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1481 Commits

Author SHA1 Message Date
Amilcar Lucas d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Amilcar Lucas 0b0b9c29a2 Allow fully independent operation of two AP_Mount instances 2012-08-08 23:11:23 +02:00
Amilcar Lucas 9cc705939a Add a second mount instance 2012-08-08 23:07:25 +02:00
Andrew Tridgell 03714fc695 ACM: make it possible to set AHRS_GPS_GAIN on ArduCopter 
this was affected by the AP_Param change, in particular the
constructor ordering. To ensure a user can set AHRS_GPS_GAIN to 1.0 if
they want to, we need to do a set_and_save() if the value isn't in
EEPROM
 2012-08-08 17:36:01 +10:00
Andrew Tridgell 103b02fe94 ACM: removed pointless load() calls 2012-08-08 16:51:14 +10:00
Andrew Tridgell fb26160d3b ACM: change to use get_bearing_cd() instead of get_bearing() 2012-08-08 12:12:30 +10:00
Andrew Tridgell c2a4d59132 AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
rmackay9 f79b90725e ArduCopter: Dan Gray's fix for Condition_Yaw 
command_yaw_dir is an unsigned byte but was being set to a -ve number leading to very incorrect yaw target heading for counter clockwise turns.
command_yaw_end (i.e. turn's end target) was not being set if turn was of type "relative"
 2012-08-07 06:43:10 -07:00
Amilcar Lucas d9f1140278 ArduCopter: Use generic channel names for AP_Mount servos. 
This simplifies mission planner, the same code can be used for plane and copter now.
 2012-08-06 23:33:51 +02:00
Amilcar Lucas e93daca17e Fix heli compilation 2012-08-06 23:30:02 +02:00
Amilcar Lucas f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas aa3cc63b15 ArduCopter: Make the code fit in a 1280 chip again 
Even allows to control a camera/antenna mount, if the user explicitly wants to.
 2012-08-06 00:23:48 +02:00
Amilcar Lucas 0106c133cf Default CLI_SLIDER_ENABLED to DISABLED 
Chris asked for this on the mailing list
 2012-08-06 00:22:33 +02:00
Amilcar Lucas af08b630cd Spellcheck in comments 2012-08-06 00:21:14 +02:00
Amilcar Lucas 107155fa1a AP_Mount: Allow using any RC channel to control any of the mount axes. 
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
 2012-08-05 23:48:57 +02:00
Amilcar Lucas b8c7b8a786 RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas afd96025a7 ArduCopter: Save more space in APM1280 2012-08-05 23:05:52 +02:00
Amilcar Lucas 9c1ac2d9e6 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas 4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas bbc4bdb729 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas d29f7023cc Merge from ArduPlane 2012-08-04 18:38:50 +02:00
rmackay9 c091c8e0e6 ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode. 2012-08-01 12:15:02 +09:00
rmackay9 a5b5f6a619 ArduCopter: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:27 +09:00
Andreas M. Antonopoulos 7262b0429a AP_Limits: experimental "bounce" mode. 2012-07-31 18:39:58 -07:00
Andreas M. Antonopoulos de85442c36 AC2.7.1: Updated version and tag 2012-07-31 13:11:17 -07:00
Jason Short 8c47b0c087 ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling. 2012-07-30 15:43:05 -07:00
rmackay9 77b1785bc6 ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values 2012-07-30 11:01:45 +09:00
Michael Oborne e577b51e17 AC remove attitude hil unused extra (gps jump issue.) 2012-07-29 08:18:41 +08:00
rmackay9 5cb4a88292 ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered) 2012-07-28 23:05:05 +09:00
rmackay9 3047084ed3 ArduCopter: added DMP_ENABLED to APM_Config.h to make it easier for people to enable it. 2012-07-28 16:31:38 +09:00
rmackay9 670a66667f ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing) 2012-07-28 16:22:35 +09:00
Michael Oborne ef870e3ca1 AC remove some attitude HIL limitations 2012-07-28 13:59:30 +08:00
rmackay9 94cb325184 ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP 2012-07-28 14:21:45 +09:00
rmackay9 014f5aae99 ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP 2012-07-28 14:21:07 +09:00
rmackay9 f97257830b ArduCopter: changes in arducopter to support moving AHRS var_info from AP_AHRS to AP_AHRS_DCM 2012-07-28 14:18:31 +09:00
rmackay9 8e5312a759 ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command 
do_nav_roi and verify_nav_roi functions added to turn the copter and/or mount in response to a MAV_CMD_NAV_ROI way point
 2012-07-25 11:02:54 +09:00
Michael Oborne f4705577c8 AC fix sitl attitude hil build 2012-07-24 21:18:36 +08:00
Jason Short 8188058404 ACM: Failsafe Fix for Mission planner initiated AUTO mode 
Keeps the failsafe from exiting Auto mode when returning from failsafe. Added arming ability for Toy mode.
