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1101 Commits

Author SHA1 Message Date
Jason Short 480be14eb0 Minimize the Yaw Deadzone 2012-02-10 22:32:55 -08:00
Jason Short b29384581a Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short 7cb4711e8e reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00
Jason Short 8a1c2165b2 Fix for disabled CH7 value triggering WP saving 2012-02-09 22:32:04 -08:00
Jason Short a27bd9db46 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short fb003e9742 Enabled PWM test 2012-02-09 22:22:01 -08:00
Jason Short e5a0959394 Found missing Break in Switch statement. 2012-02-09 22:22:01 -08:00
Jason Short 471bd12799 faster FS timer 2012-02-09 22:22:00 -08:00
Jason Short 0f3c3bb563 Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune. 2012-02-09 22:22:00 -08:00
Jason Short d00d6b8c64 Added safety to prevent shutdown of motors during Auto-land 2012-02-09 22:22:00 -08:00
Jason Short f3547a04a5 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Randy Mackay 7745239c13 ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00
levinemax 0d3369af45 Motor mix update for X8 (octo quad), 
diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
 2012-02-09 03:57:40 +00:00
Randy Mackay 31ff9a9318 ArduCopter - Camera.pde - turn off camera pitch control (which uses channel 6) when channel 6 is being used for tuning. 2012-02-08 23:51:53 +09:00
Randy Mackay e9ef79c42d Arducopter - reduced rate of decent when landing using sonar 2012-02-08 22:46:32 +09:00
Randy Mackay 54fe857236 ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments 2012-02-05 16:56:51 +09:00
Randy Mackay bde1ebb56e TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction. 2012-02-05 11:04:38 +09:00
Andrew Tridgell c95a295fd6 allow for lower serial baud rates 
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
 2012-02-04 19:07:18 +11:00
Jason Short d161c0451f fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
Michael Oborne 484b688700 fix issue 502 
to identify quad over mavlink
 2012-02-03 06:53:08 +08:00
Pat Hickey b65eb110bd Revert all changes to ArduCopter Motors MOT mappings. 
Revert "Arducopter Motors Octa: Change V frame MOT_ output ordering."

This reverts commit bdab02f408ddc5451fcb4c6390b2475d31ac657f.

Revert "hexa frame FRAME_CONFIG fixup"

This reverts commit d15e692df613cb728ec671a54dce166f6f1940a0.

Revert "Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME"

This reverts commit cb0a8c62fbd07a8ae9dcb8d4fffce337ace1aa1c.

Revert "Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame"

This reverts commit 120d7f9050d5ec9f8fbe02c0ed4f38621949f4ee.

Revert "Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME"

This reverts commit 7d65ec311fd2e1222a36d0b34c366e21f3869fcc.

Revert "Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines."

This reverts commit 47c6e8662f4d5e8fb920f2049338541343d8d18e.

Revert "Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types."

This reverts commit 8259c90ec7cb29dedac19890cd9a4449b7399e36.
 2012-02-01 10:14:46 -08:00
analoguedevices 256893f385 credits 2012-02-01 04:44:36 +00:00
analoguedevices d86dbd1c6f Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Pat Hickey 48b152d642 ArduCopter Octa: fix yaw motors for Octa V. 
* I based this off the APM1 Octa V diagram at
  http://code.google.com/p/arducopter/wiki/AC2_Multi
 2012-01-31 19:37:49 -08:00
Pat Hickey ca18eb3f8f Arducopter Motors Octa: Change V frame MOT_ output ordering. 
* I backed this out from Max's changes, but I'm not sure whether its correct.
 2012-01-31 18:19:41 -08:00
Pat Hickey 417d75eb50 hexa frame FRAME_CONFIG fixup 2012-01-31 18:19:41 -08:00
Pat Hickey 41ea9079be Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME 2012-01-31 18:19:41 -08:00
Pat Hickey 7d264d1150 Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame 
* This will change the output order for APM2, but not APM1.
