47fe
cosmetic
2012-01-29 21:55:17 -08:00
Jason Short
d93e259289
Added more attributions
2012-01-29 21:53:44 -08:00
Jason Short
25c2c9b437
removed filter. Don't need it.
2012-01-29 17:10:52 -08:00
Jason Short
c855c81d2a
limiting alt hold rate error to 1m/s
2012-01-29 17:08:34 -08:00
Jason Short
370d633f51
Lowering the throttle_P values by default
2012-01-29 16:27:13 -08:00
Jason Short
af0b0d5a7f
made Loiter over ride exit dependent not on speed, but centered sticks.
2012-01-29 16:15:02 -08:00
Randy Mackay
cff6799d18
TradHeli - fix to servo limits. They had been unnecessarily limited to the collective pitch's min and max but actually there are cases (for example when the swash is leaning over 45degrees) where one servo goes well beyond the collective pitch's min or max.
2012-01-29 21:14:37 +09:00
Randy Mackay
1cbbe7bc7d
Optflow - minor fix to D term defaulting
2012-01-29 21:06:41 +09:00
Jason Short
2a8044c666
Landing update for better baro landing
2012-01-28 22:35:57 -08:00
Jason Short
9dd1730cce
reduce test.pde size for 1280 users
2012-01-28 22:16:24 -08:00
Jason Short
0213f4dd88
2.2B6 - Please verify Heli still functions properly.
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Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Jason Short
e94ac68e4d
formatting
2012-01-28 21:19:46 -08:00
Jason Short
8fcb2931d7
Cosmetic changes
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GPS LED lock waits for home_is_set to be true
2012-01-28 21:19:46 -08:00
Jason Short
a685510c38
changed tuning range
2012-01-28 21:18:43 -08:00
Randy Mackay
000acac9f8
Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup
2012-01-28 10:13:58 +09:00
Randy Mackay
2db4d2bfe6
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Pat Hickey
38d83d6cf0
ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2
2012-01-27 07:39:01 -08:00
Randy Mackay
f27b41179b
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Pat Hickey
70825e0e1c
ArduCopter Heli: add motors_output_enable function
2012-01-25 22:41:09 -08:00
Randy Mackay
2f84b54bbb
OpticalFlow - replaced PI controller with PID controller.
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Modified optical flow hold to use aggregated position instead of speed.
2012-01-25 21:55:14 +09:00
Randy Mackay
cd21c5905b
Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi
2012-01-25 21:53:20 +09:00
Jason Short
86c7742dc0
added loiter_d to allow users to configure alternate Loiter alg
2012-01-22 14:19:27 -08:00
Jason Short
32241319c1
Revert "test to switch loiter controls"
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This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
2012-01-22 14:19:27 -08:00
Jason Short
04a2eee410
test to switch loiter controls
2012-01-22 12:28:34 -08:00
Pat Hickey
05246bf3b4
ArduCopter: Call APM_RC.enable_out for camera channels in init_camera()
2012-01-22 12:03:11 -08:00
Pat Hickey
368e736a61
ArduCopter: Call motors_output_enable at correct spot during init
2012-01-22 12:03:11 -08:00
Pat Hickey
2bd2e9c774
ArduCopter: Add implementation of motors_output_enable to each motors_ frame type
2012-01-22 12:03:11 -08:00
Jason Short
acf43341da
Causes Aero_SIM to fail
2012-01-22 09:34:43 -08:00
Jason Short
8c4b955282
added Beta 4 tag
2012-01-21 22:15:23 -08:00
Jason Short
a213e05eb9
converted to cm
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Signed-off-by: Jason Short <jasonshort@mac.com>
2012-01-21 22:14:08 -08:00
Jason Short
7616c3b5a1
Converted distance gains to CM
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added loiter_d for rate control, equal to old Nav_P gain
2012-01-21 22:13:57 -08:00
Jason Short
e1f7fa34ea
Fixed speed governor which was letting speed get to 0.
