2596acc8eb
ACM: removed incorrect mode definition
2012-03-10 10:34:30 +11:00
7a9b3d3388
Quaternion: show "Quaternion test" on startup if enabled
2012-03-10 10:34:29 +11:00
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
9bff4e2c4c
ACM: only call the fast loop if the imu has new data
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this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
...
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
64cc04ae09
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
a0ce202d87
ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM
2012-03-10 10:34:27 +11:00
486c56ce41
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
c8e9d57567
temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest.
2012-03-06 22:23:06 -08:00
730476fdfd
ACM -
...
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
2012-03-06 22:22:14 -08:00
c26eb6afcc
ACM: Updated config values
2012-03-06 22:12:24 -08:00
8b256cf924
ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down
2012-03-06 23:20:30 +09:00
72a775cc2a
ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down.
2012-03-06 22:19:19 +09:00
706bea5992
ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino
2012-03-06 22:15:02 +09:00
46d7da4d14
Added define for throttle range for altitude changes, updated it to 250
2012-03-05 22:12:53 -08:00
a480b32400
Added support for TradHeli H1 swashplate type. Added new param heli_h1_swash_enabled.
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Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-03-03 08:14:14 -05:00
0ff44563ec
ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls
2012-03-02 17:57:08 +11:00
0fc646d666
ACM: set default RC fast speed to 400Hz
2012-03-02 17:57:08 +11:00
e213f6780e
ACM: added RC_SPEED MAVLink parameter
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this will set the speed for APM_RC.SetFastOutputChannels()
2012-03-02 17:57:08 +11:00
f781bd735b
ACM: fixed Parameters.h to avoid duplicate keys
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unfortunately everyone needs to reload
2012-03-02 15:48:28 +11:00
cb874d6097
ACM: added board_voltage()
2012-03-02 15:48:28 +11:00
e49c2d2871
Rescale TradHeli roll_out and pitch_out into the min and max ranges to provide linear motion across the input range instead of stopping when the input hits the constrain value. These calculations are based on an assumption of the user specified roll_max and pitch_max coming into this equation at 4500 or less, and based on the original assumption of the total g.heli_servo_x.servo_out range being -4500 to 4500.
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Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-03-01 22:04:50 -05:00
7c09e4a5e6
added stab_d gain scheduling - off by default
2012-02-28 20:16:40 -08:00
a387956814
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
ceef8070ac
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
b76c4ecb22
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
efdf6ee79f
added option for stab_d gain scheduling
2012-02-28 20:16:40 -08:00
ca34d7b7c2
Added test for stab_d gain scheduling.
2012-02-28 20:16:40 -08:00
16ed16f403
Cleanup: rm ArduCopter/GCS_Mavlink\ copy.txt
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* Not needed, but we can always checkout an old version if it is.
Hi Pat,
This may have been my WIP for the Mavlink 1.0 conversion. I tried to
give Tridge a head start on it. I've made small updates to it in
parallel to the current Mavlink. You can delete it as he would have used
it by now if he felt it was helpful.
Jason
On Feb 28, 2012, at 4:08 PM, Pat Hickey wrote:
It looks like this file was checked in by accident, possibly, but you've
made a few small changes to it since creating it.
Is it important? Should we get rid of it?
Git log of file below.
Thanks
Pat
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2012-02-28 16:28:27 -08:00
ff0fc26484
Cleanup: rename files with spaces in their names, replace with underscores
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* Skipped /Tools/ArdupilotMegaPlanner/Resources/new...
and /archive/Configurator/Source/Utilities/TDMS/G...
because I don't want to mess with that.
2012-02-28 16:14:31 -08:00
76c3cd88f0
Added heli_collectiveFactor array
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Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-02-28 10:49:28 -05:00
744e5b8c60
ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine)
2012-02-28 22:56:26 +09:00
4a0989f95d
ArduCopter - Attitude.pde - updated get_rate_roll and get_rate_pitch to use new average filter.
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modified all int to int16_t in Attitude.pde
2012-02-28 21:26:37 +09:00
17d94b61ed
ArduCopter - modified to work with new Filter library
2012-02-28 21:02:44 +09:00
ba68d6d8a1
Set loiter rate enabled by default
2012-02-26 12:29:28 -08:00
e06d8142c1
Added OPtion for non-rate based loiter
2012-02-26 11:33:37 -08:00
6e53949c2a
removed Constraint that caused JLN's horizontal drift.
2012-02-26 11:33:37 -08:00
517172ba20
Added Loiter Rate Tuning
2012-02-26 11:33:37 -08:00
0ce0c7c262
Added Loiter_rate_tuning
2012-02-26 11:33:36 -08:00
eac77504a3
Added more Logging for PIDs.
2012-02-26 11:33:36 -08:00
8193c786ef
ArduCopter - added #include <Filter.h> to unbreak the build!
2012-02-26 17:05:41 +09:00
69132e0fe7
ArduCopter - change sonar to use new mode filter from Filter library
2012-02-26 15:35:14 +09:00
f27e9f9ca1
added a simple rest of nav_throttle just in case
2012-02-25 13:31:21 -08:00
cc5ab4aebf
increased speed of alt hold I term based on Jani's Logs
2012-02-25 13:31:21 -08:00
1ce267f904
increased the rate error for more responsive alt hold
2012-02-25 13:31:21 -08:00
a924c3685e
Based on Jani's latest logs I've made two tweaks to alt hold.
...
The first is to remove the filter on the throttle output for alt_hold.
The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
2012-02-25 13:31:21 -08:00
e2bbc795ad
ACM: use a NULL gps pointer in DCM init
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current DCM API does need a GPS reference passed in, but it can be
NULL
2012-02-25 15:08:49 +11:00
0248b48d30
allow MAG_ENABLE to be changed in flight
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this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled
This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
2012-02-25 14:51:09 +11:00
864ed1a87f
ACM: check the return of compass.init()
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if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
2012-02-25 14:51:08 +11:00
698749dd92
ACM: don't pass a gps pointer to DCM
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after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
2012-02-25 14:51:08 +11:00
Andrew Tridgell
Jason Short
rmackay9
Robert Lefebvre
Pat Hickey