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193 Commits

Author SHA1 Message Date
Jason Short
f5ffa7bd7e Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short
09db32ee02 Added Nav_bearing, just like APlane 
added fix for LOITER in missions so we don't Yaw in circles
 2011-12-30 23:48:04 -08:00
Jason Short
57b2d17d8a updated rev 2011-12-29 23:02:41 -08:00
Jason Short
4535bc4fd9 lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short
aa2e474b80 Added 5 sec Takeoff Timer to clear i terms when lifting 
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
 2011-12-29 23:02:03 -08:00
Randy Mackay
ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell
1cc38b0701 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell
c27277c7f1 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Jason Short
a8070d86df Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Jason Short
359d186798 added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short
f2d6708058 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short
6c5f41fe58 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short
2f5da31a05 change Alpha name 2011-12-18 16:38:07 -08:00
Jason Short
ed818e4ccf Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
Andrew Tridgell
4bbd5392ef removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Jason Short
027b710816 renamed super simple, added framework for auto calc of throttle cruise 2011-12-15 20:51:41 -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
2a7f981fb0 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Andrew Tridgell
4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short
6bac318def Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Andrew Tridgell
ae1ec05dd4 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Pat Hickey
067724b4f1 ArduCopter: update AP_Baro constructors & initializers 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
82b8f4d7b7 ArduCopter: instantiate correct AP_Baro object based on 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
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
995727383b Adjust Simple mode on the fly. 2011-12-10 23:29:29 -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
22e4ed67aa Added Home Bearing 2011-12-10 10:19:20 -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
8e0d8a860b Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Michael Oborne
21143d87b5 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Jason Short
f3b3350d25 Git Test 2011-11-28 10:54:20 -08:00
Jason Short
dddf829c01 removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00
Pat Hickey
98534e71f7 ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell
1d66b075b0 ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell
e297f0cb23 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell
2bed1dcfd5 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
252e858011 fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey
8300e21a8c hil-sensors ArduCopter: fixes to make hil-sensors build work properly 
* requires new stub libraries for InertialSensor and PeriodicProcess.
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
446a9aac84 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell
23ccce23d0 purple: timer_scheduler should be in all builds 2011-11-25 20:00:17 -08:00
Pat Hickey
bbae76efb5 purple: switch ArduCopter to new sensor objects 
this uses the new sensor abstractions for the purple/APM1 hardware
choice
 2011-11-25 20:00:16 -08:00
Jason Short
10330abf54 no longer using the raw pressure 2011-11-25 11:34:05 -08:00
Jason Short
4195204161 v number 2011-11-21 22:13:18 -08:00
Jason Short
7f80649566 Added alternate alt hold, 
New ESC Calibration Routine
 2011-11-21 22:12:19 -08:00
Jason Short
57f3eafb52 Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Randy Mackay
7ac04af03d ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up 
Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
 2011-11-20 22:30:42 +09:00
Jason Short
188fbfd878 added some params from Arduplane to make Mavlink upgrade easier 
made loiter radius smaller in storage
 2011-11-20 00:22:53 -08:00
Jason Short
85905e3879 missed == 2011-11-19 14:42:57 -08:00
Jason Short
d8529a32a1 return to prev climb rate calc 2011-11-19 13:58:41 -08:00
Jason Short
16eb5641c2 Working implementation of Jump Command 2011-11-16 21:28:56 -08:00
Jason Short
47354b61ce Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
d475e7ced5 Added better navigation flag for more accurate dtnav timing 
Added better support for climb rate in SIM
 2011-11-16 00:22:22 -08:00
Jason Short
730668b0c7 scaling width of circle mode to make it more round. 2011-11-13 23:09:42 -08:00
Jason Short
e55ba471bc Moved updated alt to GPS so the climb rate is sane 2011-11-13 22:54:57 -08:00
Jason Short
69be03bab8 slowed Circle flight 2011-11-13 13:41:23 -08:00
Jason Short
ccdfa13edb Update and fix for Circle mode 
HIL updates for altitude
 2011-11-12 21:43:21 -08:00
Jason Short
7df7dbe883 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-09 22:56:52 -08:00
Jason Short
3cb1f6b197 crosstrack angle variable 2011-11-09 22:56:38 -08:00
Andrew Tridgell
d69afc3945 HIL: allow for fast HIL attitude update in HIL_MODE_ATTITUDE 
this runs it at the full loop rate
 2011-11-10 13:17:06 +11:00
Jason Short
31e05e40fd Fixes for Sim - Missing climb rate calculation 2011-11-08 10:46:52 -08:00
Andrew Tridgell
87d5581046 ArduCopter: use specific sized data types in a lot of places 
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
 2011-11-08 11:05:36 +11:00
Andrew Tridgell
dacf98e201 HIL: enable CTUN log message in ATTITUDE HIL 2011-11-08 07:58:35 +11:00
Jason Short
8ac8ea9c1d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-06 22:46:57 -08:00
Jason Short
7522b034ca moved to 200hz update 
Zccel Z updates from Aurelio in attitude.pde
lowered baro_alt sanity check
moved user hooks to the medium 10hz loop.