 2012-07-23 19:34:25 -07:00
Andreas M. Antonopoulos 80cf794c86 AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant. 2012-07-21 17:52:06 -07:00
Jason Short b17eb7f768 ACM: Fixed Baro rate patch to work with Sonar and added simple filter 2012-07-21 16:45:00 -07:00
Jason Short 96aabb7712 ACM: Lowered default Alt hold P 2012-07-21 16:45:00 -07:00
Jason Short 55c342c858 ACM: Safety patch for CH7 flip toggle. Prevents flipping while on the ground. ouch. 2012-07-20 16:47:05 -07:00
Jason Short 1d085c8cf4 Added minimum speed for RTL 2012-07-20 13:27:35 -07:00
Jason Short fcd0e12a1e ACM: Flip code revision to fix bad orientation bug. 2012-07-20 13:27:35 -07:00
Jason Short ca70acbf64 Arducopter: Added safety check for inadvertent triggering of flip code. 2012-07-20 13:27:35 -07:00
Jason Short 9f6e1347b6 Ardcucopter: RTL distance check update, reset I terms fixed. 2012-07-20 13:27:35 -07:00
Jason Short 613849a8df Arducopter: Force nav_yaw to match auto_yaw when starting a mission 2012-07-19 22:59:03 -07:00
Jason Short 2b20c85279 Arducopter: cleanup, skip out of throttle control when flipping. 2012-07-19 22:35:21 -07:00
Jason Short fbe898a6db Arducopter: motors.pde formatting 2012-07-19 22:35:21 -07:00
Jason Short 3b496ff229 Arducopter: Upped D rate to .005 by default 2012-07-19 22:35:21 -07:00
Andrew Tridgell 0a12b6ad6f ACM: fixed HIL build with new accel setup code 2012-07-20 12:46:16 +10:00
Andrew Tridgell 85465c9126 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jason Short f46e8468c4 Arducopter: Adjusted speed of climb to not stall out before hitting peak 2012-07-19 17:53:49 -07:00
Jason Short da6d981479 Arducopter: Testing toy mode - commented out by default 2012-07-19 17:50:42 -07:00
Jason Short ad45012739 Arducopter: Renamed Config define (RTL_HOLD_ALT) 2012-07-19 17:50:15 -07:00
Jason Short 351b503fb6 Arducopter: Flip Check 2012-07-19 17:49:17 -07:00
Jason Short 49c7579079 Arducopter: Config.h defaults adjustments 2012-07-19 17:48:48 -07:00
Jason Short 610d1d1795 Arducopter: deprecated the get_nav_yaw_offset function. 
Small Toy mode updates
 2012-07-19 17:41:52 -07:00
Jason Short 91062b56af Arducopter.pde: Increased the throttle Hold altitude control 
simplified Yaw reset
 2012-07-19 17:38:25 -07:00
Jason Short 6506ebf69f Arducopter: Fix compile issue 2012-07-19 10:09:16 -07:00
Jason Short 5a73a2b9cd Arducopters parameter: Adjusted RTL_ALTITUDE units so they reflect comments in config.h 2012-07-19 09:50:57 -07:00
Jason Short 2df487ab7b Arducopter: Slower WP deceleration for RTL and WP navigation 
Slower descent and slightly faster ascent
 2012-07-19 09:50:18 -07:00
Jason Short 3401bd3583 Arducopter: Clarified units in comment 2012-07-19 09:49:13 -07:00
Jason Short 3a62608355 Arducopter: Added Slow_WP setting to regular wp navigation 2012-07-19 09:48:54 -07:00
Jason Short 1efc9eac58 Arducopter: Adjust landing speed 
removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.
 2012-07-19 09:48:31 -07:00
Jason Short c9d3ab5413 Oilpan ADC parameters added 
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
 2012-07-18 22:57:11 -07:00
Jason Short e09d6ad7a8 Arducopter 
Simplified the inertial calcs for now
 2012-07-18 22:57:11 -07:00
Jason Short a7b1252b51 arducopter 
alt hold state reset
 2012-07-18 22:57:11 -07:00
Jason Short c995749aaa Arducopter 
upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.
 2012-07-18 22:57:11 -07:00
Jason Short 66ac438b9e Arducopter 
Better logging for Raw Inertial values
 2012-07-18 22:57:11 -07:00
Jason Short dcf9f9dab1 Arducopter 
for rate altitude changes
 2012-07-18 22:57:10 -07:00
Jason Short 71248fe114 Arducopter 
increased landing authority
 2012-07-18 22:57:10 -07:00
Jason Short c9851344e7 Arducopter 
removed old Var
 2012-07-18 22:57:10 -07:00
Jason Short a88d69e40e Arducopter: 
Loiter unlimited can now travel to a WP and then loiter.
set_altitude for landing now set to 0
 2012-07-18 22:57:10 -07:00
Jason Short aa645afe2b Arducopter: Altitude change nav 
Split altitude hold into two controls to parallel navigation.
