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290 Commits

Author SHA1 Message Date
Randy Mackay 2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
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
Jason Short 8c4b955282 added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short 275815a7c9 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short fa06d4a2e3 Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short e9a4253cd1 added note 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 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 aa1f09af83 Lowered range to more sensible values 2012-01-20 22:52:29 -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 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 e7ad08e209 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short c970ba4f93 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short 05dce91c24 fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -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 33fe4db3fc R10 2012-01-11 22:41:51 -08:00
Jason Short db1fafaaec R9 2012-01-10 23:46:08 -08:00
Jason Short 439c15f3fc Added climb rate control 
removed unused vars
 2012-01-10 23:42:26 -08:00
Jason Short 9cbfcac802 Made timer unsigned 2012-01-10 23:42:26 -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 7b056f208d ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -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
Jason Short fda12c8902 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Jason Short a8574e813d R8 2012-01-07 22:28:03 -08:00
Jason Short ca80dc549c Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short 058a3275c3 Revved to R7 2012-01-06 10:22:53 -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 a8af509517 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell 9ee3431928 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
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 86e01fce17 Cosmetic 2011-12-31 10:54:31 -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 4b2979743f no longer calling reset_nav 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 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 57b2d17d8a updated rev 2011-12-29 23:02:41 -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 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
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
Jason Short a8070d86df Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Jason Short 359d186798 added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short f2d6708058 Fixed merge issues 2011-12-23 14:51:40 -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 2f5da31a05 change Alpha name 2011-12-18 16:38:07 -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 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 2a7f981fb0 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Andrew Tridgell 4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short 6bac318def Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Andrew Tridgell ae1ec05dd4 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Pat Hickey 067724b4f1 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey 67436d7ff2 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey 82b8f4d7b7 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 698a231dd6 ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Randy Mackay 62a7b19600 Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Jason Short 995727383b Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short f444aac706 Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short 7c1a975a71 Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short 22e4ed67aa Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short 118a232b13 made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short ad94166c22 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short 55b2e5339a simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short 8e0d8a860b Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Michael Oborne 21143d87b5 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Jason Short f3b3350d25 Git Test 2011-11-28 10:54:20 -08:00
Jason Short dddf829c01 removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00
Pat Hickey 98534e71f7 ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell 1d66b075b0 ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell e297f0cb23 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell 2bed1dcfd5 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 252e858011 fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey 8300e21a8c hil-sensors ArduCopter: fixes to make hil-sensors build work properly 
* requires new stub libraries for InertialSensor and PeriodicProcess.
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 446a9aac84 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell 23ccce23d0 purple: timer_scheduler should be in all builds 2011-11-25 20:00:17 -08:00
Pat Hickey bbae76efb5 purple: switch ArduCopter to new sensor objects 
this uses the new sensor abstractions for the purple/APM1 hardware
choice
 2011-11-25 20:00:16 -08:00
Jason Short 10330abf54 no longer using the raw pressure 2011-11-25 11:34:05 -08:00
Jason Short 4195204161 v number 2011-11-21 22:13:18 -08:00
Jason Short 7f80649566 Added alternate alt hold, 
New ESC Calibration Routine
 2011-11-21 22:12:19 -08:00
Jason Short 57f3eafb52 Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Randy Mackay 7ac04af03d ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up 
Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
 2011-11-20 22:30:42 +09:00
Jason Short 188fbfd878 added some params from Arduplane to make Mavlink upgrade easier 
made loiter radius smaller in storage
 2011-11-20 00:22:53 -08:00
Jason Short 85905e3879 missed == 2011-11-19 14:42:57 -08:00
Jason Short d8529a32a1 return to prev climb rate calc 2011-11-19 13:58:41 -08:00
Jason Short 16eb5641c2 Working implementation of Jump Command 2011-11-16 21:28:56 -08:00
Jason Short 47354b61ce Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short d475e7ced5 Added better navigation flag for more accurate dtnav timing 
Added better support for climb rate in SIM
 2011-11-16 00:22:22 -08:00
Jason Short 730668b0c7 scaling width of circle mode to make it more round. 2011-11-13 23:09:42 -08:00
Jason Short e55ba471bc Moved updated alt to GPS so the climb rate is sane 2011-11-13 22:54:57 -08:00
Jason Short 69be03bab8 slowed Circle flight 2011-11-13 13:41:23 -08:00
Jason Short ccdfa13edb Update and fix for Circle mode 
HIL updates for altitude
 2011-11-12 21:43:21 -08:00
Jason Short 7df7dbe883 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-09 22:56:52 -08:00
Jason Short 3cb1f6b197 crosstrack angle variable 2011-11-09 22:56:38 -08:00
Andrew Tridgell d69afc3945 HIL: allow for fast HIL attitude update in HIL_MODE_ATTITUDE 
this runs it at the full loop rate
 2011-11-10 13:17:06 +11:00
Jason Short 31e05e40fd Fixes for Sim - Missing climb rate calculation 2011-11-08 10:46:52 -08:00
Andrew Tridgell 87d5581046 ArduCopter: use specific sized data types in a lot of places 
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
 2011-11-08 11:05:36 +11:00
Andrew Tridgell dacf98e201 HIL: enable CTUN log message in ATTITUDE HIL 2011-11-08 07:58:35 +11:00
Jason Short 8ac8ea9c1d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-06 22:46:57 -08:00
Jason Short 7522b034ca moved to 200hz update 
Zccel Z updates from Aurelio in attitude.pde
lowered baro_alt sanity check
moved user hooks to the medium 10hz loop.