 2012-01-31 18:18:13 -08:00
Pat Hickey 5cee2b674b Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME 2012-01-31 18:18:13 -08:00
Pat Hickey 8463acc978 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 f32d089f33 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
Randy Mackay 1a1f6cac5d OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short 4402a92e85 Loiter PIDs 2012-01-30 21:13:03 -08:00
Jason Short 5de459a160 tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short 06d54bf0e8 ATT tuning update 2012-01-30 21:13:03 -08:00
Jason Short c181186690 tuning 2012-01-30 21:13:03 -08:00
Jason Short 90ee552bd1 cosmetic 2012-01-30 21:13:03 -08:00
Jason Short 3050c1d765 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short f2afa39bbd Cosmetic 2012-01-30 21:13:03 -08:00
Jani Hirvinen b3dd07038b Minor changes for PID for jDrones motors due latest changes on control laws. 2012-01-31 09:00:31 +07:00
Jason Short ba81e2aa69 pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short cc45bd47fe cosmetic 2012-01-29 21:55:17 -08:00
Jason Short d93e259289 Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short 25c2c9b437 removed filter. Don't need it. 2012-01-29 17:10:52 -08:00
Jason Short c855c81d2a limiting alt hold rate error to 1m/s 2012-01-29 17:08:34 -08:00
Jason Short 370d633f51 Lowering the throttle_P values by default 2012-01-29 16:27:13 -08:00
Jason Short af0b0d5a7f made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Randy Mackay cff6799d18 TradHeli - fix to servo limits. They had been unnecessarily limited to the collective pitch's min and max but actually there are cases (for example when the swash is leaning over 45degrees) where one servo goes well beyond the collective pitch's min or max. 2012-01-29 21:14:37 +09:00
Randy Mackay 1cbbe7bc7d Optflow - minor fix to D term defaulting 2012-01-29 21:06:41 +09:00
Jason Short 2a8044c666 Landing update for better baro landing 2012-01-28 22:35:57 -08:00
Jason Short 9dd1730cce reduce test.pde size for 1280 users 2012-01-28 22:16:24 -08:00
Jason Short 0213f4dd88 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short e94ac68e4d formatting 2012-01-28 21:19:46 -08:00
Jason Short 8fcb2931d7 Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short a685510c38 changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay 000acac9f8 Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup 2012-01-28 10:13:58 +09:00
Randy Mackay 2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Pat Hickey 38d83d6cf0 ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2 2012-01-27 07:39:01 -08:00
Randy Mackay f27b41179b Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Pat Hickey 70825e0e1c ArduCopter Heli: add motors_output_enable function 2012-01-25 22:41:09 -08:00
Randy Mackay 2f84b54bbb 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
Randy Mackay cd21c5905b Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi 2012-01-25 21:53:20 +09:00
Jason Short 86c7742dc0 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
Jason Short 32241319c1 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short 04a2eee410 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Pat Hickey 05246bf3b4 ArduCopter: Call APM_RC.enable_out for camera channels in init_camera() 2012-01-22 12:03:11 -08:00
Pat Hickey 368e736a61 ArduCopter: Call motors_output_enable at correct spot during init 2012-01-22 12:03:11 -08:00
Pat Hickey 2bd2e9c774 ArduCopter: Add implementation of motors_output_enable to each motors_ frame type 2012-01-22 12:03:11 -08:00
Jason Short acf43341da Causes Aero_SIM to fail 2012-01-22 09:34:43 -08:00
Jason Short 8c4b955282 added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short a213e05eb9 converted to cm 
Signed-off-by: Jason Short <jasonshort@mac.com>
 2012-01-21 22:14:08 -08:00
Jason Short 7616c3b5a1 Converted distance gains to CM 
added loiter_d for rate control, equal to old Nav_P gain
 2012-01-21 22:13:57 -08:00
Jason Short e1f7fa34ea Fixed speed governor which was letting speed get to 0. 
