Jason Short
98f637282b
moved to verify_land
2012-01-11 22:41:51 -08:00
Jason Short
5e9db462f5
attempting to force down without using Manual boost.
2012-01-11 22:41:51 -08:00
Jason Short
f35411ac45
R9
2012-01-10 23:46:08 -08:00
Jason Short
84e001594d
comma
2012-01-10 23:45:33 -08:00
Jason Short
4b54887c6c
Switched to set_next_WP for mode switches
2012-01-10 23:43:44 -08:00
Jason Short
6b836d1a09
Fixed Type Error
2012-01-10 23:43:44 -08:00
Jason Short
c4476bdd80
Fixed type error
2012-01-10 23:43:44 -08:00
Jason Short
3e8ff39d4b
Climb rate control
2012-01-10 23:43:44 -08:00
Jason Short
a79d302b98
added set_new_altitude call()
2012-01-10 23:43:44 -08:00
Jason Short
e102cb9e6a
Added ending for auto landing
2012-01-10 23:42:27 -08:00
Jason Short
3a5ffc252d
updated climb rate control
...
Land detector
2012-01-10 23:42:27 -08:00
Jason Short
acd877abda
added set_new_altitude call
2012-01-10 23:42:27 -08:00
Jason Short
f36aba8af2
climb rate control
2012-01-10 23:42:26 -08:00
Jason Short
5a91396f63
Added climb rate control
...
removed unused vars
2012-01-10 23:42:26 -08:00
Jason Short
dab4fb43d4
Added altitude change flags
2012-01-10 23:42:26 -08:00
Jason Short
351be7c305
Made timer unsigned
2012-01-10 23:42:26 -08:00
Jason Short
7b8767d846
Added comments
2012-01-10 23:42:26 -08:00
Jason Short
b1e971ea18
added location error calc to get better data. Otherwise we'll be 1 GPS read off.
2012-01-10 23:42:26 -08:00
Jason Short
5f55780b5e
Added comments
...
moved out failsafe check. otherwise the reporting was erroneous.
2012-01-10 23:42:26 -08:00
Jason Short
92f7b22722
Moved failsafe check to more logical place
2012-01-10 23:42:26 -08:00
Jason Short
cf92631d33
added #if to wind compensation code
2012-01-10 23:42:26 -08:00
Pat Hickey
fc6321b7ca
ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros
2012-01-09 22:06:49 -08:00
Pat Hickey
927e60d85b
ArduCopter motors_y6: rewrite loop in terms of motors
2012-01-09 22:06:49 -08:00
Pat Hickey
ac7f6a5602
ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros
...
* Third Tricopter motor was on CH_4, so it is called MOT_4. This
will be changed in a subsequent commit.
2012-01-09 22:06:49 -08:00
Pat Hickey
73610ddb6c
ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros
2012-01-09 22:06:48 -08:00
Pat Hickey
7f4c994346
ArduCopter motors_octa_quad: rewrite loop in terms of motors
2012-01-09 22:05:01 -08:00
Pat Hickey
e2be119433
ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros
2012-01-09 21:57:02 -08:00
Pat Hickey
46b8037a73
ArduCopter motors_octa: rewrite janky loops to use ch_of_mot
...
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
79030a84b8
ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
f7e14fff37
ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot
...
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
b907c1fd5c
ArduCopter: add ch_of_mot lookup to motors.pde
2012-01-09 21:57:02 -08:00
Pat Hickey
7535c1c3fe
ArduCopter test.pde: translate from CH_ to MOT_ notation
2012-01-09 21:57:02 -08:00
Pat Hickey
6a4442557c
ArduCopter setup.pde: translate from CH_ to MOT_ notation
2012-01-09 21:57:02 -08:00
Pat Hickey
91bc2698a8
ArduCopter radio.pde: translate CH_ to MOT_ outputs
2012-01-09 21:57:02 -08:00
Pat Hickey
2f63c636ad
Rename ArduCopter/config_motors.h to config_channels.h
2012-01-09 21:57:02 -08:00
Pat Hickey
f5b6746ad7
ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define
2012-01-09 21:57:02 -08:00
Pat Hickey
c105f64dca
ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation.
2012-01-09 21:57:02 -08:00
Pat Hickey
e0e430895e
motors_quad: translate from CH_ to MOT_ notation.
