Amilcar Lucas
9a8fd4738e
Add an optional second mount to ArduPlane and ArduCopter
2012-08-08 23:22:24 +02:00
Amilcar Lucas
1683f18bff
Allow fully independent operation of two AP_Mount instances
2012-08-08 23:11:23 +02:00
Amilcar Lucas
f321f5d9c5
Add a second mount instance
2012-08-08 23:07:25 +02:00
Andrew Tridgell
72935345ea
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
2ba08c2122
ACM: removed pointless load() calls
2012-08-08 16:51:14 +10:00
Andrew Tridgell
295a9ce39c
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
Andrew Tridgell
d8106cf20f
AP_Param: update ArduCopter core for new AP_Param interface
2012-08-08 12:11:57 +10:00
rmackay9
40839fdea2
ArduCopter: Dan Gray's fix for Condition_Yaw
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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
ff32fed176
ArduCopter: Use generic channel names for AP_Mount servos.
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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
16dd919819
Fix heli compilation
2012-08-06 23:30:02 +02:00
Amilcar Lucas
03b902d4b7
Add me :)
2012-08-06 00:40:12 +02:00
Amilcar Lucas
a961988bba
ArduCopter: Make the code fit in a 1280 chip again
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Even allows to control a camera/antenna mount, if the user explicitly wants to.
2012-08-06 00:23:48 +02:00
Amilcar Lucas
fc3a60a176
Default CLI_SLIDER_ENABLED to DISABLED
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Chris asked for this on the mailing list
2012-08-06 00:22:33 +02:00
Amilcar Lucas
2a3be452e0
Spellcheck in comments
2012-08-06 00:21:14 +02:00
Amilcar Lucas
36bcd827b4
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
fe4713b46e
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
f28be02286
ArduCopter: Save more space in APM1280
2012-08-05 23:05:52 +02:00
Amilcar Lucas
f3f89004e9
More work on ch9, 10 and 11
2012-08-04 19:44:41 +02:00
Amilcar Lucas
9b31938519
The mount type must be updated periodically
2012-08-04 18:44:08 +02:00
Amilcar Lucas
431ed1c9b9
More flexible RC support
2012-08-04 18:39:20 +02:00
Amilcar Lucas
7b2896c72b
Merge from ArduPlane
2012-08-04 18:38:50 +02:00
rmackay9
64f027bf42
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
b85986cb44
ArduCopter: bug fix to global var_info parameter list for ahrs object.
2012-08-01 10:52:27 +09:00
Andreas M. Antonopoulos
1ea2cb7b75
AP_Limits: experimental "bounce" mode.
2012-07-31 18:39:58 -07:00
Andreas M. Antonopoulos
005b3d7f62
AC2.7.1: Updated version and tag
2012-07-31 13:11:17 -07:00
Jason Short
4829e937ea
ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling.
2012-07-30 15:43:05 -07:00
rmackay9
072c247911
ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values
2012-07-30 11:01:45 +09:00
Michael Oborne
2d6d74f625
AC remove attitude hil unused extra (gps jump issue.)
2012-07-29 08:18:41 +08:00
rmackay9
38ff381620
ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered)
2012-07-28 23:05:05 +09:00
rmackay9
a10ac65c11
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
07a8d0cc99
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
f83ca8b296
AC remove some attitude HIL limitations
2012-07-28 13:59:30 +08:00
rmackay9
0073f65ac6
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
83ab9be0eb
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +09:00
rmackay9
38d974b63f
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
5318da9e0e
ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command
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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
78b94f39ae
AC fix sitl attitude hil build
2012-07-24 21:18:36 +08:00
Jason Short
34945b4e38
ACM: Failsafe Fix for Mission planner initiated AUTO mode
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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
f8a9cdd8cd
AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant.
2012-07-21 17:52:06 -07:00
Jason Short
9cf36c553c
ACM: Fixed Baro rate patch to work with Sonar and added simple filter
2012-07-21 16:45:00 -07:00
Jason Short
b6f45bb188
ACM: Lowered default Alt hold P
2012-07-21 16:45:00 -07:00
Jason Short
3d32bbc476
ACM: Safety patch for CH7 flip toggle. Prevents flipping while on the ground. ouch.
2012-07-20 16:47:05 -07:00
Jason Short
6177a1f5de
Added minimum speed for RTL
2012-07-20 13:27:35 -07:00
Jason Short
122e2430ff
ACM: Flip code revision to fix bad orientation bug.
2012-07-20 13:27:35 -07:00
Jason Short
2dfe38588d
Arducopter: Added safety check for inadvertent triggering of flip code.
2012-07-20 13:27:35 -07:00
Jason Short
e585eaa253
Ardcucopter: RTL distance check update, reset I terms fixed.
2012-07-20 13:27:35 -07:00
Jason Short
6067170f48
Arducopter: Force nav_yaw to match auto_yaw when starting a mission
2012-07-19 22:59:03 -07:00
Jason Short
c1186abf65
Arducopter: cleanup, skip out of throttle control when flipping.
