Randy Mackay
d2bbc06502
Copter: allow throttle deadband to be redefined in APM_Config.h
2013-10-13 20:41:11 +09:00
Randy Mackay
0e740bd4e1
Copter: enable AUTOTUNE for mission planner build
2013-10-13 11:57:50 +09:00
Randy Mackay
6876107a15
Copter: autotune disables rate output from stab controller
2013-10-13 11:56:01 +09:00
Randy Mackay
8d1085feea
Copter: pre-arm expects mag len of 330 for APM1 (was 530)
2013-10-09 14:10:16 +09:00
Andrew Tridgell
6145924481
Copter: switch Linux to L3G4200D ins driver
2013-10-08 11:50:54 +11:00
Randy Mackay
ba92c4891a
Copter: make AutoTune a compile-time option
2013-10-04 15:50:50 +09:00
Randy Mackay
dab4f032f9
Copter: integrate BattMonitor
2013-10-03 11:16:28 +09:00
Andrew Tridgell
3665bec26d
Copter: fixed build for Linux
2013-09-28 22:04:16 +10:00
Randy Mackay
a53d28e018
Copter: remove support for dmp ahrs
2013-09-27 10:42:49 +09:00
Andrew Tridgell
566eaf7d41
Copter: fixed flymaple build with copterleds
2013-09-27 10:32:22 +10:00
Andrew Tridgell
a0b6481dfd
Copter: removed SMACCM support
2013-09-26 22:38:31 +10:00
Randy Mackay
2c96ed3f22
Copter: disable optical flow
...
This at least allows ArduCopter to be compiled with arduino until we
find larger flash savings
2013-09-24 21:59:19 +09:00
Andrew Tridgell
3378c7901a
Copter: added support for the flymaple board
2013-09-24 13:51:28 +10:00
Andrew Tridgell
91315715fe
Copter: removed CONFIG_PUSHBUTTON
...
not used anywhere any more
2013-09-23 18:10:22 +10:00
Andrew Tridgell
754bdbd25f
Copter: use new usb_connected() HAL function
2013-09-19 16:24:23 +10:00
Randy Mackay
65adb78f31
Copter: increase default battery capacity to 3500mAh
2013-09-15 11:54:07 +09:00
Randy Mackay
653a5036ae
Copter: #define for initial altitude jump during take-off
...
Developers can add a line like to APM_Config.h to reduce the initial
jump when taking off in Loiter or AltHold flightmodes:
#define ALT_HOLD_TAKEOFF_JUMP 0
2013-09-12 22:31:42 +09:00
Randy Mackay
e985253f1a
Copter: integrate notify
2013-08-30 13:01:35 +10:00
Randy Mackay
7c78936bc5
Copter: land by default at end of RTL
2013-08-30 10:34:23 +09:00
Randy Mackay
81074ebb3c
Copter: update Y6 defaults
2013-08-28 13:05:01 +09:00
Randy Mackay
d8eb7fb82f
Copter: remove x100 from IMAX definitions
2013-08-19 22:38:34 +09:00
Randy Mackay
2696e160e6
Copter: surface tracking improvement
...
Separate correction speeds for pilot input vs altitude-above-ground
errors to allow slower correction to sonar signals.
Change SONAR_GAIN parameter to be altitude error -> desired speed. This
means it should be set 10x larger than before.
Replace hard-coded sonar cut-off percentage of 70% with
SONAR_RELIABLE_DISTANCE_PCT.
Reduce sonar cut-off percentage to 60%.
Add desired sonar altitude to dataflash log's CTUN message.
2013-08-19 09:52:59 +09:00
Randy Mackay
d000967a76
Copter: pre-arm check for gps hdop < 2
2013-08-15 13:06:36 +09:00
Randy Mackay
6969ab573d
Copter: configurable max lean angle
...
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
2013-08-11 12:53:22 +09:00
Randy Mackay
5049595a2c
Copter: SPORT mode to use alt hold
2013-08-10 15:42:02 +09:00
Randy Mackay
d0dc5813cf
Copter: move CIRCLE_RADIUS definition
2013-08-07 14:03:28 +09:00
Randy Mackay
74fb500efe
Copter: integrate AC_Sprayer
2013-08-05 21:12:23 +09:00
Randy Mackay
49dbdce89c
Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P
2013-08-05 21:05:00 +09:00
Randy Mackay
21e523b9ac
Copter: Acro trainer separated into limited and leveled
2013-08-05 21:04:53 +09:00
Randy Mackay
e32342163d
Copter: rename ACRO variables
2013-08-05 21:04:50 +09:00
Randy Mackay
65276d360b
Copter: SPORT to use YAW_HOLD
2013-08-05 21:04:44 +09:00
Randy Mackay
39ab4f62ef
Copter: add SPORT mode
2013-08-05 21:04:41 +09:00
Randy Mackay
9672742b42
Copter: bug fix to look_ahead_yaw
...
