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953 Commits

Author SHA1 Message Date
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
Randy Mackay
7745239c13 ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00
levinemax
0d3369af45 Motor mix update for X8 (octo quad), 
diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
 2012-02-09 03:57:40 +00:00
Randy Mackay
31ff9a9318 ArduCopter - Camera.pde - turn off camera pitch control (which uses channel 6) when channel 6 is being used for tuning. 2012-02-08 23:51:53 +09:00
Randy Mackay
e9ef79c42d Arducopter - reduced rate of decent when landing using sonar 2012-02-08 22:46:32 +09:00
Randy Mackay
54fe857236 ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments 2012-02-05 16:56:51 +09:00
Randy Mackay
bde1ebb56e TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction. 2012-02-05 11:04:38 +09:00
Andrew Tridgell
c95a295fd6 allow for lower serial baud rates 
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
 2012-02-04 19:07:18 +11:00
Jason Short
d161c0451f fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
Michael Oborne
484b688700 fix issue 502 
to identify quad over mavlink
 2012-02-03 06:53:08 +08:00
Pat Hickey
b65eb110bd Revert all changes to ArduCopter Motors MOT mappings. 
Revert "Arducopter Motors Octa: Change V frame MOT_ output ordering."

This reverts commit bdab02f408ddc5451fcb4c6390b2475d31ac657f.

Revert "hexa frame FRAME_CONFIG fixup"

This reverts commit d15e692df613cb728ec671a54dce166f6f1940a0.

Revert "Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME"

This reverts commit cb0a8c62fbd07a8ae9dcb8d4fffce337ace1aa1c.

Revert "Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame"

This reverts commit 120d7f9050d5ec9f8fbe02c0ed4f38621949f4ee.

Revert "Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME"

This reverts commit 7d65ec311fd2e1222a36d0b34c366e21f3869fcc.

Revert "Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines."

This reverts commit 47c6e8662f4d5e8fb920f2049338541343d8d18e.

Revert "Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types."

