Jason Short
cdabc3878b
ACM: Arducopter - remove the stabilize D scheduling
2012-11-09 22:15:15 -08:00
Jason Short
d2a0913b2d
ACM : formatting
2012-11-09 22:15:15 -08:00
rmackay9
2b714ff7b0
ArduCopter: remove unused functions wrap_360f, wrap_180f and wrap_PI
2012-11-08 15:20:08 +09:00
rmackay9
14cbe37d3e
ArduCopter: remove unused get_stabilize_rate_yaw
2012-11-07 23:28:25 +09:00
rmackay9
b13264c884
AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors
2012-11-07 22:24:00 +09:00
rmackay9
ad431d2f25
ArduCopter: fixed HIL build caused by optical flow semaphore changes
2012-11-07 21:13:34 +09:00
rmackay9
cec96a76d7
ArduCopter: comment out InertialNav related Alt Hold and Loiter PID changes from APM_Config.h
2012-11-07 19:21:36 +09:00
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
d9b4407e64
AP_InertialSensor: changes after review with Tridge.
...
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
2012-11-07 19:21:15 +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
e8ab62f6e5
ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT
...
these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
2012-11-05 15:23:41 +11:00
Jason Short
8a8ed7a711
ACM : Formatting
2012-10-28 12:12:38 -07:00
Jason Short
36040461df
ACM : Formatting
2012-10-28 12:12:38 -07:00
Jason Short
e138b0a1d7
ACM: Added simple mode bearing logging for bug hunting
2012-10-28 12:12:38 -07:00
Jason Short
1713279ace
ACM: Formatting
2012-10-27 14:13:46 -07:00
Jason Short
5149a8c723
ACM: Added notes, credit to decel code. added speed_min to calc.
2012-10-27 14:13:24 -07:00
Jason Short
73bc90f9b8
ACM: config.h cleanup
...
Added LOG_ITERM default to enabled
2012-10-27 09:59:57 -07:00
rmackay9
cebcc226ee
ArduCopter: change TOY_M throttle mode to THROTTLE_HOLD
2012-10-26 10:56:06 +09:00
rmackay9
4877348c49
ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon.
...
Increase other constraints from 3200 to 32000. These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
2012-10-24 22:04:35 +09:00
rmackay9
5e8043fd9c
ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters
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Changes on behalf of Leonard Hall
2012-10-23 21:30:50 +09:00
Andrew Tridgell
406a5dc328
ACM: save another 20 bytes
2012-10-22 18:59:51 +11:00
Andrew Tridgell
9592be5af7
ACM: saved some more memory for strings
2012-10-22 18:57:08 +11:00
rmackay9
78316adf75
ArduCopter: replace Serial.print with Serial.print_P to save memory.
...
Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
2012-10-22 16:45:24 +09:00
Jason Short
6a40fcd56a
ACM : fix compiler warning on non returning function
2012-10-21 14:37:42 -07:00
Jason Short
8842a7dc1b
ACM : Cast to int32_T
...
Don't think it really needs it, but I feel better with the cast.
2012-10-21 14:36:05 -07:00
Jason Short
a0752dc7dc
ACM Acceleration management
...
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
2012-10-21 14:32:39 -07:00
rmackay9
a37a9b5b67
ArduCopter: updated firmware version to 2.8
2012-10-20 09:50:53 +09:00
rmackay9
4395fad6e9
ArduCopter: incremented eeprom format version to force users to accept the new defaults.
...
Particularly important is the roll-pitch I term move from the stabilize to rate controllers.
2012-10-19 16:14:51 +09:00
Pat Hickey
d4bb8a10d7
Update ArduCopter and ArduPlane dependencies on AP_Menu
2012-10-18 20:53:39 -07:00
Robert Lefebvre
bfade7d0ed
Fixed that last commit
...
#define Stupid_Mistake
2012-10-18 16:50:42 -04:00
Robert Lefebvre
592f4040fd
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
rmackay9
1c08e48b4b
ArduCopter: updated firmware version to 2.7.4-Zeta
2012-10-18 23:30:28 +09:00
rmackay9
583f2e49a3
ArduCopter: integrated Leonard Hall's improved ACRO mode
2012-10-18 23:24:34 +09:00
rmackay9
a2a3eed063
ArduCopter: bug fix for telemetry not working on APM1.
...
SPI3 is also UART3. On APM1 we use UART3 for telemetry and don't need SPI3.