2012-01-09 21:57:02 -08:00
Pat Hickey
0b40f55334
ArduCopter: include config_motors.h in sketch
2012-01-09 21:57:01 -08:00
Pat Hickey
e5e8ed8a54
ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL
2012-01-09 21:57:01 -08:00
Pat Hickey
9eae2ec7fe
ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8]
2012-01-09 21:57:01 -08:00
Pat Hickey
a30558e9b2
ArduCopter config.h: add standard ifndef/define header macro wrappers
2012-01-09 21:57:01 -08:00
Pat Hickey
a7628b7f78
ArduCopter: add config_motors.h with MOT_n to CH_m mapping
...
* APM1 values are not valid, but hopefully APM2 will stay that way?
2012-01-09 21:57:01 -08:00
Pat Hickey
a19afd926a
APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
...
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
Jason Short
78255b722e
Slowed Auto Descent
...
Don't return true in Landing code to prevent flyways in Stabilize
2012-01-08 23:01:22 -08:00
Randy Mackay
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
...
Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
analoguedevices
d46f36e624
Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves
2012-01-09 01:59:55 +00:00
Jason Short
d45c0ce9f2
Added Acro to Rate_P
2012-01-08 14:52:10 -08:00
Randy Mackay
3dfa26920f
ArduCopter - changed Sonar to use A1 (was AN4)
2012-01-08 17:48:30 +09:00
Jason Short
f4b530ebb1
R8
2012-01-07 22:28:03 -08:00
Jason Short
48c211e055
Added finish to missions - auto-land or stabilize
2012-01-07 22:27:26 -08:00
Jason Short
9c8122e061
converted auto land to use the mission planner version
...
Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
2012-01-07 22:27:26 -08:00
Jason Short
63be9c5f7b
Moved wind comp into a define
2012-01-07 22:27:26 -08:00
Jason Short
06e032db68
Quad frame - X is default
...
added wind comp stability option to config - off by default
2012-01-07 22:27:26 -08:00
Jason Short
6678edf243
Auto-land updates - removed sonar option - not needed
...
updates from JLN
2012-01-07 22:27:26 -08:00
Jason Short
76dd79e7b5
Made RTL hold position until it reaches altitude
2012-01-07 22:27:26 -08:00
Jason Short
dd42f06275
Cleanup
2012-01-07 22:27:26 -08:00
Jason Short
faa9dd43cf
scaled to 0-1023
2012-01-06 21:43:37 -08:00
Jason Short
ee0551037e
Revved to R7
2012-01-06 10:22:53 -08:00
Jason Short
98f9a5f237
Forced Faildafe throttle mode to throttle Auto
2012-01-06 10:21:50 -08:00
Jason Short
5b66a09688
Added check for armed motors in failsafe
2012-01-06 10:21:23 -08:00
Jason Short
c9f60f239d
Added Note
2012-01-06 10:20:59 -08:00
Jason Short
8f3c577e47
Made RTL go up 10m for failsafe
2012-01-06 10:20:48 -08:00
Jason Short
17873eb09c
Changed default throttle type for failsafe to avoid checking
...
changed timer to 20 seconds.
2012-01-06 10:20:31 -08:00
Jason Short
e116636fe9
Auto_land update
2012-01-05 21:57:34 -08:00
Jason Short
e3c16fc1b1
Added auto_land to RTL
2012-01-05 21:15:12 -08:00
Jason Short
40ad164c8d
Clears Auto_land timer
2012-01-05 21:15:12 -08:00
Jason Short
20661e5020
timer set to unsigned
2012-01-04 17:31:20 -08:00
Andrew Tridgell
df81a9459a
ACM: reset all I terms on gyro calibration
2012-01-05 10:15:14 +11:00
Andrew Tridgell
2913948520
ACM: fixed a warning
...
comment out some unused debug code
2012-01-05 10:14:53 +11:00
Andrew Tridgell
c1c3115b42
ACM: fixed a alt hold bug
...