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
 2012-01-21 22:12:57 -08:00
Jason Short 8bd6cabdf1 recording nav_bearing rather than target bearing 
recording x and y speed rather than Iterms for nav since they are always 0 now
 2012-01-21 22:10:28 -08:00
Jason Short 14a8d8a471 added conversions of CM to M 2012-01-21 22:09:39 -08:00
Jason Short a3daae1530 Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning. 
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
 2012-01-21 22:09:13 -08:00
Jason Short 9ecd091f79 convert command into CM from M 
Making Landing boost be one at minimum to trigger better navthrottle output
 2012-01-21 22:06:35 -08:00
Jason Short 6377cf8549 better default for speed governer 2012-01-21 22:05:48 -08:00
Jason Short 02d6adb21f slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short 275815a7c9 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short ab8bf0b560 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short 8f86caa3ff limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short fa06d4a2e3 Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short d444051eb3 Enabled auto throttle hold 2012-01-20 22:52:31 -08:00
Jason Short e9a4253cd1 added note 2012-01-20 22:52:31 -08:00
Jason Short 3921fb7880 formatting 2012-01-20 22:52:31 -08:00
Jason Short 2fa8a343ac Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short 525f7cd40f cleanup 2012-01-20 22:52:30 -08:00
Jason Short a087d84734 error on comparison operator 2012-01-20 22:52:30 -08:00
Jason Short 84937b4f69 Added Auto_land_timeout to params 2012-01-20 22:52:30 -08:00
Jason Short bf8774c2f8 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short c5dd970026 Max throttle output was to high 2012-01-20 22:52:30 -08:00
Jason Short 99b71434da Updated Firmware version 2012-01-20 22:52:30 -08:00
Jason Short 9c912b2573 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short 63a1cf75df enabled Mavlink Land command 2012-01-20 22:52:30 -08:00
Jason Short 0475dbf8ae relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short f504c79fb0 Stab_D changes units with the new dampening controller updates 
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
 2012-01-20 22:52:30 -08:00
Jason Short 3a4a80c650 renamed function 2012-01-20 22:52:30 -08:00
Jason Short c2496948fb Verify land updates from JLN 
Effectively a throttle control for landing that mimics a person lowering the throttle.
 2012-01-20 22:52:29 -08:00
Jason Short d991a22453 Refined the D term for stabilize 
moved all the rest_I terms from code into 1 central place
 2012-01-20 22:52:29 -08:00
Jason Short ba535ed956 B3 2012-01-20 22:52:29 -08:00
Jason Short 556d646cad set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units. 
added the ability to force nav_throttle so we  don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
 2012-01-20 22:52:29 -08:00
Jason Short 0f24860552 Altitude no longer resets when moving loiter WP 2012-01-20 22:52:29 -08:00
Jason Short 7468889bb7 slowed down slightly 2012-01-20 22:52:29 -08:00
Jason Short aa1f09af83 Lowered range to more sensible values 2012-01-20 22:52:29 -08:00
Jason Short 3797c25867 Off by default 2012-01-20 22:52:29 -08:00
Michael Oborne c2f3cf0cf5 AC fix attitude level hil 2012-01-21 07:52:52 +08:00
Michael Oborne b94c80059b fix scale error 2012-01-21 06:33:18 +08:00
Michael Oborne 3b93418d67 AC sync battery code with arduplane 2012-01-21 06:29:09 +08:00
Michael Oborne 7f272b4c4b fix SITL attitude hil AC 2012-01-20 16:32:25 +08:00
Doug Weibel 2ea9db84e0 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
Doug Weibel 17b3e514dc Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Jason Short f326a5a9ea APM2 Channel assignments 2012-01-15 10:24:16 -08:00
Jason Short 7e411f5fb6 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Jason Short 3879e79898 b2 2012-01-14 11:37:00 -08:00
Jason Short cf51967bbb Fix for SIMPLE mode 2012-01-14 11:32:48 -08:00
