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1040 Commits

Author SHA1 Message Date
Andrew Tridgell 756a91a3ee ACM: removed incorrect mode definition 2012-03-10 10:34:30 +11:00
Andrew Tridgell 04826065ef Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell 1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell bc81d8e6ac ACM: only call the fast loop if the imu has new data 
this prevents us spinning waiting for the sensors to gather some data
 2012-03-10 10:34:29 +11:00
Andrew Tridgell a54d6f744e HWSTATUS: if we don't know the voltage, report it as zero 
this will tell us if board_voltage() is really working
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 9393b21a8d ACM: adjust yaw drift correction constants 
this should give the compass a bit more authority
 2012-03-10 10:34:28 +11:00
Andrew Tridgell b07a3eb966 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +11:00
Jason Short 13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short df812dd78a temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest. 2012-03-06 22:23:06 -08:00
Jason Short 43b3e1ccd1 ACM - 
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
 2012-03-06 22:22:14 -08:00
Jason Short 5117ddff26 ACM: Updated config values 2012-03-06 22:12:24 -08:00
rmackay9 8717d7dd7c ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down 2012-03-06 23:20:30 +09:00
rmackay9 8af43c4a19 ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down. 2012-03-06 22:19:19 +09:00
rmackay9 29aea35eae ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino 2012-03-06 22:15:02 +09:00
Jason Short fe5612d38b Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Robert Lefebvre a7e0fc7774 Added support for TradHeli H1 swashplate type. Added new param heli_h1_swash_enabled. 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-03-03 08:14:14 -05:00
Andrew Tridgell 3745dfd59f ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls 2012-03-02 17:57:08 +11:00
Andrew Tridgell 91c3f993b4 ACM: set default RC fast speed to 400Hz 2012-03-02 17:57:08 +11:00
Andrew Tridgell bfca928211 ACM: added RC_SPEED MAVLink parameter 
this will set the speed for APM_RC.SetFastOutputChannels()
 2012-03-02 17:57:08 +11:00
Andrew Tridgell 1e2b57410c ACM: fixed Parameters.h to avoid duplicate keys 
unfortunately everyone needs to reload
 2012-03-02 15:48:28 +11:00
Andrew Tridgell fcb1b9ba95 ACM: added board_voltage() 2012-03-02 15:48:28 +11:00
Robert Lefebvre c84d864cd6 Rescale TradHeli roll_out and pitch_out into the min and max ranges to provide linear motion across the input range instead of stopping when the input hits the constrain value. These calculations are based on an assumption of the user specified roll_max and pitch_max coming into this equation at 4500 or less, and based on the original assumption of the total g.heli_servo_x.servo_out range being -4500 to 4500. 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-03-01 22:04:50 -05:00
Jason Short 4e2a54566b added stab_d gain scheduling - off by default 2012-02-28 20:16:40 -08:00
Jason Short 27f6afd178 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short a096292edb added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short 6ca8aeecf3 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short 4b1d847a3a added option for stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short 4ef4a19f8e Added test for stab_d gain scheduling. 2012-02-28 20:16:40 -08:00
Pat Hickey ccb8c31966 Cleanup: rm ArduCopter/GCS_Mavlink\ copy.txt 
* Not needed, but we can always checkout an old version if it is.

Hi Pat,
This may have been my WIP for the Mavlink 1.0 conversion. I tried to
give Tridge a head start on it. I've made small updates to it in
parallel to the current Mavlink. You can delete it as he would have used
it by now if he felt it was helpful.

Jason

On Feb 28, 2012, at 4:08 PM, Pat Hickey wrote:

It looks like this file was checked in by accident, possibly, but you've
made a few small changes to it since creating it.

Is it important? Should we get rid of it?

Git log of file below.

