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1610 Commits

Author SHA1 Message Date
Andrew Tridgell 6d11940ada AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
Andrew Tridgell e9928e78de ACM: fixed TradHeli build 2012-08-22 09:55:31 +10:00
Robert Lefebvre 575b99b4be TradHeli: Creating Flybar Acro mode. 2012-08-21 16:54:01 -04:00
Andrew Tridgell 16e06ea1f4 ACM: build DMP version in autotest 
this gives it a chance of keeping working
 2012-08-21 15:58:59 +10:00
Andrew Tridgell bf2319a0fc AHRS: fixed reference to AHRS var_info for APM and ACM 2012-08-21 15:58:32 +10:00
Andrew Tridgell 1b0f5ac84f ACM: use ahrs.set_fast_gains() on arm/disarm 2012-08-21 15:38:31 +10:00
rmackay9 1d32e03f61 ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h. 
Reduces possibility of difference between arduino ide compiled code and script built code (i.e. autotester, mission planner)
 2012-08-19 12:31:02 +09:00
rmackay9 75459b09be ArduCopter: changed reset_throttle_counter to uint8_t to get rid of overflow bug that was preventing target altitude from being locked in after pilot input down throttle. 2012-08-19 11:50:35 +09:00
Jason Short c81064279a ACM : removed 2-level DCM gain change - .1 will still be the default. 2012-08-18 15:43:34 -07:00
Jason Short 575a9c4fd1 ACM : Fix for reloading the user DCM gains upon arming 2012-08-18 13:17:43 -07:00
Jason Short 0a25a189eb ACM | Attitude.pde - removed next_wp.alt reset. 2012-08-18 12:25:48 -07:00
Jason Short 988d0c98fc ACM : Alt hold adjustment - made angle boost work during alt hold changes. 
increased length of delay when reverting to automatic hold to deal with latency of baro sensor
 2012-08-18 09:30:46 -07:00
Jason Short 77f47a45d0 ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency. 2012-08-18 09:04:22 -07:00
Jason Short 522fa58ea5 ACM : temp fix for throttle output limit 
I had a bad crash when I lost authority. The logs showed the throttle pegged at 1000 which killed my control. We went round and round on this and somehow settled on no limit. That wasn't a good idea. This should really be hard coded into the Motors Library, but for now I'm just sticking it here.
 2012-08-18 09:04:22 -07:00
Jason Short bc631b656e ACM: Added a more sane limit to Angle boost 2012-08-18 09:04:21 -07:00
rmackay9 64cfaf74b7 ArduCopter: renamed "_new_alt" parameter to just "new_alt" in force_new_altitude and set_new_altitude functions 2012-08-18 21:46:48 +09:00
rmackay9 5b6f7f0012 ArduCopter: modified altitude hold so that 1 second slow down period is executed after pilot moves throttle back into deadzone 2012-08-18 21:45:49 +09:00
rmackay9 11e946eb54 ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +09:00
rmackay9 2e4e8bbf1a ArduCopter: changed "unsigned long" to "uint32_t" 2012-08-18 19:05:55 +09:00
rmackay9 99859ae42f ArduCopter: added cast to (int) in printf statments. 
Also modified dump_log function's last_log_num to be int16_t to match return type from DataFlash's find_last_log method.