Jason Short 6714ab49ad Tweak to make circle mode scripting more accurate 2012-01-14 11:21:50 -08:00
Jason Short e7ad08e209 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short 11e1df497d lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short f25d741f62 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short e6ec80bb21 Clarified the Increment for WP total 2012-01-14 11:20:40 -08:00
Jason Short 6d0329b08c added notes, removed redundant save wp_total 2012-01-14 11:20:40 -08:00
Jason Short 24b760d48f added update throttle cruise function 2012-01-13 16:48:05 -08:00
Jason Short 414a2581a0 Made RTL always the current Altitude 2012-01-13 16:47:38 -08:00
Jason Short c970ba4f93 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short 589f8bc557 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short 05dce91c24 fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short 8de6e0e223 made landing shoot for below home by 2 meters to avoid bounce up. 2012-01-13 12:46:40 -08:00
Jason Short 9a0539f39e tuned down Alt hold D gain 2012-01-13 09:36:51 -08:00
Jason Short 81413d2a76 re-enabled relay test 2012-01-13 08:55:02 -08:00
Jason Short 09c4bbe46e Added simple constrain for Alt d term 2012-01-13 08:49:55 -08:00
Jason Short b9419e0123 moved GPS routines to 50hz loop to avoid delay. 2012-01-12 22:59:47 -08:00
Jason Short b81f9a5d77 Version 2.2 2012-01-12 22:37:33 -08:00
Jason Short b884462ce3 removed wind comp code, 
Added Landing boost code
 2012-01-12 22:28:58 -08:00
Jason Short 5418d330f6 Added a small D term on alt hold 2012-01-12 22:28:58 -08:00
Jason Short 6d0f078fdd Added Landing throttle control to force down the copter 2012-01-12 22:28:58 -08:00
Jason Short b493cb1e55 removed unused defines 
lowered default Loiter gain
 2012-01-12 22:28:58 -08:00
Jason Short 8416de7e9c Added Ryan's GPS lag filter 
Removed unused code
refined alt change
 2012-01-12 22:28:58 -08:00
Jason Short 400d080d12 added notes 2012-01-12 22:28:58 -08:00
Doug Weibel 622217357c Bug fix for compass. 
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
analoguedevices c00bcc58d9 Eliminated second instance of APM2 #defines 2012-01-12 20:38:41 +00:00
Jason Short 33fe4db3fc R10 2012-01-11 22:41:51 -08:00
Jason Short 464038b3ea New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short 2566f1fb95 New Loiter Gains for new Loiter methods 2012-01-11 22:41:51 -08:00
Jason Short 55cb0ad476 moved to verify_land 2012-01-11 22:41:51 -08:00
Jason Short 7978a2a21a attempting to force down without using Manual boost. 2012-01-11 22:41:51 -08:00
Jason Short db1fafaaec R9 2012-01-10 23:46:08 -08:00
Jason Short 22ebe00773 comma 2012-01-10 23:45:33 -08:00
Jason Short 7933492fec Switched to set_next_WP for mode switches 2012-01-10 23:43:44 -08:00
Jason Short 30f5ecda54 Fixed Type Error 2012-01-10 23:43:44 -08:00
Jason Short ed903c6cd3 Fixed type error 2012-01-10 23:43:44 -08:00
Jason Short 36516161b5 Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short 78925d57c2 added set_new_altitude call() 2012-01-10 23:43:44 -08:00
Jason Short 0c9dc11ac1 Added ending for auto landing 2012-01-10 23:42:27 -08:00
Jason Short 7d4067a6ed updated climb rate control 
Land detector
 2012-01-10 23:42:27 -08:00
Jason Short f683371508 added set_new_altitude call 2012-01-10 23:42:27 -08:00
Jason Short 581657ab7a climb rate control 2012-01-10 23:42:26 -08:00
Jason Short 439c15f3fc Added climb rate control 
removed unused vars
 2012-01-10 23:42:26 -08:00
Jason Short c385db412e Added altitude change flags 2012-01-10 23:42:26 -08:00
Jason Short 9cbfcac802 Made timer unsigned 2012-01-10 23:42:26 -08:00
Jason Short 9d1b1dba77 Added comments 2012-01-10 23:42:26 -08:00
Jason Short 5b00928b15 added location error calc to get better data. Otherwise we'll be 1 GPS read off. 2012-01-10 23:42:26 -08:00
Jason Short 0744179970 Added comments 
moved out failsafe check. otherwise the reporting was erroneous.