Fix received from David Dewey
Was incorrectly using the direction instead of heading when deciding
whether to point forward or not. Reduced YAW_LOOK_AHEAD_MIN_SPEED to
1m/s because bug meant it was nearly always pointing forward and 10m/s
(the old value) seemed too high
2013-08-01 14:12:55 +09:00
Leonard Hall
64ce9b017d
Copter: Body frame ACRO upgrade
2013-07-11 17:53:25 +09:00
Randy Mackay
ac5d925115
Copter: revert Loiter Pos P to 1.0 (was 0.8)
2013-07-11 12:20:31 +09:00
Randy Mackay
1590a5d58a
Copter: increase Yaw Rate I 0.02
2013-07-11 12:20:29 +09:00
Randy Mackay
d77f7bc803
Copter: default Loiter Pos P to 0.8 (was 0.2)
2013-07-11 08:13:17 +09:00
Andrew Tridgell
c544a076ca
Copter: enable camera logging by default
...
these messages only happen on user defined camera triggering, so
should be low rate
2013-07-10 12:24:02 +10:00
Randy Mackay
45f47de98d
Copter: reduce default Loiter Pos P to 0.2 (was 1.0)
2013-07-07 16:00:09 -10:00
Randy Mackay
404cd5f3da
Copter: rename g.pid_throttle to g.pid_throttle_rate
...
Small code clean-up to make throttle rate controller's pid more obvious
2013-06-30 00:04:21 -10:00
Robert Gayle
917edcab11
Copter: added FS_THR_ENABLED_ALWAYS_LAND (=3) option: don't attempt RTL, just land
2013-06-27 10:19:38 -10:00
Andrew Tridgell
76d1791073
Copter: CONFIG_RELAY is not used
2013-06-25 12:47:07 +10:00
Randy Mackay
cd30103b76
Copter: increase default CIRCLE_RATE to 20deg/sec
2013-06-19 12:40:33 +09:00
Randy Mackay
069bd17928
Copter: reduce default AltHold P to 1.0 (was 2.0)
...
This helps reduce jumpiness due to althold feed forward
2013-06-16 15:32:25 +09:00
Randy Mackay
13c41e74f2
Copter: reduce pre-arm board voltage check to 4.3V
2013-06-02 20:47:58 +09:00
Olivier-ADLER
735406fa77
Copter : POSITION_HOLD mode -> allow user position control
2013-06-02 11:49:18 +09:00
Randy Mackay
1722e438d8
Copter: pass alt hold gain to WP_Nav library
2013-05-31 21:04:10 +09:00
Randy Mackay
1807840d4f
Copter: fixed comments re mag field pre-arm check
2013-05-31 12:28:04 +09:00
Randy Mackay
7b50ecc73c
Copter: pre-arm check for mag field length
2013-05-31 12:23:19 +09:00
Randy Mackay
a1821c89e7
Copter: pre-arm check for board voltage < 5.8V
2013-05-31 11:31:27 +09:00
Randy Mackay
c3d21a457f
Copter: add pre-arm board voltage check
...
Copter will not arm unless board voltage is over 4.5V
2013-05-28 21:50:31 +09:00
Randy Mackay
cdcf442f55
Copter: enable GPS failsafe by default
2013-05-27 11:25:37 +09:00
Randy Mackay
9fdab5e8fe
Copter: remove unused AUTO_SLEW_RATE parameter
2013-05-17 16:09:17 +09:00
Randy Mackay
38239c652a
Copter: ch8 aux switch
...
Ch8 can be used as an aux switch like ch7. Has all the same options as
ch7 and there is a safety check to ensure both switches aren't set to
the same function so as to avoid interfering with each other
2013-05-17 14:42:28 +09:00
Randy Mackay
566daf883a
Copter: remove unused MODE bit from LOG_BITMASK
...
We always log the mode so no need for this bit
2013-05-17 12:26:42 +09:00
Randy Mackay
1426f40319
Copter: remove unused JDrones motor PID overrides
2013-05-17 12:05:20 +09:00
Randy Mackay
e843bf3dfd
Copter: bug fix for POSITION mode throttle
...
Was using alt-hold throttle controller instead of manual throttle
controller
2013-05-14 11:56:09 +09:00
Randy Mackay
a2e298bbfc
Copter: change to default RTL yaw behaviour
...
We will not point the nose home for RTL but will point the nose for all
other waypoints
2013-05-14 11:52:39 +09:00
Andrew Tridgell
0d027b7a23
Copter: updates for new compass API
2013-05-02 12:48:14 +10:00
Randy Mackay
bab9fa25e5
Copter: add GCS failsafe
2013-04-29 21:30:22 +09:00
Randy Mackay
58d1da2d80
Copter: integrate AC_Fence in place of limits
...
Lesser functionality than limits but saves more than 150 bytes and it
works
2013-04-27 11:14:07 +09:00
Randy Mackay
94d4ecef11
Copter: reduce throttle rate D to zero
2013-04-21 16:28:07 +09:00
Bill Bonney
36041bb9ff
Copter: Enable CURRENT logging by default to dataflash
2013-04-21 07:25:34 +10:00
Randy Mackay
745df9b13c
Copter: add SONAR_GAIN to tune reaction to sonar
...
