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1094 Commits

Author SHA1 Message Date
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
Jason Short 632cc783a1 cast D term to float just in case 2012-02-16 22:09:21 -08:00
Jason Short 36a120d8df removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short a43ee36bee CH 6 Range setup 2012-02-15 11:47:54 -08:00
Jason Short 3d63bb6cd4 Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short e8b6f5ecee allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short fabeccad4a Marco's updated Motor testing code 2012-02-15 10:49:35 -08:00
Jason Short 73591a0ca5 Added lengthy note about motor testing 2012-02-15 10:49:11 -08:00
Jason Short 9a3e862b55 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short e249c8466d AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short 21856e7696 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short fcb24ee17d Added Acro_P 2012-02-15 09:10:14 -08:00
Jason Short 574b86b02e synced params 2012-02-15 09:10:14 -08:00
Jason Short 91edeeeef2 added RTL_land_enabled 
added auto_pilot slew rate
 2012-02-15 09:10:14 -08:00
Jason Short aa0662008b 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 05abe44f32 Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short c9b432955d removed unused Vars 2012-02-13 15:25:23 -08:00
Jason Short 4faba2048c Lowered for Jani 2012-02-13 15:25:23 -08:00
Andrew Tridgell ecdbfd257a token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell d55a0c3a71 added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 0f9adbdae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell 617082769a go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell 0b3e3ec5c8 added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell d4305e0ae2 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell 16417b651e 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 3b4cae3cc3 adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell c9c422539e update ACM MAVLink code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell a2d0900460 fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell bf1eb670e3 update main parameter code for AP_Param in ACM 2012-02-13 16:22:52 +11:00
Andrew Tridgell f1a41b041f 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 306a3bb4f9 Makefile: extra convenience target for apm2hexa 2012-02-11 16:05:51 -08:00
Pat Hickey 84dd0d2fda 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 739317276d ArduCopter setup motors: print basic instructions. 2012-02-11 16:05:51 -08:00
Pat Hickey 6573cec611 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 470fd8788e 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 2c65fc9ddf Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short 0a63f104ab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -08:00
Jason Short 969ac70000 reset All for Auto takeoff 2012-02-10 22:54:29 -08:00
Jason Short b1d52da431 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short efce991bfb upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short 8ae53bffd2 Made Yaw Hold universal for Acro 2012-02-10 22:32:55 -08:00
Jason Short dc15fe4c5d Moved to Rate_I by default for Jani to test 2012-02-10 22:32:55 -08:00
Jason Short c64d781dce get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short 19ab0f481e made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short 9f8d7d5076 Minimize the Yaw Deadzone 2012-02-10 22:32:55 -08:00
Jason Short 50aaa09348 Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short 62627e9b57 reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00
Jason Short 3afaf2689c Fix for disabled CH7 value triggering WP saving 2012-02-09 22:32:04 -08:00
Jason Short 4313d19bc5 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short 71d57a5371 Enabled PWM test 2012-02-09 22:22:01 -08:00
Jason Short b315e23bbd Found missing Break in Switch statement. 2012-02-09 22:22:01 -08:00
Jason Short 2335b74bc3 faster FS timer 2012-02-09 22:22:00 -08:00
Jason Short c35ad2d493 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 6848dc17e5 Added safety to prevent shutdown of motors during Auto-land 2012-02-09 22:22:00 -08:00
Jason Short f40d40b0f9 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 fe7a0a97ab ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00
levinemax 345a23273e 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 3517964e14 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 70f91e3cc3 Arducopter - reduced rate of decent when landing using sonar 2012-02-08 22:46:32 +09:00
Randy Mackay f1a129c8ea 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 498970a948 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 1a861b3de5 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 ef9418c2de fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
Michael Oborne 151479f769 fix issue 502 
to identify quad over mavlink
 2012-02-03 06:53:08 +08:00
Pat Hickey dad4ee92e5 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 3288b518c0 credits 2012-02-01 04:44:36 +00:00
analoguedevices 6dbcac855a Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Pat Hickey 36389cdbd8 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 6a333b743a 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 7ca81bd2c9 hexa frame FRAME_CONFIG fixup 2012-01-31 18:19:41 -08:00
Pat Hickey a24f89fb6d Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME 2012-01-31 18:19:41 -08:00