 2012-07-18 22:57:10 -07:00
Jason Short cb1cdcd4a7 Arducopter: New Alt control code 
Uses a new method to manage altitude changes. Alt hold controller was split into a hold and a rate controller just like navigation. Changing alt is done by specifying a climb rate.
Interactive alt hold is now simplified and is an 80cm climb or descent.
 2012-07-18 22:57:10 -07:00
Jason Short 3f5e787fe8 Arducopter: Flip mode 2012-07-18 22:57:10 -07:00
Jason Short 9dad38e91d Arducopter: Flip mode 
Flip mode graduates
 2012-07-18 22:57:10 -07:00
Jason Short 5965632888 Arducopter: Flip mode 
Flip mode graduates to pre-compiled option
 2012-07-18 22:57:10 -07:00
Jason Short f73a2004be Arducopter: INS 
updated Nav control to use INS
 2012-07-18 22:57:10 -07:00
Jason Short 98725be0ec Arducopter: INS 
removed calibrate accels for now
 2012-07-18 22:57:10 -07:00
Jason Short 97845cace1 Arducopter: INS 
Updated INS gains
 2012-07-18 22:57:10 -07:00
Jason Short 0d8e8e0a04 Arducopter: INS 
removed IMU test, updated INS test to include normalized gravity accel vector.
 2012-07-18 22:57:10 -07:00
Jason Short bb99bd4626 Arducopter: INS 
removed zero accells call
 2012-07-18 22:57:10 -07:00
rmackay9 33d8cbfd51 ArduCopter: small bug fix to radio.pde to allow code to compile when MOUNT == DISABLED 2012-07-18 23:49:41 +09:00
rmackay9 b691c3f658 ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch. 
This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
 2012-07-18 23:49:09 +09:00
Michael Oborne 636fcadde4 fix rc libray param gen 2012-07-18 07:03:39 +08:00
Andreas M. Antonopoulos 0e5345d17b AP_Limits: documentation bug (which uncovered a param_parser bug - the irony burns) 2012-07-16 23:35:11 -07:00
Jonathan Challinger fc4f111d15 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
Andreas M. Antonopoulos a976a59c88 AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling. 2012-07-16 11:46:43 -07:00
Michael Oborne e632ad6aa4 AC fix limits param gen header 2012-07-15 18:23:06 +08:00
rmackay9 36ecdff593 ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library) 2012-07-15 16:38:52 +09:00
rmackay9 c495a5f36e ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move 2012-07-15 16:38:28 +09:00
rmackay9 761dad4e99 ArduCopter: restored set_range calls for RC_Channels 5 ~ 8. 2012-07-15 16:37:40 +09:00
rmackay9 29b6ec0b11 ArduCopter: reverted channel 5~8 to be regular RC_Channel objects, restored rc_camera_roll and rc_camera_pitch RC_Channels and created new rc_camera_yaw RC_Channel to control the camera mount servos. 
Defined camera_mount (MNT_) in Parameters.h and Parameters.pde so that it appears in global parameters list.
Removed unused camera_*_gain and camaera_*_continuous parameters.
 2012-07-15 16:36:05 +09:00
rmackay9 793fb7f059 ArduCopter: added definition for yaw channels. 
APM1 uses channel 11 for camera's yaw servo, APM2 uses channel 8.  This should allow all frame types except octacopters to potentially use a 3 axis camera mount.
