we don't send MSG_LOCATION in HIL mode during GPS updates, as we don't
call the GPS update routines, so we need to send MSG_LOCATION as part
of the Position stream
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2892 f9c3cf11-9bcb-44bc-f272-b75c42450872
defaults for these are already in config.h, but protected with #ifndef
wrappers. The #ifndef wrappers are useful to allow users to have
makefile targets for different configs, so you can (for example), do
"make heli" with a local makefile
This makes it easier for developers to ensure that all configs build
correctly
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2890 f9c3cf11-9bcb-44bc-f272-b75c42450872
this makes most of the variables and functions in the main
ArduCopterMega.pde code static, which allows the compiler to optimise
better, and exposes unused variables as compiler warnings
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2888 f9c3cf11-9bcb-44bc-f272-b75c42450872
this saves a little bit of code by moving the calculation of the
default log bitmask to compile time from runtime
(merge from APM)
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2887 f9c3cf11-9bcb-44bc-f272-b75c42450872
set LOGGING_ENABLED to DISABLED to disable all logging. This saves
about 10k of flash when disabled.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2886 f9c3cf11-9bcb-44bc-f272-b75c42450872
Added Yaw control when descending in Alt hold
lowered kP & kD for Alt hold a tad
Adjusted RTL behavior to do speed control up to 4m to home, then go into Loiter
Fixed issue with AUTO not getting proper input.
Added Limit to high side of motors
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2874 f9c3cf11-9bcb-44bc-f272-b75c42450872
Added Yaw control when descending in Alt hold
lowered kP & kD for Alt hold a tad
Adjusted RTL behavior to do speed control up to 4m to home, then go into Loiter
Fixed issue with AUTO not getting proper input.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2873 f9c3cf11-9bcb-44bc-f272-b75c42450872
Added Yaw control when descending in Alt hold
lowered kP & kD for Alt hold a tad
Adjusted RTL behavior to do speed control up to 4m to home, then go into Loiter
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2872 f9c3cf11-9bcb-44bc-f272-b75c42450872
Added camera reversing parameters in AP_Var
Added RTL Throttle Hold set/check
Added dynamic speed control to slow down as you reach waypoints and RTL Home
upped Yaw Dead zone slightly.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2841 f9c3cf11-9bcb-44bc-f272-b75c42450872
Before: -> After
Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value)
Stabilize I –> Stabilize I (Stays same value)
Stabilize D –> Rate P (Stays same value)
–> Rate I (new)
Added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs.
Added framework for using DCM corrected Accelerometer rates. Code is commented out for now.
Added set home at Arming.
Crosstrack is now a full PID loop, rather than just a P gain for more control.
Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions
Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written.
Added Octa_Quad support - Max
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2836 f9c3cf11-9bcb-44bc-f272-b75c42450872
Slighted tuned down D term in Loiter PIDs after testing, tuned up P slightly
fixed alt hold bug cause when gaining 3D lock in alt hold.
Mavlink now reports correct throttle scaling value in mavlink
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2746 f9c3cf11-9bcb-44bc-f272-b75c42450872
Slighted tuned down D term in Loiter PIDs after testing, tuned up P slightly
fixed alt hold bug cause when gaining 3D lock in alt hold.
Mavlink now reports correct throttle scaling value in mavlink
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2745 f9c3cf11-9bcb-44bc-f272-b75c42450872
new Loiter PIDs
tuned down control on standard frame
shunk the mixing range for sonar from 3 meters to 2 meters
added framework for Guided mode - not tested!
removed pitch and roll deadzone
decoupled SIMPLE mode from LOITER PIDs
Synced Mavlink with APM
Logs report correct WP number now.
disabled Sonar spike filter.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2722 f9c3cf11-9bcb-44bc-f272-b75c42450872
Reverted to prior Rangefinderlib in case that was causing bad sonar readings.
reduced crosstrack gains and max angle to avoid overshoots and oscillations.
added additional D gain to Loiter hold to prevent overshoots
added D gain to WP_nav to avoid speed oscillations
upped navigation speed to 6m/s from 4.5m/s
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2710 f9c3cf11-9bcb-44bc-f272-b75c42450872
Fixed Mavlink issue
Added look at home option for SIMPLE mode. Off be default. Untested.
Upped performance of Yaw.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2695 f9c3cf11-9bcb-44bc-f272-b75c42450872
Fixed GCS updates,
Clear GCS Streamrates by default.
moved fast PWM functions to run all the time (for quads, experiment)
cleaned up Mavlink a bit.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2678 f9c3cf11-9bcb-44bc-f272-b75c42450872
changed Yaw to be offset from current angle to avoid the kick back.
Made minimum motor speed user settable, upped to 13% (130)
tweaked alt hold D to be higher and P to be slightly lower.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2579 f9c3cf11-9bcb-44bc-f272-b75c42450872
Includes updated motor tests. These need to be verified.
Nav loiter D was added (.03) - verify this helps.
Nav_lat is now filtered for Rate control. This is to keep jerky pitching to a minimum.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2448 f9c3cf11-9bcb-44bc-f272-b75c42450872
Made minor change in Loiter to check something.
Motor LEDs enabled. Let me know if they work OK.
Armed Motors is now Solid to match GPS behavior.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2421 f9c3cf11-9bcb-44bc-f272-b75c42450872
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2392 f9c3cf11-9bcb-44bc-f272-b75c42450872
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2391 f9c3cf11-9bcb-44bc-f272-b75c42450872
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2390 f9c3cf11-9bcb-44bc-f272-b75c42450872
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2389 f9c3cf11-9bcb-44bc-f272-b75c42450872
Cleanups, better logs for Alt hold, yaw debugging
I tuned up Hein's Hexa Yaw. I think we may need to adjust Yaw gains based on Frame type.
Crossing fingers, the next rev is the final.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2381 f9c3cf11-9bcb-44bc-f272-b75c42450872
Changes log step default to zero by recommendation from John C. Not sure why it works, Compiler should init to 0 by default.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2362 f9c3cf11-9bcb-44bc-f272-b75c42450872
tridge60@gmail.com
mich146@hotmail.com
jasonshort
jphelirc
deweibel@gmail.com
analoguedevices@gmail.com
dhcorley@msn.com
rmackay9@yahoo.com