2012-07-19 22:35:21 -07:00
Jason Short
6528aba386
Arducopter: motors.pde formatting
2012-07-19 22:35:21 -07:00
Jason Short
64d06a8f0e
Arducopter: Upped D rate to .005 by default
2012-07-19 22:35:21 -07:00
Andrew Tridgell
53e0e44704
ACM: fixed HIL build with new accel setup code
2012-07-20 12:46:16 +10:00
Andrew Tridgell
d0ebb4ca26
MAVLink: fixed another two places where micros() was used for a millisecond time
2012-07-20 11:57:15 +10:00
Jason Short
676f02da7c
Arducopter: Adjusted speed of climb to not stall out before hitting peak
2012-07-19 17:53:49 -07:00
Jason Short
ca470f8a53
Arducopter: Testing toy mode - commented out by default
2012-07-19 17:50:42 -07:00
Jason Short
24d05c171a
Arducopter: Renamed Config define (RTL_HOLD_ALT)
2012-07-19 17:50:15 -07:00
Jason Short
45f71e9783
Arducopter: Flip Check
2012-07-19 17:49:17 -07:00
Jason Short
f7017f1fb3
Arducopter: Config.h defaults adjustments
2012-07-19 17:48:48 -07:00
Jason Short
219fed1441
Arducopter: deprecated the get_nav_yaw_offset function.
...
Small Toy mode updates
2012-07-19 17:41:52 -07:00
Jason Short
8f7eba4fd1
Arducopter.pde: Increased the throttle Hold altitude control
...
simplified Yaw reset
2012-07-19 17:38:25 -07:00
Jason Short
05a2d3ae35
Arducopter: Fix compile issue
2012-07-19 10:09:16 -07:00
Jason Short
243aa72abe
Arducopters parameter: Adjusted RTL_ALTITUDE units so they reflect comments in config.h
2012-07-19 09:50:57 -07:00
Jason Short
ec1d400adf
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
91c1c255a2
Arducopter: Clarified units in comment
2012-07-19 09:49:13 -07:00
Jason Short
35144ccbf2
Arducopter: Added Slow_WP setting to regular wp navigation
2012-07-19 09:48:54 -07:00
Jason Short
bc843b0684
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
25c3ed6c4b
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
7e25775af9
Arducopter
...
Simplified the inertial calcs for now
2012-07-18 22:57:11 -07:00
Jason Short
79cdef1a48
arducopter
...
alt hold state reset
2012-07-18 22:57:11 -07:00
Jason Short
f29aa0dc25
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
a53a0a51be
Arducopter
...
Better logging for Raw Inertial values
2012-07-18 22:57:11 -07:00
Jason Short
bfabc54b01
Arducopter
...
for rate altitude changes
2012-07-18 22:57:10 -07:00
Jason Short
16adaf12db
Arducopter
...
increased landing authority
2012-07-18 22:57:10 -07:00
Jason Short
1595a662c0
Arducopter
...
removed old Var
2012-07-18 22:57:10 -07:00
Jason Short
c0a0e834e5
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
5f7c5ff387
Arducopter: Altitude change nav
...
Split altitude hold into two controls to parallel navigation.
2012-07-18 22:57:10 -07:00
Jason Short
f40d8f04af
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
806663b80b
Arducopter: Flip mode
2012-07-18 22:57:10 -07:00
Jason Short
3a11a7596a
Arducopter: Flip mode
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Flip mode graduates
2012-07-18 22:57:10 -07:00
Jason Short
095a9c5c96
Arducopter: Flip mode
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Flip mode graduates to pre-compiled option
2012-07-18 22:57:10 -07:00
Jason Short
c5d3620d2b
Arducopter: INS
...
updated Nav control to use INS
2012-07-18 22:57:10 -07:00
Jason Short
4c44dda7e8
Arducopter: INS
...
removed calibrate accels for now
2012-07-18 22:57:10 -07:00
Jason Short
f56e1582a2
Arducopter: INS
...
Updated INS gains
2012-07-18 22:57:10 -07:00
Jason Short
02f1695991
Arducopter: INS
...
removed IMU test, updated INS test to include normalized gravity accel vector.
2012-07-18 22:57:10 -07:00
Jason Short
0ea3424779
Arducopter: INS
...
removed zero accells call
2012-07-18 22:57:10 -07:00
rmackay9
fed92cc979
ArduCopter: small bug fix to radio.pde to allow code to compile when MOUNT == DISABLED
2012-07-18 23:49:41 +09:00
rmackay9
6ca8fda76d
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
45609b3e6f
fix rc libray param gen
2012-07-18 07:03:39 +08:00
Andreas M. Antonopoulos
5917928bdc
AP_Limits: documentation bug (which uncovered a param_parser bug - the irony burns)
2012-07-16 23:35:11 -07:00
Jonathan Challinger
e271f97b53
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
b03e424fda
AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.
2012-07-16 11:46:43 -07:00
Michael Oborne
6fe0882809
AC fix limits param gen header
2012-07-15 18:23:06 +08:00
rmackay9
f7bb7667a1
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
9276c68f80
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
f137f51ec0
ArduCopter: restored set_range calls for RC_Channels 5 ~ 8.
2012-07-15 16:37:40 +09:00
rmackay9
0dc0e3801c
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
46a44a6b1b
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
31fd74d94c
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Jason Short
eafdfb2fea
Arducopter: Removed Yaw Limit for Quads
2012-07-14 14:06:34 -07:00
Jason Short
f36aa618cf
Arducopter: Temp reversion to old Yaw controller.
2012-07-14 12:26:13 -07:00
Jason Short
3ce48cb42c
Arducopter: Yaw stop fix
2012-07-14 12:23:10 -07:00