Jason Short
370d633f51
Lowering the throttle_P values by default
2012-01-29 16:27:13 -08:00
Jason Short
0213f4dd88
2.2B6 - Please verify Heli still functions properly.
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Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Randy Mackay
2db4d2bfe6
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Randy Mackay
f27b41179b
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Randy Mackay
2f84b54bbb
OpticalFlow - replaced PI controller with PID controller.
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Modified optical flow hold to use aggregated position instead of speed.
2012-01-25 21:55:14 +09:00
Jason Short
32241319c1
Revert "test to switch loiter controls"
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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
Jason Short
a3daae1530
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
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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
bf8774c2f8
AutoLanding timeout for Mission Planner
2012-01-20 22:52:30 -08:00
Jason Short
f504c79fb0
Stab_D changes units with the new dampening controller updates
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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
7468889bb7
slowed down slightly
2012-01-20 22:52:29 -08:00
Doug Weibel
2ea9db84e0
Update battery monitoring code for ArduCopter
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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
Jason Short
11e1df497d
lowered Loiter I, commented out unused var
2012-01-14 11:20:40 -08:00
Jason Short
b493cb1e55
removed unused defines
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lowered default Loiter gain
2012-01-12 22:28:58 -08:00
Jason Short
2566f1fb95
New Loiter Gains for new Loiter methods
2012-01-11 22:41:51 -08:00
Pat Hickey
bcb43ec9b5
ArduCopter config.h: add standard ifndef/define header macro wrappers
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)
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Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
Randy Mackay
598593e1fc
ArduCopter - changed Sonar to use A1 (was AN4)
2012-01-08 17:48:30 +09:00
Jason Short
7e96e0f7fa
Quad frame - X is default
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added wind comp stability option to config - off by default
2012-01-07 22:27:26 -08:00
Jason Short
c450cc4e92
removed unused Airspeed config
2012-01-04 09:28:36 -08:00
Jason Short
bfd7608f4d
Lowered Yaw to prevent overshoot based on feedback
2011-12-31 10:10:45 -08:00
Jason Short
f5ffa7bd7e
Updated Configs based on field testing.
2011-12-30 23:48:04 -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
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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
723adffc48
updated Loiter gains
2011-12-29 23:02:03 -08:00
Jason Short
ce990f3050
Upped Yaw speed to deal with performance complaints
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Added new Stabilize D term default of .25
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
Randy Mackay
ff66a3417c
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
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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
8df91ea885
ACM: enable compass by default on APM2
2011-12-28 20:30:35 +11:00
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
f892e0b00d
increased crosstrack thanks to float math fix
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decreased loiter iterm, decreased throttle iterm based on simulator runs
2011-12-23 14:42:50 -08:00
Pat Hickey
74530de4bb
ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added
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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
Jani Hirvinen
9d7eb9cd1a
config settings for jD motors
2011-12-19 09:29:05 +07:00
Jason Short
b484fdab05
added some more throttle imax range
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renamed Super Simple
2011-12-15 20:51:41 -08:00
Doug Weibel
737447c8cf
Change logging to default on for 2560
2011-12-13 20:53:44 -07:00
Jason Short
6b1bedc381
Gain updates
2011-12-12 17:47:45 -08:00
Jason Short
6bac318def
Added param option for Simple mode reset
2011-12-12 17:47:45 -08:00
Jason Short
e1146b6df6
Just upped the nav_imax value
2011-12-12 10:10:33 -08:00
Andrew Tridgell
6857d9af14
fixed LOGGING_ENABLED default on ArduCopter
2011-12-12 23:40:43 +11:00
Andrew Tridgell
cadc5bde1d
fixed hil ArduCopter build
2011-12-12 15:14:55 +11:00
Pat Hickey
5fd8fea957
ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define
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* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
config.h takes care of this default.
2011-12-11 15:21:09 -08:00
Pat Hickey
0b0922d04c
ArduCopter: added config.h and defines.h to support CONFIG_BARO
2011-12-11 15:21:09 -08:00
Jason Short
c01361a79d
removed CLI switch by default, decreased Nav I
2011-12-11 09:53:44 -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
Randy Mackay
f77131db94
OptFlow - turning on optical by default
2011-12-10 23:22:40 +09:00
Randy Mackay
f4ac36bd8b
ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2.
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modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
2011-12-10 18:33:30 +09:00
Pat Hickey
2a7013f7e2
ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280
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Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
2011-12-09 15:06:10 -08:00
Jason Short
55b2e5339a
simple patch to improve alt hold based on stability patch
2011-12-04 21:32:33 -08:00
