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37685756df
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Author SHA1 Message Date
Jason Short
37685756df Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short
c29a0bc3f8 Navigation 
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
 2012-07-03 17:34:50 -07:00
Jason Short
3a3966736c Params 
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
 2012-07-03 17:33:03 -07:00
Jason Short
8ccda519fa Arducopter.pde: 
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
 2012-07-03 17:21:46 -07:00
Jason Short
b076b571eb commands_logic: Removed some old unused code 2012-07-03 17:19:19 -07:00
Jason Short
2d572461ec Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short
1070eea70b Log.pde: formatting 2012-07-03 17:16:26 -07:00
Jason Short
1a6549fef7 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short
c62706ad06 Toy Mode: Yaw performance update. 2012-07-03 17:14:54 -07:00
Jason Short
8a08a74cc6 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short
16b25a26c2 Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks. 2012-07-02 17:52:38 -07:00
Andrew Tridgell
060cbe2030 AP_Mount: removed unused enum 2012-07-03 10:39:34 +10:00
Andrew Tridgell
99b11e4f19 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Andrew Tridgell
82e09ce53a SITL: don't enable wind until we are off the ground 
this makes it possible to test with much larger wind speeds, without
the sim crashing due to the wind flipping us over on the runway
 2012-07-03 10:19:20 +10:00
Andrew Tridgell
057eb5e6f6 Baro: average over all pressure/temperature samples on MS5611 
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings

This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
 2012-07-02 13:44:53 +10:00
Andrew Tridgell
f70cd71791 Baro: fixed build of MS5611 test code 2012-07-02 13:44:53 +10:00
Jason Short
e0b3309500 Yaw mode: 
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
 2012-07-01 13:40:12 -07:00
Jason Short
9a30270879 System.pde - RTL 
removed Approach mode, fixed RTL to loiter until desired altitude is reached
 2012-07-01 13:40:12 -07:00
Jason Short
e35fb9ecd7 Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short
3cf16c1424 GCS_Mavlink.pde 
removed Approach define
 2012-07-01 13:40:11 -07:00
Jason Short
ab564b8a86 defines.h 
removed Approach mode enumeration
 2012-07-01 13:40:11 -07:00
Jason Short
3646d69faf read_control_switch 
Removed Prev_WP reference. unneeded.
 2012-07-01 13:40:11 -07:00
Jason Short
8ab1acfb92 Config.h 
Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
 2012-07-01 13:40:11 -07:00
Jason Short
2ad08fdd98 RTL: Commands.pde 
When we are out of commands we land or Loiter at the RTL_Approach_altitude.
 2012-07-01 13:40:11 -07:00
Jason Short
d58ceb2b09 RTL: Commands.pde 
Removed do_approach function - now redundant
 2012-07-01 13:40:11 -07:00
Jason Short
c5617eeeac Arducopter.pde_RTL: 
added a new RTL function that goes into Loiter, first, checks if we have reached RTL_Altitude, then enters WP mode to come home.
Removes Approach mode. Uses Auto_Approach value to decide if we should land or descend to a certain altitude
 2012-07-01 13:40:11 -07:00
Jason Short
2450c25544 Arducopter: enabled RTL_altitude, renamed function to be more accurate 2012-07-01 13:40:11 -07:00
Jason Short
2e8eee9306 Added code for self centering throttle - disabled by default. 2012-07-01 13:40:11 -07:00
Michael Oborne
b2d73d8f68 fixup sitl attribute group for planner. - causing invalid advanced/standard views 2012-07-01 21:43:32 +08:00
Michael Oborne
46f004bcca APM Planner 1.1.95 
fix config panel value change detection
add loiter_ to AC config screen
Add praram name to Friendly param, and exception ignoring.
fix param file note line
intergrate andrews gimbal config.
fix any possible log appending issues
remove old cli planner on connect
modify speech to not crash on windows mono
 2012-07-01 17:51:22 +08:00
Andrew Tridgell
d1cb8c9a60 ArduBoat: removed use of analogRead() 2012-07-01 15:09:39 +10:00
Andrew Tridgell
769011e947 AnalogSource: added some example code 2012-07-01 15:01:05 +10:00
Andrew Tridgell
1fdcc3e8f0 SITL: added support for new analog source 
removed analogRead() to prevent people using it
 2012-07-01 15:01:05 +10:00
Andrew Tridgell
82ede937e7 AnalogSource: convert analogRead() calls to the new API 
this should give us much better analog values, plus save a bunch of
CPU time
 2012-07-01 15:01:05 +10:00
Andrew Tridgell
c8befe4536 AnalogSource: make the Arduino AnalogSource interrupt driven 
this fixes several problems with reading analog sources:

 - we were getting poor values because we didn't wait long enough for
   an analog source to settle

 - we wasted a lot of CPU cycles waiting for conversions

 - we were not taking averages over many samples, which we did with
   the old AP_ADC driver on the APM1
 2012-07-01 15:01:05 +10:00
rmackay9
78fa903e17 ArduCopter: updated STABILIZE_ROLL_I to 0.01 (was 0.1) as instructed by Marco 2012-06-30 19:26:14 +09:00
Jason Short
4d6ccccef5 Circle_WP distance check fix 2012-06-29 21:20:28 -07:00
Jason Short
59d16f5fe0 Commands.pde: increased bad WP distance check 2012-06-29 21:20:28 -07:00
Jason Short
eea788b63f navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction. 2012-06-29 21:20:28 -07:00
Jason Short
031830b5fe System.pde: Toy mode details for set_mode() 2012-06-29 21:20:28 -07:00
Jason Short
c276fe8fa0 GCS_Mavlink: added notes to #if malink10 2012-06-29 21:20:28 -07:00
Jason Short
0011190880 defines.h: Toy Mode defines for flight modes 2012-06-29 21:20:28 -07:00
Jason Short
4450d80ea3 Config.h: Optimizing Nav gains 2012-06-29 21:20:28 -07:00
Jason Short
3ce867508b Attitude.pde: Toy mode logic 2012-06-29 21:20:27 -07:00
Jason Short
668135ea8b Arducopter.pde: Added Toy mode refinements 2012-06-29 21:20:27 -07:00
Jason Short
49401bffae Params: Added toy_yate_rate 2012-06-29 21:20:27 -07:00
Jason Short
5e4d28baf0 Added Toy mode to navigation 2012-06-29 21:20:27 -07:00
Jason Short
e036bee424 Aeducopter.pde: Toy mode updates 2012-06-29 21:20:27 -07:00
Adam M Rivera
61baa666c4 commands_process.pde: Bug fix 427. By default, the copter would land after an AUTO mission. Updated to check for valid approach altitude at end of mission. 2012-06-29 21:41:56 -05:00
Andrew Tridgell
136c03c3c0 AHRS: include the P terms in get_gyro() 
this makes it more useful for navigation controllers
 2012-06-29 21:54:09 +10:00