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924 Commits

Author SHA1 Message Date
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