Thanks
Pat
...
 2012-02-28 16:28:27 -08:00
Pat Hickey 00180e7084 Cleanup: rename files with spaces in their names, replace with underscores 
* Skipped /Tools/ArdupilotMegaPlanner/Resources/new...
  and /archive/Configurator/Source/Utilities/TDMS/G...
  because I don't want to mess with that.
 2012-02-28 16:14:31 -08:00
Robert Lefebvre b7ccfb0114 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9 8da8ce5b58 ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine) 2012-02-28 22:56:26 +09:00
rmackay9 082cc70f1c ArduCopter - Attitude.pde - updated get_rate_roll and get_rate_pitch to use new average filter. 
modified all int to int16_t in Attitude.pde
 2012-02-28 21:26:37 +09:00
rmackay9 701a21ff2f ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short f8e9fa8b61 Set loiter rate enabled by default 2012-02-26 12:29:28 -08:00
Jason Short bab1faf644 Added OPtion for non-rate based loiter 2012-02-26 11:33:37 -08:00
Jason Short 9a2be4701f removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short 3ce1633157 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
Jason Short 1b7a038043 Added Loiter_rate_tuning 2012-02-26 11:33:36 -08:00
Jason Short 00d5ad9343 Added more Logging for PIDs. 2012-02-26 11:33:36 -08:00
rmackay9 41ea8e3eff ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9 add3133100 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short e4e8189448 added a simple rest of nav_throttle just in case 2012-02-25 13:31:21 -08:00
Jason Short cd55498a5c increased speed of alt hold I term based on Jani's Logs 2012-02-25 13:31:21 -08:00
Jason Short a3f65b4a23 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
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 3fe5b3151b allow MAG_ENABLE to be changed in flight 
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled

This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
 2012-02-25 14:51:09 +11:00
Andrew Tridgell d1f655beee ACM: check the return of compass.init() 
if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
 2012-02-25 14:51:08 +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 17718720b1 GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 007a6b8958 AP_Param: added special handling for Vector3f 
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
 2012-02-25 11:37:20 +11:00
Jason Short ab945f36df Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
rmackay9 ab0e1d7632 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short ed5db98522 updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short 22982cda0f Loiter updates 2012-02-23 22:03:26 -08:00
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 b1340bbf80 added a constraint to D term 2012-02-23 09:14:44 -08:00
Andrew Tridgell b231112957 DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Jason Short 128f19cdf7 Emile's Fixes 2012-02-22 10:27:34 -08:00
Jason Short ac5a4830a1 Marco's Hexa Motors 2012-02-22 09:55:44 -08:00
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 ac81ddef04 commented out control mode debug print 2012-02-21 21:48:07 -08:00
Jason Short 7bfda28cdc removed old comments 2012-02-19 14:21:27 -08:00
Jason Short 70d7a1f5d0 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short 434b059586 reset slow_WP option at mode switch 2012-02-19 13:13:42 -08:00
Jason Short 151e710668 Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short 4b52dde882 set Slow WP option for RTL in Auto mode 2012-02-19 13:12:23 -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
Jason Short a4b8119c24 added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short 2a5a7fa245 Added SW test for Manual Boost 2012-02-19 12:39:40 -08:00
Randy Mackay b4ee111c49 TradHeli - change throttle range back to 0~1000 (was temporarily changed to be 1250~850 which limited the range of the swash plate's vertical movements) 2012-02-20 00:27:12 +09:00
Randy Mackay 7c4ef140b9 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Andrew Tridgell 1fc24b506e AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell b06f35eaa2 Heli: fixed some 'used before initialised' warnings 2012-02-19 16:34:43 +11:00
Jason Short f86e1ed63f Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Jason Short aeed144180 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short 5d658e5743 Change 800 to a define 2012-02-18 21:13:28 -08:00
Jason Short 83ad721b73 added Axis_Lock params 2012-02-18 21:13:06 -08:00
Jason Short 0517ed5199 updated throttle range 2012-02-18 21:11:06 -08:00
Jason Short 669e8e34ea added a limit to range output 2012-02-18 21:08:17 -08:00
Jason Short aa57fce9f4 some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Randy Mackay e3c24fbce8 ArduCopter - fix for yaw control on Octa Quad Plus frame. 2012-02-18 22:04:09 +09:00
Randy Mackay b55db247ca TradHeli - fixed small parameter bug affecting helis. The servo parameters were declared as GSCALAR instead of GGROUP in Parameters.pde. 
also renamed heli parameters from _coll_ to the more descriptive _collective_
 2012-02-18 20:57:51 +09:00
Randy Mackay cd89258294 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Andrew Tridgell db4fef174b ACM: expanded EEPROM parameter area by 256 bytes 2012-02-18 10:51:57 +11:00
Andrew Tridgell 6b357fc66b AP_Param: fixed saving of sensor calibration 
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
 2012-02-18 10:51:57 +11:00
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 03aa28224b re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short 9c7b8586d5 Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short 75919436ac added extra gain logging 2012-02-16 22:09:22 -08:00
Jason Short cbe297b634 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short 6732f0934a cast to float 2012-02-16 22:09:21 -08:00
Jason Short 6913400221 cast D term to float just in case 2012-02-16 22:09:21 -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 b070225366 CH 6 Range setup 2012-02-15 11:47:54 -08:00
Jason Short bb4c02fbff Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short f2b6b86265 allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short efb451e475 Marco's updated Motor testing code 2012-02-15 10:49:35 -08:00
Jason Short f9296796fd Added lengthy note about motor testing 2012-02-15 10:49:11 -08:00
Jason Short 0b011e3cd3 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short 101979ed7b AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short f20952df49 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short 11d1973abd Added Acro_P 2012-02-15 09:10:14 -08:00
Jason Short 67892cd8df synced params 2012-02-15 09:10:14 -08:00
Jason Short c916a87a78 added RTL_land_enabled 
added auto_pilot slew rate
 2012-02-15 09:10:14 -08:00
Jason Short eee43608de Added new params for CH6 Tuning 
moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
 2012-02-15 09:10:14 -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
Jason Short a69dc32020 Lowered for Jani 2012-02-13 15:25:23 -08:00
Andrew Tridgell 153575a01c token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell 16a5b5c3ee added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 781617cae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell 50f9d12ad5 go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell f5f6e2d4ec added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell d2a4091716 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell 1bf832de2d the ACM parameters have a max size of 1114 bytes 
to ensure that all parameters can be saved, expand parameter area by
256 bytes
 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
Andrew Tridgell da1526ced2 update ACM MAVLink code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell f363d0542c fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell 55d0ad3255 update main parameter code for AP_Param in ACM 2012-02-13 16:22:52 +11:00
Andrew Tridgell 2133b9fb08 log: fixed some integer size errors 
need to be careful with the types passed to printf()
 2012-02-12 20:38:37 +11:00
Pat Hickey abd85f99a7 Makefile: extra convenience target for apm2hexa 2012-02-11 16:05:51 -08:00
Pat Hickey 0ad15e4fff ArduCopter Hexa output_motor_test: individually select all 6 motors 
* each of the 6 hexacopter motors can be selected individually
  by moving the joystick to extremes.

