254674aedd
2.0.39
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New hex a motors_out with Tridge's stability patch.
Simplified the CUT_MOTORS section of the code.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3024 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-05 16:43:16 +00:00
1316b58ef0
2.0.39
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added defines for CH7 behavior - DO_FLIP 1, DO_SET_HOVER 0 (Default)
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3023 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-05 16:22:43 +00:00
834de9f6c7
2.0.39
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added defines for CH7 behavior
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3022 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-05 16:21:55 +00:00
6748ffd112
2.0.39
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added defines for CH7 behavior, Tweaked Loiter config based on testing by Jack.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3021 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-05 16:21:21 +00:00
10e2eb3571
Added Jose Julio's Flip code, edited to work with AC2. Never flown or tested!
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3020 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-05 16:19:06 +00:00
a78b057cec
Added Jose Julio's Flip code, edited to work with AC2. Never flown or tested!
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3019 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-05 16:17:26 +00:00
b062e8e6f8
fixed PSTR() on motor arm messages
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3004 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-02 13:34:27 +00:00
4dc9de81a3
re-added ARMING messages in HIL mode
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this is useful as in HIL mode you don't always have blinking lights
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3003 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-02 13:25:58 +00:00
07b8d0dfe5
2.0.39
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Returned to previous log version for sonar messages to fix the cosmetic bug in the planner
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3000 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 22:01:25 +00:00
6c75a03230
2.0.39
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Made the Yaw on RTL always on for Helis
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2999 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 22:00:26 +00:00
10d769a1d2
2.0.39
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Defaulted all values
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2998 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 21:56:22 +00:00
12785f6682
added SERIAL3_BAUD parameter
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this is the real baud rate divided by 1000. So 57600 is set as 57
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2997 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 11:39:17 +00:00
261c7edec9
MAVLink: send streams on both mavlink interfaces
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when doing init the user may be on the Xbee port
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2996 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 10:08:59 +00:00
5f9c03ca77
re-apply DEFAULT_LOG_BITMASK patch
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Jason, I assume you removed this patch accidentially
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2995 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 10:06:15 +00:00
022314ed4c
process MAVLInk packets during gps detection and IMU calibration
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this allows the GCS to connect immediately on startup
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2994 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 08:08:52 +00:00
1e915aae2b
2.0.39
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Added reset for all nav I when entering manual modes.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2992 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 05:12:10 +00:00
d70055398b
2.0.39
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Added extra groundstart init for the Ground Station
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2991 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 04:47:15 +00:00
cdfa3b07cb
2.0.39
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Changed how the throttle_slew was added to the output.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2990 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 03:48:16 +00:00
a0f61fd29e
2.0.39
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Added a limiter to Throttle_slew to not make the throttle go past 800.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2989 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-01 03:39:44 +00:00
f04436e68b
2.0.39
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mistake on the defaults for kP - not symmetrical.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2985 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 20:09:27 +00:00
cc054a7fac
2.0.39
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mistake on the defaults for kP - not symmetrical.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2984 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 20:06:36 +00:00
738d5db914
2.0.39
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limit RTL to 35°
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2983 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 19:57:35 +00:00
05122be463
2.0.39
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small change to RTL to prevent negative effects from flying backwards.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2982 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 19:42:07 +00:00
b2a47c01a7
small change to RTL to prevent negative effects from flying backwards.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2981 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 19:41:11 +00:00
bcc7bed491
fix hil build
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2970 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 01:24:20 +00:00
82e51aec82
Big update 2.0.38
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moved ground start to first arming
added ground start flag
moved throttle_integrator to 50hz loop
CAMERA_STABILIZER deprecated - now always on
renamed current logging bit mask to match APM
added MA filter to PID - D term
Adjusted PIDs based on continued testing and new PID filter
added MASK_LOG_SET_DEFAULTS to match APM
moved some stuff out of ground start into system start where it belonged
Added slower Yaw gains for DCM when the copter is in the air
changed camera output to be none scaled PWM
fixed bug where ground_temperature was unfiltered
shortened Baro startup time
fixed issue with Nav_WP integrator not being reset
RTL no longer yaws towards home
Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 20:42:54 +00:00
4dfce5d860
Fix Hil build on 2560
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2961 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 01:39:12 +00:00
e783246380
fixed defaults
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2944 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-26 03:44:16 +00:00
f2d3c0a246
added relay control to CH6
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2943 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-26 03:37:41 +00:00
580f981d30
fixed quad PWM clipping
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this adopts the simpler approach suggested by Jason.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2936 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-22 21:25:59 +00:00
87a260656e
fix float issues - crosstrack & target alt
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2935 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-21 23:36:22 +00:00
739a69c988
ACM - partial integration of optical flow sensor
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2934 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-21 23:14:53 +00:00
7ae9a53d41
quad: fixed the clipping of PWM outputs
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when we clip a motor output we need to decrease the opposite motor by
the same amount, otherwise we lose the ability to control the quad
when the servo outputs are extreme
Found using the quad HIL test. Thanks to Jani for testing this on a
real quad!