 2011-11-06 22:46:39 -08:00
unknown 8ca8ca3e73 AltHold - another correction to the manual boost. Hopefully properly transferring building up I terms to g.throttle_cruise 2011-11-06 19:06:13 +08:00
unknown 28032d0561 AltHold - made TradHeli code also use manual_boost 2011-11-06 18:25:13 +08:00
unknown 0aac828eeb Altitude hold bug fix - changed g.throttle_cruise to be updated to steal I term from correct controller 2011-11-06 17:47:24 +08:00
Jason Short 80c7e135d5 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
Jason Short f4db53203b Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:18:56 -07:00
Jason Short 7b88499579 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Andrew Tridgell 73cc32fb0d fixed HIL build 2011-11-02 08:14:07 +11:00
Jason Short 0e8264a759 cleanup 2011-11-01 09:28:36 -07:00
Jason Short 946db43cc1 altered the interactive throttle to be more aggressive and proportional. 
reworked baro reading strategy.
 2011-11-01 09:24:51 -07:00
unknown f241888224 TradHeli - added TUNE value 13 to allow adjusting of external gyro gain using channel 6 2011-10-29 20:34:21 +09:00
unknown 8dc5683dff TradHeli - added throttle scaling and heli specific angle_boost function that takes into account that heli's main blades can have -ve pitch. 2011-10-29 17:27:43 +09:00
Jason Short a88424b152 Added a slew rate to the alt change rate. 
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
 2011-10-28 21:29:10 -07:00
Jason Short 357a9ba017 Log updates 
Added motor logging for different frame types. Switched the PM log to some new debugging values and speed up the writing of the value to the logs.
 2011-10-27 22:36:25 -07:00
Jason Short 5ed1c2ab9e 50 rev 
Work in progress, revved the EEPROM
 2011-10-27 12:42:28 -07:00
Jason Short 13f708cb40 added boost scalar arguments 
removed accel math from Trig function into Attitude.pde
 2011-10-27 12:33:19 -07:00
Jason Short c3b93d70df Added Andrew's user hooks. 2011-10-15 15:29:33 -07:00
Jason Short 23c0bb9814 Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
Michael Oborne c7c8c309be AC2 fix guide mode fly off 2011-10-13 18:34:32 +08:00
Jason Short be10a861c0 tweak to the Loiter N turns 2011-10-12 20:59:12 -07:00
Jason Short a37d95634a lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Amilcar Lucas 18072d1eb9 Spell 2011-10-11 22:52:02 +02:00
Andrew Tridgell 337100fe44 fixed a signed/unsigned warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell 661b6c4508 merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Michael Oborne c1506111e4 Merge commit 'e7f5e4a623b79872a015dff5ca959e60f6f7fd64' 2011-10-08 20:43:13 +08:00
Jason Short 832458c804 Quick RTL Fix, logic was backward 2011-10-07 11:06:31 -07:00
Jason Short ce136d850a Better Loiter PIDs 
Fixed RTL overshoot bug
 2011-10-06 17:42:09 -07:00
Jason Short 3be34ed31a Implementing a limiter for the ramp up of speed to WPs. 2011-10-03 10:37:56 -07:00
Jason Short e5b66c1c7c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-02 11:36:31 -07:00
Jason Short 7e81756ccd Added second PI loop for alt hold. 
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
 2011-10-02 11:36:23 -07:00
Amilcar Lucas 101dc83239 Fix compilation 2011-10-02 14:52:02 +02:00
Amilcar Lucas 9d3e5a8e11 Use the new AP_Relay library 2011-10-02 14:22:27 +02:00
Jason Short df1a39f650 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
Jason Short b805263974 Attempting to mimic loiter values for 4.0.42 
lowered Rate Error max in loiter
 2011-09-28 23:11:19 -07:00
Jason Short 469acff0fa Added Loiter P tuning as #12 2011-09-27 09:39:32 -07:00