* previously, this was built from the quadcopter output_motor_test
  and some motors (left/right motors on +, front/back motors on X)
  were only selectable as pairs.
 2012-02-11 16:05:51 -08:00
Pat Hickey 81ce8d346e ArduCopter setup motors: print basic instructions. 2012-02-11 16:05:51 -08:00
Pat Hickey 2022c1bab0 ArduCopter APM_Config.h: add sample custom channel config 
* uses new config variables introduced in 8a19543fd1e09621ba
 2012-02-11 16:05:51 -08:00
Pat Hickey db4195b7a0 ArduCopter Channel Config: config vars for user override of MOT_n mapping 
* config variable CONFIG_CHANNELS has possible values
  CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
  CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
 2012-02-11 16:05:51 -08:00
Jason Short 0315221bd1 Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short f369a02aab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -08:00
Jason Short c39cafc3c5 reset All for Auto takeoff 2012-02-10 22:54:29 -08:00
Jason Short 7c45d2bdc3 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short 8cc480f7e6 upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short 1851dd541b Made Yaw Hold universal for Acro 2012-02-10 22:32:55 -08:00
Jason Short 32e7b075d9 Moved to Rate_I by default for Jani to test 2012-02-10 22:32:55 -08:00
Jason Short 4f44ccc182 get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short 927fc25421 made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short 480be14eb0 Minimize the Yaw Deadzone 2012-02-10 22:32:55 -08:00
Jason Short b29384581a Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short 7cb4711e8e reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00
Jason Short 8a1c2165b2 Fix for disabled CH7 value triggering WP saving 2012-02-09 22:32:04 -08:00
Jason Short a27bd9db46 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short fb003e9742 Enabled PWM test 2012-02-09 22:22:01 -08:00
Jason Short e5a0959394 Found missing Break in Switch statement. 2012-02-09 22:22:01 -08:00
Jason Short 471bd12799 faster FS timer 2012-02-09 22:22:00 -08:00
Jason Short 0f3c3bb563 Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune. 2012-02-09 22:22:00 -08:00
Jason Short d00d6b8c64 Added safety to prevent shutdown of motors during Auto-land 2012-02-09 22:22:00 -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