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added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
2012-01-21 22:12:57 -08:00
Jason Short
8bd6cabdf1
recording nav_bearing rather than target bearing
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recording x and y speed rather than Iterms for nav since they are always 0 now
2012-01-21 22:10:28 -08:00
Jason Short
14a8d8a471
added conversions of CM to M
2012-01-21 22:09:39 -08:00
Jason Short
a3daae1530
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
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Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
2012-01-21 22:09:13 -08:00
Jason Short
9ecd091f79
convert command into CM from M
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Making Landing boost be one at minimum to trigger better navthrottle output
2012-01-21 22:06:35 -08:00
Jason Short
6377cf8549
better default for speed governer
2012-01-21 22:05:48 -08:00
Jason Short
02d6adb21f
slightly less filtering for less latency
2012-01-21 22:04:54 -08:00
Jason Short
275815a7c9
Converted to cm for distance
2012-01-21 22:04:35 -08:00
Jason Short
ab8bf0b560
increasing the velocity near WP
2012-01-21 11:59:49 -08:00
Jason Short
8f86caa3ff
limiting the pitch throttle compensation
2012-01-21 11:59:49 -08:00
Jason Short
fa06d4a2e3
Calc error for logs
2012-01-21 11:59:49 -08:00
Jason Short
d444051eb3
Enabled auto throttle hold
2012-01-20 22:52:31 -08:00
Jason Short
e9a4253cd1
added note
2012-01-20 22:52:31 -08:00
Jason Short
3921fb7880
formatting
2012-01-20 22:52:31 -08:00
Jason Short
2fa8a343ac
Added cast for comparison
2012-01-20 22:52:30 -08:00
Jason Short
525f7cd40f
cleanup
2012-01-20 22:52:30 -08:00
Jason Short
a087d84734
error on comparison operator
2012-01-20 22:52:30 -08:00
Jason Short
84937b4f69
Added Auto_land_timeout to params
2012-01-20 22:52:30 -08:00
Jason Short
bf8774c2f8
AutoLanding timeout for Mission Planner
2012-01-20 22:52:30 -08:00
Jason Short
c5dd970026
Max throttle output was to high
2012-01-20 22:52:30 -08:00
Jason Short
99b71434da
Updated Firmware version
2012-01-20 22:52:30 -08:00
Jason Short
9c912b2573
reset all I terms at Arming
2012-01-20 22:52:30 -08:00
Jason Short
63a1cf75df
enabled Mavlink Land command
2012-01-20 22:52:30 -08:00
Jason Short
0475dbf8ae
relocated reset_I term functions to central location
2012-01-20 22:52:30 -08:00
Jason Short
f504c79fb0
Stab_D changes units with the new dampening controller updates
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Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
2012-01-20 22:52:30 -08:00
Jason Short
3a4a80c650
renamed function
2012-01-20 22:52:30 -08:00
Jason Short
c2496948fb
Verify land updates from JLN
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Effectively a throttle control for landing that mimics a person lowering the throttle.
2012-01-20 22:52:29 -08:00
Jason Short
d991a22453
Refined the D term for stabilize
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moved all the rest_I terms from code into 1 central place
2012-01-20 22:52:29 -08:00
Jason Short
ba535ed956
B3
2012-01-20 22:52:29 -08:00
Jason Short
556d646cad
set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units.
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added the ability to force nav_throttle so we don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
2012-01-20 22:52:29 -08:00
Jason Short
0f24860552
Altitude no longer resets when moving loiter WP
2012-01-20 22:52:29 -08:00
Jason Short
7468889bb7
slowed down slightly
2012-01-20 22:52:29 -08:00
Jason Short
aa1f09af83
Lowered range to more sensible values
2012-01-20 22:52:29 -08:00
Jason Short
3797c25867
Off by default
2012-01-20 22:52:29 -08:00
Michael Oborne
c2f3cf0cf5
AC fix attitude level hil
2012-01-21 07:52:52 +08:00
Michael Oborne
b94c80059b
fix scale error
2012-01-21 06:33:18 +08:00
Michael Oborne
3b93418d67
AC sync battery code with arduplane
2012-01-21 06:29:09 +08:00
Michael Oborne
7f272b4c4b
fix SITL attitude hil AC
2012-01-20 16:32:25 +08:00
Doug Weibel
2ea9db84e0
Update battery monitoring code for ArduCopter
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Fixes compatibility for APM2. Also a significant update to the battery monitoring code: We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos. These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere). Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs. The CLI battery and current monitoring tests were consolidated into 1 test.
changed
2012-01-15 17:10:02 -07:00
Doug Weibel
17b3e514dc
Just a little more commenting work on global variables
2012-01-15 16:11:02 -07:00
Jason Short
f326a5a9ea
APM2 Channel assignments
2012-01-15 10:24:16 -08:00
Jason Short
7e411f5fb6
This allows users to test the Auto_throttle hold or cruise value
2012-01-14 11:43:52 -08:00
Jason Short
3879e79898
b2
2012-01-14 11:37:00 -08:00
Jason Short
cf51967bbb
Fix for SIMPLE mode
2012-01-14 11:32:48 -08:00
Jason Short
6714ab49ad
Tweak to make circle mode scripting more accurate
2012-01-14 11:21:50 -08:00
Jason Short
e7ad08e209
adjusted GPS watch dog not to be so aggressive,
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removed unneeded flag clearing
2012-01-14 11:20:40 -08:00
Jason Short
11e1df497d
lowered Loiter I, commented out unused var
2012-01-14 11:20:40 -08:00
Jason Short
f25d741f62
temp removed alt D term until more testing
2012-01-14 11:20:40 -08:00
Jason Short
e6ec80bb21
Clarified the Increment for WP total
2012-01-14 11:20:40 -08:00
Jason Short
6d0329b08c
added notes, removed redundant save wp_total
2012-01-14 11:20:40 -08:00
Jason Short
24b760d48f
added update throttle cruise function
2012-01-13 16:48:05 -08:00
Jason Short
414a2581a0
Made RTL always the current Altitude
2012-01-13 16:47:38 -08:00
Jason Short
c970ba4f93
made resetting throttle cruise a function
2012-01-13 16:47:08 -08:00
Jason Short
589f8bc557
Disabled Ryans filter until we get real-world testing in.