Pat Hickey 0735c2b62f 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 dbd1cc6a9f Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME 2012-01-31 18:18:13 -08:00
Pat Hickey b245265669 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 0e9294538b 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 b851d39eaa OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short 21bd48b6c3 Loiter PIDs 2012-01-30 21:13:03 -08:00
Jason Short 8aaf88e13b tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short 90099d4a42 ATT tuning update 2012-01-30 21:13:03 -08:00
Jason Short f225efef9f tuning 2012-01-30 21:13:03 -08:00
Jason Short 08a9249e2b cosmetic 2012-01-30 21:13:03 -08:00
Jason Short 5934b503b8 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short 31614c39dd Cosmetic 2012-01-30 21:13:03 -08:00
Jani Hirvinen 009e87105f Minor changes for PID for jDrones motors due latest changes on control laws. 2012-01-31 09:00:31 +07:00
Jason Short 23709bafef pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short a3862ced62 cosmetic 2012-01-29 21:55:17 -08:00
Jason Short 46e08fb46a Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short ae65a0f03f removed filter. Don't need it. 2012-01-29 17:10:52 -08:00
Jason Short bf2cc6072d limiting alt hold rate error to 1m/s 2012-01-29 17:08:34 -08:00
Jason Short 02aacc454b Lowering the throttle_P values by default 2012-01-29 16:27:13 -08:00
Jason Short 650c0ed3f1 made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Randy Mackay 693a2cfdcd 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 974c825f4a Optflow - minor fix to D term defaulting 2012-01-29 21:06:41 +09:00
Jason Short 67cd412105 Landing update for better baro landing 2012-01-28 22:35:57 -08:00
Jason Short 5ab37a346c reduce test.pde size for 1280 users 2012-01-28 22:16:24 -08:00
Jason Short 7833cea9d4 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 295631139a formatting 2012-01-28 21:19:46 -08:00
Jason Short d1fcebb5ca Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short 326a663c6b changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay f3a95ff3cb 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 122623f64b OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Pat Hickey 1dcd50e3be ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2 2012-01-27 07:39:01 -08:00
Randy Mackay 8dee001657 Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Pat Hickey 6c03307217 ArduCopter Heli: add motors_output_enable function 2012-01-25 22:41:09 -08:00
Randy Mackay 2c906b7b27 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 4434ddf389 Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi 2012-01-25 21:53:20 +09:00
Jason Short 25529dec69 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
Jason Short 74daadb252 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short 6476ba22f2 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Pat Hickey 89e11afc09 ArduCopter: Call APM_RC.enable_out for camera channels in init_camera() 2012-01-22 12:03:11 -08:00
Pat Hickey 98a90d0352 ArduCopter: Call motors_output_enable at correct spot during init 2012-01-22 12:03:11 -08:00
Pat Hickey 04a3112f33 ArduCopter: Add implementation of motors_output_enable to each motors_ frame type 2012-01-22 12:03:11 -08:00
Jason Short dd1e08a7e0 Causes Aero_SIM to fail 2012-01-22 09:34:43 -08:00
Jason Short 1d9783652a added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short 60e3508f7c converted to cm 
Signed-off-by: Jason Short <jasonshort@mac.com>
 2012-01-21 22:14:08 -08:00
Jason Short aace39e65c 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 fffa1af3b3 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 f638a4b81d 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 2fa24e0557 added conversions of CM to M 2012-01-21 22:09:39 -08:00
Jason Short 7edd16e5fe 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 59d1f225d5 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 f3cc1121aa better default for speed governer 2012-01-21 22:05:48 -08:00
Jason Short 5cc19bbe7c slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short 9003b95499 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short 8cb645f3c2 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short 1aa6d0ea08 limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short ab5716c42d Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short 7c25253422 Enabled auto throttle hold 2012-01-20 22:52:31 -08:00
Jason Short 7fb641ab77 added note 2012-01-20 22:52:31 -08:00
Jason Short fb72ecd4e4 formatting 2012-01-20 22:52:31 -08:00
Jason Short 127544b833 Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short 42b1362bba cleanup 2012-01-20 22:52:30 -08:00
Jason Short 5ac26a5500 error on comparison operator 2012-01-20 22:52:30 -08:00
Jason Short 5180592913 Added Auto_land_timeout to params 2012-01-20 22:52:30 -08:00
Jason Short c190f83bb0 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short a22596fb33 Max throttle output was to high 2012-01-20 22:52:30 -08:00
Jason Short 19053bb725 Updated Firmware version 2012-01-20 22:52:30 -08:00
Jason Short f5fd3a0597 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short 287ffb5fb4 enabled Mavlink Land command 2012-01-20 22:52:30 -08:00
Jason Short 6784989e83 relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short d2c78d2b75 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 932869b686 renamed function 2012-01-20 22:52:30 -08:00
Jason Short 43365fe802 Verify land updates from JLN 
Effectively a throttle control for landing that mimics a person lowering the throttle.
