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1094 Commits

Author SHA1 Message Date
Jason Short 427dacba70 ACM: Smoother Speed calcs 2012-03-16 14:10:19 -07:00
Jason Short 3038da1dc3 ACM: Softer Loiter Gains 2012-03-16 14:10:19 -07:00
Jason Short 48a0c9a818 ACM: Small fix to nav_throttle to prevent too fast of a landing. 2012-03-16 14:10:19 -07:00
Jason Short 6201bdb8a7 ACM: Fixed comment 2012-03-16 14:10:19 -07:00
Jason Short 1c0b28c956 Fixed Scaling bug in Sonar mixing 2012-03-16 14:10:19 -07:00
Jason Short 7153b94ade ACM: Disabled D term experiment for Loiter until more testing 2012-03-15 19:20:03 -07:00
Jason Short a52a14bf12 Tune down Loiter_P a hair 2012-03-15 19:17:27 -07:00
Robert Lefebvre be3fe36c52 Small fix on the Traditional Helicopter Collective-Yaw compensation calculation. 2012-03-15 20:14:18 -04:00
rmackay9 68e37774a6 ArduCopter - removed #define AUTOMATIC_DECLINATION ENABLED line to ensure users don't try and enable it because it needs a bit more work before it's ready for general use 2012-03-15 21:58:42 +09:00
analoguedevices 86eff20d5d Rev'ed version number to 2.5. Added more credits 2012-03-15 02:38:54 +00:00
Jason Short 6f8b97bf6a ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system. 2012-03-13 21:31:16 -07:00
Jason Short 4315c06f34 Lowering the D filter for less latency and less oscillation. 2012-03-13 12:58:46 -07:00
Jason Short 48ba24a810 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 468d9c4b4f ACM: Loiter D performance updates 2012-03-13 10:23:31 -07:00
Jason Short 7953808d14 ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short 7034b709d1 ACM: removing old define 2012-03-12 13:11:30 -07:00
Jason Short 73e2bd6cd8 ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed. 2012-03-12 13:11:05 -07:00
Jason Short 0b51d9b8b0 ACM: Made Loiter_D 0 by default. Accidentally left it on by default. 2012-03-12 10:37:15 -07:00
Jason Short deed802d1a ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter. 2012-03-11 23:21:49 -07:00
Jason Short b3795f1c00 ACM: removed Filtering code for motors in Quad for testing 2012-03-11 23:21:49 -07:00
Jason Short a989b88680 ACM: made same as Loiter I 2012-03-11 23:21:49 -07:00
Jason Short 0d434ca92c ACM: Tuning based on flights today 2012-03-11 23:21:49 -07:00
Jason Short 0ab6b6e592 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short 77fe7de55d ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time. 2012-03-11 23:21:49 -07:00
rmackay9 a869a01294 ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees 2012-03-12 12:09:04 +09:00
Andrew Tridgell 2a03a0584f AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
 2012-03-11 21:46:41 +11:00
Adam M Rivera d3667faef4 AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera 2524f9c8df 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 62c2aa4924 ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short cb8729109c ACM: Added Loiter_D for tuning as #23 2012-03-10 14:17:16 -08:00
Jason Short 0671bb9168 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short f9d0dc9daa ACM: disabled auto_calibration until more testing can be done 2012-03-10 12:44:49 -08:00
Jason Short 5ad7320505 ACM: changed alt hold initialization of altitude to be immediate 2012-03-10 12:44:18 -08:00
Jason Short 450f89ec5d ACM: Added note about scaling rates 2012-03-10 12:43:28 -08:00
Jason Short eb53200179 ACM: Altered the scaling speed for altitude changes for faster rises. 2012-03-10 12:43:01 -08:00
Jason Short 204f9957b0 ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes. 2012-03-10 12:42:22 -08:00
Jason Short 83729d0f75 ACM: decreased rate P for alt hold to remove bumpy repsonse 2012-03-10 12:41:06 -08:00
Jason Short 220d5a1c6e ACM: Increased the altitude error P for smoother alt hold response 2012-03-10 12:40:44 -08:00
Jason Short 4b703e8842 decreased the loiter rate P for overshoot 2012-03-10 12:40:07 -08:00
Jason Short fc32da0d2e ACM: increased the available rate error constrain, it was too low 2012-03-10 12:39:16 -08:00
Jason Short bd4835a1b2 ACM: removed the experiment for rate error. 2012-03-10 12:38:29 -08:00
Jason Short 29d6085bab added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short 4ba600c0c5 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
rmackay9 afc4aceb32 ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde 2012-03-11 01:27:58 +09:00
rmackay9 c7480f2281 ArduCopter - fix to dataflash logging of Mag heading 2012-03-11 01:27:29 +09:00
Andrew Tridgell d75e883fe8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00
Andrew Tridgell 9a06d35772 make 'ENABLE' and 'ENABLED' mean the same things 
users get this wrong far too often!
