rmackay9
23c3f25654
ArduCopter - Attitude.pde - moved heli_get_angle_boost from heli.pde (which will be removed) to Attitude.pde. In fact we should combine heli_get_angle_boost and the regular get_angle_boost.
2012-04-04 22:51:39 +09:00
rmackay9
544237d60a
ArduCopter - add includes for new AP_Motors classes.
...
Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
2012-04-04 22:50:43 +09:00
Andrew Tridgell
40d7b07789
MAVLink: port the new adaptive flow control to ArduCopter
...
This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
2012-04-02 11:18:53 +10:00
rmackay9
b0c9a25024
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
...
also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
Andrew Tridgell
1e0a2fb0be
MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
...
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.
This makes MAVLink work better at low baud rates
2012-03-30 17:46:20 +11:00
Andrew Tridgell
0985327331
ACM: use set_blocking_writes(false) when we arm motors
2012-03-30 17:46:20 +11:00
Andrew Tridgell
36e741b078
MAVLink: raise the serial transmit buffer size to 256 bytes
...
the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
Andrew Tridgell
58f539ca35
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
...
we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
Adam M Rivera
0727955fe3
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
2012-03-30 14:25:06 +11:00
rmackay9
a12a7a7d87
ArduCopter - added CH6_STABILIZE_KD tuning value
2012-03-29 21:09:41 +09:00
rmackay9
2cc87af180
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
...
#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
Andrew Tridgell
8ccf3a05f0
Mavlink: fixed warnings about limits on int32 values
2012-03-27 15:37:25 +11:00
Andrew Tridgell
409c147ce3
ACM: fixed heli build
2012-03-27 15:37:25 +11:00
Andrew Tridgell
5d7c571fb1
ACM: fixed the build on the 1280
2012-03-27 15:37:24 +11:00
Andrew Tridgell
4821eb4807
ACM: enable the new compass offset nulling in ACM
2012-03-27 15:37:24 +11:00
rmackay9
441413f1c6
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
rmackay9
eb55234809
ArduCopter - updated firmware version to 2.5.3
2012-03-25 09:13:51 +09:00
rmackay9
1f253c5217
ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter
2012-03-23 23:48:24 +09:00
rmackay9
19981d4864
ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area
2012-03-23 23:12:49 +09:00
Robert Lefebvre
872ec65afa
Fix Auto_Trim to allow it to actually be called when setup on Ch7 pulldown menu in MP.
2012-03-23 09:17:58 -04:00
Jason Short
74893f6959
Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator
2012-03-22 10:01:24 -07:00
rmackay9
be22deb56f
ArduCopter - motors_quad.pde - corrected test sequence for + configuration
2012-03-21 22:04:50 +09:00
rmackay9
7dc18b53ad
ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint
2012-03-20 17:11:22 +09:00
rmackay9
198ac97914
ArduCopter - updated version to 2.5.1
2012-03-20 17:08:18 +09:00
rmackay9
0ba48a8556
ArduCopter - increased default THROTTLE_CRUISE to 450
2012-03-20 16:34:07 +09:00
rmackay9
ce6b1ccc75
ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!)
2012-03-20 16:13:38 +09:00
Andrew Tridgell
dc71191f25
MAVLink: constrain variable changes to the datatype range
...
if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
2012-03-19 17:29:02 +11:00
Andrew Tridgell
690ad58a64
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
Jason Short
223a6f80c8
ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes.
2012-03-18 22:31:22 -07:00
Jason Short
722a4d01e8
ACM: Attitude.pde - consolidated wind I term resets
2012-03-18 22:31:21 -07:00
Jason Short
e42c64f94e
ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset.
2012-03-18 22:31:21 -07:00
rmackay9
bed667c62e
ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero)
...
- remove incorrect comments about when loiter target position is reset.
2012-03-18 15:16:04 +09:00
rmackay9
7bf4e22c7b
ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore
2012-03-18 14:53:19 +09:00
rmackay9
485cebf85c
ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations)
2012-03-18 12:11:12 +09:00
Jason Short
27f276a066
ACM: Lowered gains from flight tests today with 3DR Quad
2012-03-17 11:04:01 -07:00
Jason Short
f6638d00d6
ACM: Smoother Speed calcs
2012-03-16 14:10:19 -07:00
Jason Short
09995aed62
ACM: Softer Loiter Gains
2012-03-16 14:10:19 -07:00
Jason Short
234a5dc65e
ACM: Small fix to nav_throttle to prevent too fast of a landing.
2012-03-16 14:10:19 -07:00
Jason Short
d52b93849e
ACM: Fixed comment
2012-03-16 14:10:19 -07:00
Jason Short
1ecca36dd0
Fixed Scaling bug in Sonar mixing
2012-03-16 14:10:19 -07:00
Jason Short
0c6a87db3f
ACM: Disabled D term experiment for Loiter until more testing
2012-03-15 19:20:03 -07:00
Jason Short
ce14ef1b2b
Tune down Loiter_P a hair
2012-03-15 19:17:27 -07:00
Robert Lefebvre
0bc40f51fb
Small fix on the Traditional Helicopter Collective-Yaw compensation calculation.
2012-03-15 20:14:18 -04:00
rmackay9
eea8d67a1e
ArduCopter - removed #define AUTOMATIC_DECLINATION ENABLED line to ensure users don't try and enable it because it needs a bit more work before it's ready for general use
2012-03-15 21:58:42 +09:00
analoguedevices
eb530a2045
Rev'ed version number to 2.5. Added more credits
2012-03-15 02:38:54 +00:00
Jason Short
59fb1f3542
ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system.
2012-03-13 21:31:16 -07:00
Jason Short
50b4c07261
Lowering the D filter for less latency and less oscillation.
2012-03-13 12:58:46 -07:00
Jason Short
72d03a8046
ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.
2012-03-13 10:23:31 -07:00
Jason Short
0edc1020ac
ACM: Loiter D performance updates
2012-03-13 10:23:31 -07:00
Jason Short
6edad4d9ef
ACM: Larger filter for Loiter D
2012-03-13 10:23:30 -07:00