 2012-01-20 22:52:29 -08:00
Jason Short ed32ad30fd Refined the D term for stabilize 
moved all the rest_I terms from code into 1 central place
 2012-01-20 22:52:29 -08:00
Jason Short 5141534ea9 B3 2012-01-20 22:52:29 -08:00
Jason Short db6db1ab91 set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units. 
added the ability to force nav_throttle so we  don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
 2012-01-20 22:52:29 -08:00
Jason Short 6e94b21d67 Altitude no longer resets when moving loiter WP 2012-01-20 22:52:29 -08:00
Jason Short 85f10589b2 slowed down slightly 2012-01-20 22:52:29 -08:00
Jason Short 017364fc5b Lowered range to more sensible values 2012-01-20 22:52:29 -08:00
Jason Short 2831ff9148 Off by default 2012-01-20 22:52:29 -08:00
Michael Oborne 3142a75913 AC fix attitude level hil 2012-01-21 07:52:52 +08:00
Michael Oborne 95f58b0432 fix scale error 2012-01-21 06:33:18 +08:00
Michael Oborne 1bebb9452b AC sync battery code with arduplane 2012-01-21 06:29:09 +08:00
Michael Oborne 52a9bb3cd1 fix SITL attitude hil AC 2012-01-20 16:32:25 +08:00
Doug Weibel ed9f7cb1b6 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
Doug Weibel 0306bf97a0 Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Jason Short e2c2a453a8 APM2 Channel assignments 2012-01-15 10:24:16 -08:00
Jason Short 3ebed0b278 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Jason Short 46ef246e67 b2 2012-01-14 11:37:00 -08:00
Jason Short 0ae82da0fd Fix for SIMPLE mode 2012-01-14 11:32:48 -08:00
Jason Short 72faa6525e Tweak to make circle mode scripting more accurate 2012-01-14 11:21:50 -08:00
Jason Short 89343ae306 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short 95ac9d163e lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short c02b403a06 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short 1843798697 Clarified the Increment for WP total 2012-01-14 11:20:40 -08:00
Jason Short f97d58c753 added notes, removed redundant save wp_total 2012-01-14 11:20:40 -08:00
Jason Short 7877a872d3 added update throttle cruise function 2012-01-13 16:48:05 -08:00
Jason Short 1269b07d9a Made RTL always the current Altitude 2012-01-13 16:47:38 -08:00
Jason Short ec9880f725 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short 6591089110 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short 8d909f6eed fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short c327a9f000 made landing shoot for below home by 2 meters to avoid bounce up. 2012-01-13 12:46:40 -08:00
Jason Short 7c475f178c tuned down Alt hold D gain 2012-01-13 09:36:51 -08:00
Jason Short 4eacc6f3eb re-enabled relay test 2012-01-13 08:55:02 -08:00
Jason Short ee7c948781 Added simple constrain for Alt d term 2012-01-13 08:49:55 -08:00
Jason Short b0810e054e moved GPS routines to 50hz loop to avoid delay. 2012-01-12 22:59:47 -08:00
Jason Short 648a404ee1 Version 2.2 2012-01-12 22:37:33 -08:00
Jason Short 91e05834c8 removed wind comp code, 
Added Landing boost code
 2012-01-12 22:28:58 -08:00
Jason Short 4459fc4e34 Added a small D term on alt hold 2012-01-12 22:28:58 -08:00
Jason Short 6b85adb460 Added Landing throttle control to force down the copter 2012-01-12 22:28:58 -08:00
Jason Short 154411c96c removed unused defines 
lowered default Loiter gain
 2012-01-12 22:28:58 -08:00
Jason Short 569ff5046f Added Ryan's GPS lag filter 
Removed unused code
refined alt change
 2012-01-12 22:28:58 -08:00
Jason Short a59c9ae22c added notes 2012-01-12 22:28:58 -08:00
Doug Weibel 9846822748 Bug fix for compass. 
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
analoguedevices 70b7951366 Eliminated second instance of APM2 #defines 2012-01-12 20:38:41 +00:00
Jason Short a7bce15365 R10 2012-01-11 22:41:51 -08:00
Jason Short 99ea69ef7b New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short 257890d5be New Loiter Gains for new Loiter methods 2012-01-11 22:41:51 -08:00
Jason Short 98f637282b moved to verify_land 2012-01-11 22:41:51 -08:00
Jason Short 5e9db462f5 attempting to force down without using Manual boost. 2012-01-11 22:41:51 -08:00
Jason Short f35411ac45 R9 2012-01-10 23:46:08 -08:00
Jason Short 84e001594d comma 2012-01-10 23:45:33 -08:00
Jason Short 4b54887c6c Switched to set_next_WP for mode switches 2012-01-10 23:43:44 -08:00
Jason Short 6b836d1a09 Fixed Type Error 2012-01-10 23:43:44 -08:00
Jason Short c4476bdd80 Fixed type error 2012-01-10 23:43:44 -08:00
Jason Short 3e8ff39d4b Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short a79d302b98 added set_new_altitude call() 2012-01-10 23:43:44 -08:00
Jason Short e102cb9e6a Added ending for auto landing 2012-01-10 23:42:27 -08:00
Jason Short 3a5ffc252d updated climb rate control 
Land detector
 2012-01-10 23:42:27 -08:00
Jason Short acd877abda added set_new_altitude call 2012-01-10 23:42:27 -08:00
Jason Short f36aba8af2 climb rate control 2012-01-10 23:42:26 -08:00