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739 Commits

Author SHA1 Message Date
Pat Hickey a48c65b5b5 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey 6dbd6b4181 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey 39fe9075d9 ArduCopter Init: different call to barometer.init based on CONFIG_BARO 
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
 2011-12-11 15:21:10 -08:00
Pat Hickey b055aa6f81 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey d7f77aec93 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 62844d8ddc ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey de6507a47d ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey 8d878a2cae ArduCopter CLI: Add imu.init before imu.init_accel for "level" 
* Depending on when you entered the CLI, the imu might not be
  initialized yet, and init_accel would hang.
 2011-12-11 15:19:46 -08:00
Pat Hickey 2e200834e1 ArduCopter: Revert "Switched to Gyro only startup" 
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.

I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.

It is no longer valid to call IMU::init_gyro() before IMU::init().
 2011-12-11 14:50:02 -08:00
Jason Short 5d0e3664ad Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short e8e126a636 removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Jason Short c1aa015ef1 added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short a685e5b575 fix for navigation scaleLongUp 2011-12-11 09:53:44 -08:00
Randy Mackay fe336fb749 ArduCopter - small fixes to fix HIL compile errors 2011-12-11 23:25:03 +09:00
Randy Mackay 67855b207d 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
Jason Short f89fed02c3 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short 4659a9ffce Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short af0ae6a10f Set Nav_WP as home 2011-12-10 23:26:10 -08:00
Jason Short 1f3abcf048 eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Jason Short 069bcbf5e6 Made landing slower 2011-12-10 19:33:19 -08:00
Jason Short 873daae095 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00
Jason Short 29554b7d73 Will add a landing command to last WP if we are on the ground. 2011-12-10 19:29:42 -08:00
Jason Short 648ab5f4ae Switched to Gyro only startup 2011-12-10 15:13:20 -08:00
Jason Short f3ff7aa0a8 rework of inflight trim. 2011-12-10 15:05:53 -08:00
Jason Short 5e12924907 Removed Instant PWM from disarmed output 2011-12-10 10:33:25 -08:00
Jason Short 0289e35347 Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Jason Short 84b72b627b Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short 7cecca74bc Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short 69f1841d8e Debugging some motor issues 2011-12-10 10:19:20 -08:00
Jason Short 76d60a2111 Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short d9347290a4 Added notes to Imu.ax, ay, az 2011-12-10 10:19:20 -08:00
Jason Short 2b8280e533 Added enumeration for Land 2011-12-10 10:19:20 -08:00
Jason Short 307723960d Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short 3ff7b047d5 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Jason Short 49806d93d9 Added Land FLight mode definition 2011-12-10 10:19:20 -08:00
Randy Mackay 0b24914066 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Pat Hickey cc38189f71 ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280 
Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
 2011-12-09 15:06:10 -08:00
Randy Mackay 4dc2956ca9 Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i 2011-12-09 22:13:37 +09:00
Randy Mackay 42421a09e2 TradHeli - Attitude.pde - made yaw contol use jason's stability patch 
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
 2011-12-08 22:23:50 +09:00
Randy Mackay 68e6be5eeb TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled 2011-12-08 21:30:47 +09:00
Doug Weibel 502a98dda1 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Jason Short 6dfdd754ea Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00
Jason Short 05409b8c1c made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short a632c49b44 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short e8a14c8d93 simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short 9bc6fce3b8 Function call defs commented with // so the preprocessor doesn't get confused 2011-12-03 17:55:44 -08:00
Jason Short 0d8071a401 Added new gain and clamp value for DCM 2011-12-03 17:55:11 -08:00
Jason Short 54c8e1033c Fixing reversed Simple mode switch 2011-12-03 17:54:57 -08:00
Jason Short aad45c692f Stability patch from 55 2011-12-03 17:54:38 -08:00
Jason Short 778393c4a7 Enabled the compass test 2011-12-03 15:39:02 -08:00
Jason Short 5ed300db7e disabled Flash logs in 1280 by default 
Added stability patch I values and limits
 2011-12-03 15:38:46 -08:00
Jason Short c99da66506 Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Jason Short 401c985572 Added Deg to rad, rad to deg * 100 to save a float calc 2011-12-03 15:29:33 -08:00
Jason Short d7cc241f85 formatting 2011-12-03 15:29:33 -08:00
Michael Oborne 4c61462dfd Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 06:32:27 +08:00
Michael Oborne edf3195384 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Andrew Tridgell 39a36fe946 fixed the "reboot on GPS lock" bug 
the problem was that with APM2 we may not have a 2nd GCS instance. The
"gps alt: xxx" message was being unconditionally sent to both GCS
instances, which caused a crash
 2011-12-04 09:06:58 +11:00
Andrew Tridgell aaac6212ab MAVLink: use the configured system ID for ArduCopter 2011-12-03 07:54:36 +11:00
Jason Short 9931cacec7 Enabled Ch7 simple mode switching 2011-11-28 22:41:12 -08:00
Jason Short 69dd8264e6 adding flag for finished mission 2011-11-28 22:28:51 -08:00
Jason Short b92b4e9092 cleanup 2011-11-28 21:40:22 -08:00
Jason Short eb6d34e1fc Fix error with calc_nav_pitch_roll 2011-11-28 21:27:29 -08:00
Doug Weibel 88ab4f7d70 Fix for intermittent bug of log #1 starting on page 2 and confusing file system 2011-11-28 19:43:10 -07:00
Doug Weibel b03de3095e Add DataFlash.Init before doing a forced log erase on eeprom reset. 