 2012-01-10 23:42:26 -08:00
Jason Short 5d28e97339 Moved failsafe check to more logical place 2012-01-10 23:42:26 -08:00
Jason Short f240888b49 added #if to wind compensation code 2012-01-10 23:42:26 -08:00
Pat Hickey 7961021895 ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros 2012-01-09 22:06:49 -08:00
Pat Hickey 397aef9c2a ArduCopter motors_y6: rewrite loop in terms of motors 2012-01-09 22:06:49 -08:00
Pat Hickey 2f11c3f17a ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros 
* Third Tricopter motor was on CH_4, so it is called MOT_4. This
  will be changed in a subsequent commit.
 2012-01-09 22:06:49 -08:00
Pat Hickey 757471c3a3 ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 22:06:48 -08:00
Pat Hickey ee7356c1a7 ArduCopter motors_octa_quad: rewrite loop in terms of motors 2012-01-09 22:05:01 -08:00
Pat Hickey f8aa1456cc ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 21:57:02 -08:00
Pat Hickey ad5c31cd38 ArduCopter motors_octa: rewrite janky loops to use ch_of_mot 
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
 2012-01-09 21:57:02 -08:00
Pat Hickey f055cbc720 ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros. 2012-01-09 21:57:02 -08:00
Pat Hickey 2cf935e2d2 ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot 
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
 2012-01-09 21:57:02 -08:00
Pat Hickey b8b6e3c25b ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Pat Hickey 87735fef24 ArduCopter test.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey 20b0e4cd33 ArduCopter setup.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey 38c2a052be ArduCopter radio.pde: translate CH_ to MOT_ outputs 2012-01-09 21:57:02 -08:00
Pat Hickey 8d4db05f50 Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey b22920c0ea ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey ccff9041f8 ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey 8d595d7c53 motors_quad: translate from CH_ to MOT_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey 7b056f208d ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Pat Hickey e969e0dc55 ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL 2012-01-09 21:57:01 -08:00
Pat Hickey eb345c009b ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8] 2012-01-09 21:57:01 -08:00
Pat Hickey bcb43ec9b5 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Pat Hickey a1cc77f41e ArduCopter: add config_motors.h with MOT_n to CH_m mapping 
* APM1 values are not valid, but hopefully APM2 will stay that way?
 2012-01-09 21:57:01 -08:00
Pat Hickey d015e0d6d9 APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
 2012-01-09 21:57:01 -08:00
Jason Short ba72a98345 Slowed Auto Descent 
Don't return true in Landing code to prevent flyways in Stabilize
 2012-01-08 23:01:22 -08:00
Randy Mackay 7b9701fdd5 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
analoguedevices 8b68da3105 Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves 2012-01-09 01:59:55 +00:00
Jason Short fda12c8902 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Randy Mackay 598593e1fc ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short a8574e813d R8 2012-01-07 22:28:03 -08:00
Jason Short 0a7378856d Added finish to missions - auto-land or stabilize 2012-01-07 22:27:26 -08:00
Jason Short cf5e0b3a1b converted auto land to use the mission planner version 
Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
 2012-01-07 22:27:26 -08:00
Jason Short 12493d6431 Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short 7e96e0f7fa Quad frame - X is default 
added wind comp stability option to config - off by default
 2012-01-07 22:27:26 -08:00
Jason Short 250545f31d Auto-land updates - removed sonar option - not needed 
updates from JLN
 2012-01-07 22:27:26 -08:00
Jason Short ca80dc549c Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short b8bcd81b39 Cleanup 2012-01-07 22:27:26 -08:00
Jason Short 048532ae98 scaled to 0-1023 2012-01-06 21:43:37 -08:00
Jason Short 058a3275c3 Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short 056a08d838 Forced Faildafe throttle mode to throttle Auto 2012-01-06 10:21:50 -08:00
Jason Short 57c3405658 Added check for armed motors in failsafe 2012-01-06 10:21:23 -08:00
Jason Short a640311f58 Added Note 2012-01-06 10:20:59 -08:00
Jason Short e908390c64 Made RTL go up 10m for failsafe 2012-01-06 10:20:48 -08:00
Jason Short d430c847fa Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short de912b5054 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short beac2930c9 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short 9d9bef37a8 Clears Auto_land timer 2012-01-05 21:15:12 -08:00
