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,
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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,
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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
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lowered default Loiter gain
2012-01-12 22:28:58 -08:00
Jason Short
569ff5046f
Added Ryan's GPS lag filter
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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.
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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
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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
Jason Short
5a91396f63
Added climb rate control
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removed unused vars
2012-01-10 23:42:26 -08:00
Jason Short
dab4fb43d4
Added altitude change flags
2012-01-10 23:42:26 -08:00
Jason Short
351be7c305
Made timer unsigned
2012-01-10 23:42:26 -08:00
Jason Short
7b8767d846
Added comments
2012-01-10 23:42:26 -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
5f55780b5e
Added comments
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moved out failsafe check. otherwise the reporting was erroneous.
2012-01-10 23:42:26 -08:00
Jason Short
92f7b22722
Moved failsafe check to more logical place
2012-01-10 23:42:26 -08:00
Jason Short
cf92631d33
added #if to wind compensation code
2012-01-10 23:42:26 -08:00
Pat Hickey
fc6321b7ca
ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros
2012-01-09 22:06:49 -08:00
Pat Hickey
927e60d85b
ArduCopter motors_y6: rewrite loop in terms of motors
2012-01-09 22:06:49 -08:00
Pat Hickey
ac7f6a5602
ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros
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* Third Tricopter motor was on CH_4, so it is called MOT_4. This
will be changed in a subsequent commit.
2012-01-09 22:06:49 -08:00
Pat Hickey
73610ddb6c
ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros
2012-01-09 22:06:48 -08:00
Pat Hickey
7f4c994346
ArduCopter motors_octa_quad: rewrite loop in terms of motors
2012-01-09 22:05:01 -08:00
Pat Hickey
e2be119433
ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros
2012-01-09 21:57:02 -08:00
Pat Hickey
46b8037a73
ArduCopter motors_octa: rewrite janky loops to use ch_of_mot
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* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
79030a84b8
ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
f7e14fff37
ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot
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* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
b907c1fd5c
ArduCopter: add ch_of_mot lookup to motors.pde
2012-01-09 21:57:02 -08:00
Pat Hickey
7535c1c3fe
ArduCopter test.pde: translate from CH_ to MOT_ notation
2012-01-09 21:57:02 -08:00
Pat Hickey
6a4442557c
ArduCopter setup.pde: translate from CH_ to MOT_ notation
2012-01-09 21:57:02 -08:00
Pat Hickey
91bc2698a8
ArduCopter radio.pde: translate CH_ to MOT_ outputs
2012-01-09 21:57:02 -08:00
Pat Hickey
2f63c636ad
Rename ArduCopter/config_motors.h to config_channels.h
2012-01-09 21:57:02 -08:00
Pat Hickey
f5b6746ad7
ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define
2012-01-09 21:57:02 -08:00
Pat Hickey
c105f64dca
ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation.
2012-01-09 21:57:02 -08:00
Pat Hickey
e0e430895e
motors_quad: translate from CH_ to MOT_ notation.
2012-01-09 21:57:02 -08:00
Pat Hickey
0b40f55334
ArduCopter: include config_motors.h in sketch
2012-01-09 21:57:01 -08:00
Pat Hickey
e5e8ed8a54
ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL
2012-01-09 21:57:01 -08:00
Pat Hickey
9eae2ec7fe
ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8]
2012-01-09 21:57:01 -08:00
Pat Hickey
a30558e9b2
ArduCopter config.h: add standard ifndef/define header macro wrappers
2012-01-09 21:57:01 -08:00
Pat Hickey
a7628b7f78
ArduCopter: add config_motors.h with MOT_n to CH_m mapping
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* APM1 values are not valid, but hopefully APM2 will stay that way?
2012-01-09 21:57:01 -08:00
Pat Hickey
a19afd926a
APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
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* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
Jason Short
78255b722e
Slowed Auto Descent
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Don't return true in Landing code to prevent flyways in Stabilize
2012-01-08 23:01:22 -08:00
Randy Mackay
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
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Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
analoguedevices
d46f36e624
Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves
2012-01-09 01:59:55 +00:00
Jason Short
d45c0ce9f2
Added Acro to Rate_P
2012-01-08 14:52:10 -08:00
Randy Mackay
3dfa26920f
ArduCopter - changed Sonar to use A1 (was AN4)
2012-01-08 17:48:30 +09:00
Jason Short
f4b530ebb1
R8
2012-01-07 22:28:03 -08:00
Jason Short
48c211e055
Added finish to missions - auto-land or stabilize
2012-01-07 22:27:26 -08:00
Jason Short
9c8122e061
converted auto land to use the mission planner version
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Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
2012-01-07 22:27:26 -08:00
Jason Short
63be9c5f7b
Moved wind comp into a define
2012-01-07 22:27:26 -08:00
Jason Short
06e032db68
Quad frame - X is default
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added wind comp stability option to config - off by default
2012-01-07 22:27:26 -08:00
Jason Short
6678edf243
Auto-land updates - removed sonar option - not needed
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updates from JLN
2012-01-07 22:27:26 -08:00
Jason Short
76dd79e7b5
Made RTL hold position until it reaches altitude
2012-01-07 22:27:26 -08:00
Jason Short
dd42f06275
Cleanup
2012-01-07 22:27:26 -08:00
Jason Short
faa9dd43cf
scaled to 0-1023
2012-01-06 21:43:37 -08:00
Jason Short
ee0551037e
Revved to R7
2012-01-06 10:22:53 -08:00
Jason Short
98f9a5f237
Forced Faildafe throttle mode to throttle Auto
2012-01-06 10:21:50 -08:00
Jason Short
5b66a09688
Added check for armed motors in failsafe
2012-01-06 10:21:23 -08:00
Jason Short
c9f60f239d
Added Note
2012-01-06 10:20:59 -08:00
Jason Short
8f3c577e47
Made RTL go up 10m for failsafe
2012-01-06 10:20:48 -08:00
Jason Short
17873eb09c
Changed default throttle type for failsafe to avoid checking
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changed timer to 20 seconds.
2012-01-06 10:20:31 -08:00
Jason Short
e116636fe9
Auto_land update
2012-01-05 21:57:34 -08:00
Jason Short
e3c16fc1b1
Added auto_land to RTL
2012-01-05 21:15:12 -08:00
Jason Short
40ad164c8d
Clears Auto_land timer
2012-01-05 21:15:12 -08:00
Jason Short
20661e5020
timer set to unsigned
2012-01-04 17:31:20 -08:00