Add progress indication during log erase
 2011-11-28 19:42:27 -07:00
Jason Short b4a0d8a275 Fixed navigation bug 2011-11-28 14:22:05 -08:00
Jason Short ce5ad442fc Git Test 2011-11-28 10:54:20 -08:00
Jason Short 62ed256fca made the crosstrack use the previous WP instead of the current loc to get a better line in AP. 2011-11-28 10:33:06 -08:00
Jason Short 82adf1df6b removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00
Jason Short 504b4b52d6 slight refactoring to avoid the increment issue when changing commands 2011-11-28 10:33:06 -08:00
Jason Short 4a6feb3acb better comments out of some old unused functions to avoid compiler errors 2011-11-28 10:33:06 -08:00
Jason Short 909e5796eb Logging input to find this freeze bug 2011-11-28 10:33:06 -08:00
Jason Short df57380adc Erasing Logs causing major havoc. Users getting infinite loop. 2011-11-28 10:33:05 -08:00
Jason Short cc1593d16d made Logs dump with dump 0 or -1 2011-11-27 22:23:02 -08:00
Jason Short b3bd4bd3c9 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Jason Short fb5302c50b No longer resetting ch7 wp index with mode change, requires reboot 2011-11-27 22:23:02 -08:00
Andrew Tridgell 2cabb11307 mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Jason Short 940fa9621c Added minimum Altitude for RTL failsafe 2011-11-26 16:39:29 -08:00
Jason Short 44cb73c9fa added safety checks for RTL 2011-11-26 16:39:29 -08:00
Jason Short d0af4e7200 CH7 with params 2011-11-26 16:39:29 -08:00
Jason Short ec5b080167 Enable RTL 2011-11-26 16:39:29 -08:00
Jason Short ca5e4bb802 Allow output of system type 2011-11-26 16:39:28 -08:00
Jason Short 1621f3a638 allow CH7 to be set via params 2011-11-26 16:39:28 -08:00
Jason Short ea911e0bcb updated failsafe code 2011-11-26 16:39:28 -08:00
Jason Short 19c3c27ed0 Erasing Logs at new FW version detection 2011-11-26 16:39:28 -08:00
Jason Short 52297679c4 sending Mavlink system type 2011-11-26 16:39:28 -08:00
Andrew Tridgell a048709828 Logs: don't print hundreds of bogus log boundaries 
this can take quite a long time
 2011-11-26 17:02:55 +11:00
Andrew Tridgell a99bcec762 desktop: report motors armed in desktop build too 
this helps in autotest
 2011-11-25 20:00:19 -08:00
Pat Hickey 6ee477bd8d ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell 38c85c44ae ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell 3a542b3ef3 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell 338445e60c ArduCopter-HIL: fixed HIL build 
Logging isn't always enabled
 2011-11-25 20:00:18 -08:00
Andrew Tridgell ffba37d599 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell aa558eb033 fixed a valgrind error 
this error is harmless, but false positives can disguise real errors
 2011-11-25 20:00:18 -08:00
Pat Hickey eee2da01ac Arducopter: each motors_ pde uses APM_RC.SetFastOutputChannels 2011-11-25 20:00:18 -08:00
Pat Hickey ea4c220ee9 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell 6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey 1d50bb80fd hil-sensors ArduCopter: fixes to make hil-sensors build work properly 
* requires new stub libraries for InertialSensor and PeriodicProcess.