2012-10-18 19:15:21 +09:00
rmackay9
d2912e4e01
ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1
2012-10-18 17:04:44 +09:00
rmackay9
401fb4101c
ArduCopter: removed deprecated mag offset routine.
...
Also removed commented-out block of code from navigation.pde.
2012-10-17 19:47:21 +09:00
rmackay9
9e3c2dd105
ArduCopter: updated firmware version to 2.7.4-Epsilon
2012-10-17 19:27:11 +09:00
rmackay9
8519fe55d3
ArduCopter: more out-of-date commented out code removed
2012-10-17 19:25:14 +09:00
rmackay9
b944d9df26
ArduCopter: bug fix in earthframe->body frame translation.
...
Provided by Leonard Hall.
Also removed large unnecessary comments.
2012-10-17 19:15:25 +09:00
rmackay9
7d7de976c3
ArduCopter: reduced optical flow's I and IMAX terms
2012-10-17 17:47:43 +09:00
rmackay9
956b347d68
ArduCopter: updated firmware version to 2.7.4-Delta
2012-10-17 10:20:41 +09:00
rmackay9
5fbe53a84d
ArduCopter: bug fix for get_yaw_rate_stabilized_ef
...
Provided by Leonard Hall
2012-10-17 10:18:24 +09:00
Andrew Tridgell
f828956cb8
battery: use set_pin() to allow pins to be changed at runtime
2012-10-16 17:20:49 +11:00
Robert Lefebvre
063cb41a11
Adding some comments to parameters.
2012-10-15 09:37:02 -04:00
rmackay9
4016f3ba85
ArduCopter: update version information ahead of testing
2012-10-15 18:15:38 +09:00
LeonardTHall
d7b7e1cefa
New Yaw controller using rate feed forward and stabilize.
...
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
2012-10-15 11:37:49 +09:00
rmackay9
ee5dab9647
ArduCopter: enable ACRO mode's AXIS_LOCK by default
2012-10-14 19:50:45 +09:00
rmackay9
997fe85880
ArduCopter: fixed acro mode
...
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
2012-10-14 17:47:46 +09:00
rmackay9
240b0b43fd
ArduCopter: small comment fixes related to battery monitoring
2012-10-13 20:52:14 +09:00
rmackay9
4a41a3d210
ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor
2012-10-13 18:40:46 +09:00
Robert Lefebvre
dae81d2068
Added #define for Tilt_Compensation.
...
Also added some detail to WP_Speed_Max parameter.
2012-10-12 14:51:31 -04:00
Robert Lefebvre
4e649a381c
Added comment detail for Tilt_Comp Parameter.
...
Reduced parameter default value for TradHeli.
2012-10-11 13:17:39 -04:00
rmackay9
1e79d265a1
ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read
...
The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
2012-10-11 18:31:10 +09:00
rmackay9
cf3e49eea2
ArduCopter: changed sin_pitch and sin_roll to faster equivalents
2012-10-11 17:54:42 +09:00
rmackay9
03933df5b7
ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015
...
Updated after discussing with Marco
2012-10-11 17:25:01 +09:00
rmackay9
35fa50234f
ArduCopter: move I terms from stabilize to rate controllers
2012-10-11 17:20:05 +09:00
rmackay9
2848bb8ee6
ArduCopter: freeze I terms if motor limits breached
2012-10-11 17:20:00 +09:00
Andrew Tridgell
601fe89baa
ACM-HIL: fixed optflow declaration
2012-10-11 11:51:25 +11:00
Pat Hickey
bbc7f050e5
ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors
...
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
mavelous <mavelous@googlegroups.com>
Michael,
Per our discussion today,
In a MAVLINK_MSG_ID_COMMAND_LONG
A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
uses param index 1 to specify an arm/disarm motors event: 1 to arm,
0 to disarm
Thanks for working this out with me. Sorry to get it so completely
wrong the first time around!
Best
Pat
2012-10-10 18:59:55 +08:00
Pat Hickey
da374f9043
ArduCopter: Provide AP_Semaphore instance for SPI3 bus on APM2.
