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380 Commits

Author SHA1 Message Date
Jason Short
802dd6994a PM restored to normal output 2011-11-17 10:37:01 -08:00
Jason Short
7ebab2a9fe Log type error fix 2011-11-17 10:27:02 -08:00
Randy Mackay
c8d2341156 TradHeli - automatically reinitialise swash plate if HSV_MAN is switched from 1 to 0. 
Turn-off feed forward correction to yaw based on collect when in HIL mode.
 2011-11-17 20:43:07 +09:00
Jason Short
a168691eba Working implementation of Jump Command 2011-11-16 21:28:56 -08:00
Jason Short
ddd89e1849 Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short
833fe17c6a disabled raw GPS temp 2011-11-16 00:22:23 -08:00
Jason Short
fed5c0b204 Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short
8392e375e1 Do not write home from GS, 
MAV_Action_Continue disabled until I find out what it does and how to do it.
 2011-11-16 00:22:23 -08:00
Jason Short
937a364dce Made RTL Altitude hold current by default 2011-11-16 00:22:23 -08:00
Jason Short
0245e73a8b Mission Scripting re-write 2011-11-16 00:22:23 -08:00
Jason Short
163345dadd Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
65fe467a57 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
5ed931c582 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
3eaef4081c 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
c343cee727 Fixed typo in notes about timer speed 2011-11-14 12:25:06 -08:00
Jason Short
2ad1294514 scaling width of circle mode to make it more round. 2011-11-13 23:09:42 -08:00
Jason Short
687d0eda98 fixed bad indexing for setting current mission index 2011-11-13 22:59:57 -08:00
Jason Short
be1007d032 Moved updated alt to GPS so the climb rate is sane 2011-11-13 22:54:57 -08:00
Jason Short
288db5c7c5 Better error and defaults checking 2011-11-13 22:54:18 -08:00
Jason Short
349ab7e0c6 slowed Circle flight 2011-11-13 13:41:23 -08:00
Jason Short
daaf681417 error checking command saving 2011-11-13 13:41:23 -08:00
Randy Mackay
2112f74324 TradHeli - reversed the direction of "phase angle" to make it more intuitive. This parameter is used to correct for a heli's tendency to lean left or right when the pilot gives it a pitch forward command. 2011-11-13 22:40:46 +09:00
Randy Mackay
70aadd4afc TradHeli - added two parameters to improve heli control. 
heli_phase_angle allows pilot roll/pitch command to be translated into mixed roll and pitch.
heli_coll_yaw_effect mixes some collective into the yaw so tail can counter act collective movements more easily.
 2011-11-13 22:20:57 +09:00
Jason Short
930ee51bbe added scale note 2011-11-13 00:25:04 -08:00
Jason Short
04491d66db Fixed scaling issue with Circle mode 2011-11-13 00:24:25 -08:00
Jason Short
7dd737ad90 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	Tools/autotest/autotest.py
 2011-11-12 21:53:08 -08:00
Jason Short
bee53453d6 nav updates 2011-11-12 21:46:57 -08:00
Jason Short
ea57fad80c WP counting update 2011-11-12 21:46:03 -08:00
Jason Short
901e46334d updates to Mavlink for zero based WP counting 2011-11-12 21:44:38 -08:00
Jason Short
e1315b1ab8 Update and fix for Circle mode 
HIL updates for altitude
 2011-11-12 21:43:21 -08:00
Jason Short
bcfb3a0ee3 Fix for WP saving with CH7 2011-11-12 21:40:58 -08:00
Jason Short
d6bfae598f WIP: adding 255 to represent a completed mission 2011-11-12 21:40:33 -08:00
Jason Short
fd02ebca74 Work in progress for using 0 based counting 2011-11-12 21:39:24 -08:00
Jason Short
9e67c7efca Added additional nav params to reset 2011-11-12 21:39:00 -08:00
Michael Oborne
b3747ab10f fix loiter radius 2011-11-13 08:24:56 +08:00
Jason Short
be3edc19f8 Fixed type error in params 2011-11-12 15:15:33 -08:00
Jason Short
bb4e612241 Shortened test name 2011-11-12 15:14:32 -08:00
unknown
