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86 Commits

Author SHA1 Message Date
rmackay9 1f801714e8 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
rmackay9 a1b4ec6d0e ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Andrew Tridgell 9592be5af7 ACM: saved some more memory for strings 2012-10-22 18:57:08 +11:00
Robert Lefebvre 592f4040fd Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups. 2012-10-18 16:39:05 -04:00
rmackay9 95763e610b ArduCopter: allow DMP to run in parallel with DCM 
Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
 2012-09-30 00:25:40 +09:00
rmackay9 bae53807b2 ArduCopter: tiny formatting change in defines.h 2012-09-27 17:40:54 +09:00
Jason Short 34e07c826f ACM : Added centralized Iterm logging at a lower rate. Logs all iterms. 2012-09-10 20:26:48 -07:00
uncrustify b9ba41c12a uncrustify ArduCopter/defines.h 2012-08-21 18:57:21 -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 07bd1940e7 ACM Defines.h -added Toy mixer enums 2012-08-09 16:59:43 -07:00
rmackay9 014f5aae99 ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP 2012-07-28 14:21:07 +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 ab564b8a86 defines.h 
removed Approach mode enumeration
 2012-07-01 13:40:11 -07:00
Jason Short 0011190880 defines.h: Toy Mode defines for flight modes 2012-06-29 21:20:28 -07:00
Jason Short 5e4d28baf0 Added Toy mode to navigation 2012-06-29 21:20:27 -07:00
Jason Short 807c4ced34 Added Toy Mode defines 2012-06-25 23:08:25 -07:00
Robert Lefebvre 30e55533dc Change to increase Parameter space as we have run out. 
This will decrease the max number of waypoints from 186
to 169.
 2012-05-30 20:41:53 -04:00
Robert Lefebvre a285e2779f CopterLEDS changes for APM2 2012-05-15 10:07:03 -04:00
Andrew Tridgell 4fee26437b MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI 2012-04-24 22:24:58 +10:00
Adam M Rivera 97040a7b3a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
rmackay9 c993049c48 ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion 2012-04-21 23:24:57 +09:00
Adam M Rivera a3842734a9 Planner/defines.h: Updated the enumeration value for APPROACH so as not to disturb the order of the universe. 2012-04-18 10:32:01 -05:00
Adam M Rivera f9affb3295 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 
Conflicts:
	ArduCopter/Parameters.h
 2012-04-16 10:23:01 -05:00
rmackay9 870b5e5f75 ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM 2012-04-16 23:47:57 +09:00
Adam M Rivera 83fe6733d4 Defines: Added new control mode (APPROACH). 2012-04-15 16:52:32 -05:00
rmackay9 d70f5da5e0 ArduCopter - LEDS - define pins to be used for COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:36 +09:00
rmackay9 0efb0e5b4d ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9 599cea21bb 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
rmackay9 1f4cfb9333 ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers. 2012-03-25 16:09:08 +09:00
Andrew Tridgell 547b4ed55b AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short cb8729109c ACM: Added Loiter_D for tuning as #23 2012-03-10 14:17:16 -08:00
Andrew Tridgell 9a06d35772 make 'ENABLE' and 'ENABLED' mean the same things 
users get this wrong far too often!
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 2596acc8eb ACM: removed incorrect mode definition 2012-03-10 10:34:30 +11:00
Andrew Tridgell a0ce202d87 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +11:00
Jason Short 0ce0c7c262 Added Loiter_rate_tuning 2012-02-26 11:33:36 -08:00
Andrew Tridgell 6929226b96 ACM: expanded EEPROM parameter area by 256 bytes 2012-02-18 10:51:57 +11:00
Jason Short 0075901f77 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Andrew Tridgell 617082769a go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell 16417b651e the ACM parameters have a max size of 1114 bytes 
to ensure that all parameters can be saved, expand parameter area by
256 bytes
 2012-02-13 16:22:52 +11:00
Pat Hickey 470fd8788e ArduCopter Channel Config: config vars for user override of MOT_n mapping 
* config variable CONFIG_CHANNELS has possible values
  CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
  CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
 2012-02-11 16:05:51 -08:00
Pat Hickey b245265669 Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines. 
* HEXA_X_FRAME and HEXA_PLUS_FRAME merged back into HEXA_FRAME
* OCTA_V_FRAME merged back into OCTA_FRAME
 2012-01-31 18:18:13 -08:00
Pat Hickey 0e9294538b Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. 
* HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and
  HEXA_PLUS_FRAME
* OCTA_FRAME stays the same name for X and +, but the V frame
  configuration requires new OCTA_V_FRAME name.
 2012-01-31 18:18:13 -08:00
Jason Short f225efef9f tuning 2012-01-30 21:13:03 -08:00
Randy Mackay 122623f64b OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay 2c906b7b27 OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Michael Oborne 1bebb9452b AC sync battery code with arduplane 2012-01-21 06:29:09 +08:00
Doug Weibel ed9f7cb1b6 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Jason Short dab4fb43d4 Added altitude change flags 2012-01-10 23:42:26 -08:00
Randy Mackay f68d23d91e ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
Jason Short faa9dd43cf scaled to 0-1023 2012-01-06 21:43:37 -08:00