 2012-08-18 18:58:15 +09:00
rmackay9 7a6732fb4b ArduCopter: removed unused icount variable from commands_logic.pde to reduce compiler warnings. 2012-08-18 16:04:23 +09:00
rmackay9 87d5b5944d ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings 2012-08-18 16:03:49 +09:00
rmackay9 8a6085a3ba ArduCopter: removed unused maggy variable from test.pde to reduce compiler warnings. 2012-08-18 16:03:26 +09:00
rmackay9 07c7c3945d ArduCopter: fixed small bug re arming_counter for TOY mode 2012-08-18 13:21:41 +09:00
rmackay9 92688a793a ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch. 2012-08-18 11:48:12 +09:00
rmackay9 8c636ca263 ArduCopter: fix compiler error related to printing boarding type in dataflash logs. 2012-08-18 11:47:10 +09:00
Michael Oborne b2b73cc6cb AC fix some Parameter units 2012-08-18 08:30:16 +08:00
Jason Short 1b7e27658b ACM : removed old note 2012-08-17 17:03:40 -07:00
Jason Short 0ac1373591 ACM Logging - added APM version #, stab_I term logging 2012-08-17 17:03:40 -07:00
Jason Short 387a021c30 ACM : APM_Config.h : default removed for toy mixer. 2012-08-16 15:41:35 -07:00
Jason Short 3ee2fd3fb6 ACM: Config.h - added default for toy mixer 2012-08-16 15:40:28 -07:00
Jason Short 770956a3fd ACM : Made control_roll and pitch global for logging; made yaw towards waypoint use initial angle and not a recalculated angle to deal with wiggles as we approach WP 2012-08-16 15:39:50 -07:00
Jason Short 9cee1b2fa0 ACM : Upped Yaw Limit to 2200 2012-08-16 15:38:46 -07:00
Jason Short bdc1c41e62 ACM: made target bearing the lead filtered location 
Had some major nav trouble from crosstrack if I used the laggy position.
 2012-08-16 15:38:25 -07:00
Jason Short 0f9f72e8ab ACM: added nav_yaw to att logging 
Removed unnecessary casting
 2012-08-16 12:43:55 -07:00
rmackay9 36f947acb9 ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t". 
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
 2012-08-16 20:04:46 +09:00
rmackay9 a72bf6ef57 ArduCopter: replaced abs with labs as required in a few places. 
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
 2012-08-16 17:51:09 +09:00
Jason Short 4d5d16720b ACM Test: Added a return statement 2012-08-15 21:37:23 -07:00
Jason Short 31f31eec75 ACM : Test for bearing calc 2012-08-15 21:04:24 -07:00
Jason Short 99dcbd039d ACM Log : fixed formatting 2012-08-15 21:04:24 -07:00
Andrew Tridgell ed064b2506 MAVLink: enable fetching of single parameters 
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
 2012-08-16 10:14:46 +10:00
Jason Short f1af837543 ACM: Switched to filtered loc 2012-08-14 14:11:52 -07:00
Jason Short cdd2093a4c ACM: Switched to filtered_loc for distance calcs 2012-08-14 14:11:52 -07:00
Jason Short a4bc5950cf ACM: Added a filtered version of Location for GPS lag. 
I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
 2012-08-14 14:11:51 -07:00
Jason Short 993c89c4f8 ACM: Revved the version 2012-08-14 14:11:51 -07:00
rmackay9 2a83f1eef2 ArduCopter: remove RTL_LAND parameter as it's been deprecated in favour of APPROACH_ALT. 
Updated comments on ALT_HOLD_RTL and APPROACH_ALT to make it a little easier to understand.