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2929 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-20 00:33:04 +00:00
e14d0df898
HIL: fixed build with HIL and logging
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thanks to Jani for noticing this
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2925 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-19 10:51:07 +00:00
9d9d82b222
HIL: we only need 50Hz attitude for HIL
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putting it in the fastest loop clogged up mavlink too much
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2923 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-19 09:49:57 +00:00
a4cf3bf87c
HIL: fixed altitude calculation
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ACM uses a zero home altitude, so we need an offset when using GPS for
altitude
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2910 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-18 12:44:02 +00:00
a0d599ad95
2.0.37
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Added rate of change limit for noisy Sonars.
converted to static functions - Tridge
New Throttle PIDs from Jack
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2904 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 19:14:23 +00:00
c741392434
2.0.37
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Added rate of change limit for noisy Sonars.
converted to static functions - Tridge
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2902 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 19:08:29 +00:00
f486d84271
2.0.37
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Added rate of change limit for noisy Sonars.
converted to static functions - Tridge
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2901 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 19:08:17 +00:00
6491ac2b58
CLI: make it possible to completely disable the CLI
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set CLI_ENABLED to DISABLED for no CLI. This saves a lot of memory
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2895 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:34:05 +00:00
0227c97a99
HIL: don't access dcm functions in HIL mode
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the dcm is not valid in HIL_MODE_ATTITUDE
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2894 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:33:53 +00:00
1a35209e5d
HIL: enable reception of GPS and ATTITUDE via MAVLink
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this allows us to get GPS position and ATTITUDE in HIL_MODE_ATTITUDE
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2893 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:33:42 +00:00
e6a46d888f
HIL: send location information
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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
2011-07-17 10:33:33 +00:00
ba21d6d642
HIL: when in HIL_MODE_ATTITUDE, we get altitude from gps setHIL
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we need to skip the barometer and sonar calls
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2891 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:33:17 +00:00
3dd3f1091e
don't force config in default APM_Config.h
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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
2011-07-17 10:33:09 +00:00
7b83bbf47b
make a lot more functions and variables static
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this saves about 1k of code space through better compiler optimisation
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2889 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:32:00 +00:00
8e5c48842f
make main variables and functions static
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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
2011-07-17 10:31:46 +00:00
1b2f19156f
logging: moved the default log_bitmask calculation to compile time
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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
2011-07-17 10:31:17 +00:00
1eb4b611e6
make it possible to completely disable logging
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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
2011-07-17 10:31:07 +00:00
72fc086005
allow flight modes to be setup over MAVLink
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this adopts the same method of setting up flight modes over MAVLink as
APM now has
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2885 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:30:53 +00:00
jasonshort
tridge60@gmail.com
mich146@hotmail.com
jphelirc
rmackay9@yahoo.com