a7038cbaf9 TradHeli - new parameter HSV_MAN to allow better set-up from APMissionPlanner. Also changed swash movement to use radio_out which fixes some setup bugs 2011-11-12 23:23:07 +09:00
Jason Short
dd96b146b5 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-10 10:02:08 -08:00
Jason Short
3450e91039 Trying to break Nav to test a feature 2011-11-10 10:01:57 -08:00
Andrew Tridgell
2d204b727b fixed build error 
the prototype extractor was finding the commented out version of
cross_track_test(), which had a different prototype
 2011-11-10 22:01:09 +11:00
Jason Short
3f0b42f64f made crosstrack functions static 2011-11-09 23:30:16 -08:00
Jason Short
2c9ebf11b8 removed unused functions, log fix 2011-11-09 23:28:50 -08:00
Jason Short
d8361dfe67 renamed original_target_bearing 2011-11-09 23:04:04 -08:00
Jason Short
8ad94b9993 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-09 22:56:52 -08:00
Jason Short
ae1684a37c crosstrack angle variable 2011-11-09 22:56:38 -08:00
Jason Short
7259cf2180 Added in crosstrack correction - test for SIM 2011-11-09 22:56:09 -08:00
Andrew Tridgell
c056c4f0cb 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
6211cc4e50 back to original config for testing 2011-11-10 13:00:34 +11:00
Jason Short
6b26c32e9d Lowered Nav_P based on SIM data 2011-11-10 13:00:34 +11:00
Jason Short
fafa6e52e9 back to original config for testing 2011-11-09 13:53:26 -08:00
Jason Short
f994d16a48 Lowered Nav_P based on SIM data 2011-11-09 12:46:34 -08:00
Jason Short
6e3b3fd974 CTUN log update 2011-11-09 12:28:12 -08:00
Jason Short
3732b7db71 Added code notes 2011-11-09 12:07:15 -08:00
Jason Short
630f2dbf05 Code formatting 2011-11-09 12:06:55 -08:00
Jason Short
d6c0e34516 Tuning nav_WP 
Added more notes
 2011-11-09 12:06:37 -08:00
Jason Short
a8d622d8e6 Lowered Nav_P I term to ramp slower base on SIM 2011-11-09 11:30:50 -08:00
Jason Short
27d9bc92f3 Added more output to Mavlink for debugging 2011-11-09 11:00:40 -08:00
Jason Short
e5b37d9d89 Added MAV_CMD YAW parsing 2011-11-08 23:44:14 -08:00
Jason Short
7714f203f9 Added Mav_CMD_Yaw parsing 2011-11-08 23:42:41 -08:00
Andrew Tridgell
c158cb8e63 call gcs_update() while waiting for GPS lock 
this ensures we react to ground commands, and also allows HIL GPS to
work
 2011-11-09 17:43:55 +11:00
Jason Short
79e30b5f21 removed debugging code 2011-11-08 14:41:46 -08:00
Jason Short
d375de8424 SIM test 2011-11-08 14:11:02 -08:00
Jason Short
b29f4456c4 fix for SIM GPS 2011-11-08 14:10:09 -08:00
Andrew Tridgell
3b67321945 Log: try to fix -ve lat in logging 2011-11-09 08:46:05 +11:00
Jason Short
2dc2a2114a restoring throttle i term for SIM 2011-11-08 11:51:49 -08:00
Jason Short
90ee0f7e09 bad hijacking of GPS_Status 2011-11-08 10:48:47 -08:00
Jason Short
1ab1d8bab4 Fixes for Sim - Missing climb rate calculation 2011-11-08 10:46:52 -08:00
Jason Short
10bbfdbe11 PID test for alt hold to narrow down on a bug 2011-11-08 10:13:16 -08:00
Jason Short
c3d5d92a71 Updated Logs to be C++ compliant 2011-11-07 22:23:48 -08:00
Jason Short
69fec433e6 Update to RTL logic. 2011-11-07 21:30:12 -08:00
Jason Short
4afc3e9f17 Fix for bad RTL tracking in Autopilot 2011-11-07 21:09:29 -08:00
Andrew Tridgell
dc6fb484cd Log: fixed a few more casts 2011-11-08 11:59:30 +11:00
Andrew Tridgell
28634f51b7 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
Jason Short
6bf0c32173 Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Andrew Tridgell
3176d4ffc5 HIL: enable CTUN log message in ATTITUDE HIL 2011-11-08 07:58:35 +11:00
Andrew Tridgell
92471aead2 Log: better way to check for -1 long portably 2011-11-08 07:58:34 +11:00
Jason Short
0446cae242 Alt hold fix 2011-11-07 12:00:37 -08:00
Andrew Tridgell
2bd451b445 Log: make find_last_log_page() portable 
this makes it work with platforms with a larger 'long'
 2011-11-07 23:50:49 +11:00
Andrew Tridgell
ae1e1c940f Log: fixed a bug where we could index outside an array 
