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04e05604a5
Commit Graph

458 Commits

Author SHA1 Message Date
jasonshort
04e05604a5 2.0.39 
added defines for CH7 behavior - DO_FLIP 1,  DO_SET_HOVER 0 (Default)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3023 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:22:43 +00:00
jasonshort
b931bfaf50 2.0.39 
added defines for CH7 behavior

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3022 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:21:55 +00:00
jasonshort
a8445483f3 2.0.39 
added defines for CH7 behavior, Tweaked Loiter config based on testing by Jack.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3021 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:21:21 +00:00
jasonshort
0bea96c3d0 Added Jose Julio's Flip code, edited to work with AC2. Never flown or tested! 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3020 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:19:06 +00:00
jasonshort
9e1bea4797 Added Jose Julio's Flip code, edited to work with AC2. Never flown or tested! 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3019 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:17:26 +00:00
tridge60@gmail.com
2da62b8a3e fixed PSTR() on motor arm messages 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3004 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-02 13:34:27 +00:00
tridge60@gmail.com
11cee834b2 re-added ARMING messages in HIL mode 
this is useful as in HIL mode you don't always have blinking lights

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3003 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-02 13:25:58 +00:00
jasonshort
76972a265a 2.0.39 
Returned to previous log version for sonar messages to fix the cosmetic bug in the planner

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3000 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 22:01:25 +00:00
jasonshort
e60b2ac07e 2.0.39 
Made the Yaw on RTL always on for Helis

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2999 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 22:00:26 +00:00
jasonshort
07e2ad1c50 2.0.39 
Defaulted all values

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2998 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 21:56:22 +00:00
tridge60@gmail.com
9fa60889dd added SERIAL3_BAUD parameter 
this is the real baud rate divided by 1000. So 57600 is set as 57

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2997 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 11:39:17 +00:00
tridge60@gmail.com
366b20bb9f MAVLink: send streams on both mavlink interfaces 
when doing init the user may be on the Xbee port

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2996 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 10:08:59 +00:00
tridge60@gmail.com
dd3dfd9f2a re-apply DEFAULT_LOG_BITMASK patch 
Jason, I assume you removed this patch accidentially

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2995 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 10:06:15 +00:00
tridge60@gmail.com
9371ee545e process MAVLInk packets during gps detection and IMU calibration 
this allows the GCS to connect immediately on startup

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2994 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 08:08:52 +00:00
jasonshort
fe3293f411 2.0.39 
Added reset for all nav I when entering manual modes.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2992 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 05:12:10 +00:00
jasonshort
1f974ef6d3 2.0.39 
Added extra groundstart init for the Ground Station

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2991 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 04:47:15 +00:00
jasonshort
61f0cb9226 2.0.39 
Changed how the throttle_slew was added to the output.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2990 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 03:48:16 +00:00
jasonshort
0cb38abd07 2.0.39 
Added a limiter to Throttle_slew to not make the throttle go past 800.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2989 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 03:39:44 +00:00
jasonshort
5152d23650 2.0.39 
mistake on the defaults for kP - not symmetrical.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2985 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 20:09:27 +00:00
jasonshort
8e02e89534 2.0.39 
mistake on the defaults for kP - not symmetrical.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2984 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 20:06:36 +00:00
jasonshort
4223dff94e 2.0.39 
limit RTL to 35°

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2983 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 19:57:35 +00:00
jasonshort
a6bad6b73e 2.0.39 
small change to RTL to prevent negative effects from flying backwards.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2982 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 19:42:07 +00:00
jasonshort
c637bf0947 small change to RTL to prevent negative effects from flying backwards. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2981 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 19:41:11 +00:00
mich146@hotmail.com
69bd507d5a fix hil build 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2970 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 01:24:20 +00:00
jasonshort
73be185414 Big update 2.0.38 
moved ground start to first arming
added ground start flag
moved throttle_integrator to 50hz loop
CAMERA_STABILIZER deprecated - now always on
renamed current logging bit mask to match APM
added MA filter to PID - D term
Adjusted PIDs based on continued testing and new PID filter
added MASK_LOG_SET_DEFAULTS to match APM
moved some stuff out of ground start into system start where it belonged
Added slower Yaw gains for DCM when the copter is in the air
changed camera output to be none scaled PWM
fixed bug where ground_temperature was unfiltered
shortened Baro startup time
fixed issue with Nav_WP integrator not being reset
RTL no longer yaws towards home
Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 20:42:54 +00:00
mich146@hotmail.com
358fd56d57 Fix Hil build on 2560 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2961 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 01:39:12 +00:00
jphelirc
8907ee5b0a fixed defaults 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2944 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-26 03:44:16 +00:00
jphelirc
2d094da38e added relay control to CH6 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2943 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-26 03:37:41 +00:00
tridge60@gmail.com
586acf4342 fixed quad PWM clipping 
this adopts the simpler approach suggested by Jason.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2936 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-22 21:25:59 +00:00
mich146@hotmail.com
7210d6decb fix float issues - crosstrack & target alt 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2935 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-21 23:36:22 +00:00
rmackay9@yahoo.com
f5d17f756a ACM - partial integration of optical flow sensor 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2934 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-21 23:14:53 +00:00
tridge60@gmail.com
e80ed6d687 quad: fixed the clipping of PWM outputs 
when we clip a motor output we need to decrease the opposite motor by
the same amount, otherwise we lose the ability to control the quad
when the servo outputs are extreme

