Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-13 20:28:37 -04:00
Code Issues Packages Projects Releases Wiki Activity
5,348 Commits 71 Branches 511 Tags 794 MiB
0ab8b85a78
Commit Graph

207 Commits

Author SHA1 Message Date
Adam M Rivera
788df5ed6f config.h: Removed comment. 2012-04-23 00:16:41 -05:00
Adam M Rivera
692bbee233 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
rmackay9
3b5ffe0f61 ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame 2012-04-21 23:46:36 +09:00
rmackay9
ce6dd8bb32 ArduCopter - changed Optical Flow for APM2 to use A3 pin 2012-04-21 20:15:16 +09:00
Adam M Rivera
d09916422a Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera
9181eedf5a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera
ad13854ab7 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
James Goppert
0a38e2b8d4 Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
Adam M Rivera
3135cd91d0 config.h: Added RTL_APPROACH_DELAY config value. 2012-04-16 14:00:08 -05:00
rmackay9
ac9555a3b4 ArduCopter - LEDS - added new COPTER_LEDS definition 
Code by Robert Lefebvre
 2012-04-12 22:55:32 +09:00
Andrew Tridgell
58f539ca35 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE 
we now have the EEPROM option COMPASS_AUTODEC instead
 2012-03-30 14:25:27 +11:00
Adam M Rivera
0727955fe3 ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM. 2012-03-30 14:25:06 +11:00
rmackay9
441413f1c6 ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers. 2012-03-25 16:09:08 +09:00
Jason Short
74893f6959 Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator 2012-03-22 10:01:24 -07:00
rmackay9
0ba48a8556 ArduCopter - increased default THROTTLE_CRUISE to 450 2012-03-20 16:34:07 +09:00
rmackay9
7bf4e22c7b ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore 2012-03-18 14:53:19 +09:00
Jason Short
27f276a066 ACM: Lowered gains from flight tests today with 3DR Quad 2012-03-17 11:04:01 -07:00
Jason Short
09995aed62 ACM: Softer Loiter Gains 2012-03-16 14:10:19 -07:00
Jason Short
ce14ef1b2b Tune down Loiter_P a hair 2012-03-15 19:17:27 -07:00
Jason Short
72d03a8046 ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned. 2012-03-13 10:23:31 -07:00
Jason Short
953b93293e ACM: removing old define 2012-03-12 13:11:30 -07:00
Jason Short
38153f15e0 ACM: Made Loiter_D 0 by default. Accidentally left it on by default. 2012-03-12 10:37:15 -07:00
Jason Short
d9ccd4f6bd ACM: made same as Loiter I 2012-03-11 23:21:49 -07:00
Jason Short
e279106b44 ACM: Tuning based on flights today 2012-03-11 23:21:49 -07:00
Adam M Rivera
566bbed7ad AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Jason Short
9f47a79a3a ACM: decreased rate P for alt hold to remove bumpy repsonse 2012-03-10 12:41:06 -08:00
Jason Short
11e5f7d40f ACM: Increased the altitude error P for smoother alt hold response 2012-03-10 12:40:44 -08:00
Jason Short
20a3cfdcde decreased the loiter rate P for overshoot 2012-03-10 12:40:07 -08:00
Andrew Tridgell
1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
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
Andrew Tridgell
91c3f993b4 ACM: set default RC fast speed to 400Hz 2012-03-02 17:57:08 +11:00
Jason Short
4e2a54566b added stab_d gain scheduling - off by default 2012-02-28 20:16:40 -08:00
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
cd55498a5c increased speed of alt hold I term based on Jani's Logs 2012-02-25 13:31:21 -08:00
Jason Short
ed5db98522 updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short
aeed144180 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short
aa57fce9f4 some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Jason Short
9c7b8586d5 Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short
bb4c02fbff Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short
f20952df49 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short
a69dc32020 Lowered for Jani 2012-02-13 15:25:23 -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
f369a02aab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -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
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
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
Randy Mackay
7745239c13 ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00
Randy Mackay
1a1f6cac5d OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short
4402a92e85 Loiter PIDs 2012-01-30 21:13:03 -08:00
Jani Hirvinen
b3dd07038b Minor changes for PID for jDrones motors due latest changes on control laws. 2012-01-31 09:00:31 +07:00
Jason Short
cc45bd47fe cosmetic 2012-01-29 21:55:17 -08:00
Jason Short
370d633f51 Lowering the throttle_P values by default 2012-01-29 16:27:13 -08:00
Jason Short
0213f4dd88 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Randy Mackay
2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay
f27b41179b Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Randy Mackay
2f84b54bbb OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Jason Short
32241319c1 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short
04a2eee410 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Jason Short
a3daae1530 Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning. 
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
 2012-01-21 22:09:13 -08:00
Jason Short
bf8774c2f8 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short
f504c79fb0 Stab_D changes units with the new dampening controller updates 
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
 2012-01-20 22:52:30 -08:00
Jason Short
7468889bb7 slowed down slightly 2012-01-20 22:52:29 -08:00
Doug Weibel
2ea9db84e0 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Jason Short
11e1df497d lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short
b493cb1e55 removed unused defines 
lowered default Loiter gain
 2012-01-12 22:28:58 -08:00
Jason Short
2566f1fb95 New Loiter Gains for new Loiter methods 2012-01-11 22:41:51 -08:00
Pat Hickey
bcb43ec9b5 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Randy Mackay
7b9701fdd5 ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
Randy Mackay
598593e1fc ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short
7e96e0f7fa Quad frame - X is default 
added wind comp stability option to config - off by default
 2012-01-07 22:27:26 -08:00
Jason Short
c450cc4e92 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
bfd7608f4d Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short
f5ffa7bd7e Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short
8fc73844ee Yaw Performance tweaks 2011-12-29 23:02:03 -08:00
Jason Short
4535bc4fd9 lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short
723adffc48 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short
ce990f3050 Upped Yaw speed to deal with performance complaints 
Added new Stabilize D term default of .25
 2011-12-29 23:02:02 -08:00
Jason Short
80e1715b12 updated Loiter PIDs 2011-12-29 23:02:02 -08:00
Jason Short
db0a7be233 Enable Magnetometer by default 2011-12-29 23:02:02 -08:00
Randy Mackay
ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell
8df91ea885 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Jason Short
bf29f09107 Getting rid of Simple Logging 2011-12-23 18:44:30 -08:00
Jason Short
c9a30ccf1f Made WP radius 1 by default 2011-12-23 15:01:53 -08:00
Jason Short
f892e0b00d increased crosstrack thanks to float math fix 
decreased loiter iterm, decreased throttle iterm based on simulator runs
 2011-12-23 14:42:50 -08:00
Pat Hickey
74530de4bb ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added 
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
 2011-12-19 21:04:51 -08:00
Jani Hirvinen
9d7eb9cd1a config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short
b484fdab05 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Doug Weibel
737447c8cf Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Jason Short
6b1bedc381 Gain updates 2011-12-12 17:47:45 -08:00
Jason Short
6bac318def Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Jason Short
e1146b6df6 Just upped the nav_imax value 2011-12-12 10:10:33 -08:00
Andrew Tridgell
6857d9af14 fixed LOGGING_ENABLED default on ArduCopter 2011-12-12 23:40:43 +11:00
Andrew Tridgell
cadc5bde1d fixed hil ArduCopter build 2011-12-12 15:14:55 +11:00
Pat Hickey
5fd8fea957 ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define 
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
  config.h takes care of this default.
 2011-12-11 15:21:09 -08:00
Pat Hickey
0b0922d04c ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Jason Short
c01361a79d removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Randy Mackay
62a7b19600 Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00