Jason Short a8af509517 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell 600a5680f8 ACM: reset all I terms on gyro calibration 2012-01-05 10:15:14 +11:00
Andrew Tridgell a6808162d6 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Andrew Tridgell 734b0a02be ACM: fixed a alt hold bug 
== instead of =
 2012-01-05 10:14:30 +11:00
Andrew Tridgell 3c965ff1a2 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Andrew Tridgell 9ee3431928 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short 8341a080ce Disabled stable mode wind comp by default for release 2012-01-04 09:28:38 -08:00
Jason Short 5aa0861ec2 Added Xplane output option 2012-01-04 09:28:38 -08:00
Jason Short 6b9d35cc34 Added home offset for altitude 2012-01-04 09:28:38 -08:00
Jason Short f74e265bb9 Made landing disarm the motors 2012-01-04 09:28:38 -08:00
Jason Short 3ac37c09a9 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short a70fdc58a1 Cleaned up and documented each global vavriable 
Added Wind compensation for Stability
Acro mode fixes
 2012-01-04 09:28:37 -08:00
Jason Short 123ce533bb Added precalc for wind compensation when entering Stabilze mode 2012-01-04 09:28:37 -08:00
Jason Short bf8e3975ec Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short 6b3094e053 removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short 7858976407 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short 22c3853020 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short e5994c578a removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short 3d7f3f6b77 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short 8d63af2a89 removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short a1c3ce88a0 calc_wind_compensation called when exiting AP modes 
Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
 2012-01-04 09:28:37 -08:00
Jason Short e6887aa3ec added Reset_Rate_I function 
Removed I term from Throttle rate calc
Added some basic constrains to Acro
 2012-01-04 09:28:37 -08:00
Jason Short dd4b4c723a removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short 7bef298a46 cleanup - removed unused functions, made pressure reading Float to avoid extra cast 2012-01-04 09:28:36 -08:00
Jason Short d7f4328441 cosmetic 2012-01-04 09:28:36 -08:00
Jason Short 1883d0c1a8 Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Jason Short c629795050 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short 801b3a8e8f removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short fcd18d5538 Removed unused options 2012-01-04 09:28:36 -08:00
Jason Short 525ac4df88 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short c450cc4e92 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short 4a50e08ac1 change how Reset Nav params work - no longer clear I terms 2012-01-04 09:28:36 -08:00
Jason Short fe265b3040 Added JLN's landing patch, moved some variables local such as Jump counter 2012-01-04 09:28:36 -08:00
Jason Short 5de709ceea removed unused functions 2012-01-04 09:28:36 -08:00
Andrew Tridgell 54b91ce2f4 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell d6ccffc71b ACM: don't set defaults in APM_Config.h 
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
 2012-01-04 19:35:05 +11:00
Andrew Tridgell 645eac6f38 I2c: default to 5ms timeout, and faster bus speed 
we will slow down the speed when we get a failure
 2012-01-04 16:36:47 +11:00
Jason Short 24bddb1c47 Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short 86e01fce17 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short bfd7608f4d Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short e8db2225dd upped to r5 2011-12-31 10:05:13 -08:00
Jason Short e17c8705ba Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short e9d41897df R4 2011-12-30 23:54:02 -08:00
Jason Short 1d636219f9 New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short fc93a73ad7 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short 170a646ecf removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short 4b2979743f no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short 62ca68cdbb Reverted to Crosstrack like in Arduplane, requires Degrees * 100 2011-12-30 23:48:04 -08:00
Jason Short 27d3564eab Sync with Arduplane 2011-12-30 23:48:04 -08:00
Jason Short f5ffa7bd7e Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short e08b550f44 Added a default Yaw tracking setting 
Added Nav_Bearing
 2011-12-30 23:48:04 -08:00
Jason Short 09db32ee02 Added Nav_bearing, just like APlane 
added fix for LOITER in missions so we don't Yaw in circles
 2011-12-30 23:48:04 -08:00
Jason Short 758a5240f2 removed old loiter method option 2011-12-30 23:48:04 -08:00