 2011-11-06 22:46:39 -08:00
unknown
8ca8ca3e73 AltHold - another correction to the manual boost. Hopefully properly transferring building up I terms to g.throttle_cruise 2011-11-06 19:06:13 +08:00
unknown
28032d0561 AltHold - made TradHeli code also use manual_boost 2011-11-06 18:25:13 +08:00
unknown
0aac828eeb Altitude hold bug fix - changed g.throttle_cruise to be updated to steal I term from correct controller 2011-11-06 17:47:24 +08:00
Jason Short
80c7e135d5 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
Jason Short
f4db53203b Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:18:56 -07:00
Jason Short
7b88499579 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Andrew Tridgell
73cc32fb0d fixed HIL build 2011-11-02 08:14:07 +11:00
Jason Short
0e8264a759 cleanup 2011-11-01 09:28:36 -07:00
Jason Short
946db43cc1 altered the interactive throttle to be more aggressive and proportional. 
reworked baro reading strategy.
 2011-11-01 09:24:51 -07:00
unknown
f241888224 TradHeli - added TUNE value 13 to allow adjusting of external gyro gain using channel 6 2011-10-29 20:34:21 +09:00
unknown
8dc5683dff TradHeli - added throttle scaling and heli specific angle_boost function that takes into account that heli's main blades can have -ve pitch. 2011-10-29 17:27:43 +09:00
Jason Short
a88424b152 Added a slew rate to the alt change rate. 
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
 2011-10-28 21:29:10 -07:00
Jason Short
357a9ba017 Log updates 
Added motor logging for different frame types. Switched the PM log to some new debugging values and speed up the writing of the value to the logs.
 2011-10-27 22:36:25 -07:00
Jason Short
5ed1c2ab9e 50 rev 
Work in progress, revved the EEPROM
 2011-10-27 12:42:28 -07:00
Jason Short
13f708cb40 added boost scalar arguments 
removed accel math from Trig function into Attitude.pde
 2011-10-27 12:33:19 -07:00
Jason Short
c3b93d70df Added Andrew's user hooks. 2011-10-15 15:29:33 -07:00
Jason Short
23c0bb9814 Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
Michael Oborne
c7c8c309be AC2 fix guide mode fly off 2011-10-13 18:34:32 +08:00
Jason Short
be10a861c0 tweak to the Loiter N turns 2011-10-12 20:59:12 -07:00
Jason Short
a37d95634a lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Amilcar Lucas
18072d1eb9 Spell 2011-10-11 22:52:02 +02:00
Andrew Tridgell
337100fe44 fixed a signed/unsigned warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell
661b6c4508 merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Michael Oborne
c1506111e4 Merge commit 'e7f5e4a623b79872a015dff5ca959e60f6f7fd64' 2011-10-08 20:43:13 +08:00
Jason Short
832458c804 Quick RTL Fix, logic was backward 2011-10-07 11:06:31 -07:00
Jason Short
ce136d850a Better Loiter PIDs 
Fixed RTL overshoot bug
 2011-10-06 17:42:09 -07:00
Jason Short
3be34ed31a Implementing a limiter for the ramp up of speed to WPs. 2011-10-03 10:37:56 -07:00
Jason Short
e5b66c1c7c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-02 11:36:31 -07:00
Jason Short
7e81756ccd Added second PI loop for alt hold. 
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
 2011-10-02 11:36:23 -07:00
Amilcar Lucas
101dc83239 Fix compilation 2011-10-02 14:52:02 +02:00
Amilcar Lucas
9d3e5a8e11 Use the new AP_Relay library 2011-10-02 14:22:27 +02:00