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1e41b4b2b0 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell a3701e521a build: added hlsensors target 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1c20efe4b8 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell 2a5a15abce test: fixed test code for HIL build 2011-11-25 20:00:17 -08:00
Andrew Tridgell 3072fdda85 adc.Init() needs timer_scheduler 2011-11-25 20:00:17 -08:00
Andrew Tridgell c0898ab3b9 purple: timer_scheduler should be in all builds 2011-11-25 20:00:17 -08:00
Andrew Tridgell 2d8cfc0c3f test: neaten up the output of the dcm test 2011-11-25 20:00:17 -08:00
Pat Hickey 3131ab16ef remove BROKEN_SLIDER code 
use the new CLI_SLIDER_ENABLED option and the "hit ENTER 3 times"
method
 2011-11-25 20:00:17 -08:00
Pat Hickey 475afd6ac2 purple: enable dcm test, and fixed imu test to test the IMU API 2011-11-25 20:00:17 -08:00
Pat Hickey c2972ff1f9 purple: fixed CLI code for non-ADC hardware and no sonar 
purple hardware does not use the ADC driver
 2011-11-25 20:00:17 -08:00
Pat Hickey 63393b206a purple: added ins test 
this tests the InertialSensor library API
 2011-11-25 20:00:17 -08:00
Pat Hickey f1bad83d21 purple: fixed system init for purple sensor objects 2011-11-25 20:00:16 -08:00
Pat Hickey e3027fe54e purple: pass isr_registry to APM_RC.Init() 2011-11-25 20:00:16 -08:00
Pat Hickey 660174e610 purple: switch ArduCopter to new sensor objects 
this uses the new sensor abstractions for the purple/APM1 hardware
choice
 2011-11-25 20:00:16 -08:00
Pat Hickey 4869ac3385 purple: use the new LED_ON/LED_OFF macros for LED level 
this gets this right on both APM1 and purple for ArduCopter
 2011-11-25 20:00:16 -08:00
Pat Hickey 3f2692d1da purple: added configuration logic for APM1 versus purple hardware 
This abstracts the names for LED on/off (due to the different wiring
of LEDs on APM1 and purple), and adds the needed config defines for
the two hardware types
 2011-11-25 20:00:16 -08:00
Pat Hickey 90c5eb8487 purple: added defines for APM hardware selection 
we can now choose APM_HARDWARE_APM1 or APM_HARDWARE_PURPLE
 2011-11-25 20:00:16 -08:00
Pat Hickey cc67062442 build: added new command line build targets 
this makes it more convenient to build common options
 2011-11-25 20:00:16 -08:00
Pat Hickey 5ee5036fa1 purple: added comment for enabling purple hardware 2011-11-25 20:00:16 -08:00
Andrew Tridgell 89d2f0f849 mod barometer.Init() based on hardware 2011-11-25 20:00:15 -08:00
Michael Oborne 0a0b2d32f4 Add rc input to cli planner mode 2011-11-26 11:23:14 +08:00
Jason Short abe4758c3b no longer using the raw pressure 2011-11-25 11:34:05 -08:00
Doug Weibel 9ecfac1156 Change ArduCopter DataFlash log file system to new file system which allows overwriting logs. 
Also changed the feature to dump all DataFlash memory to occur when user requests dumping log "-1"
 2011-11-25 07:17:15 -07:00
Jason Short c5c5884006 v number 2011-11-21 22:13:18 -08:00
Jason Short 89e014c06a Added alternate alt hold, 
New ESC Calibration Routine
 2011-11-21 22:12:19 -08:00
Jason Short 85a5647f5d cleanup 2011-11-21 22:11:06 -08:00
Jason Short 6d99e78887 removed unused function 2011-11-20 21:59:55 -08:00
Jason Short 95b797d359 removed the init_esc - reworking the method to avoid the use of the CLI. 2011-11-20 21:24:32 -08:00
Jason Short 5c797e91b5 Better function definition 2011-11-20 20:32:46 -08:00
Jason Short beeba99b92 Missed a function definition for no_logs option 2011-11-20 20:29:58 -08:00
Jason Short 2600f19172 RTL Yaw hold as default 2011-11-20 12:50:13 -08:00
Jason Short fbf09dbf2d Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Randy Mackay f397bae793 ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up 
Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
 2011-11-20 22:30:42 +09:00
Jason Short 17041e5346 my take at a merge to give tridge a head start at Mav1.0 2011-11-20 00:23:40 -08:00
Jason Short 556db68d2d Made loiter rad smaller in storage 2011-11-20 00:22:53 -08:00
Jason Short 7feecf3220 renamed WP mask 2011-11-20 00:22:53 -08:00
Jason Short 185c2a50ce added some params from Arduplane to make Mavlink upgrade easier 
made loiter radius smaller in storage
 2011-11-20 00:22:53 -08:00
Jason Short 94ef8a91ff removed typo 2011-11-20 00:22:52 -08:00
Jason Short 1e855503da renamed MASK_OPTIONS_RELATIVE_ALT 2011-11-20 00:22:52 -08:00
Jason Short c6f9c532af renamed set_command_with_index 2011-11-20 00:22:52 -08:00
Jason Short b883ff937c renamed the options_mask 2011-11-20 00:22:52 -08:00
Jason Short 77da1227bb renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short 10a24f22fa renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short aef4db8263 Logging stabilization KP to hunt bug 2011-11-19 16:59:54 -08:00
Jason Short 194778a6f9 Logging APVar saves 2011-11-19 16:59:54 -08:00
Jason Short 90bc03ef99 new DataLog message 2011-11-19 16:59:54 -08:00
Jason Short 56179a24e1 Added Arbitrary data logging 2011-11-19 16:59:54 -08:00
Jason Short b6adfdb62f missed == 2011-11-19 14:42:57 -08:00
Jason Short eef04a5a54 removed some tests 2011-11-19 14:02:00 -08:00
Jason Short 8e1f311c36 s 
shortened strings, logging defines updated
 2011-11-19 14:01:47 -08:00
Jason Short 8e509b63a7 shortened strings for mem 2011-11-19 14:00:55 -08:00
Jason Short d02b4342ae removed some unused code, made output min by default 2011-11-19 14:00:42 -08:00
Jason Short d1c161ecd0 Upped version 
added new logging params
added crosstrack gain
re-ordered param inits
 2011-11-19 14:00:23 -08:00
Jason Short 39d0df4cef added param for crosstrack gain defaulted to 4 2011-11-19 13:59:37 -08:00
Jason Short 9bc4328724 Added crosstrack gain and lowered alt hold rate gain 2011-11-19 13:59:15 -08:00
Jason Short e4f2ad1809 remove PI_crosstrack 2011-11-19 13:58:53 -08:00
Jason Short 579096cd2e return to prev climb rate calc 2011-11-19 13:58:41 -08:00
Jason Short 35524f6da7 Added optimizations for radian calls to remove a division. 
