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687 Commits

Author SHA1 Message Date
Andrew Tridgell
734b0a02be ACM: fixed a alt hold bug 
== instead of =
 2012-01-05 10:14:30 +11:00
Andrew Tridgell
3c965ff1a2 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Andrew Tridgell
9ee3431928 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short
8341a080ce Disabled stable mode wind comp by default for release 2012-01-04 09:28:38 -08:00
Jason Short
5aa0861ec2 Added Xplane output option 2012-01-04 09:28:38 -08:00
Jason Short
6b9d35cc34 Added home offset for altitude 2012-01-04 09:28:38 -08:00
Jason Short
f74e265bb9 Made landing disarm the motors 2012-01-04 09:28:38 -08:00
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
123ce533bb Added precalc for wind compensation when entering Stabilze mode 2012-01-04 09:28:37 -08:00
Jason Short
bf8e3975ec Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short
6b3094e053 removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short
7858976407 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
22c3853020 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
e5994c578a removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
3d7f3f6b77 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short
8d63af2a89 removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
a1c3ce88a0 calc_wind_compensation called when exiting AP modes 
Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
 2012-01-04 09:28:37 -08:00
Jason Short
e6887aa3ec added Reset_Rate_I function 
Removed I term from Throttle rate calc
Added some basic constrains to Acro
 2012-01-04 09:28:37 -08:00
Jason Short
dd4b4c723a removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
7bef298a46 cleanup - removed unused functions, made pressure reading Float to avoid extra cast 2012-01-04 09:28:36 -08:00
Jason Short
d7f4328441 cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
1883d0c1a8 Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Jason Short
c629795050 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
801b3a8e8f removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
fcd18d5538 Removed unused options 2012-01-04 09:28:36 -08:00
Jason Short
525ac4df88 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
c450cc4e92 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
4a50e08ac1 change how Reset Nav params work - no longer clear I terms 2012-01-04 09:28:36 -08:00
Jason Short
fe265b3040 Added JLN's landing patch, moved some variables local such as Jump counter 2012-01-04 09:28:36 -08:00
Jason Short
5de709ceea removed unused functions 2012-01-04 09:28:36 -08:00
Andrew Tridgell
54b91ce2f4 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell
d6ccffc71b ACM: don't set defaults in APM_Config.h 
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
 2012-01-04 19:35:05 +11:00
Andrew Tridgell
645eac6f38 I2c: default to 5ms timeout, and faster bus speed 
we will slow down the speed when we get a failure
 2012-01-04 16:36:47 +11:00
Jason Short
24bddb1c47 Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short
86e01fce17 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short
bfd7608f4d Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -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
1d636219f9 New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short
fc93a73ad7 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
170a646ecf removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short
4b2979743f no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
62ca68cdbb Reverted to Crosstrack like in Arduplane, requires Degrees * 100 2011-12-30 23:48:04 -08:00
Jason Short
27d3564eab Sync with Arduplane 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
e08b550f44 Added a default Yaw tracking setting 
Added Nav_Bearing
 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
758a5240f2 removed old loiter method option 2011-12-30 23:48:04 -08:00
Randy Mackay
c39ebde9de ArduCopter - init_compass - fixed HIL build issue 2011-12-31 12:29:54 +09:00
Jason Short
57b2d17d8a updated rev 2011-12-29 23:02:41 -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 
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
89c705c8b9 removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short
723adffc48 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short
4bfa5def76 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short
2f657ebdbf cosmetic 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
Jason Short
8a1b9df325 Added Stabilize_D parameter 2011-12-29 23:02:02 -08:00
Jason Short
ce990f3050 Upped Yaw speed to deal with performance complaints 
Added new Stabilize D term default of .25
 2011-12-29 23:02:02 -08:00
Jason Short
83d52899b0 Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have. 2011-12-29 23:02:02 -08:00
Jason Short
e42d5cb4f9 Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Jason Short
c4ad864ed0 Set Define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short
737feabc6c Fixed a 1280 only test 2011-12-29 23:02:02 -08:00
Jason Short
f94727ed02 added define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short
200f7da103 Added Dampening term for tuning 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
Jason Short
3202f1cf64 Missing ; 2011-12-29 23:02:01 -08:00
Jason Short
9832d8eccb removed takeoff complete flag from missions, not used and would be useful elsewhere. 2011-12-29 23:02:01 -08:00
Jason Short
9f7aae5945 removed unused function 
Simplified the baro init filter
 2011-12-29 23:02:01 -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
Andrew Tridgell
8df91ea885 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Andrew Tridgell
ef1d8eaeac ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Jason Short
