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225 Commits

Author SHA1 Message Date
Jason Short 68739f3cc4 Based on Jani's latest logs I've made two tweaks to alt hold. 
The first is to remove the filter on the throttle output for alt_hold.

The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
 2012-02-25 13:31:21 -08:00
Andrew Tridgell 6b265c5034 ACM: use a NULL gps pointer in DCM init 
current DCM API does need a GPS reference passed in, but it can be
NULL
 2012-02-25 15:08:49 +11:00
Andrew Tridgell ce5c7c2c85 ACM: don't pass a gps pointer to DCM 
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell 4edf311865 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Jason Short 92cfc8913a revved a version 2012-02-22 09:00:42 -08:00
Jason Short 207ffee856 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short 7bfda28cdc removed old comments 2012-02-19 14:21:27 -08:00
Jason Short 79a9665c9d Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short ba2cfee2fb Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Randy Mackay 7c4ef140b9 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Jason Short f86e1ed63f Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Randy Mackay cd89258294 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Jason Short 677df0fe1c added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short 0d5f7ca072 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short 43e695b1ac removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short f2b6b86265 allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short 101979ed7b AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short 4ecbb19dcd Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short ff627a8986 removed unused Vars 2012-02-13 15:25:23 -08:00
Andrew Tridgell d2a4091716 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell 1af6f08b1c adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Jason Short 0315221bd1 Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short 7c45d2bdc3 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short 927fc25421 made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short a27bd9db46 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short f3547a04a5 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Jason Short d161c0451f fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
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
Jason Short 3050c1d765 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short d93e259289 Added more attributions 2012-01-29 21:53:44 -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
Jason Short 0213f4dd88 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short 8fcb2931d7 Cosmetic changes 
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 2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay 2f84b54bbb OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Jason Short 8c4b955282 added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short 275815a7c9 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short fa06d4a2e3 Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short e9a4253cd1 added note 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 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. 
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 aa1f09af83 Lowered range to more sensible values 2012-01-20 22:52:29 -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 
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 7e411f5fb6 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00