 2012-07-15 16:31:23 +09:00
Andreas M. Antonopoulos c73f7ef3ab AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Jason Short 584e7dcda4 Arducopter: Removed Yaw Limit for Quads 2012-07-14 14:06:34 -07:00
Jason Short 44b16b7b61 Arducopter: Temp reversion to old Yaw controller. 2012-07-14 12:26:13 -07:00
Jason Short e3af0c7920 Arducopter: Yaw stop fix 2012-07-14 12:23:10 -07:00
Robert Lefebvre 59e133235f Implementing Yaw Fix. Tried to blend with Jason's changes. 2012-07-14 00:24:22 -04:00
Jason Short 4af392290b Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance 2012-07-13 19:29:36 -07:00
Jason Short 7b746cf5e1 Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions 2012-07-13 12:51:38 -07:00
Jason Short d34ca0e6ea Arducopter - commands: Add home logging 2012-07-13 11:51:40 -07:00
Jason Short d8ff5dcfab Arducopter: Fix circle_WP 2012-07-12 09:22:20 -07:00
Jason Short a28070e0e0 Arducopter: Loiter unlimited fix 2012-07-12 08:52:49 -07:00
Andreas M. Antonopoulos d4a0cb5db1 Added Michael Pursifull's Maxsonar HRLV model support 2012-07-11 18:46:47 -07:00
Jason Short 7a5544051d Arducopter 
Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
 2012-07-11 17:46:07 -07:00
Jason Short 6f9e2bf3a8 Arducopter: Toy mode update 
Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
 2012-07-11 17:46:06 -07:00
Jason Short 1feaaa4655 Arducopter: Toy mode refinements 2012-07-10 21:53:38 -07:00
Jason Short 293f17902b Arducopter:Arducopter.pde 
switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
 2012-07-10 21:53:38 -07:00
Jason Short c04bff67de Arducopter: Config.h, default gain tweaks from flight tests. 2012-07-10 21:53:38 -07:00
Jason Short f35b5ba13f Arducopter:test.pde made a note for WP radius that shows m in the printout. 2012-07-10 21:53:38 -07:00
Jason Short 782ebf5176 Arducopter:Log.pde Logging the calculated Climbrate 2012-07-10 21:53:38 -07:00
Jason Short 3048d2f9b4 Arducopter: WP_radius 
Switching to stored WP_radius in meters, just like Arduplane
 2012-07-10 21:53:38 -07:00
Jason Short 0620d86bfd Arducopter:Params 
WP_RADIUS_DEFAULT is now stored the same as Arduplane
 2012-07-10 21:53:37 -07:00
Jason Short 1dbde3f803 Arducopter: Added note 2012-07-10 21:53:37 -07:00
Jason Short af5423b863 Toy Mode: High Yaw default 2012-07-10 21:53:37 -07:00
Jason Short 19d8c405fd Arducopter : Force home alt to 0 2012-07-10 21:53:37 -07:00
Jason Short 89fec907e2 Arducopter: CH7 Waypoint saving 
Saves the takeoff Waypoint as Home + new altitude rather than current location.
 2012-07-10 21:53:37 -07:00
Amilcar Lucas dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Andrew Tridgell be763a6ead ACM: use get_distance_cm() not get_distance() 
this fixes a bug introduced in 28f2eb6b9
 2012-07-11 07:50:07 +10:00
Andrew Tridgell 0f9fb2c64b AHRS: added AHRS_GPS_GAIN parameter 
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
 2012-07-10 16:22:48 +10:00
Jason Short f019d41729 arducopter.pde 
Timer was set =0 at initialization.
 2012-07-09 13:13:32 -07:00
Jason Short 226bba48a6 Toy Mode Yaw Rate fix 2012-07-09 13:13:32 -07:00
Jason Short cf6d73ec88 commands.pde RTL Alt 
fix to maintain current altitude of we are above our RTL alt for safety.
 2012-07-09 13:13:32 -07:00
Jason Short 038116f521 Airspeed patch: 
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
 2012-07-09 13:13:32 -07:00
Andreas M. Antonopoulos 384365832a ArduCopter: Copied parameter documentation from ArduPlane, where appropriate 2012-07-04 23:33:55 -07:00
Andrew Tridgell 8220ae8096 MAVLink: climb_rate is in m/s 2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos fdbb1ebd42 parameter documentation to test auto build 2012-07-04 20:06:12 -07:00
Andrew Tridgell 60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Adam M Rivera 857ad6c706 Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals. 2012-07-04 21:08:03 -05:00
Adam M Rivera 6e93ab6af6 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Andrew Tridgell 5ed345fe94 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Jason Short fd97eb5a8d commands 
fixed logic bug to make a copter loiter after the mission is ended.
 2012-07-03 17:38:50 -07:00
Jason Short 37685756df Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short c29a0bc3f8 Navigation 
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
 2012-07-03 17:34:50 -07:00
Jason Short 3a3966736c Params 
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
 2012-07-03 17:33:03 -07:00
Jason Short 8ccda519fa Arducopter.pde: 
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
 2012-07-03 17:21:46 -07:00
Jason Short b076b571eb commands_logic: Removed some old unused code 2012-07-03 17:19:19 -07:00
Jason Short 2d572461ec Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short 1070eea70b Log.pde: formatting 2012-07-03 17:16:26 -07:00
Jason Short 1a6549fef7 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short c62706ad06 Toy Mode: Yaw performance update. 2012-07-03 17:14:54 -07:00
Jason Short 8a08a74cc6 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short 16b25a26c2 Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks. 2012-07-02 17:52:38 -07:00
Jason Short e0b3309500 Yaw mode: 
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
 2012-07-01 13:40:12 -07:00
Jason Short 9a30270879 System.pde - RTL 
removed Approach mode, fixed RTL to loiter until desired altitude is reached
 2012-07-01 13:40:12 -07:00
Jason Short e35fb9ecd7 Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short 3cf16c1424 GCS_Mavlink.pde 
removed Approach define
 2012-07-01 13:40:11 -07:00