Found using the quad HIL test. Thanks to Jani for testing this on a
real quad!

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2929 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-20 00:33:04 +00:00
tridge60@gmail.com
6e179db689 HIL: fixed build with HIL and logging 
thanks to Jani for noticing this

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2925 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-19 10:51:07 +00:00
tridge60@gmail.com
efae9dddd5 HIL: we only need 50Hz attitude for HIL 
putting it in the fastest loop clogged up mavlink too much

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2923 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-19 09:49:57 +00:00
tridge60@gmail.com
98980d6f61 HIL: fixed altitude calculation 
ACM uses a zero home altitude, so we need an offset when using GPS for
altitude

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2910 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-18 12:44:02 +00:00
jasonshort
b3e629cfbf 2.0.37 
Added rate of change limit for noisy Sonars.
converted to static functions - Tridge
New Throttle PIDs from Jack

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2904 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 19:14:23 +00:00
jasonshort
e07c0aab7a 2.0.37 
Added rate of change limit for noisy Sonars.
converted to static functions - Tridge


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2902 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 19:08:29 +00:00
jasonshort
d04d32c40c 2.0.37 
Added rate of change limit for noisy Sonars.
converted to static functions - Tridge


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2901 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 19:08:17 +00:00
tridge60@gmail.com
6b0c938176 CLI: make it possible to completely disable the CLI 
set CLI_ENABLED to DISABLED for no CLI. This saves a lot of memory

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2895 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:34:05 +00:00
tridge60@gmail.com
e6d9a6921a HIL: don't access dcm functions in HIL mode 
the dcm is not valid in HIL_MODE_ATTITUDE

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2894 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:53 +00:00
tridge60@gmail.com
863e77677e HIL: enable reception of GPS and ATTITUDE via MAVLink 
this allows us to get GPS position and ATTITUDE in HIL_MODE_ATTITUDE

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2893 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:42 +00:00
tridge60@gmail.com
93a8deac7d HIL: send location information 
we don't send MSG_LOCATION in HIL mode during GPS updates, as we don't
call the GPS update routines, so we need to send MSG_LOCATION as part
of the Position stream

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2892 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:33 +00:00
tridge60@gmail.com
aff9e9a831 HIL: when in HIL_MODE_ATTITUDE, we get altitude from gps setHIL 
we need to skip the barometer and sonar calls

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2891 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:17 +00:00
tridge60@gmail.com
eb2a6403e0 don't force config in default APM_Config.h 
defaults for these are already in config.h, but protected with #ifndef
wrappers. The #ifndef wrappers are useful to allow users to have
makefile targets for different configs, so you can (for example), do
"make heli" with a local makefile

This makes it easier for developers to ensure that all configs build
correctly

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2890 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:09 +00:00
tridge60@gmail.com
df6a1b51f3 make a lot more functions and variables static 
this saves about 1k of code space through better compiler optimisation

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2889 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:32:00 +00:00
tridge60@gmail.com
0b1262a685 make main variables and functions static 
this makes most of the variables and functions in the main
ArduCopterMega.pde code static, which allows the compiler to optimise
better, and exposes unused variables as compiler warnings

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2888 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:31:46 +00:00
tridge60@gmail.com
f9105a056e logging: moved the default log_bitmask calculation to compile time 
this saves a little bit of code by moving the calculation of the
default log bitmask to compile time from runtime

(merge from APM)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2887 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:31:17 +00:00
tridge60@gmail.com
8a7466d1a2 make it possible to completely disable logging 
set LOGGING_ENABLED  to DISABLED to disable all logging. This saves
about 10k of flash when disabled.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2886 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:31:07 +00:00
tridge60@gmail.com
fdf090b471 allow flight modes to be setup over MAVLink 
this adopts the same method of setting up flight modes over MAVLink as
APM now has

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2885 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:30:53 +00:00
tridge60@gmail.com
855b88852e fixed a bunch of compiler warnings 
mostly signed/unsigned warnings

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2884 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:30:21 +00:00