when we first start up, num_existing_logs may be zero
 2011-11-07 22:56:13 +11:00
Jason Short
3a37e7fe60 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-06 22:46:57 -08:00
Jason Short
a37fadbedb 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
Jason Short
d1431f1070 default top_bottom ratio 1.0 2011-11-06 22:45:07 -08:00
Jason Short
3153257d37 default top_bottom ratio 1.0 2011-11-06 22:43:49 -08:00
Jason Short
4bb0bf96ae Y6 Motors now have top bottom ratio 2011-11-06 22:42:59 -08:00
unknown
9c59fdfdd6 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
32057fb3c9 AltHold - made TradHeli code also use manual_boost 2011-11-06 18:25:13 +08:00
unknown
755cb4b201 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
unknown
156b496bab TradHeli - small change to make throttle_cruise in terms of radio input instead of servo output 2011-11-06 17:40:17 +08:00
unknown
f1e626e3c1 TradHeli - changed deadzones for throttle to zero (and also reduced for yaw) 2011-11-06 17:37:59 +08:00
Jason Short
c265555b69 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-04 21:42:10 -07:00
Jason Short
c8304114a3 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
unknown
12f5f3f96e TradHeli - fix to allow tail servo to be reversed. Also increase max movement of tail servo to 45 degrees. 2011-11-05 12:31:30 +08:00
Jason Short
3f211121fe Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:18:56 -07:00
Jason Short
27fc6eea10 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Andrew Tridgell
acc03753ab fixed HIL build 2011-11-02 08:14:07 +11:00
Jason Short
4f8ef25643 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 09:30:54 -07:00
Jason Short
1df9f8488d updated Alt hold PIDs 2011-11-01 09:30:34 -07:00
Jason Short
0a538baeb2 updated baro test 2011-11-01 09:29:55 -07:00
Jason Short
c32a707632 cleanup 2011-11-01 09:28:36 -07:00
Jason Short
c402311077 removed accel.z references 2011-11-01 09:28:23 -07:00
Jason Short
c6ed8ed0ea alt hold logging 2011-11-01 09:28:04 -07:00
Jason Short
fd9b16e787 resetting alt hold I 2011-11-01 09:27:49 -07:00
Jason Short
48db60a4eb Tweaks to alt hold 2011-11-01 09:25:23 -07:00
Jason Short
ab1de277dc altered the interactive throttle to be more aggressive and proportional. 
reworked baro reading strategy.
 2011-11-01 09:24:51 -07:00
Andrew Tridgell
56390c4696 GCS: fixed timeout loading waypoints (ArduCopter) 
prevents link saturation
 2011-10-31 21:25:58 +11:00
James Goppert
3f8603331d Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
James Goppert
8102b31d8d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-29 15:09:35 -04:00
James Goppert
1a8c4a2597 Working on cmake support. 2011-10-29 15:01:05 -04:00
Jason Short
67e98ae867 Added additional NTUN logging entries. 2011-10-29 11:53:50 -07:00
unknown
c253996ea9 TradHeli - added TUNE value 13 to allow adjusting of external gyro gain using channel 6 2011-10-29 20:34:21 +09:00
unknown
ea66c74ff0 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
1238944573 logging type change in CTUN 2011-10-28 21:59:47 -07:00
Jason Short
842311dfcd Added save WP note to APM_Config.h 2011-10-28 21:46:31 -07:00
Jason Short
7266c5372a Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-28 21:29:18 -07:00
Jason Short
07daf34ccc 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
Andrew Tridgell
1118d26f03 fixed "Free RAM" display on bootup 2011-10-28 21:34:10 +11:00
Jason Short
46590e5f28 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
04b5776601 50 rev 
Work in progress, revved the EEPROM
 2011-10-27 12:42:28 -07:00
Jason Short
27d9712e80 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	libraries/APM_PI/APM_PI.cpp
 2011-10-27 12:41:00 -07:00
Jason Short
2458fe078f Loiter updates 
Added new option to do rate based Loiter with lat and long values, avoiding GPS heading latency issues.