added a protection for entering AP modes without Home being set by GPS lock.
 2011-11-19 11:08:13 -08:00
Jason Short 791fd194a4 added logging of raw baro 2011-11-19 11:08:13 -08:00
Jason Short 802dd6994a PM restored to normal output 2011-11-17 10:37:01 -08:00
Jason Short 7ebab2a9fe Log type error fix 2011-11-17 10:27:02 -08:00
Randy Mackay c8d2341156 TradHeli - automatically reinitialise swash plate if HSV_MAN is switched from 1 to 0. 
Turn-off feed forward correction to yaw based on collect when in HIL mode.
 2011-11-17 20:43:07 +09:00
Jason Short a168691eba Working implementation of Jump Command 2011-11-16 21:28:56 -08:00
Jason Short ddd89e1849 Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short 833fe17c6a disabled raw GPS temp 2011-11-16 00:22:23 -08:00
Jason Short fed5c0b204 Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short 8392e375e1 Do not write home from GS, 
MAV_Action_Continue disabled until I find out what it does and how to do it.
 2011-11-16 00:22:23 -08:00
Jason Short 937a364dce Made RTL Altitude hold current by default 2011-11-16 00:22:23 -08:00
Jason Short 0245e73a8b Mission Scripting re-write 2011-11-16 00:22:23 -08:00
Jason Short 163345dadd Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short 65fe467a57 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short 5ed931c582 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short 3eaef4081c Added better navigation flag for more accurate dtnav timing 
Added better support for climb rate in SIM
 2011-11-16 00:22:22 -08:00
Jason Short c343cee727 Fixed typo in notes about timer speed 2011-11-14 12:25:06 -08:00
Jason Short 2ad1294514 scaling width of circle mode to make it more round. 2011-11-13 23:09:42 -08:00
Jason Short 687d0eda98 fixed bad indexing for setting current mission index 2011-11-13 22:59:57 -08:00
Jason Short be1007d032 Moved updated alt to GPS so the climb rate is sane 2011-11-13 22:54:57 -08:00
Jason Short 288db5c7c5 Better error and defaults checking 2011-11-13 22:54:18 -08:00
Jason Short 349ab7e0c6 slowed Circle flight 2011-11-13 13:41:23 -08:00
Jason Short daaf681417 error checking command saving 2011-11-13 13:41:23 -08:00
Randy Mackay 2112f74324 TradHeli - reversed the direction of "phase angle" to make it more intuitive. This parameter is used to correct for a heli's tendency to lean left or right when the pilot gives it a pitch forward command. 2011-11-13 22:40:46 +09:00
Randy Mackay 70aadd4afc TradHeli - added two parameters to improve heli control. 
heli_phase_angle allows pilot roll/pitch command to be translated into mixed roll and pitch.
heli_coll_yaw_effect mixes some collective into the yaw so tail can counter act collective movements more easily.