== instead of =
2012-01-05 10:14:30 +11:00
Andrew Tridgell
92f9c0b648
ACM: fixed a signed/unsigned warning
2012-01-05 10:14:12 +11:00
Andrew Tridgell
596a1f43f4
ACM-simple: don't use uninitialised simple trig values
2012-01-05 10:13:36 +11:00
Jason Short
3cf77729ef
Disabled stable mode wind comp by default for release
2012-01-04 09:28:38 -08:00
Jason Short
28262dd825
Added Xplane output option
2012-01-04 09:28:38 -08:00
Jason Short
467ef66a77
Added home offset for altitude
2012-01-04 09:28:38 -08:00
Jason Short
40c649a27b
Made landing disarm the motors
2012-01-04 09:28:38 -08:00
Jason Short
ed1ff0b171
Upped Revision
2012-01-04 09:28:38 -08:00
Jason Short
76cfdca6cc
Cleaned up and documented each global vavriable
...
Added Wind compensation for Stability
Acro mode fixes
2012-01-04 09:28:37 -08:00
Jason Short
2e83e42764
Added precalc for wind compensation when entering Stabilze mode
2012-01-04 09:28:37 -08:00
Jason Short
e36d2f6e96
Added Wind compensation for Stabilize
...
moved speed calc to it's own function
decreased acceleration from WPs
2012-01-04 09:28:37 -08:00
Jason Short
fe8c99c49b
removed PM test field 1 - not needed
2012-01-04 09:28:37 -08:00
Jason Short
a2c8f5af15
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
de6325fb8a
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
cf9e744ed2
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
8ed2d96396
removed unused var
2012-01-04 09:28:37 -08:00
Jason Short
59f22f0ca0
removed airspeed
2012-01-04 09:28:37 -08:00
Jason Short
ecb3241489
calc_wind_compensation called when exiting AP modes
...
Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
2012-01-04 09:28:37 -08:00
Jason Short
4e0e783e7c
added Reset_Rate_I function
...
Removed I term from Throttle rate calc
Added some basic constrains to Acro
2012-01-04 09:28:37 -08:00
Jason Short
b8c0bdb66f
removed airspeed
2012-01-04 09:28:37 -08:00
Jason Short
92eece79a4
cleanup - removed unused functions, made pressure reading Float to avoid extra cast
2012-01-04 09:28:36 -08:00
Jason Short
e1232e7b80
cosmetic
2012-01-04 09:28:36 -08:00
Jason Short
e7b750074b
Added takeoff state and ground state variable
2012-01-04 09:28:36 -08:00
Jason Short
37cda3c364
Cosmetic
2012-01-04 09:28:36 -08:00
Jason Short
2fc6a645b4
removed unused Airspeed config
2012-01-04 09:28:36 -08:00
Jason Short
b28ae04e0d
Removed unused options
2012-01-04 09:28:36 -08:00
Jason Short
6513b12eb2
Cosmetic
2012-01-04 09:28:36 -08:00
Jason Short
67bf991598
removed unused Airspeed config
2012-01-04 09:28:36 -08:00
Jason Short
c7b5b747e8
change how Reset Nav params work - no longer clear I terms
2012-01-04 09:28:36 -08:00
Jason Short
580ad2c5ce
Added JLN's landing patch, moved some variables local such as Jump counter
2012-01-04 09:28:36 -08:00
Jason Short
c0c2ea4ebb
removed unused functions
2012-01-04 09:28:36 -08:00
Andrew Tridgell
ca39fc8b47
sitl: added build targets for different ACM frames
2012-01-04 21:45:46 +11:00
Andrew Tridgell
9d1c4ecfcd
ACM: don't set defaults in APM_Config.h
...
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
2012-01-04 19:35:05 +11:00
Andrew Tridgell
cdd5589498
I2c: default to 5ms timeout, and faster bus speed
...
