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1736 Commits

Author SHA1 Message Date
rmackay9 3cbef57c64 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy 
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
 2012-12-06 10:30:49 +09:00
Robert Lefebvre 8c18a60766 ACM: Small fix to Yaw Look Ahead 2012-12-04 14:50:14 -05:00
Robert Lefebvre 1d589c0b7d ACM: TradHeli 
Fixes for Attitude rate controllers.
 2012-12-04 14:42:04 -05:00
Robert Lefebvre 5723021be1 ACM: TradHeli 
Creating Rate Feed-Forward Parameters
 2012-12-04 13:47:38 -05:00
Robert Lefebvre 3e65dd3ded ACM: TradHeli APM_Config.h changes 2012-12-04 13:32:40 -05:00
Robert Lefebvre 315a7e8000 ACM: Yaw Look Ahead Changes 2012-12-04 13:26:41 -05:00
Robert Lefebvre 9130045298 ACM: Code Cleanup 2012-11-30 17:05:12 -05:00
rmackay9 8141f0b600 ArduCopter: bug fix - increase mpu6k sample rate to 100hz 2012-11-30 23:49:18 +09:00
Andrew Tridgell 6fbf5ec8f2 Copter: update ArduCopter for new ins interface 2012-11-30 07:15:18 +11:00
Michael Oborne 68aa5e4682 AC add ability to start new accel_scale via mavlink 2012-11-28 21:38:58 +08:00
Andrew Tridgell 2949d58b71 Copter: re-enable sending of GLOBAL_POSITION_INT message 
this gives important raw GPS velocity information, plus relative and
absolute height
 2012-11-28 11:26:19 +11:00
Robert Lefebvre 07d7d90882 ACM: TradHeli 
Bringing in Low Pass Filter for Rate Controllers
 2012-11-26 21:51:23 -05:00
Robert Lefebvre 6b8c39dd10 ACM: Creating Yaw_Look_Ahead yaw mode. 
This function is not fully tested yet.
 2012-11-26 21:37:13 -05:00
Robert Lefebvre 3f0e8dd358 ACM: TradHeli 
Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
 2012-11-26 21:21:12 -05:00
Robert Lefebvre e8d619acad ACM: Begin creation of TradHeli rate control. 
May affect Multi-Rotors.
 2012-11-26 21:02:41 -05:00
Robert Lefebvre 6b1fee767a ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Robert Lefebvre 9e45e906fb ACM: TradHeli 
Move some TradHeli #defines into one place in APM_Config to clean up config.h and defines.h
 2012-11-26 19:09:55 -05:00
Robert Lefebvre b32d7c8b63 ACM: TradHeli 
Prevent helis from arming while RSC control is switched on.
 2012-11-26 19:03:28 -05:00
Robert Lefebvre 95eeda7cf7 ACM: TradHeli 
Removing Angle Boost function.
Does not make sense for helis due to aerodynamics.  Can cause more problems than it solves.
 2012-11-26 18:58:21 -05:00
Robert Lefebvre 8056b78c55 ACM: TradHeli 
Remove Rate I-term reset when throttle stick is on the bottom.  This could be very bad for helis since it's plausible to use full downstick while flying.
There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway.
Also removed what appears to be some deadwood.
 2012-11-26 18:49:24 -05:00
Robert Lefebvre 637c9a1a72 ACM: TradHeli 
Removing this "throttle" output restriction for TradHelis.
 2012-11-26 18:44:03 -05:00
Andrew Tridgell 5818aaad42 Copter: fixed build error 
thanks to Marco for pointing this out
 2012-11-24 20:39:35 +11:00
Andrew Tridgell f6ec932d63 Copter: added reboot in CLI and over MAVLink 
useful for getting out of CLI
 2012-11-24 18:20:37 +11:00
Andrew Tridgell cd07d965a7 Copter: ported RSSI_PIN option from ArduPlane 
this is useful for OSD users
 2012-11-22 20:59:33 +11:00
rmackay9 3372355e07 ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d 2012-11-22 12:50:39 +09:00
rmackay9 eb6d8fca57 ArduCopter: added ReleaseNotes.txt 2012-11-22 09:51:04 +09:00
Robert Lefebvre 6ffc115236 Changes to get_throttle_rate() 
Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
 2012-11-21 17:11:38 -05:00
Andrew Tridgell dbdb3e1194 ACM: allow fetch of parameters by index 
this makes it more efficient to re-fetch parameters that are missing
 2012-11-22 00:16:57 +11:00
Andrew Tridgell bcae83c4f6 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
Andrew Tridgell 704da2a5d9 MAVLink: make it possible to enter the CLI over the radio 
this only works on the APM2, where UART0 is also the radio port
 2012-11-21 14:11:05 +11:00
Michael Oborne a5e3ce4655 remove cli planner mode - no longer used 2012-11-21 07:45:45 +08:00
Michael Oborne 0c84b8abf1 fix unit max. and unit type 2012-11-21 07:42:53 +08:00
Andrew Tridgell bcf740a82f ACM: support 16 character parameter names 2012-11-20 21:38:58 +11:00
Andrew Tridgell c008ca7560 ACM: fixed documentation of disabling voltage/current pins for ArduCopter 2012-11-20 20:26:14 +11:00
Andrew Tridgell 69fbcc8683 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
rmackay9 810da878e7 ArduCopter: performance monitoring - changed loop counters to uint16_t. 