 2012-08-14 12:14:35 +09:00
Jason Short b01a71c4b9 ACM: Toy mode updates - added second toy mode 2012-08-11 22:37:27 -07:00
Jason Short 8160aa6103 ACM : Toy mode updates 2012-08-11 22:37:27 -07:00
Jason Short 1e0ab8768e ACM: Toy mode updates 2012-08-11 22:37:26 -07:00
Jason Short b27c1ce396 ACM : Added check for second Toy mode 2012-08-11 22:37:26 -07:00
Jason Short 11b7475ff9 ACM : Added CH7 multimode triggers, split Toy mode into two 2012-08-11 22:37:26 -07:00
Jason Short 45574c0b1a ACM : CH_7 multimode option added 2012-08-11 22:37:26 -07:00
Jason Short c305237e3a ACM : Added CH_7 Multimode 2012-08-11 22:37:26 -07:00
Andrew Tridgell 3bdc7d41be INS: disable INS AP_Param table when not on APM1 hardware 
this could cause overwriting of memory with default values
 2012-08-11 22:06:03 +10:00
Amilcar Lucas 780b469b11 ArduCopter: Enable the aux servos later, only in the slow periodic loop 
This might solve some of the boot issues some users are having
 2012-08-11 12:58:13 +02:00
Andrew Tridgell 81440a1b09 AHRS: fixed build 
AP_Airspeed.h is now needed to build AHRS
 2012-08-11 12:22:55 +10:00
Andrew Tridgell c2dc920d02 ACM: allow users to set the AHRS_YAW_P and AHRS_RP_P 
the forced set left users with parameters they couldn't use
 2012-08-11 08:35:10 +10:00
Jason Short 3ad08b7ffc ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second. 2012-08-10 10:02:32 -07:00
Jason Short 9a568385b0 ACM increase the minimum speed at WP 2012-08-10 10:01:40 -07:00
Jason Short be0559864c ACM : switched to get_bearing_cd 2012-08-09 17:04:30 -07:00
Jason Short 132ac7d412 ACM : attitude.pde - removed unused function 2012-08-09 17:04:12 -07:00
Jason Short e73c0250ad ACM: Radio.pde - toy mode updates 2012-08-09 17:00:11 -07:00
Jason Short f641c5d077 ACM system.pde - toy mode update, cleanup of throttle cruise code 2012-08-09 16:59:44 -07:00
Jason Short 35839070ad ACM - isolated Toy code 2012-08-09 16:59:44 -07:00
Jason Short adf5939ba4 ACM: navigation - Alt cleanup, fast corner support 2012-08-09 16:59:44 -07:00
Jason Short 6037fabb5c ACM Motors.pde 
Added Toy mode options,
Added DCM kp set to .1(armed) and .8 (disarmed)
 2012-08-09 16:59:44 -07:00
Jason Short 88a94c88b5 ACM : more aggressive and flexible flip code. Will flip right or left, and while pitching hard. 
Increase in throttle is removed from init sequence to remove delay.
 2012-08-09 16:59:44 -07:00
Jason Short d674baadd2 ACM : Events - renamed target alt 2012-08-09 16:59:44 -07:00
Jason Short 07bd1940e7 ACM Defines.h -added Toy mixer enums 2012-08-09 16:59:43 -07:00
Jason Short 26e3d6090e ACM control modes - renames CH_7 flag 2012-08-09 16:59:43 -07:00
Jason Short 3e57f8afd8 ACM: config.h = updated default gains 
More yaw rate control
 2012-08-09 16:59:43 -07:00
Jason Short b5156185cc ACM Commands parser to look for future nav commands to inspect upcoming turn angle 2012-08-09 16:59:43 -07:00
Jason Short d796814dfc ACM : Commands Logic 
Altitude cleanup
 2012-08-09 16:59:43 -07:00
Jason Short 98b8866215 ACM: Added fast corner support 2012-08-09 16:59:43 -07:00
Jason Short 5d756decd2 ACM : Attitude.pde 
yaw limit, moved toy code out of att to it's own pre
 2012-08-09 16:59:43 -07:00
Jason Short 02649f3f11 ACM : Arducopter.pde 
command_nav_index upped to in16t for negative number
renamed trim flag > CH7_flag
Added fast_corner var
removed unused alt vars
Alt hold I term update
 2012-08-09 16:59:43 -07:00
Jason Short 4a56e8ea2c ACM : Toy Mixer options 2012-08-09 16:59:43 -07:00
Andrew Tridgell dc47074dbd MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00
Andrew Tridgell 2a7b298bbc MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Amilcar Lucas d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Amilcar Lucas 0b0b9c29a2 Allow fully independent operation of two AP_Mount instances 2012-08-08 23:11:23 +02:00
Amilcar Lucas 9cc705939a Add a second mount instance 2012-08-08 23:07:25 +02:00
Andrew Tridgell 03714fc695 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 103b02fe94 ACM: removed pointless load() calls 2012-08-08 16:51:14 +10:00
Andrew Tridgell fb26160d3b ACM: change to use get_bearing_cd() instead of get_bearing() 2012-08-08 12:12:30 +10:00
Andrew Tridgell c2a4d59132 AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
rmackay9 f79b90725e ArduCopter: Dan Gray's fix for Condition_Yaw 
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 d9f1140278 ArduCopter: Use generic channel names for AP_Mount servos. 