Randy Mackay c39ebde9de ArduCopter - init_compass - fixed HIL build issue 2011-12-31 12:29:54 +09:00
Jason Short 57b2d17d8a updated rev 2011-12-29 23:02:41 -08:00
Jason Short 8fc73844ee Yaw Performance tweaks 2011-12-29 23:02:03 -08:00
Jason Short 4535bc4fd9 lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short 89c705c8b9 removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short 723adffc48 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short 4bfa5def76 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short 2f657ebdbf cosmetic 2011-12-29 23:02:03 -08:00
Jason Short aa2e474b80 Added 5 sec Takeoff Timer to clear i terms when lifting 
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
 2011-12-29 23:02:03 -08:00
Jason Short 8a1b9df325 Added Stabilize_D parameter 2011-12-29 23:02:02 -08:00
Jason Short ce990f3050 Upped Yaw speed to deal with performance complaints 
Added new Stabilize D term default of .25
 2011-12-29 23:02:02 -08:00
Jason Short 83d52899b0 Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have. 2011-12-29 23:02:02 -08:00
Jason Short e42d5cb4f9 Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Jason Short c4ad864ed0 Set Define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short 737feabc6c Fixed a 1280 only test 2011-12-29 23:02:02 -08:00
Jason Short f94727ed02 added define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short 200f7da103 Added Dampening term for tuning 2011-12-29 23:02:02 -08:00
Jason Short 80e1715b12 updated Loiter PIDs 2011-12-29 23:02:02 -08:00
Jason Short db0a7be233 Enable Magnetometer by default 2011-12-29 23:02:02 -08:00
Jason Short 3202f1cf64 Missing ; 2011-12-29 23:02:01 -08:00
Jason Short 9832d8eccb removed takeoff complete flag from missions, not used and would be useful elsewhere. 2011-12-29 23:02:01 -08:00
Jason Short 9f7aae5945 removed unused function 
Simplified the baro init filter
 2011-12-29 23:02:01 -08:00
Randy Mackay ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell 1cc38b0701 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell c27277c7f1 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell 8df91ea885 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Andrew Tridgell ef1d8eaeac ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Jason Short a8070d86df Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Andrew Tridgell 0f39336801 ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Andrew Tridgell 7520315475 ACM: fixed HIL build again 2011-12-26 19:17:11 +11:00
Andrew Tridgell cb48bfd054 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay 85167be181 TradHeli - modified the default collective min/max values to restrict movement to about half the full range. 2011-12-26 16:59:01 +09:00
Jason Short a4e00f7459 Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Randy Mackay c3ea1ca5dc AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell da87622a5f removed "Please run setup" loop from ArduCopter 
Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
 2011-12-24 18:12:51 +11:00
Jason Short 9e6ea0b167 disabled some tests with warnings 2011-12-23 18:54:38 -08:00
Jason Short 359d186798 added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short bf29f09107 Getting rid of Simple Logging 2011-12-23 18:44:30 -08:00
Jason Short c9a30ccf1f Made WP radius 1 by default 2011-12-23 15:01:53 -08:00
Jason Short f2d6708058 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short a40a026220 added ability to enter Loiter with only optflow available 2011-12-23 14:46:32 -08:00
Jason Short da903d2c3e moved some defines around 2011-12-23 14:46:32 -08:00
Jason Short c8ca841bd7 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short ce11f48809 This is the test to deal with big props with lots of inertia. We use a low pass filter on positive acceleration. 2011-12-23 14:46:32 -08:00
Jason Short fa2fa37f3b initing z dampener at arming 2011-12-23 14:46:08 -08:00
Jason Short 8aa6429b1e Too complicated 2011-12-23 14:46:08 -08:00
Jason Short 778c9cd1db added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Jason Short 7963a73816 used for testing 2011-12-23 14:42:50 -08:00
Jason Short f892e0b00d increased crosstrack thanks to float math fix 
decreased loiter iterm, decreased throttle iterm based on simulator runs
 2011-12-23 14:42:50 -08:00
Jason Short 7820d96f4c No longer blocking before initing home 2011-12-23 14:42:50 -08:00
Jason Short dc2103d67f the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -08:00
Jason Short 6c5f41fe58 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short 885548e693 removed some unneeded HIL #defines 2011-12-23 14:42:49 -08:00
Pat Hickey 343228c8cc Log_simple uses identical implementation of do_erase_logs. 