we will slow down the speed when we get a failure
2012-01-04 16:36:47 +11:00
Jason Short
26d0bf93ff
Added more constraints around velocity
2011-12-31 10:59:59 -08:00
Jason Short
b3cea96970
Cosmetic
2011-12-31 10:54:31 -08:00
Jason Short
74b203c7f2
Lowered Yaw to prevent overshoot based on feedback
2011-12-31 10:10:45 -08:00
Jason Short
ea832c0818
upped to r5
2011-12-31 10:05:13 -08:00
Jason Short
1ef7f9fe62
Loiter I reset
2011-12-31 09:45:25 -08:00
Jason Short
0ace8474d7
R4
2011-12-30 23:54:02 -08:00
Jason Short
c6586810cf
New Style WP navigation for high wind
2011-12-30 23:48:05 -08:00
Jason Short
2cb09f46e9
no longer calling reset_nav
2011-12-30 23:48:04 -08:00
Jason Short
6a8391f0a7
removing I term clearance
2011-12-30 23:48:04 -08:00
Jason Short
28984a72e4
no longer calling reset_nav
2011-12-30 23:48:04 -08:00
Jason Short
26267f75b2
Reverted to Crosstrack like in Arduplane, requires Degrees * 100
2011-12-30 23:48:04 -08:00
Jason Short
dac29af7ab
Sync with Arduplane
2011-12-30 23:48:04 -08:00
Jason Short
c7f93f8718
Updated Configs based on field testing.
2011-12-30 23:48:04 -08:00
Jason Short
15a377d759
Added a default Yaw tracking setting
...
Added Nav_Bearing
2011-12-30 23:48:04 -08:00
Jason Short
84d3e3135f
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
cf48091d00
removed old loiter method option
2011-12-30 23:48:04 -08:00
Randy Mackay
3cb74cb459
ArduCopter - init_compass - fixed HIL build issue
2011-12-31 12:29:54 +09:00
Jason Short
3ea49e1415
updated rev
2011-12-29 23:02:41 -08:00
Jason Short
21460a57ae
Yaw Performance tweaks
2011-12-29 23:02:03 -08:00
Jason Short
95a70cf32e
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
10abb7871e
removed loiter I from Reset Nav
2011-12-29 23:02:03 -08:00
Jason Short
17acbc4572
updated Loiter gains
2011-12-29 23:02:03 -08:00
Jason Short
53c09774e5
removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position.
2011-12-29 23:02:03 -08:00
Jason Short
2c1fe93856
cosmetic
2011-12-29 23:02:03 -08:00
Jason Short
6f42442e57
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
Jason Short
f41835d546
Added Stabilize_D parameter
2011-12-29 23:02:02 -08:00
Jason Short
bb954bc479
Upped Yaw speed to deal with performance complaints
...
Added new Stabilize D term default of .25
2011-12-29 23:02:02 -08:00
Jason Short
d055763947
Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have.
2011-12-29 23:02:02 -08:00
Jason Short
fa49aa5eec
Fixes for Smooth Loiter
2011-12-29 23:02:02 -08:00
Jason Short
4f60fa412c
Set Define for Max throttle
2011-12-29 23:02:02 -08:00
Jason Short
8a921e869c
Fixed a 1280 only test
2011-12-29 23:02:02 -08:00
Jason Short
db96b9ec7a
added define for Max throttle
2011-12-29 23:02:02 -08:00
Jason Short
244ca98264
Added Dampening term for tuning
2011-12-29 23:02:02 -08:00
Jason Short
7e1e1f84b3
updated Loiter PIDs
2011-12-29 23:02:02 -08:00
Jason Short
4b5437afe8
Enable Magnetometer by default
2011-12-29 23:02:02 -08:00
Jason Short
51e6170ecb
Missing ;
2011-12-29 23:02:01 -08:00
Jason Short
4353f60f60
removed takeoff complete flag from missions, not used and would be useful elsewhere.
2011-12-29 23:02:01 -08:00
Jason Short
fbb35928fe
removed unused function
...
Simplified the baro init filter
2011-12-29 23:02:01 -08:00
Randy Mackay
bbe6dea980
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
955dfe0226
ACM: check compass health before using it
2011-12-28 20:41:53 +11:00
Andrew Tridgell
03a16c6e45
ACM: use new I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
433df08cb3
ACM: enable compass by default on APM2
2011-12-28 20:30:35 +11:00
Andrew Tridgell
73e6d5ee11
ACM: update for DataFlash changes
2011-12-28 16:00:49 +11:00
Jason Short
234121f3c3
Fix for 11 channels of motors.
2011-12-26 14:39:01 -08:00
Andrew Tridgell
4fe527aefa
ACM: use LED_OFF/LED_ON instead of LOW/HIGH
2011-12-26 19:32:53 +11:00
Andrew Tridgell
111d156a99
ACM: fixed HIL build again
2011-12-26 19:17:11 +11:00
Andrew Tridgell
ab64a689c8
ACM-log: use DataFlash.df_NumLogs
...
this fixes the flash size on APM2
2011-12-26 19:17:11 +11:00
Randy Mackay
07041c2149
TradHeli - modified the default collective min/max values to restrict movement to about half the full range.
