rmackay9
0decd870dc
ArduCopter: inertial nav - only initialise horizontal position when home is initialised
2013-01-02 09:55:37 +11:00
rmackay9
396024e802
ArduCopter: move scaleLongUp and scaleLongDown initialisation to init_home
2013-01-02 09:19:17 +11:00
Pat Hickey
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
rmackay9
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
rmackay9
a5bb54e36e
ArduCopter: RTL clean-up and slightly improved landing sensor
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Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
rmackay9
072ffec493
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
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
a3c3c59b82
ACM: fixed some memory cast warnings
2012-11-19 08:42:36 +11:00
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
rmackay9
1f801714e8
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
Jason Short
a0752dc7dc
ACM Acceleration management
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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
rmackay9
889d1bb36c
ArduCopter: alt hold bug fix - removed reset next_WP in init_home
2012-09-23 01:00:06 +09:00
uncrustify
2d398aa663
uncrustify ArduCopter/commands.pde
2012-08-21 18:55:43 -07:00
Jason Short
cdd2093a4c
ACM: Switched to filtered_loc for distance calcs
2012-08-14 14:11:52 -07:00
Jason Short
98b8866215
ACM: Added fast corner support
2012-08-09 16:59:43 -07:00
Andrew Tridgell
fb26160d3b
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
Jason Short
d34ca0e6ea
Arducopter - commands: Add home logging
2012-07-13 11:51:40 -07:00
Andrew Tridgell
be763a6ead
ACM: use get_distance_cm() not get_distance()
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this fixes a bug introduced in 28f2eb6b9
2012-07-11 07:50:07 +10:00
Jason Short
cf6d73ec88
commands.pde RTL Alt
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fix to maintain current altitude of we are above our RTL alt for safety.
2012-07-09 13:13:32 -07:00
Jason Short
2450c25544
Arducopter: enabled RTL_altitude, renamed function to be more accurate
2012-07-01 13:40:11 -07:00
Jason Short
59d16f5fe0
Commands.pde: increased bad WP distance check
2012-06-29 21:20:28 -07:00
Jason Short
7f92d702ab
commands.pde: fixed unit error for distance check
2012-06-25 23:06:28 -07:00
Jason Short
f3cc1121aa
better default for speed governer
2012-01-21 22:05:48 -08:00
Jason Short
1843798697
Clarified the Increment for WP total
2012-01-14 11:20:40 -08:00
Jason Short
1269b07d9a
Made RTL always the current Altitude
2012-01-13 16:47:38 -08:00
Jason Short
acd877abda
added set_new_altitude call
2012-01-10 23:42:27 -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
cf9e744ed2
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
c0c2ea4ebb
removed unused functions
2012-01-04 09:28:36 -08:00
Jason Short
15a377d759
Added a default Yaw tracking setting
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Added Nav_Bearing
2011-12-30 23:48:04 -08:00
Jason Short
a284fc222c
No longer blocking before initing home
2011-12-23 14:42:50 -08:00
Jason Short
a685e5b575
fix for navigation scaleLongUp
2011-12-11 09:53:44 -08:00
Jason Short
af0ae6a10f
Set Nav_WP as home
2011-12-10 23:26:10 -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
94ef8a91ff
removed typo
2011-11-20 00:22:52 -08:00
Jason Short
77da1227bb
renamed set_cmd function
2011-11-20 00:22:52 -08:00
Jason Short
a168691eba
Working implementation of Jump Command
2011-11-16 21:28:56 -08:00
Jason Short
65fe467a57
Mission Scripting re-write
2011-11-16 00:22:22 -08:00
Jason Short
288db5c7c5
Better error and defaults checking
2011-11-13 22:54:18 -08:00
Jason Short
daaf681417
error checking command saving
2011-11-13 13:41:23 -08:00
Jason Short
fd02ebca74
Work in progress for using 0 based counting
2011-11-12 21:39:24 -08:00
Jason Short
2c9ebf11b8
removed unused functions, log fix
2011-11-09 23:28:50 -08:00
Andrew Tridgell
c158cb8e63
call gcs_update() while waiting for GPS lock
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this ensures we react to ground commands, and also allows HIL GPS to
work
2011-11-09 17:43:55 +11:00
Andrew Tridgell
28634f51b7
ArduCopter: use specific sized data types in a lot of places
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this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
2011-11-08 11:05:36 +11:00
Jason Short
c8304114a3
renamed some command variables to align with Arduplane
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reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
2011-11-04 21:41:51 -07:00
Andrew Tridgell
d89ae696ef
merged the GCS updates from ArduPlane to ArduCopter
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this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
2011-10-11 20:53:43 +11:00
Jason Short
1ff372a41d
Implementing a limiter for the ramp up of speed to WPs.
2011-10-03 10:37:56 -07:00
Jason Short
5ca50f1f01
Altered CIRCLE mode to allow Loiter_N_Turns to work in AP mode.
2011-09-21 13:19:36 -07:00
Jason Short
ddc5ced162
removed saving - not needed for copters
2011-09-18 16:28:53 -07:00