 2011-11-13 22:20:57 +09:00
Jason Short 930ee51bbe added scale note 2011-11-13 00:25:04 -08:00
Jason Short 04491d66db Fixed scaling issue with Circle mode 2011-11-13 00:24:25 -08:00
Jason Short 7dd737ad90 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	Tools/autotest/autotest.py
 2011-11-12 21:53:08 -08:00
Jason Short bee53453d6 nav updates 2011-11-12 21:46:57 -08:00
Jason Short ea57fad80c WP counting update 2011-11-12 21:46:03 -08:00
Jason Short 901e46334d updates to Mavlink for zero based WP counting 2011-11-12 21:44:38 -08:00
Jason Short e1315b1ab8 Update and fix for Circle mode 
HIL updates for altitude
 2011-11-12 21:43:21 -08:00
Jason Short bcfb3a0ee3 Fix for WP saving with CH7 2011-11-12 21:40:58 -08:00
Jason Short d6bfae598f WIP: adding 255 to represent a completed mission 2011-11-12 21:40:33 -08:00
Jason Short fd02ebca74 Work in progress for using 0 based counting 2011-11-12 21:39:24 -08:00
Jason Short 9e67c7efca Added additional nav params to reset 2011-11-12 21:39:00 -08:00
Michael Oborne b3747ab10f fix loiter radius 2011-11-13 08:24:56 +08:00
Jason Short be3edc19f8 Fixed type error in params 2011-11-12 15:15:33 -08:00
Jason Short bb4e612241 Shortened test name 2011-11-12 15:14:32 -08:00
unknown a7038cbaf9 TradHeli - new parameter HSV_MAN to allow better set-up from APMissionPlanner. Also changed swash movement to use radio_out which fixes some setup bugs 2011-11-12 23:23:07 +09:00
Jason Short dd96b146b5 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-10 10:02:08 -08:00
Jason Short 3450e91039 Trying to break Nav to test a feature 2011-11-10 10:01:57 -08:00
Andrew Tridgell 2d204b727b fixed build error 
the prototype extractor was finding the commented out version of
cross_track_test(), which had a different prototype
 2011-11-10 22:01:09 +11:00
Jason Short 3f0b42f64f made crosstrack functions static 2011-11-09 23:30:16 -08:00
Jason Short 2c9ebf11b8 removed unused functions, log fix 2011-11-09 23:28:50 -08:00
Jason Short d8361dfe67 renamed original_target_bearing 2011-11-09 23:04:04 -08:00
Jason Short 8ad94b9993 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-09 22:56:52 -08:00
Jason Short ae1684a37c crosstrack angle variable 2011-11-09 22:56:38 -08:00
Jason Short 7259cf2180 Added in crosstrack correction - test for SIM 2011-11-09 22:56:09 -08:00
Andrew Tridgell c056c4f0cb HIL: allow for fast HIL attitude update in HIL_MODE_ATTITUDE 
this runs it at the full loop rate
 2011-11-10 13:17:06 +11:00
Jason Short 6211cc4e50 back to original config for testing 2011-11-10 13:00:34 +11:00
Jason Short 6b26c32e9d Lowered Nav_P based on SIM data 2011-11-10 13:00:34 +11:00
Jason Short fafa6e52e9 back to original config for testing 2011-11-09 13:53:26 -08:00
Jason Short f994d16a48 Lowered Nav_P based on SIM data 2011-11-09 12:46:34 -08:00
Jason Short 6e3b3fd974 CTUN log update 2011-11-09 12:28:12 -08:00
Jason Short 3732b7db71 Added code notes 2011-11-09 12:07:15 -08:00
Jason Short 630f2dbf05 Code formatting 2011-11-09 12:06:55 -08:00
Jason Short d6c0e34516 Tuning nav_WP 
Added more notes
 2011-11-09 12:06:37 -08:00
Jason Short a8d622d8e6 Lowered Nav_P I term to ramp slower base on SIM 2011-11-09 11:30:50 -08:00
Jason Short 27d9bc92f3 Added more output to Mavlink for debugging 2011-11-09 11:00:40 -08:00
Jason Short e5b37d9d89 Added MAV_CMD YAW parsing 2011-11-08 23:44:14 -08:00
Jason Short 7714f203f9 Added Mav_CMD_Yaw parsing 2011-11-08 23:42:41 -08:00
Andrew Tridgell c158cb8e63 call gcs_update() while waiting for GPS lock 
this ensures we react to ground commands, and also allows HIL GPS to
work
 2011-11-09 17:43:55 +11:00
Jason Short 79e30b5f21 removed debugging code 2011-11-08 14:41:46 -08:00
Jason Short d375de8424 SIM test 2011-11-08 14:11:02 -08:00
Jason Short b29f4456c4 fix for SIM GPS 2011-11-08 14:10:09 -08:00
Andrew Tridgell 3b67321945 Log: try to fix -ve lat in logging 2011-11-09 08:46:05 +11:00
Jason Short 2dc2a2114a restoring throttle i term for SIM 2011-11-08 11:51:49 -08:00
Jason Short 90ee0f7e09 bad hijacking of GPS_Status 2011-11-08 10:48:47 -08:00
Jason Short 1ab1d8bab4 Fixes for Sim - Missing climb rate calculation 2011-11-08 10:46:52 -08:00
Jason Short 10bbfdbe11 PID test for alt hold to narrow down on a bug 2011-11-08 10:13:16 -08:00
Jason Short c3d5d92a71 Updated Logs to be C++ compliant 2011-11-07 22:23:48 -08:00
Jason Short 69fec433e6 Update to RTL logic. 2011-11-07 21:30:12 -08:00
Jason Short 4afc3e9f17 Fix for bad RTL tracking in Autopilot 2011-11-07 21:09:29 -08:00
Andrew Tridgell dc6fb484cd Log: fixed a few more casts 2011-11-08 11:59:30 +11:00
Andrew Tridgell 28634f51b7 ArduCopter: use specific sized data types in a lot of places 
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
 2011-11-08 11:05:36 +11:00
Jason Short 6bf0c32173 Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Andrew Tridgell 3176d4ffc5 HIL: enable CTUN log message in ATTITUDE HIL 2011-11-08 07:58:35 +11:00
Andrew Tridgell 92471aead2 Log: better way to check for -1 long portably 2011-11-08 07:58:34 +11:00
Jason Short 0446cae242 Alt hold fix 2011-11-07 12:00:37 -08:00
Andrew Tridgell 2bd451b445 Log: make find_last_log_page() portable 
this makes it work with platforms with a larger 'long'
 2011-11-07 23:50:49 +11:00
Andrew Tridgell ae1e1c940f Log: fixed a bug where we could index outside an array 
when we first start up, num_existing_logs may be zero
 2011-11-07 22:56:13 +11:00
Jason Short 3a37e7fe60 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-06 22:46:57 -08:00
Jason Short a37fadbedb moved to 200hz update 
Zccel Z updates from Aurelio in attitude.pde
lowered baro_alt sanity check
moved user hooks to the medium 10hz loop.