2011-12-26 16:59:01 +09:00
Jason Short
1afa25d9ef
Tweaks to fix Loiter
...
Changed save location to int32
added some filtering and smoothing
2011-12-25 15:44:49 -08:00
Randy Mackay
c24b5229e1
AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch
2011-12-25 12:33:06 +09:00
Andrew Tridgell
0dadbf932a
removed "Please run setup" loop from ArduCopter
...
Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
2011-12-24 18:12:51 +11:00
Jason Short
cc4f5e7c74
disabled some tests with warnings
2011-12-23 18:54:38 -08:00
Jason Short
0491d4feca
added define for optflow
2011-12-23 18:45:01 -08:00
Jason Short
d7af42c925
Getting rid of Simple Logging
2011-12-23 18:44:30 -08:00
Jason Short
0f91fbcee5
Made WP radius 1 by default
2011-12-23 15:01:53 -08:00
Jason Short
d9590a44d6
Fixed merge issues
2011-12-23 14:51:40 -08:00
Jason Short
e5a3899b7f
added ability to enter Loiter with only optflow available
2011-12-23 14:46:32 -08:00
Jason Short
73a73fbf35
moved some defines around
2011-12-23 14:46:32 -08:00
Jason Short
5518882c69
Fixed resolution issue with Xtrack
...
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
2011-12-23 14:46:32 -08:00
Jason Short
2d46022a2b
This is the test to deal with big props with lots of inertia. We use a low pass filter on positive acceleration.
2011-12-23 14:46:32 -08:00
Jason Short
58ad9faf6d
initing z dampener at arming
2011-12-23 14:46:08 -08:00
Jason Short
5f03c62bd9
Too complicated
2011-12-23 14:46:08 -08:00
Jason Short
be4b031c7d
added back in the Disabled log - gave up on Log Simple idea
2011-12-23 14:45:56 -08:00
Jason Short
ca8f71a705
used for testing
2011-12-23 14:42:50 -08:00
Jason Short
a966a178f8
increased crosstrack thanks to float math fix
...
decreased loiter iterm, decreased throttle iterm based on simulator runs
2011-12-23 14:42:50 -08:00
Jason Short
a284fc222c
No longer blocking before initing home
2011-12-23 14:42:50 -08:00
Jason Short
79fff0f096
the second accel test is just for fun.
...
Filtered output for Nav_throttle
2011-12-23 14:42:50 -08:00
Jason Short
62cb407558
Begin to better integrate OptFlow, added necessary globals for Loiter estimation
2011-12-23 14:42:50 -08:00
Jason Short
85b564c5eb
removed some unneeded HIL #defines
2011-12-23 14:42:49 -08:00
Pat Hickey
c40fccbc26
Log_simple uses identical implementation of do_erase_logs.
...
* fix build1280.ArduCopter
2011-12-22 13:31:28 -08:00
Pat Hickey
f1624621b3
ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added
...
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
2011-12-19 21:04:51 -08:00
Randy Mackay
310f072d50
Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer
2011-12-19 22:57:00 +09:00
Jani Hirvinen
106801a59c
config settings for jD motors
2011-12-19 09:29:05 +07:00
Jason Short
b53a6bd4b4
Hexa stability patch bug fix by borna.segulin
2011-12-18 16:38:07 -08:00
Jason Short
239eb53983
change Alpha name
2011-12-18 16:38:07 -08:00
Andrew Tridgell
ad9c0533d8
ACM: run mavlink loop while erasing logs
2011-12-18 10:19:41 +11:00
Jason Short
8970948804
Sync logging
2011-12-16 22:02:41 -08:00
Jason Short
47e4c875e1
Cleanup
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removed Iterm experiment - no noticeable effect in actual flight
2011-12-16 20:47:23 -08:00
Andrew Tridgell
f6f808357c
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
2fc25d963d
renamed super simple, added framework for auto calc of throttle cruise
2011-12-15 20:51:41 -08:00
Jason Short
3019c35364
turned off iterm for traverse
2011-12-15 20:51:41 -08:00
Jason Short
f11f2c6d97
added some more throttle imax range
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renamed Super Simple
2011-12-15 20:51:41 -08:00
Jason Short
72605f846c
renamed super simple
2011-12-15 20:51:41 -08:00
Jason Short
88b3708dcf
added altitude to circle mission
2011-12-15 20:51:40 -08:00
Jason Short
0ba8a9f30b
Allows user to specify just an altitude for Circle Mode
2011-12-15 20:51:40 -08:00
Jason Short
4e280bb0dc
More power to descend
2011-12-15 20:51:40 -08:00
Jason Short
3446744ae9
Addition of nav mode that tries to maintain level
2011-12-14 22:08:42 -08:00
Jason Short
4d90058c90
dupe of landing logic for scripting
2011-12-14 22:08:41 -08:00
Jason Short
f48e394511
made the last step of landing stop navigating so we can drop straight down.