Removed an unused items from dataflash logging of Performance.
 2012-11-19 11:55:47 +09:00
Andrew Tridgell dafaa2efc8 SITL: disable optical flow on the desktop build 
it doesn't work yet, as no sensor emulator is available
 2012-11-19 09:04:03 +11:00
Andrew Tridgell a3c3c59b82 ACM: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
rmackay9 07a7a1acd8 ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
Andrew Tridgell 531e62d3b5 MAVLink: improve usefulness of logged GPS velocities 
we need them to align with time to use them for accelerations
 2012-11-17 17:45:30 +11:00
Jason Short 5f57678a9c ACM Nav_throttle- removed sign inversion 2012-11-16 17:38:57 -08:00
Robert Lefebvre 9c6e914bf8 Added Leonard to Contributor List. 2012-11-16 15:43:03 -05:00
rmackay9 e92b560df5 ArduCopter: low baterry failsafe 2012-11-15 23:35:41 +09:00
rmackay9 73ed6c9dbf ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
rmackay9 258442770d ArduCopter: flight mode changes ignored while in throttle failsafe 
reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
 2012-11-13 12:50:51 +09:00
rmackay9 cdfd3f9ccc ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap' 
Changed ArduPlane to keep function consistent with ArduCopter
 2012-11-12 13:30:04 +09:00
rmackay9 dcd98eee78 ArduCopter: remove some variables no longer required with introduction of AP_state 2012-11-12 12:41:25 +09:00
rmackay9 ac5dcc8d49 ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables 2012-11-12 12:35:58 +09:00
Jason Short ea7f639ebf ACM: Added fast descent with Bill P's equation for managed accerlation 2012-11-11 18:23:45 -08:00
Jason Short 69db678252 ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller. 2012-11-11 18:22:54 -08:00
Jason Short c1b759d5d8 ACM: Added a speed filter for throttle cruise, increased alt change rate for alt hold, increased the max climb_rate reporting 2012-11-11 18:17:33 -08:00
Jason Short f344eb875a ACM: Allow greater than 45° pitch and roll in Stab 2012-11-11 18:07:58 -08:00
Jason Short be63481a8c ACM : Logging.pde formatting 2012-11-11 18:06:50 -08:00
Jason Short 9e0b0b9fcd ACM : loging ApState at faster rate 2012-11-11 18:00:10 -08:00
Jason Short 9735a0eff1 ACM: Allow for user defined roll and pitch input max 2012-11-11 18:00:10 -08:00
Andrew Tridgell fddfb0b1a3 MAVLink: update compass health in SYS_STATUS 
this will make it easier to tell if a I2C error occurred in flight
 2012-11-12 11:26:54 +11:00
rmackay9 bcb9519fd7 ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues 2012-11-11 22:42:10 +09:00
rmackay9 e212744f4c ArduCopter: failsafe improvements 
resolves momentary throttle drop to zero before failsafe engages
resolves motor cut after 30seconds if flying in stabilize without GPS (now switches to ALT_HOLD with target altitude zero)
disables motors if throttle was zero before failsafe event
 2012-11-11 22:11:12 +09:00
rmackay9 96872493ae ArduCopter: remove unnecessary debug print mesage from save_trim function 2012-11-10 23:10:29 +09:00
rmackay9 95f6357d35 ArduCopter: fix APM2 build 2012-11-10 22:06:23 +09:00
Jason Short 883bb7cfc0 ACM formatting 2012-11-09 22:15:16 -08:00
Jason Short fb2180ddcd ACM : climb rate option using Bill P's equation 2012-11-09 22:15:16 -08:00
Jason Short 129ec35c35 ACM crosstrack min distance 2012-11-09 22:15:16 -08:00
Jason Short 4b5e0a5046 ACM Logging Events 2012-11-09 22:15:16 -08:00
Jason Short 6dba79e3a7 ACM Log, formatting 2012-11-09 22:15:16 -08:00