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 828ad7625b ACM: removed the ADC filtering code 2012-03-10 10:34:32 +11:00
Andrew Tridgell 1016d3c95d ACM: removed quaternion special cases in CLI code 2012-03-10 10:34:31 +11:00
Andrew Tridgell 8393c0299b ACM: removed the DCM tuning overrides 
not needed now that DCM scales with deltat
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 7291dfc25a ACM: removed the special case for quaternions in GCS code 2012-03-10 10:34:31 +11:00
Andrew Tridgell d6cfc51ae4 ACM: no need to fetch offsets at startup 
AP_Param handles this
 2012-03-10 10:34:31 +11:00
Andrew Tridgell ef771fecdc ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell 69c29d35ce ACM: change DCM loop to 100Hz 
On my APM2 quad this seems to give better results
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 2596acc8eb ACM: removed incorrect mode definition 2012-03-10 10:34:30 +11:00
Andrew Tridgell 7a9b3d3388 Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell 7e4c8592ff ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell 9bff4e2c4c 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 367947fd33 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 64cc04ae09 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 a0ce202d87 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +11:00
Jason Short 486c56ce41 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 c8e9d57567 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 730476fdfd 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 c26eb6afcc ACM: Updated config values 2012-03-06 22:12:24 -08:00
rmackay9 8b256cf924 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 72a775cc2a 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 706bea5992 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 46d7da4d14 Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Robert Lefebvre a480b32400 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 0ff44563ec ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls 2012-03-02 17:57:08 +11:00
Andrew Tridgell 0fc646d666 ACM: set default RC fast speed to 400Hz 2012-03-02 17:57:08 +11:00
Andrew Tridgell e213f6780e 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 f781bd735b ACM: fixed Parameters.h to avoid duplicate keys 
unfortunately everyone needs to reload
 2012-03-02 15:48:28 +11:00
Andrew Tridgell cb874d6097 ACM: added board_voltage() 2012-03-02 15:48:28 +11:00
Robert Lefebvre e49c2d2871 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 7c09e4a5e6 added stab_d gain scheduling - off by default 2012-02-28 20:16:40 -08:00
Jason Short a387956814 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short ceef8070ac added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short b76c4ecb22 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short efdf6ee79f added option for stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short ca34d7b7c2 Added test for stab_d gain scheduling. 2012-02-28 20:16:40 -08:00
Pat Hickey 16ed16f403 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 ff0fc26484 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 76c3cd88f0 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9 744e5b8c60 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 4a0989f95d 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 17d94b61ed ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short ba68d6d8a1 Set loiter rate enabled by default 2012-02-26 12:29:28 -08:00
Jason Short e06d8142c1 Added OPtion for non-rate based loiter 2012-02-26 11:33:37 -08:00
Jason Short 6e53949c2a removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short 517172ba20 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
Jason Short 0ce0c7c262 Added Loiter_rate_tuning 2012-02-26 11:33:36 -08:00
Jason Short eac77504a3 Added more Logging for PIDs. 2012-02-26 11:33:36 -08:00
rmackay9 8193c786ef ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9 69132e0fe7 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short f27e9f9ca1 added a simple rest of nav_throttle just in case 2012-02-25 13:31:21 -08:00
Jason Short cc5ab4aebf increased speed of alt hold I term based on Jani's Logs 2012-02-25 13:31:21 -08:00
Jason Short 1ce267f904 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
Jason Short a924c3685e 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 e2bbc795ad 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 0248b48d30 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 864ed1a87f 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 698749dd92 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 690dc9052a 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 2e9105c68a 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 1e254cbca0 Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
rmackay9 57e5eee8c8 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short 385828824d updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short 24345d4f43 Loiter updates 2012-02-23 22:03:26 -08:00
Andrew Tridgell 1cd3172954 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 364afe8da0 added a constraint to D term 2012-02-23 09:14:44 -08:00
Andrew Tridgell 95ef9206dc DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Jason Short c7c16a5b0f Emile's Fixes 2012-02-22 10:27:34 -08:00
Jason Short 4483f19f85 Marco's Hexa Motors 2012-02-22 09:55:44 -08:00
Jason Short 242f54793c revved a version 2012-02-22 09:00:42 -08:00
Jason Short 729c824809 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short 42b5d47f7b commented out control mode debug print 2012-02-21 21:48:07 -08:00
Jason Short 30efbae0e9 removed old comments 2012-02-19 14:21:27 -08:00
Jason Short 265c5255a3 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short 336441b109 reset slow_WP option at mode switch 2012-02-19 13:13:42 -08:00
Jason Short 81a861c8ac Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short 33d4d52a6b set Slow WP option for RTL in Auto mode 2012-02-19 13:12:23 -08:00
Jason Short cae49b3543 Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short b54d08f410 Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Jason Short bcd5129f9b added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short fa32b084bd Added SW test for Manual Boost 2012-02-19 12:39:40 -08:00
Randy Mackay 9fabdb5797 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 e146f225b1 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Andrew Tridgell df8a557630 AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell 12327eb2a9 Heli: fixed some 'used before initialised' warnings 2012-02-19 16:34:43 +11:00
Jason Short 028de5d2c5 Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Jason Short 885710fce6 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short 05024cc06c Change 800 to a define 2012-02-18 21:13:28 -08:00
Jason Short 04b70ffdc2 added Axis_Lock params 2012-02-18 21:13:06 -08:00
Jason Short ff2b4ecb7a updated throttle range 2012-02-18 21:11:06 -08:00
Jason Short 1e37a0ec17 added a limit to range output 2012-02-18 21:08:17 -08:00
Jason Short 1b46daa12e some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Randy Mackay b92d7aaad5 ArduCopter - fix for yaw control on Octa Quad Plus frame. 2012-02-18 22:04:09 +09:00
Randy Mackay 232359186e 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 b64c0da003 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Andrew Tridgell 6929226b96 ACM: expanded EEPROM parameter area by 256 bytes 2012-02-18 10:51:57 +11:00
Andrew Tridgell 718a5b70e3 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 b532cb91b1 added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short 0075901f77 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short 5218220f0f re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short b052dab80d Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short 17c6c7b294 added extra gain logging 2012-02-16 22:09:22 -08:00
Jason Short 908ca4e915 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short bc1593e89c cast to float 2012-02-16 22:09:21 -08:00