2011-12-14 22:08:41 -08:00
Jason Short
1251e8105d
Added failsafe check
2011-12-14 22:08:41 -08:00
Jason Short
c6657f4a93
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
d2fd6c5ee5
added loiter control to reset nav
2011-12-14 22:08:41 -08:00
Jason Short
8691b10ee9
added failsafe check,
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enable loiter repositioning
2011-12-14 22:08:41 -08:00
Doug Weibel
5d197ae337
Change logging to default on for 2560
2011-12-13 20:53:44 -07:00
Doug Weibel
8b78c4a4c5
Changes to logging file system to avoid problems with 0 and 1 page logs
2011-12-13 20:09:07 -07:00
Michael Oborne
e20d3a3676
add method of detecting if motors are armed
2011-12-14 06:18:29 +08:00
Randy Mackay
7f64080877
Arducopter - Attitude.pde - fixed small bug in pitch stabilise
2011-12-13 22:10:51 +09:00
Andrew Tridgell
483bef35e5
IMU: update ACM and APM for flash_leds change in IMU init
2011-12-13 18:19:41 +11:00
Andrew Tridgell
888d6226b2
fixed two more CONFIG_HARDWARE #ifdef bugs
2011-12-13 17:05:48 +11:00
Jason Short
edc3a731d4
Adjustments for High Wind enviroments
2011-12-12 17:47:45 -08:00
Jason Short
ba8fc57bd8
Stability patch2 - Jose style.
2011-12-12 17:47:45 -08:00
Jason Short
c9b317fc27
Gain updates
2011-12-12 17:47:45 -08:00
Jason Short
f3e408e7e0
Added a simplified Log that is just GPS for my 1280 board
2011-12-12 17:47:45 -08:00
Jason Short
e4559bbf5c
Added param option for Simple mode reset
2011-12-12 17:47:45 -08:00
Jason Short
d83ad1acd4
Upped the max pitch to deal with wind - based on T3 testing
2011-12-12 10:10:33 -08:00
Jason Short
6bc90d6289
Just upped the nav_imax value
2011-12-12 10:10:33 -08:00
Andrew Tridgell
a22893124d
fixed LOGGING_ENABLED default on ArduCopter
2011-12-12 23:40:43 +11:00
Andrew Tridgell
5760239670
quad: fixed the comments on the + motors
2011-12-12 21:01:58 +11:00
Andrew Tridgell
d076fb54b5
fixed barometer detection on APM2
2011-12-12 15:45:36 +11:00
Andrew Tridgell
f5e439554d
fixed == that should be =
2011-12-12 15:19:50 +11:00
Andrew Tridgell
358dc91d41
fixed hil ArduCopter build
2011-12-12 15:14:55 +11:00
Andrew Tridgell
07dba4eff7
desktop: fixed Wire.begin() build problem
2011-12-12 15:14:55 +11:00
Andrew Tridgell
1b1c629167
added sitl build target
2011-12-12 15:14:55 +11:00
Andrew Tridgell
011110e1dd
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
a48c65b5b5
ArduCopter: update AP_Baro constructors & initializers
2011-12-11 15:21:10 -08:00
Pat Hickey
f3ad7f3af8
Wire and SPI Init: move to sketch system.pde from libraries
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* 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
6dbd6b4181
ArduCopter: Get barometer data in terms of AP_Baro interface
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* 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
39fe9075d9
ArduCopter Init: different call to barometer.init based on CONFIG_BARO
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* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
2011-12-11 15:21:10 -08:00
Pat Hickey
b055aa6f81
ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO
2011-12-11 15:21:09 -08:00
Pat Hickey
d7f77aec93
ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define
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* 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
62844d8ddc
ArduCopter: added config.h and defines.h to support CONFIG_BARO
2011-12-11 15:21:09 -08:00
Pat Hickey
de6507a47d
ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes.