a8070d86df Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Andrew Tridgell
0f39336801 ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Andrew Tridgell
7520315475 ACM: fixed HIL build again 2011-12-26 19:17:11 +11:00
Andrew Tridgell
cb48bfd054 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay
85167be181 TradHeli - modified the default collective min/max values to restrict movement to about half the full range. 2011-12-26 16:59:01 +09:00
Jason Short
a4e00f7459 Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Randy Mackay
c3ea1ca5dc AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell
da87622a5f removed "Please run setup" loop from ArduCopter 
Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
 2011-12-24 18:12:51 +11:00
Jason Short
9e6ea0b167 disabled some tests with warnings 2011-12-23 18:54:38 -08:00
Jason Short
359d186798 added define for optflow 2011-12-23 18:45:01 -08:00
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
f2d6708058 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short
a40a026220 added ability to enter Loiter with only optflow available 2011-12-23 14:46:32 -08:00
Jason Short
da903d2c3e moved some defines around 2011-12-23 14:46:32 -08:00
Jason Short
c8ca841bd7 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short
ce11f48809 This is the test to deal with big props with lots of inertia. We use a low pass filter on positive acceleration. 2011-12-23 14:46:32 -08:00
Jason Short
fa2fa37f3b initing z dampener at arming 2011-12-23 14:46:08 -08:00
Jason Short
8aa6429b1e Too complicated 2011-12-23 14:46:08 -08:00
Jason Short
778c9cd1db added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Jason Short
7963a73816 used for testing 2011-12-23 14:42:50 -08:00
Jason Short
f892e0b00d increased crosstrack thanks to float math fix 
decreased loiter iterm, decreased throttle iterm based on simulator runs
 2011-12-23 14:42:50 -08:00
Jason Short
7820d96f4c No longer blocking before initing home 2011-12-23 14:42:50 -08:00
Jason Short
dc2103d67f the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -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
885548e693 removed some unneeded HIL #defines 2011-12-23 14:42:49 -08:00
Pat Hickey
343228c8cc Log_simple uses identical implementation of do_erase_logs. 
* fix build1280.ArduCopter
 2011-12-22 13:31:28 -08:00
Pat Hickey
74530de4bb ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added 
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
Randy Mackay
73ff5138c6 Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer 2011-12-19 22:57:00 +09:00
Jani Hirvinen
9d7eb9cd1a config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short
a98a0b636a Hexa stability patch bug fix by borna.segulin 2011-12-18 16:38:07 -08:00
Jason Short
2f5da31a05 change Alpha name 2011-12-18 16:38:07 -08:00
Andrew Tridgell
1807585b98 ACM: run mavlink loop while erasing logs 2011-12-18 10:19:41 +11:00
Jason Short
35f0d31b9d Sync logging 2011-12-16 22:02:41 -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
2b5c039eae turned off iterm for traverse 2011-12-15 20:51:41 -08:00
Jason Short
b484fdab05 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Jason Short
fa908795d9 renamed super simple 2011-12-15 20:51:41 -08:00
Jason Short
6a55fe18f6 added altitude to circle mission 2011-12-15 20:51:40 -08:00
Jason Short
4b52b61563 Allows user to specify just an altitude for Circle Mode 2011-12-15 20:51:40 -08:00
Jason Short
05e921f5d0 More power to descend 2011-12-15 20:51:40 -08:00
Jason Short
958693ee5e Addition of nav mode that tries to maintain level 2011-12-14 22:08:42 -08:00
Jason Short
b4aafcce05 dupe of landing logic for scripting 2011-12-14 22:08:41 -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
66c974a949 Added failsafe check 2011-12-14 22:08:41 -08:00
Jason Short
c7da9c63f1 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Jason Short
d5666f287c added loiter control to reset nav 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
Doug Weibel
737447c8cf Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Doug Weibel
2687f1c77d Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Michael Oborne
be9a741c88 add method of detecting if motors are armed 2011-12-14 06:18:29 +08:00
Randy Mackay
68d1fa6ec7 Arducopter - Attitude.pde - fixed small bug in pitch stabilise 2011-12-13 22:10:51 +09:00
Andrew Tridgell
c007fb49b8 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell
4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short
29788b98bd Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short
424a11d269 Stability patch2 - Jose style. 2011-12-12 17:47:45 -08:00
Jason Short
6b1bedc381 Gain updates 2011-12-12 17:47:45 -08:00
Jason Short
a386ea5e06 Added a simplified Log that is just GPS for my 1280 board 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
3edd471983 Upped the max pitch to deal with wind - based on T3 testing 2011-12-12 10:10:33 -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
e184d1dfe4 quad: fixed the comments on the + motors 2011-12-12 21:01:58 +11:00
Andrew Tridgell
ae1ec05dd4 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Andrew Tridgell
483754cb70 fixed == that should be = 2011-12-12 15:19:50 +11:00
Andrew Tridgell
cadc5bde1d fixed hil ArduCopter build 2011-12-12 15:14:55 +11:00
Andrew Tridgell
dd4498d113 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell
65ed8cc2c3 added sitl build target 2011-12-12 15:14:55 +11:00
Andrew Tridgell
faf58a355b airspeed: use floating point values and better averaging in zero_airspeed() 
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
 2011-12-12 15:14:55 +11:00
Pat Hickey
067724b4f1 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey
6710cf5c5a Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00