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 e93daca17e Fix heli compilation 2012-08-06 23:30:02 +02:00
Amilcar Lucas f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas aa3cc63b15 ArduCopter: Make the code fit in a 1280 chip again 
Even allows to control a camera/antenna mount, if the user explicitly wants to.
 2012-08-06 00:23:48 +02:00
Amilcar Lucas 0106c133cf Default CLI_SLIDER_ENABLED to DISABLED 
Chris asked for this on the mailing list
 2012-08-06 00:22:33 +02:00
Amilcar Lucas af08b630cd Spellcheck in comments 2012-08-06 00:21:14 +02:00
Amilcar Lucas 107155fa1a 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 b8c7b8a786 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 afd96025a7 ArduCopter: Save more space in APM1280 2012-08-05 23:05:52 +02:00
Amilcar Lucas 9c1ac2d9e6 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas 4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas bbc4bdb729 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas d29f7023cc Merge from ArduPlane 2012-08-04 18:38:50 +02:00
rmackay9 c091c8e0e6 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 a5b5f6a619 ArduCopter: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:27 +09:00
Andreas M. Antonopoulos 7262b0429a AP_Limits: experimental "bounce" mode. 2012-07-31 18:39:58 -07:00
Andreas M. Antonopoulos de85442c36 AC2.7.1: Updated version and tag 2012-07-31 13:11:17 -07:00
Jason Short 8c47b0c087 ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling. 2012-07-30 15:43:05 -07:00
rmackay9 77b1785bc6 ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values 2012-07-30 11:01:45 +09:00
Michael Oborne e577b51e17 AC remove attitude hil unused extra (gps jump issue.) 2012-07-29 08:18:41 +08:00
rmackay9 5cb4a88292 ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered) 2012-07-28 23:05:05 +09:00
rmackay9 3047084ed3 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 670a66667f 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 ef870e3ca1 AC remove some attitude HIL limitations 2012-07-28 13:59:30 +08:00
rmackay9 94cb325184 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 014f5aae99 ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP 2012-07-28 14:21:07 +09:00
rmackay9 f97257830b 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 8e5312a759 ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command 
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 f4705577c8 AC fix sitl attitude hil build 2012-07-24 21:18:36 +08:00
Jason Short 8188058404 ACM: Failsafe Fix for Mission planner initiated AUTO mode 
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 80cf794c86 AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant. 2012-07-21 17:52:06 -07:00
Jason Short b17eb7f768 ACM: Fixed Baro rate patch to work with Sonar and added simple filter 2012-07-21 16:45:00 -07:00
Jason Short 96aabb7712 ACM: Lowered default Alt hold P 2012-07-21 16:45:00 -07:00
Jason Short 55c342c858 ACM: Safety patch for CH7 flip toggle. Prevents flipping while on the ground. ouch. 2012-07-20 16:47:05 -07:00
Jason Short 1d085c8cf4 Added minimum speed for RTL 2012-07-20 13:27:35 -07:00
Jason Short fcd0e12a1e ACM: Flip code revision to fix bad orientation bug. 2012-07-20 13:27:35 -07:00
Jason Short ca70acbf64 Arducopter: Added safety check for inadvertent triggering of flip code. 2012-07-20 13:27:35 -07:00
Jason Short 9f6e1347b6 Ardcucopter: RTL distance check update, reset I terms fixed. 2012-07-20 13:27:35 -07:00
Jason Short 613849a8df Arducopter: Force nav_yaw to match auto_yaw when starting a mission 2012-07-19 22:59:03 -07:00
Jason Short 2b20c85279 Arducopter: cleanup, skip out of throttle control when flipping. 2012-07-19 22:35:21 -07:00
Jason Short fbe898a6db Arducopter: motors.pde formatting 2012-07-19 22:35:21 -07:00
Jason Short 3b496ff229 Arducopter: Upped D rate to .005 by default 2012-07-19 22:35:21 -07:00
Andrew Tridgell 0a12b6ad6f ACM: fixed HIL build with new accel setup code 2012-07-20 12:46:16 +10:00
Andrew Tridgell 85465c9126 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jason Short f46e8468c4 Arducopter: Adjusted speed of climb to not stall out before hitting peak 2012-07-19 17:53:49 -07:00
Jason Short da6d981479 Arducopter: Testing toy mode - commented out by default 2012-07-19 17:50:42 -07:00
Jason Short ad45012739 Arducopter: Renamed Config define (RTL_HOLD_ALT) 2012-07-19 17:50:15 -07:00
Jason Short 351b503fb6 Arducopter: Flip Check 2012-07-19 17:49:17 -07:00
Jason Short 49c7579079 Arducopter: Config.h defaults adjustments 2012-07-19 17:48:48 -07:00
Jason Short 610d1d1795 Arducopter: deprecated the get_nav_yaw_offset function. 