2011-12-11 15:21:09 -08:00
Pat Hickey
8d878a2cae
ArduCopter CLI: Add imu.init before imu.init_accel for "level"
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* 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
2e200834e1
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
5d0e3664ad
Hack to prevent fly aways
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Cleanup to remove SIMPLE mode switch note
2011-12-11 12:01:06 -08:00
Jason Short
e8e126a636
removed CLI switch by default, decreased Nav I
2011-12-11 09:53:44 -08:00
Jason Short
c1aa015ef1
added debug prints, broke out Angle val to debug
2011-12-11 09:53:44 -08:00
Jason Short
a685e5b575
fix for navigation scaleLongUp
2011-12-11 09:53:44 -08:00
Randy Mackay
fe336fb749
ArduCopter - small fixes to fix HIL compile errors
2011-12-11 23:25:03 +09:00
Randy Mackay
67855b207d
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
f89fed02c3
made it so nav is called in Simple mode
2011-12-10 23:31:37 -08:00
Jason Short
4659a9ffce
Adjust Simple mode on the fly.
2011-12-10 23:29:29 -08:00
Jason Short
af0ae6a10f
Set Nav_WP as home
2011-12-10 23:26:10 -08:00
Jason Short
1f3abcf048
eased up on the i term blocker
2011-12-10 23:25:52 -08:00
Jason Short
069bcbf5e6
Made landing slower
2011-12-10 19:33:19 -08:00
Jason Short
873daae095
Allows you to clear the stored mission when in Auto
2011-12-10 19:32:46 -08:00
Jason Short
29554b7d73
Will add a landing command to last WP if we are on the ground.
2011-12-10 19:29:42 -08:00
Jason Short
648ab5f4ae
Switched to Gyro only startup
2011-12-10 15:13:20 -08:00
Jason Short
f3ff7aa0a8
rework of inflight trim.
2011-12-10 15:05:53 -08:00
Jason Short
5e12924907
Removed Instant PWM from disarmed output
2011-12-10 10:33:25 -08:00
Jason Short
0289e35347
Ground course saved as long for SIM compat
2011-12-10 10:19:20 -08:00
Jason Short
84b72b627b
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
7cecca74bc
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
69f1841d8e
Debugging some motor issues
2011-12-10 10:19:20 -08:00
Jason Short
76d60a2111
Added Home Bearing
2011-12-10 10:19:20 -08:00
Jason Short
d9347290a4
Added notes to Imu.ax, ay, az
2011-12-10 10:19:20 -08:00
Jason Short
2b8280e533
Added enumeration for Land
2011-12-10 10:19:20 -08:00
Jason Short
307723960d
Increased slightly the Auto_trim time
2011-12-10 10:19:20 -08:00
Jason Short
3ff7b047d5
Added Bearing to home, distance to home calcs
2011-12-10 10:19:20 -08:00
Jason Short
49806d93d9
Added Land FLight mode definition
2011-12-10 10:19:20 -08:00
Randy Mackay
0b24914066
OptFlow - turning on optical by default
2011-12-10 23:22:40 +09:00
Randy Mackay
fa0723f115
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
cc38189f71
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
4dc2956ca9
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
42421a09e2
TradHeli - Attitude.pde - made yaw contol use jason's stability patch
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Quad - fixed small bug in pitch control (was using roll's stabilise controller)
2011-12-08 22:23:50 +09:00
Randy Mackay
68e6be5eeb
TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled
2011-12-08 21:30:47 +09:00
Doug Weibel
502a98dda1
Add hook to dump log filesystem index for debugging
2011-12-07 08:13:30 -07:00
Jason Short
6dfdd754ea
Stability patch updates,
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Cleanup
2011-12-06 21:03:56 -08:00
Jason Short
05409b8c1c
made RateP range a little more sensible
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removed unused var
2011-12-06 21:03:07 -08:00