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
2013-04-20 15:58:36 +09:00
Randy Mackay
a53e5f747b
Copter: add fourth yaw behaviour, look-at-home
...
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
2013-04-20 15:36:24 +09:00
Randy Mackay
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
...
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
2013-04-20 12:03:55 +09:00
Randy Mackay
18c1373847
Copter: remove unused AUTO_VELZ defaults
...
These have now moved to AC_WPNav
2013-04-18 14:57:08 +09:00
Randy Mackay
82989d85f2
Copter: remove unused #defines
2013-04-16 22:34:12 +09:00
Randy Mackay
0663da7c9e
Copter: loiter rate IMAX to 4m/s/s and D to zero
2013-04-16 22:28:18 +09:00
Randy Mackay
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
2013-04-14 13:27:37 +09:00
Randy Mackay
366616e32c
Copter: reduce default loiter PIDs
2013-04-14 10:39:28 +09:00
Randy Mackay
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
2013-04-14 10:38:01 +09:00
Randy Mackay
fc0c451b69
Copter: remove #ifdef checks for Atmega1280
2013-04-05 22:48:10 +09:00
Randy Mackay
a9eb626cb8
Copter: update default Rate Yaw P to 0.20 (was 0.25)
2013-04-01 11:49:50 +09:00
Randy Mackay
36834e77b5
Copter: remove support for CLI Slider
2013-03-18 14:07:04 +09:00
Randy Mackay
597a4b912a
Copter: fix to allow building HIL_MODE_SENSORS
2013-03-18 13:41:52 +09:00
Randy Mackay
d1344e8c39
Copter: remove #define for CROSSTRACK_GAIN
...
Note: the cross track is still calculated inside the inertial nav based
loiter and wp controls but it's no longer requires a tunable parameter
2013-03-17 16:56:18 +09:00
Randy Mackay
1b6fcad90a
Copter: remove tilt compensation parameter
...
Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
2013-03-17 16:53:32 +09:00
Randy Mackay
fdcb78ccf7
Copter: leonard's smoother alt-hold transition
...
Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
2013-03-17 13:24:49 +09:00
Randy Mackay
150046f2b8
Copter: GPS Failsafe implemented
...
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
2013-03-16 17:27:46 +09:00
Randy Mackay
a73f50494c
TradHeli: remove duplicate RC_FAST_SPEED definition
2013-03-04 23:45:23 +09:00
Randy Mackay
33bd984a91
Copter: remove unused input_voltage parameter
2013-03-03 23:23:54 +09:00
Randy Mackay
d6ff5ae261
Copter: add roll-pitch slew for auto modes
...
Added reporting of roll, pitch inputs for ACRO, AUTO
2013-02-24 14:42:04 +09:00
Randy Mackay
e297ba7d18
Copter: update default loiter gains for inertial nav
2013-02-24 14:42:00 +09:00
Randy Mackay
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
2013-02-24 14:41:52 +09:00
Randy Mackay
609676e26c
Copter: add logging of compass values
...
Removed rarely used ITERM because we didn't have enough bits in the log
mask
2013-02-24 14:41:48 +09:00
Randy Mackay
67c69a19ee
Copter: remove baro-only alt hold
...
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
Randy Mackay
fcf102b2cf
Copter: inertial nav waypoint controller
...
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
2013-02-24 14:41:09 +09:00
Randy Mackay
8e4c9518ea
Copter: increase low voltage check to 10.5v
...
Change requested by Rob Lefebvre and Richie Wilson
2013-02-23 00:36:51 +09:00
Andrew Tridgell
4c7a1a1806
Copter: change PX4 main baud rate back to 115200
...
we now use USB console
2013-02-22 07:04:23 +11:00
Randy Mackay
06a71af12f
Copter: THR_MID used to scale manual throttle
2013-02-01 22:37:16 +09:00
Randy Mackay
ce370bab0c
Copter: rename CUR and CURR to CURRENT for logging
...
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
2013-01-26 17:20:41 +09:00
Randy Mackay
b74fe10aa9
Copter: set each flight mode's nav_mode
...
Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
2013-01-25 15:57:55 +09:00
Andrew Tridgell
f303554259
Copter: run serial0 at 57600 on PX4
2013-01-22 09:50:22 +11:00
Robert Lefebvre
dde713aaa5
Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this.
2013-01-20 21:32:00 +09:00
Andrew Tridgell
580abf1106
Copter: fixed PX4 mag orientation
2013-01-17 17:23:34 +11:00
James Bielman
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
Randy Mackay
fef7569dee
Copter: added experimental LOITER_REPOSITIONING #define to config.h
...
APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
2013-01-14 13:34:14 +09:00
Randy Mackay
9ad6f711f8
ArduCopter: replace FS_THR_RTL_MIN_DISTANCE with wp_radius
...
This effectively means that an RTL kicked off by a failsafe will
immediately switch to LAND mode only if within 2 meters. Previously the
radius was much wider (15m).
2013-01-13 20:00:47 +11:00
Randy Mackay
12f885c33c
ArduCopter: disable ITERM logging by default
...
This message takes 1ms to write and we are running over our limits on
some loops.
2013-01-13 20:00:39 +11:00