 2011-10-27 12:37:33 -07:00
Jason Short
d089059f58 Set default gain to 20 2011-10-27 12:33:44 -07:00
Jason Short
c8c26d8193 added boost scalar arguments 
removed accel math from Trig function into Attitude.pde
 2011-10-27 12:33:19 -07:00
Jason Short
c6c7966205 Attitude 
Made the Acro mode more NG like. Should be much more nimble!
Tweaked the Accel hold with sim tests. not flight tested or enabled by default.
added option to set scalar in angle boost
 2011-10-27 12:31:46 -07:00
Jason Short
0b4a3ccadb Acro PI defaults 2011-10-27 11:55:13 -07:00
Jason Short
dd23883097 Motor arming delays 
Speeding up delays for motor arming commands - Level and Inflight leveling.
 2011-10-27 11:54:46 -07:00
Jason Short
a076b45506 Added Acro Params 
Allows user's to fly separate PI loops settings for Acro
 2011-10-27 11:52:00 -07:00
Jason Short
d4e5281a4c Deafaut dead_zone call 
Sets the correct default values for the RC_Channel group for Quads.
 2011-10-27 11:35:02 -07:00
Jason Short
76bf784f8c RC_Channel Dead zone 
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
 2011-10-27 11:34:00 -07:00
Andrew Tridgell
5a44298d57 CLI: enable "hit enter 3 times" support for CLI 
if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode
 2011-10-27 21:54:07 +11:00
Jani Hirvinen
a503d9a7a7 adding missing config parameters 2011-10-21 10:41:52 +07:00
Jani Hirvinen
f5f3fa8fb9 Adding second default PID sets for bigger motors 2011-10-21 10:38:36 +07:00
Jason Short
d551494b94 Added ability to dynamically set wp with toggle switch 2011-10-18 17:59:45 -07:00
Jason Short
a693bea7d9 added extra user hook 2011-10-17 23:51:47 -07:00
Jason Short
42d0b5cdb3 tweaked Alt hold PIDs, loiter PIDs based on SIM testing and feedback. 
Increased distance error for loiter for faster return to center.
 2011-10-16 15:41:54 -07:00
Jason Short
3bf36b5427 fix for Camera Roll 2011-10-15 20:45:45 -07:00
Jason Short
2f751793bc typoo in params for camera roll gain. fixed. 2011-10-15 18:34:23 -07:00
Jason Short
4c1d10a75e Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-15 16:35:09 -07:00
Jason Short
6a5aefd0ec Added gains to adjust travel of camera. 2011-10-15 16:34:57 -07:00
Michael Oborne
5c10b2af6c ac quick redo fix 2011-10-16 06:58:03 +08:00
Jason Short
4052fd4f73 Made wpspeed governor run per second so 1hz gps doesn't fail. Gave a 1m/s minimum. Increased WPspeed max to 4.0m/s 2011-10-15 15:35:18 -07:00
Jason Short
4be2776b17 Added Andrew's user hooks. 2011-10-15 15:29:33 -07:00
Jason Short
142707711e Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
Jason Short
65f26f7138 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-13 10:55:17 -07:00
Jason Short
338396b76a slowed acceleration from WP 2011-10-13 10:54:51 -07:00
Michael Oborne
e85e3b87a8 AC2 fix guide mode fly off 2011-10-13 18:34:32 +08:00
Jason Short
2330006fbe logging for gyro and accell testing 2011-10-12 21:21:46 -07:00
Jason Short
9500171a46 tweak to the Loiter N turns 2011-10-12 20:59:12 -07:00
Jason Short
43b3015963 lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Amilcar Lucas
04299122d8 Spell 2011-10-11 22:52:02 +02:00