This reverts commit 8259c90ec7cb29dedac19890cd9a4449b7399e36.
 2012-02-01 10:14:46 -08:00
analoguedevices
256893f385 credits 2012-02-01 04:44:36 +00:00
analoguedevices
d86dbd1c6f Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Pat Hickey
48b152d642 ArduCopter Octa: fix yaw motors for Octa V. 
* I based this off the APM1 Octa V diagram at
  http://code.google.com/p/arducopter/wiki/AC2_Multi
 2012-01-31 19:37:49 -08:00
Pat Hickey
ca18eb3f8f Arducopter Motors Octa: Change V frame MOT_ output ordering. 
* I backed this out from Max's changes, but I'm not sure whether its correct.
 2012-01-31 18:19:41 -08:00
Pat Hickey
417d75eb50 hexa frame FRAME_CONFIG fixup 2012-01-31 18:19:41 -08:00
Pat Hickey
41ea9079be Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME 2012-01-31 18:19:41 -08:00
Pat Hickey
7d264d1150 Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame 
* This will change the output order for APM2, but not APM1.
 2012-01-31 18:18:13 -08:00
Pat Hickey
5cee2b674b Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME 2012-01-31 18:18:13 -08:00
Pat Hickey
8463acc978 Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines. 
* HEXA_X_FRAME and HEXA_PLUS_FRAME merged back into HEXA_FRAME
* OCTA_V_FRAME merged back into OCTA_FRAME
 2012-01-31 18:18:13 -08:00
Pat Hickey
f32d089f33 Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. 
* HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and
  HEXA_PLUS_FRAME
* OCTA_FRAME stays the same name for X and +, but the V frame
  configuration requires new OCTA_V_FRAME name.
 2012-01-31 18:18:13 -08:00
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
Jason Short
5de459a160 tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short
06d54bf0e8 ATT tuning update 2012-01-30 21:13:03 -08:00
Jason Short
c181186690 tuning 2012-01-30 21:13:03 -08:00
Jason Short
90ee552bd1 cosmetic 2012-01-30 21:13:03 -08:00
Jason Short
3050c1d765 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short
f2afa39bbd Cosmetic 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
ba81e2aa69 pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short
cc45bd47fe cosmetic 2012-01-29 21:55:17 -08:00
Jason Short
d93e259289 Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short
25c2c9b437 removed filter. Don't need it. 2012-01-29 17:10:52 -08:00
Jason Short
c855c81d2a limiting alt hold rate error to 1m/s 2012-01-29 17:08:34 -08:00
Jason Short
370d633f51 Lowering the throttle_P values by default 2012-01-29 16:27:13 -08:00
Jason Short
af0b0d5a7f made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Randy Mackay
cff6799d18 TradHeli - fix to servo limits. They had been unnecessarily limited to the collective pitch's min and max but actually there are cases (for example when the swash is leaning over 45degrees) where one servo goes well beyond the collective pitch's min or max. 2012-01-29 21:14:37 +09:00
Randy Mackay
1cbbe7bc7d Optflow - minor fix to D term defaulting 2012-01-29 21:06:41 +09:00
Jason Short
2a8044c666 Landing update for better baro landing 2012-01-28 22:35:57 -08:00
Jason Short
9dd1730cce reduce test.pde size for 1280 users 2012-01-28 22:16:24 -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
Jason Short
e94ac68e4d formatting 2012-01-28 21:19:46 -08:00
Jason Short
8fcb2931d7 Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short
a685510c38 changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay
000acac9f8 Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup 2012-01-28 10:13:58 +09:00
Randy Mackay
2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Pat Hickey
38d83d6cf0 ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2 2012-01-27 07:39:01 -08:00
Randy Mackay
f27b41179b Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Pat Hickey
70825e0e1c ArduCopter Heli: add motors_output_enable function 2012-01-25 22:41:09 -08:00
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
Randy Mackay
cd21c5905b Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi 2012-01-25 21:53:20 +09:00
Jason Short
86c7742dc0 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
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
Pat Hickey
05246bf3b4 ArduCopter: Call APM_RC.enable_out for camera channels in init_camera() 2012-01-22 12:03:11 -08:00
Pat Hickey
368e736a61 ArduCopter: Call motors_output_enable at correct spot during init 2012-01-22 12:03:11 -08:00
Pat Hickey
2bd2e9c774 ArduCopter: Add implementation of motors_output_enable to each motors_ frame type 2012-01-22 12:03:11 -08:00
Jason Short
acf43341da Causes Aero_SIM to fail 2012-01-22 09:34:43 -08:00
Jason Short
8c4b955282 added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short
a213e05eb9 converted to cm 
Signed-off-by: Jason Short <jasonshort@mac.com>
 2012-01-21 22:14:08 -08:00
Jason Short
7616c3b5a1 Converted distance gains to CM 
added loiter_d for rate control, equal to old Nav_P gain
 2012-01-21 22:13:57 -08:00
Jason Short
e1f7fa34ea Fixed speed governor which was letting speed get to 0. 
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
 2012-01-21 22:12:57 -08:00
Jason Short
8bd6cabdf1 recording nav_bearing rather than target bearing 
recording x and y speed rather than Iterms for nav since they are always 0 now
 2012-01-21 22:10:28 -08:00
Jason Short
14a8d8a471 added conversions of CM to M 2012-01-21 22:09:39 -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
9ecd091f79 convert command into CM from M 
Making Landing boost be one at minimum to trigger better navthrottle output
 2012-01-21 22:06:35 -08:00
Jason Short
6377cf8549 better default for speed governer 2012-01-21 22:05:48 -08:00
Jason Short
02d6adb21f slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short
275815a7c9 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short
ab8bf0b560 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short
8f86caa3ff limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short
fa06d4a2e3 Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short
d444051eb3 Enabled auto throttle hold 2012-01-20 22:52:31 -08:00
Jason Short
e9a4253cd1 added note 2012-01-20 22:52:31 -08:00
Jason Short
3921fb7880 formatting 2012-01-20 22:52:31 -08:00
Jason Short
2fa8a343ac Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short
525f7cd40f cleanup 2012-01-20 22:52:30 -08:00
Jason Short
a087d84734 error on comparison operator 2012-01-20 22:52:30 -08:00
Jason Short
84937b4f69 Added Auto_land_timeout to params 2012-01-20 22:52:30 -08:00
Jason Short
bf8774c2f8 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short
c5dd970026 Max throttle output was to high 2012-01-20 22:52:30 -08:00
Jason Short
99b71434da Updated Firmware version 2012-01-20 22:52:30 -08:00
Jason Short
9c912b2573 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short
63a1cf75df enabled Mavlink Land command 2012-01-20 22:52:30 -08:00
Jason Short
0475dbf8ae relocated reset_I term functions to central location 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
3a4a80c650 renamed function 2012-01-20 22:52:30 -08:00