* fix build1280.ArduCopter
 2011-12-22 13:31:28 -08:00
Pat Hickey 74530de4bb ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added 
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
 2011-12-19 21:04:51 -08:00
Randy Mackay 73ff5138c6 Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer 2011-12-19 22:57:00 +09:00
Jani Hirvinen 9d7eb9cd1a config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short a98a0b636a Hexa stability patch bug fix by borna.segulin 2011-12-18 16:38:07 -08:00
Jason Short 2f5da31a05 change Alpha name 2011-12-18 16:38:07 -08:00
Andrew Tridgell 1807585b98 ACM: run mavlink loop while erasing logs 2011-12-18 10:19:41 +11:00
Jason Short 35f0d31b9d Sync logging 2011-12-16 22:02:41 -08:00
Jason Short ed818e4ccf Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
Andrew Tridgell 4bbd5392ef removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Jason Short 027b710816 renamed super simple, added framework for auto calc of throttle cruise 2011-12-15 20:51:41 -08:00
Jason Short 2b5c039eae turned off iterm for traverse 2011-12-15 20:51:41 -08:00
Jason Short b484fdab05 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Jason Short fa908795d9 renamed super simple 2011-12-15 20:51:41 -08:00
Jason Short 6a55fe18f6 added altitude to circle mission 2011-12-15 20:51:40 -08:00
Jason Short 4b52b61563 Allows user to specify just an altitude for Circle Mode 2011-12-15 20:51:40 -08:00
Jason Short 05e921f5d0 More power to descend 2011-12-15 20:51:40 -08:00
Jason Short 958693ee5e Addition of nav mode that tries to maintain level 2011-12-14 22:08:42 -08:00
Jason Short b4aafcce05 dupe of landing logic for scripting 2011-12-14 22:08:41 -08:00
Jason Short 96ce429537 made the last step of landing stop navigating so we can drop straight down. 2011-12-14 22:08:41 -08:00
Jason Short 66c974a949 Added failsafe check 2011-12-14 22:08:41 -08:00
Jason Short c7da9c63f1 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Jason Short d5666f287c added loiter control to reset nav 2011-12-14 22:08:41 -08:00
Jason Short 2a7f981fb0 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Doug Weibel 737447c8cf Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Doug Weibel 2687f1c77d Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Michael Oborne be9a741c88 add method of detecting if motors are armed 2011-12-14 06:18:29 +08:00
Randy Mackay 68d1fa6ec7 Arducopter - Attitude.pde - fixed small bug in pitch stabilise 2011-12-13 22:10:51 +09:00
Andrew Tridgell c007fb49b8 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell 4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short 29788b98bd Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short 424a11d269 Stability patch2 - Jose style. 2011-12-12 17:47:45 -08:00
Jason Short 6b1bedc381 Gain updates 2011-12-12 17:47:45 -08:00