Small Toy mode updates
 2012-07-19 17:41:52 -07:00
Jason Short 91062b56af Arducopter.pde: Increased the throttle Hold altitude control 
simplified Yaw reset
 2012-07-19 17:38:25 -07:00
Jason Short 6506ebf69f Arducopter: Fix compile issue 2012-07-19 10:09:16 -07:00
Jason Short 5a73a2b9cd Arducopters parameter: Adjusted RTL_ALTITUDE units so they reflect comments in config.h 2012-07-19 09:50:57 -07:00
Jason Short 2df487ab7b 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 3401bd3583 Arducopter: Clarified units in comment 2012-07-19 09:49:13 -07:00
Jason Short 3a62608355 Arducopter: Added Slow_WP setting to regular wp navigation 2012-07-19 09:48:54 -07:00
Jason Short 1efc9eac58 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 c9d3ab5413 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 e09d6ad7a8 Arducopter 
Simplified the inertial calcs for now
 2012-07-18 22:57:11 -07:00
Jason Short a7b1252b51 arducopter 
alt hold state reset
 2012-07-18 22:57:11 -07:00
Jason Short c995749aaa 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 66ac438b9e Arducopter 
Better logging for Raw Inertial values
 2012-07-18 22:57:11 -07:00
Jason Short dcf9f9dab1 Arducopter 
for rate altitude changes
 2012-07-18 22:57:10 -07:00
Jason Short 71248fe114 Arducopter 
increased landing authority
 2012-07-18 22:57:10 -07:00
Jason Short c9851344e7 Arducopter 
removed old Var
 2012-07-18 22:57:10 -07:00
Jason Short a88d69e40e 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 aa645afe2b Arducopter: Altitude change nav 
Split altitude hold into two controls to parallel navigation.
 2012-07-18 22:57:10 -07:00
Jason Short cb1cdcd4a7 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 3f5e787fe8 Arducopter: Flip mode 2012-07-18 22:57:10 -07:00
Jason Short 9dad38e91d Arducopter: Flip mode 
Flip mode graduates
 2012-07-18 22:57:10 -07:00
Jason Short 5965632888 Arducopter: Flip mode 
Flip mode graduates to pre-compiled option
 2012-07-18 22:57:10 -07:00
Jason Short f73a2004be Arducopter: INS 
updated Nav control to use INS
 2012-07-18 22:57:10 -07:00
Jason Short 98725be0ec Arducopter: INS 
removed calibrate accels for now
 2012-07-18 22:57:10 -07:00
Jason Short 97845cace1 Arducopter: INS 
Updated INS gains
 2012-07-18 22:57:10 -07:00
Jason Short 0d8e8e0a04 Arducopter: INS 
removed IMU test, updated INS test to include normalized gravity accel vector.