2012-01-13 12:48:02 -08:00
Jason Short
05dce91c24
fixed GPS bug - moved to fast loop location
2012-01-13 12:47:22 -08:00
Jason Short
8de6e0e223
made landing shoot for below home by 2 meters to avoid bounce up.
2012-01-13 12:46:40 -08:00
Jason Short
9a0539f39e
tuned down Alt hold D gain
2012-01-13 09:36:51 -08:00
Jason Short
81413d2a76
re-enabled relay test
2012-01-13 08:55:02 -08:00
Jason Short
09c4bbe46e
Added simple constrain for Alt d term
2012-01-13 08:49:55 -08:00
Jason Short
b9419e0123
moved GPS routines to 50hz loop to avoid delay.
2012-01-12 22:59:47 -08:00
Jason Short
b81f9a5d77
Version 2.2
2012-01-12 22:37:33 -08:00
Jason Short
b884462ce3
removed wind comp code,
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Added Landing boost code
2012-01-12 22:28:58 -08:00
Jason Short
5418d330f6
Added a small D term on alt hold
2012-01-12 22:28:58 -08:00
Jason Short
6d0f078fdd
Added Landing throttle control to force down the copter
2012-01-12 22:28:58 -08:00
Jason Short
b493cb1e55
removed unused defines
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lowered default Loiter gain
2012-01-12 22:28:58 -08:00
Jason Short
8416de7e9c
Added Ryan's GPS lag filter
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Removed unused code
refined alt change
2012-01-12 22:28:58 -08:00
Jason Short
400d080d12
added notes
2012-01-12 22:28:58 -08:00
Doug Weibel
622217357c
Bug fix for compass.
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This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge.
If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.
To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
analoguedevices
c00bcc58d9
Eliminated second instance of APM2 #defines
2012-01-12 20:38:41 +00:00
Jason Short
33fe4db3fc
R10
2012-01-11 22:41:51 -08:00
Jason Short
464038b3ea
New Loiter control
2012-01-11 22:41:51 -08:00
Jason Short
2566f1fb95
New Loiter Gains for new Loiter methods
2012-01-11 22:41:51 -08:00
Jason Short
55cb0ad476
moved to verify_land
2012-01-11 22:41:51 -08:00
Jason Short
7978a2a21a
attempting to force down without using Manual boost.
2012-01-11 22:41:51 -08:00
Jason Short
db1fafaaec
R9
2012-01-10 23:46:08 -08:00
Jason Short
22ebe00773
comma
2012-01-10 23:45:33 -08:00
Jason Short
7933492fec
Switched to set_next_WP for mode switches
2012-01-10 23:43:44 -08:00
Jason Short
30f5ecda54
Fixed Type Error
2012-01-10 23:43:44 -08:00
Jason Short
ed903c6cd3
Fixed type error
2012-01-10 23:43:44 -08:00
Jason Short
36516161b5
Climb rate control
2012-01-10 23:43:44 -08:00
Jason Short
78925d57c2
added set_new_altitude call()
2012-01-10 23:43:44 -08:00
Jason Short
0c9dc11ac1
Added ending for auto landing
2012-01-10 23:42:27 -08:00
Jason Short
7d4067a6ed
updated climb rate control
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Land detector
2012-01-10 23:42:27 -08:00
Jason Short
f683371508
added set_new_altitude call
2012-01-10 23:42:27 -08:00
Jason Short
581657ab7a
climb rate control
2012-01-10 23:42:26 -08:00
Jason Short
439c15f3fc
Added climb rate control
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removed unused vars
2012-01-10 23:42:26 -08:00
Jason Short
c385db412e
Added altitude change flags
2012-01-10 23:42:26 -08:00
Jason Short
9cbfcac802
Made timer unsigned
2012-01-10 23:42:26 -08:00
Jason Short
9d1b1dba77
Added comments
2012-01-10 23:42:26 -08:00
Jason Short
5b00928b15
added location error calc to get better data. Otherwise we'll be 1 GPS read off.
2012-01-10 23:42:26 -08:00