rmackay9
b973d50d79
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
rmackay9
63a9913278
ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis
2012-12-07 13:01:40 +09:00
rmackay9
8378de6d8c
ArduCopter: do_set_servo fix to resolve -1 being assigned to uint8_t
2012-12-07 12:58:44 +09:00
rmackay9
47af1fd255
AP_InertialNav: increase Z axis default time constant to 3.0 (was 1.5)
2012-12-07 12:57:12 +09:00
rmackay9
5c3ca64c12
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
rmackay9
2cff551891
ArduCopter: allow triggering of camera from a mission
2012-12-06 23:48:30 +09:00
rmackay9
bfb033c52b
ArduCopter: fix do_set_servo so that it works again
2012-12-06 20:18:33 +09:00
rmackay9
80d9c76009
ArduCopter: added CH7 option to trigger camera
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Restructured reading of channel 7 into a switch statement.
2012-12-06 17:47:01 +09:00
rmackay9
f4cd7b870b
AP_Camera: add three new parameters DURATION, SERVO_ON and SERVO_OFF to allow better shutter control when using servo.
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Removed unused variables to save 4 bytes.
Renamed some variables and functions to make more consistent with existing code base.
2012-12-06 17:46:09 +09:00
rmackay9
8ab535f75f
RC_Channel_aux: immediately send output to servos when set_radio, set_radio_to_min, set_radio_to_max, set_radio_to_trim or set_servo_out functions are called.
2012-12-06 17:41:42 +09:00
rmackay9
73b7d1deca
ArduCopter: update comments related to CH7 switch options
2012-12-06 17:40:36 +09:00
rmackay9
e1a351552f
ArduCopter: maintain loiter control even below 1m while landing
2012-12-06 12:40:53 +09:00
rmackay9
c734a42e15
ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz)
2012-12-06 10:32:12 +09:00
rmackay9
9c0984c505
ArduCopter: bug fix - initialise inertial nav
2012-12-06 10:32:07 +09:00
rmackay9
5551f092be
ArduCopter: disable INERTIAL_NAV_XY by default
2012-12-06 10:32:02 +09:00
rmackay9
bdf236ef38
ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter.
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When disabled the original velocity based throttle controller is used.
2012-12-06 10:31:57 +09:00
rmackay9
9750c14325
ArduCopter: RTL clean-up and slightly improved landing sensor
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Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
rmackay9
9447d08fdd
ArduCopter: increase CONTROL_SWITCH_COUNTER so that flight mode switch must be changed for at least 1/10th of a second
2012-12-06 10:31:46 +09:00
rmackay9
eb3ad15843
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
rmackay9
450b6e13a4
ArduCopter: switch on INS in APM_Config.h (i.e. on by default for users uploading through Arduino IDE)
2012-12-06 10:31:36 +09:00
rmackay9
8a0faebb21
ArduCopter: pass linear altitude error to throttle rate controllers.
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Previously the requested rate used the square root of the altitude error.
Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
2012-12-06 10:31:31 +09:00
rmackay9
89e737728c
ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI)
2012-12-06 10:31:25 +09:00
rmackay9
dc0b35da30
ArduCopter: restored landing detector to landing throttle mode.
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Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
2012-12-06 10:31:20 +09:00
rmackay9
b26f2861ff
ArduCopter: removed unused AUTO_THROTTLE_HOLD #define
2012-12-06 10:31:15 +09:00
rmackay9
ea9f357dc0
ArduCopter: remove unused get_desired_climb_rate function
2012-12-06 10:31:09 +09:00
rmackay9
e629fe2eb0
ArduCopter: add set_throttle_mode to better control initialisation of variables
2012-12-06 10:31:04 +09:00
rmackay9
1285198b71
ArduCopter: added back in angle boost and recombined for heli and multicopter
2012-12-06 10:30:55 +09:00
rmackay9
c1ce0ae752
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
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Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
rmackay9
a83f6e54b5
ThirdOrderCompFilter: remove last_time_constant_xy and _z static variables to save 8 bytes.
2012-12-06 10:24:58 +09:00
rmackay9
12e1ce50e2
AP_Buffer: bug fix to allow buffer to completely fill up.
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Also removed redundant _tail parameter which saves 1 byte.
2012-12-06 10:18:00 +09:00
rmackay9
0092960a68
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:35:55 +09:00
rmackay9
399fe2e8cd
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:20:31 +09:00
Robert Lefebvre
e86243e7a3
ACM: TradHeli
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Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
2012-12-04 15:09:27 -05:00
Robert Lefebvre
6f8958289f
ACM: Small fix to Yaw Look Ahead
2012-12-04 14:50:14 -05:00
Robert Lefebvre
5863c737a1
ACM: TradHeli
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Fixes for Attitude rate controllers.
2012-12-04 14:42:04 -05:00
Robert Lefebvre
b225bc8cb8
ACM: TradHeli
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Creating Rate Feed-Forward Parameters
2012-12-04 13:47:38 -05:00
Robert Lefebvre
45e6e2bc9a
ACM: TradHeli APM_Config.h changes
2012-12-04 13:32:40 -05:00
Robert Lefebvre
fdcf966df7
ACM: Yaw Look Ahead Changes
2012-12-04 13:26:41 -05:00
Michael Oborne
75630e8488
firmware build
2012-12-04 08:52:48 +08:00
Andrew Tridgell
d76288529b
Plane: fixed spelling error
2012-12-04 11:38:29 +11:00
Andrew Tridgell
66a41bfe5f
Plane: preparing for 2.68 release
2012-12-04 11:24:24 +11:00
Andrew Tridgell
6155d29829
scripts: added apm2 hil to build_all.sh
2012-12-04 11:13:54 +11:00
Andrew Tridgell
3bac27b97f
Plane: enable attitude and raw logging in HIL modes
2012-12-04 11:13:33 +11:00
Andrew Tridgell
dfc252a78d
AP_InertialSensor: removed axis getters for accel/gyro
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these were only being used in one place, and in that place were used
incorrectly!
2012-12-04 09:11:55 +11:00
Andrew Tridgell
453f879330
Rover: removed INS print code
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its all in parameters now
2012-12-04 09:11:55 +11:00
Andrew Tridgell
9dd7214ea3
Plane: added apm2 hilsensors target
2012-12-04 09:05:02 +11:00
Andrew Tridgell
c41ca45e84
MAVLink: clarify frame of reference for HIL_STATE
2012-12-03 23:31:34 +11:00
Andrew Tridgell
90c027cd97
MAVLink: use a smaller maximum payload to reduce memory
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this limits the sizes of the MAVLink buffers. It doesn't make a big
difference now, but it will matter when we update to the latest
mavlink code which has some very large packets
2012-12-03 23:28:23 +11:00
Andrew Tridgell
aa79ffc301
AP_InertialSensor: fixed stub driver to work correctly with sensors HIL
2012-12-03 23:27:21 +11:00
Andrew Tridgell
5827c710e2
Plane: fixed sensors and attitude HIL
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we now use the Stub version of the InertialSensor driver. In sensors
HIL we can now correctly drive the AHRS code.
2012-12-03 23:26:39 +11:00