 2011-11-06 22:46:39 -08:00
Jason Short d1431f1070 default top_bottom ratio 1.0 2011-11-06 22:45:07 -08:00
Jason Short 3153257d37 default top_bottom ratio 1.0 2011-11-06 22:43:49 -08:00
Jason Short 4bb0bf96ae Y6 Motors now have top bottom ratio 2011-11-06 22:42:59 -08:00
unknown 9c59fdfdd6 AltHold - another correction to the manual boost. Hopefully properly transferring building up I terms to g.throttle_cruise 2011-11-06 19:06:13 +08:00
unknown 32057fb3c9 AltHold - made TradHeli code also use manual_boost 2011-11-06 18:25:13 +08:00
unknown 755cb4b201 Altitude hold bug fix - changed g.throttle_cruise to be updated to steal I term from correct controller 2011-11-06 17:47:24 +08:00
unknown 156b496bab TradHeli - small change to make throttle_cruise in terms of radio input instead of servo output 2011-11-06 17:40:17 +08:00
unknown f1e626e3c1 TradHeli - changed deadzones for throttle to zero (and also reduced for yaw) 2011-11-06 17:37:59 +08:00
Jason Short c265555b69 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-04 21:42:10 -07:00
Jason Short c8304114a3 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
unknown 12f5f3f96e TradHeli - fix to allow tail servo to be reversed. Also increase max movement of tail servo to 45 degrees. 2011-11-05 12:31:30 +08:00
Jason Short 3f211121fe Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:18:56 -07:00
Jason Short 27fc6eea10 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Andrew Tridgell acc03753ab fixed HIL build 2011-11-02 08:14:07 +11:00
Jason Short 4f8ef25643 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 09:30:54 -07:00
Jason Short 1df9f8488d updated Alt hold PIDs 2011-11-01 09:30:34 -07:00
Jason Short 0a538baeb2 updated baro test 2011-11-01 09:29:55 -07:00
Jason Short c32a707632 cleanup 2011-11-01 09:28:36 -07:00
Jason Short c402311077 removed accel.z references 2011-11-01 09:28:23 -07:00
Jason Short c6ed8ed0ea alt hold logging 2011-11-01 09:28:04 -07:00
Jason Short fd9b16e787 resetting alt hold I 2011-11-01 09:27:49 -07:00
Jason Short 48db60a4eb Tweaks to alt hold 2011-11-01 09:25:23 -07:00
Jason Short ab1de277dc altered the interactive throttle to be more aggressive and proportional. 
reworked baro reading strategy.
 2011-11-01 09:24:51 -07:00
Andrew Tridgell 56390c4696 GCS: fixed timeout loading waypoints (ArduCopter) 
prevents link saturation
 2011-10-31 21:25:58 +11:00
James Goppert 3f8603331d Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
James Goppert 8102b31d8d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-29 15:09:35 -04:00
James Goppert 1a8c4a2597 Working on cmake support. 2011-10-29 15:01:05 -04:00
Jason Short 67e98ae867 Added additional NTUN logging entries. 2011-10-29 11:53:50 -07:00
unknown c253996ea9 TradHeli - added TUNE value 13 to allow adjusting of external gyro gain using channel 6 2011-10-29 20:34:21 +09:00
unknown ea66c74ff0 TradHeli - added throttle scaling and heli specific angle_boost function that takes into account that heli's main blades can have -ve pitch. 2011-10-29 17:27:43 +09:00
Jason Short 1238944573 logging type change in CTUN 2011-10-28 21:59:47 -07:00
Jason Short 842311dfcd Added save WP note to APM_Config.h 2011-10-28 21:46:31 -07:00
Jason Short 7266c5372a Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-28 21:29:18 -07:00
Jason Short 07daf34ccc Added a slew rate to the alt change rate. 