 2012-07-18 22:57:10 -07:00
Jason Short bb99bd4626 Arducopter: INS 
removed zero accells call
 2012-07-18 22:57:10 -07:00
rmackay9 33d8cbfd51 ArduCopter: small bug fix to radio.pde to allow code to compile when MOUNT == DISABLED 2012-07-18 23:49:41 +09:00
rmackay9 b691c3f658 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 636fcadde4 fix rc libray param gen 2012-07-18 07:03:39 +08:00
Andreas M. Antonopoulos 0e5345d17b AP_Limits: documentation bug (which uncovered a param_parser bug - the irony burns) 2012-07-16 23:35:11 -07:00
Jonathan Challinger fc4f111d15 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 a976a59c88 AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling. 2012-07-16 11:46:43 -07:00
Michael Oborne e632ad6aa4 AC fix limits param gen header 2012-07-15 18:23:06 +08:00
rmackay9 36ecdff593 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 c495a5f36e 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 761dad4e99 ArduCopter: restored set_range calls for RC_Channels 5 ~ 8. 2012-07-15 16:37:40 +09:00
rmackay9 29b6ec0b11 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 793fb7f059 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 c73f7ef3ab AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Jason Short 584e7dcda4 Arducopter: Removed Yaw Limit for Quads 2012-07-14 14:06:34 -07:00
Jason Short 44b16b7b61 Arducopter: Temp reversion to old Yaw controller. 2012-07-14 12:26:13 -07:00
Jason Short e3af0c7920 Arducopter: Yaw stop fix 2012-07-14 12:23:10 -07:00
Robert Lefebvre 59e133235f Implementing Yaw Fix. Tried to blend with Jason's changes. 2012-07-14 00:24:22 -04:00
Jason Short 4af392290b Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance 2012-07-13 19:29:36 -07:00
Jason Short 7b746cf5e1 Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions 2012-07-13 12:51:38 -07:00
Jason Short d34ca0e6ea Arducopter - commands: Add home logging 2012-07-13 11:51:40 -07:00
Jason Short d8ff5dcfab Arducopter: Fix circle_WP 2012-07-12 09:22:20 -07:00
Jason Short a28070e0e0 Arducopter: Loiter unlimited fix 2012-07-12 08:52:49 -07:00
Andreas M. Antonopoulos d4a0cb5db1 Added Michael Pursifull's Maxsonar HRLV model support 2012-07-11 18:46:47 -07:00
Jason Short 7a5544051d Arducopter 
Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
 2012-07-11 17:46:07 -07:00
Jason Short 6f9e2bf3a8 Arducopter: Toy mode update 
Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
 2012-07-11 17:46:06 -07:00
Jason Short 1feaaa4655 Arducopter: Toy mode refinements 2012-07-10 21:53:38 -07:00
Jason Short 293f17902b Arducopter:Arducopter.pde 
switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
 2012-07-10 21:53:38 -07:00
Jason Short c04bff67de Arducopter: Config.h, default gain tweaks from flight tests. 2012-07-10 21:53:38 -07:00
Jason Short f35b5ba13f Arducopter:test.pde made a note for WP radius that shows m in the printout. 2012-07-10 21:53:38 -07:00
Jason Short 782ebf5176 Arducopter:Log.pde Logging the calculated Climbrate 2012-07-10 21:53:38 -07:00
Jason Short 3048d2f9b4 Arducopter: WP_radius 
Switching to stored WP_radius in meters, just like Arduplane
 2012-07-10 21:53:38 -07:00
Jason Short 0620d86bfd Arducopter:Params 
WP_RADIUS_DEFAULT is now stored the same as Arduplane
 2012-07-10 21:53:37 -07:00
Jason Short 1dbde3f803 Arducopter: Added note 2012-07-10 21:53:37 -07:00
Jason Short af5423b863 Toy Mode: High Yaw default 2012-07-10 21:53:37 -07:00
Jason Short 19d8c405fd Arducopter : Force home alt to 0 2012-07-10 21:53:37 -07:00
Jason Short 89fec907e2 Arducopter: CH7 Waypoint saving 
Saves the takeoff Waypoint as Home + new altitude rather than current location.
 2012-07-10 21:53:37 -07:00
Amilcar Lucas dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00