2012-10-09 11:39:39 -07:00
rmackay9
b876733c0d
ArduCopter: added message to console when entering ESC Calibration on startup
2012-10-09 12:31:05 +09:00
rmackay9
c0ad98be31
ArduCopter: failsafe added to shutdown motors if mainloop fails
2012-10-09 12:30:17 +09:00
rmackay9
fa0963d592
ArduCopter: APM_Config.h - make it ever so slightly easier to enable INERTIAL_NAV
2012-10-08 12:31:51 +09:00
rmackay9
3c9ba94f42
ArduCopter: bug fix to ROI when no camera mount is specific
2012-10-08 12:31:10 +09:00
rmackay9
7cf60e61b4
ArduCopter: bug fix in earth-frame to body-frame conversion for roll
2012-10-07 19:14:40 +09:00
rmackay9
05fd04134a
ArduCopter: fix heli build
2012-10-06 13:46:19 +09:00
rmackay9
61d0c8e35c
ArduCopter: added AP_Semaphore to list of includes
2012-10-06 12:41:58 +09:00
rmackay9
af1d6a9b82
ArduCopter: reduce Stabilize Yaw P term to 4.5
2012-10-03 14:19:49 +09:00
rmackay9
e375a27058
ArduCopter: prioritise rate controllers, rate controller targets converted to body frame
2012-10-03 14:10:31 +09:00
rmackay9
ea4f256f8e
ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements
...
To save a parameter, the current sensor pin is assumed to always be 1 higher than the voltage pin.
2012-10-02 22:16:19 +09:00
Michael Oborne
a38fef65c7
AP,AC Add ability to override an altitude in any auto mode, on the current active target
2012-09-30 07:29:33 +08:00
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
8c6fd340d7
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
rmackay9
bae53807b2
ArduCopter: tiny formatting change in defines.h
2012-09-27 17:40:54 +09:00
rmackay9
280488fa5e
ArduCopter: bug fix to display ITERM enabled/disabled properly from cli
...
Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
2012-09-27 17:40:30 +09:00
rmackay9
ed881117e0
ArduCopter: updated version to 2.7.4-Beta
2012-09-25 23:39:15 +09:00
rmackay9
fff5d51694
ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08)
2012-09-25 19:08:31 +09:00
rmackay9
a71aa21514
ArduCopter: increase default Loiter Rate P to 5.0
2012-09-25 12:19:44 +09:00
rmackay9
b2f12c4854
ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5
2012-09-24 18:39:33 +09:00
rmackay9
889d1bb36c
ArduCopter: alt hold bug fix - removed reset next_WP in init_home
2012-09-23 01:00:06 +09:00
rmackay9
b3ff368589
ArduCopter: position lead filters modified to use lag which varies by gps
2012-09-20 15:49:09 +09:00
rmackay9
361ff0c08f
ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.
2012-09-18 23:19:23 +09:00
rmackay9
93ae29a3e9
ArduCopter: added throttle curve (although disabled by default) for all multicopters
2012-09-18 23:05:08 +09:00
rmackay9
498cbb063b
ArduCopter: set fast gains while auto trim is being executed
2012-09-18 09:03:29 +09:00
Andrew Tridgell
5fd39bb928
ACM: updates for new GPS detection
...
a GPS can now be attached after startup
2012-09-17 14:45:47 +10:00
rmackay9
6f32f52377
ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables.
2012-09-17 13:44:29 +09:00
rmackay9
303ca11c4c
HIL: changes to fix HIL for ArduCopter after recent timing changes.
...
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
rmackay9
b6d2d4723f
ArduCopter: print firmware version of code instead of zero.
2012-09-13 21:49:11 +09:00
rmackay9
9e66b555cb
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
Jason Short
072085d2d8
ACM : better debugging text
2012-09-12 23:06:06 -07:00
Jason Short
6b6075ed30
ACM l Prevent pre-mature finish of mission
2012-09-12 23:06:06 -07:00
Jason Short
834f961409
ACM : Fix enduf
2012-09-10 21:25:53 -07:00
Jason Short
4c8e257ea2
ACM : forced setup_show to dump params during log dump for better analysis.
2012-09-10 20:52:30 -07:00
Jason Short
34e07c826f
ACM : Added centralized Iterm logging at a lower rate. Logs all iterms.
2012-09-10 20:26:48 -07:00
Jason Short
e8e8c27db4
ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t
2012-09-10 20:22:57 -07:00
Jason Short
a73bc70553
ACM : Params - formatting cleanup
2012-09-10 20:22:11 -07:00
Andrew Tridgell
841d2700b6
ACM: use spare CPU cycles to read the magnetometer
2012-09-10 11:38:18 +09:00
rmackay9
fd110a2723
ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU.
...
This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
2012-09-10 11:37:53 +09:00
rmackay9
42406c827a
ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU.
2012-09-10 11:37:48 +09:00