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
 2011-10-28 21:29:10 -07:00
Andrew Tridgell 1118d26f03 fixed "Free RAM" display on bootup 2011-10-28 21:34:10 +11:00
Jason Short 46590e5f28 Log updates 
Added motor logging for different frame types. Switched the PM log to some new debugging values and speed up the writing of the value to the logs.
 2011-10-27 22:36:25 -07:00
Jason Short 04b5776601 50 rev 
Work in progress, revved the EEPROM
 2011-10-27 12:42:28 -07:00
Jason Short 27d9712e80 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	libraries/APM_PI/APM_PI.cpp
 2011-10-27 12:41:00 -07:00
Jason Short 2458fe078f Loiter updates 
Added new option to do rate based Loiter with lat and long values, avoiding GPS heading latency issues.
 2011-10-27 12:37:33 -07:00
Jason Short d089059f58 Set default gain to 20 2011-10-27 12:33:44 -07:00
Jason Short c8c26d8193 added boost scalar arguments 
removed accel math from Trig function into Attitude.pde
 2011-10-27 12:33:19 -07:00
Jason Short c6c7966205 Attitude 
Made the Acro mode more NG like. Should be much more nimble!
Tweaked the Accel hold with sim tests. not flight tested or enabled by default.
added option to set scalar in angle boost
 2011-10-27 12:31:46 -07:00
Jason Short 0b4a3ccadb Acro PI defaults 2011-10-27 11:55:13 -07:00
Jason Short dd23883097 Motor arming delays 
Speeding up delays for motor arming commands - Level and Inflight leveling.
 2011-10-27 11:54:46 -07:00
Jason Short a076b45506 Added Acro Params 
Allows user's to fly separate PI loops settings for Acro
 2011-10-27 11:52:00 -07:00
Jason Short d4e5281a4c Deafaut dead_zone call 
Sets the correct default values for the RC_Channel group for Quads.
 2011-10-27 11:35:02 -07:00
Jason Short 76bf784f8c RC_Channel Dead zone 
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
 2011-10-27 11:34:00 -07:00
Andrew Tridgell 5a44298d57 CLI: enable "hit enter 3 times" support for CLI 
if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode
 2011-10-27 21:54:07 +11:00
Jani Hirvinen a503d9a7a7 adding missing config parameters 2011-10-21 10:41:52 +07:00
Jani Hirvinen f5f3fa8fb9 Adding second default PID sets for bigger motors 2011-10-21 10:38:36 +07:00
Jason Short d551494b94 Added ability to dynamically set wp with toggle switch 2011-10-18 17:59:45 -07:00
Jason Short a693bea7d9 added extra user hook 2011-10-17 23:51:47 -07:00
Jason Short 42d0b5cdb3 tweaked Alt hold PIDs, loiter PIDs based on SIM testing and feedback. 
Increased distance error for loiter for faster return to center.
 2011-10-16 15:41:54 -07:00
Jason Short 3bf36b5427 fix for Camera Roll 2011-10-15 20:45:45 -07:00
Jason Short 2f751793bc typoo in params for camera roll gain. fixed. 2011-10-15 18:34:23 -07:00
Jason Short 4c1d10a75e Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-15 16:35:09 -07:00
Jason Short 6a5aefd0ec Added gains to adjust travel of camera. 2011-10-15 16:34:57 -07:00
Michael Oborne 5c10b2af6c ac quick redo fix 2011-10-16 06:58:03 +08:00
Jason Short 4052fd4f73 Made wpspeed governor run per second so 1hz gps doesn't fail. Gave a 1m/s minimum. Increased WPspeed max to 4.0m/s 2011-10-15 15:35:18 -07:00
Jason Short 4be2776b17 Added Andrew's user hooks. 2011-10-15 15:29:33 -07:00
Jason Short 142707711e Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
Jason Short 65f26f7138 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-13 10:55:17 -07:00
Jason Short 338396b76a slowed acceleration from WP 2011-10-13 10:54:51 -07:00
Michael Oborne e85e3b87a8 AC2 fix guide mode fly off 2011-10-13 18:34:32 +08:00
Jason Short 2330006fbe logging for gyro and accell testing 2011-10-12 21:21:46 -07:00
Jason Short 9500171a46 tweak to the Loiter N turns 2011-10-12 20:59:12 -07:00
Jason Short 43b3015963 lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Amilcar Lucas 04299122d8 Spell 2011-10-11 22:52:02 +02:00
Andrew Tridgell d11303ef78 removed an unused variable 2011-10-11 20:53:43 +11:00
Andrew Tridgell 97b3ced7aa fixed a signed/unsigned warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell eed26ae91a fixed a '=' vs '==' bug in do_loiter_turns() 2011-10-11 20:53:43 +11:00