Jason Short 549489ddbb ACM : Setup, format 2012-11-09 22:15:16 -08:00
Jason Short ecdc281315 ACM | removing old files 2012-11-09 22:15:16 -08:00
Jason Short d2a5928c06 Ap state updates 2012-11-09 22:15:15 -08:00
Jason Short 4d7b9137fe ACM: Added max RTL altitude 2012-11-09 22:15:15 -08:00
Jason Short bfca0ff9bc ACM: added ap_state.pde 2012-11-09 22:15:15 -08:00
Jason Short 5ad38a32bf ACM : Attitude : added nav param reset 2012-11-09 22:15:15 -08:00
Jason Short 3c78c4a7a3 ACM : Attitude.pde added ap bitfield for failsafe bit 2012-11-09 22:15:15 -08:00
Jason Short a42c6bb609 ACM : Attitude.pde removed stabilize D 2012-11-09 22:15:15 -08:00
Jason Short e4cec91e59 ACM : Arducopter Added ap state bitfield, system bitfield 2012-11-09 22:15:15 -08:00
Jason Short cdabc3878b ACM: Arducopter - remove the stabilize D scheduling 2012-11-09 22:15:15 -08:00
Jason Short d2a0913b2d ACM : formatting 2012-11-09 22:15:15 -08:00
rmackay9 2b714ff7b0 ArduCopter: remove unused functions wrap_360f, wrap_180f and wrap_PI 2012-11-08 15:20:08 +09:00
rmackay9 14cbe37d3e ArduCopter: remove unused get_stabilize_rate_yaw 2012-11-07 23:28:25 +09:00
rmackay9 b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 ad431d2f25 ArduCopter: fixed HIL build caused by optical flow semaphore changes 2012-11-07 21:13:34 +09:00
rmackay9 cec96a76d7 ArduCopter: comment out InertialNav related Alt Hold and Loiter PID changes from APM_Config.h 2012-11-07 19:21:36 +09:00
rmackay9 1f801714e8 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 a1b4ec6d0e ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Andrew Tridgell e8ab62f6e5 ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT 
these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
 2012-11-05 15:23:41 +11:00
Jason Short 8a8ed7a711 ACM : Formatting 2012-10-28 12:12:38 -07:00
Jason Short 36040461df ACM : Formatting 2012-10-28 12:12:38 -07:00
Jason Short e138b0a1d7 ACM: Added simple mode bearing logging for bug hunting 2012-10-28 12:12:38 -07:00
Jason Short 1713279ace ACM: Formatting 2012-10-27 14:13:46 -07:00
Jason Short 5149a8c723 ACM: Added notes, credit to decel code. added speed_min to calc. 2012-10-27 14:13:24 -07:00
Jason Short 73bc90f9b8 ACM: config.h cleanup 
Added LOG_ITERM default to enabled
 2012-10-27 09:59:57 -07:00
rmackay9 cebcc226ee ArduCopter: change TOY_M throttle mode to THROTTLE_HOLD 2012-10-26 10:56:06 +09:00
rmackay9 4877348c49 ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon. 
Increase other constraints from 3200 to 32000.  These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
 2012-10-24 22:04:35 +09:00
rmackay9 5e8043fd9c ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters 
Changes on behalf of Leonard Hall
 2012-10-23 21:30:50 +09:00
Andrew Tridgell 406a5dc328 ACM: save another 20 bytes 2012-10-22 18:59:51 +11:00
Andrew Tridgell 9592be5af7 ACM: saved some more memory for strings 2012-10-22 18:57:08 +11:00
rmackay9 78316adf75 ArduCopter: replace Serial.print with Serial.print_P to save memory. 
Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
 2012-10-22 16:45:24 +09:00
Jason Short 6a40fcd56a ACM : fix compiler warning on non returning function 2012-10-21 14:37:42 -07:00
Jason Short 8842a7dc1b ACM : Cast to int32_T 
Don't think it really needs it, but I feel better with the cast.
 2012-10-21 14:36:05 -07:00
Jason Short a0752dc7dc ACM Acceleration management 
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
 2012-10-21 14:32:39 -07:00