Jason Short
a632c49b44
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
e8a14c8d93
simple patch to improve alt hold based on stability patch
2011-12-04 21:32:33 -08:00
Jason Short
9bc6fce3b8
Function call defs commented with // so the preprocessor doesn't get confused
2011-12-03 17:55:44 -08:00
Jason Short
0d8071a401
Added new gain and clamp value for DCM
2011-12-03 17:55:11 -08:00
Jason Short
54c8e1033c
Fixing reversed Simple mode switch
2011-12-03 17:54:57 -08:00
Jason Short
aad45c692f
Stability patch from 55
2011-12-03 17:54:38 -08:00
Jason Short
778393c4a7
Enabled the compass test
2011-12-03 15:39:02 -08:00
Jason Short
5ed300db7e
disabled Flash logs in 1280 by default
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Added stability patch I values and limits
2011-12-03 15:38:46 -08:00
Jason Short
c99da66506
Formatting, swicth Omega to raw IMU rates
2011-12-03 15:29:33 -08:00
Jason Short
401c985572
Added Deg to rad, rad to deg * 100 to save a float calc
2011-12-03 15:29:33 -08:00
Jason Short
d7cc241f85
formatting
2011-12-03 15:29:33 -08:00
Michael Oborne
4c61462dfd
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-12-04 06:32:27 +08:00
Michael Oborne
edf3195384
add 1hz mavlink loop.
2011-12-04 06:32:08 +08:00
Andrew Tridgell
39a36fe946
fixed the "reboot on GPS lock" bug
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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
aaac6212ab
MAVLink: use the configured system ID for ArduCopter
2011-12-03 07:54:36 +11:00
Jason Short
9931cacec7
Enabled Ch7 simple mode switching
2011-11-28 22:41:12 -08:00
Jason Short
69dd8264e6
adding flag for finished mission
2011-11-28 22:28:51 -08:00
Jason Short
b92b4e9092
cleanup
2011-11-28 21:40:22 -08:00
Jason Short
eb6d34e1fc
Fix error with calc_nav_pitch_roll
2011-11-28 21:27:29 -08:00
Doug Weibel
88ab4f7d70
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
b03de3095e
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
b4a0d8a275
Fixed navigation bug
2011-11-28 14:22:05 -08:00
Jason Short
ce5ad442fc
Git Test
2011-11-28 10:54:20 -08:00
Jason Short
62ed256fca
made the crosstrack use the previous WP instead of the current loc to get a better line in AP.
2011-11-28 10:33:06 -08:00
Jason Short
82adf1df6b
removed need to send increment flag to update commands
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constrained climb_rate value
2011-11-28 10:33:06 -08:00
Jason Short
504b4b52d6
slight refactoring to avoid the increment issue when changing commands
2011-11-28 10:33:06 -08:00
Jason Short
4a6feb3acb
better comments out of some old unused functions to avoid compiler errors
2011-11-28 10:33:06 -08:00
Jason Short
909e5796eb
Logging input to find this freeze bug
2011-11-28 10:33:06 -08:00
Jason Short
df57380adc
Erasing Logs causing major havoc. Users getting infinite loop.
2011-11-28 10:33:05 -08:00
Jason Short
cc1593d16d
made Logs dump with dump 0 or -1
2011-11-27 22:23:02 -08:00
Jason Short
b3bd4bd3c9
Cosmetic cleanup, commented functions for compiler warnings
2011-11-27 22:23:02 -08:00
Jason Short
fb5302c50b
No longer resetting ch7 wp index with mode change, requires reboot
2011-11-27 22:23:02 -08:00
Andrew Tridgell
2cabb11307
mavlink: don't force CLI and HIL with mavlink10 build
2011-11-28 16:22:33 +11:00
Jason Short
940fa9621c
Added minimum Altitude for RTL failsafe
2011-11-26 16:39:29 -08:00
Jason Short
44cb73c9fa
added safety checks for RTL
2011-11-26 16:39:29 -08:00
Jason Short
d0af4e7200
CH7 with params
2011-11-26 16:39:29 -08:00
Jason Short
ec5b080167
Enable RTL
2011-11-26 16:39:29 -08:00