Andrew Tridgell d89ae696ef merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Andrew Tridgell ea82b27fe5 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Andrew Tridgell 0939b51a4c added build makefiles 2011-10-10 07:18:38 +11:00
Andrew Tridgell 5a71030d76 don't check the slider switch if CLI is disabled 
this prevents a build error in desktop mode
 2011-10-09 22:39:23 +11:00
Andrew Tridgell c61fe55d76 don't initialise DataFlash if logging is disabled 2011-10-09 22:38:49 +11:00
Andrew Tridgell 01e5ae2ab9 use memcheck_available_memory() instead of freeRAM() 
this provides a more accurate view of memory
 2011-10-09 22:38:14 +11:00
Michael Oborne d42f2e230e undo config change 2011-10-08 21:13:53 +08:00
Michael Oborne a052c25899 Merge commit 'e7f5e4a623b79872a015dff5ca959e60f6f7fd64' 2011-10-08 20:43:13 +08:00
Jason Short c25478448b Quick RTL Fix, logic was backward 2011-10-07 11:06:31 -07:00
Jason Short 167df79b49 Better Loiter PIDs 
Fixed RTL overshoot bug
 2011-10-06 17:42:09 -07:00
Michael Oborne fab2121c6d fix ac2 hil build 2011-10-04 18:55:10 +08:00
Michael Oborne f9883bf382 fix make issue 2011-10-04 09:34:47 +08:00
Jason Short 1ff372a41d Implementing a limiter for the ramp up of speed to WPs. 2011-10-03 10:37:56 -07:00
Jason Short eb1117b136 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-02 11:36:31 -07:00
Jason Short b0bd9d1c44 Added second PI loop for alt hold. 
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
 2011-10-02 11:36:23 -07:00
Amilcar Lucas ee4251baef Fix compilation 2011-10-02 14:52:02 +02:00
Amilcar Lucas 3d1902abac Use the new AP_Relay library 2011-10-02 14:22:27 +02:00
Jason Short 189fc194b6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-30 18:40:40 -07:00
Jason Short f89da12387 Minimized the accel_filtered vector to be faster and more accurate. 
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
 2011-09-30 18:40:29 -07:00
James Goppert e20c279ca5 Added makefiles for ArduCopter/ArduPlane. 
These files are not generated by cmake. They are necessary for
the make based build to work. To build using this method
type make in the directoy such as ArudPlane/ArduCopter. Make
sure that you do not call cmake in the ArduPlane etc directory
as this will overwrite this Makefile with the autogenerated cmake
version. Cmake should be called from withing a build directory.
 2011-09-30 07:16:48 -04:00
Janne M b4e56e889f ArduCopter: Fixed board setting in cmake-file. Removed now autogenerated Makefile 2011-09-30 11:30:43 +03:00
Jason Short 12cd4539a3 2.0.46 preliminary release 2011-09-29 23:30:32 -07:00
Jason Short a7ea200407 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-29 23:27:36 -07:00
Jason Short de61e87128 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
James Goppert 5489b84f8e Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert dafaa1fa0b Merge branch 'apo' 
Conflicts:
	ArduBoat/ArduBoat.pde
	ArduBoat/CMakeLists.txt
	ArduRover/ArduRover.pde
	ArduRover/CMakeLists.txt
	apo/CMakeLists.txt
	apo/apo.pde
 2011-09-29 14:22:55 -04:00
James Goppert d887a28b91 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Jason Short 758d0e1aec Attempting to mimic loiter values for 4.0.42 
lowered Rate Error max in loiter
 2011-09-28 23:11:19 -07:00
Jason Short c881600385 lowered the deadzone a tad 2011-09-27 13:56:02 -07:00
Jason Short 888e1119e8 Added Loiter P tuning as #12 2011-09-27 09:39:32 -07:00
Jason Short c209d6e6dd 2.0.46 -Not flight tested! 
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
 2011-09-27 09:35:05 -07:00
Jason Short 326cfef808 Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth. 2011-09-26 22:12:39 -07:00
Michael Oborne d8fd3eadfd heli config 2011-09-27 07:36:12 +08:00
Michael Oborne b33eaa8c9c heli hil config 2011-09-27 07:34:32 +08:00
Michael Oborne 108a89f617 heli hil 2011-09-27 07:30:28 +08:00
Jason Short 0ed9af1bf5 Turned off Rate_I for Arduino users. 2011-09-25 15:34:59 -07:00
Jason Short b2a2221474 Fixed issue with Simple mode changes. 
Reverted to simpler, safer timer code for throttle hold
 2011-09-25 14:16:35 -07:00
Jason Short f437e4b2d1 Revved the firmware to force resetting the EERPOM 2011-09-25 12:24:02 -07:00