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1180 Commits

Author SHA1 Message Date
Jason Short 39a253a273 decreased I term based on the tests last weekend in high winds 2012-06-20 08:47:47 -07:00
Jason Short 8b212d8baa Adjustments to the Inertial_nav 
lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
 2012-06-20 08:47:47 -07:00
Andrew Tridgell 58379b928f MAVLink: make usage of MAVLink defines more consistent 2012-06-15 16:27:11 +10:00
rmackay9 c62cc4844e ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release 2012-06-15 00:42:59 +09:00
Jason Short e31a1d969f Inertial Nav disabled by default 2012-06-13 22:37:52 -07:00
Jason Short c42f9ece43 Inertial Control 
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.
 2012-06-13 22:34:45 -07:00
rmackay9 65050775e1 ArduCopter: made Robert's new yaw method optional (off by default). 
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
 2012-06-13 21:50:16 +09:00
Jason Short ff0659535e Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch. 2012-06-12 13:58:49 -07:00
rmackay9 e1acf21381 ArduCopter: updated firmware version to 2.6 Epsilon 2012-06-12 23:22:57 +09:00
rmackay9 c6f1d93849 ArduCopter: updated standard loiter pids. 
Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
 2012-06-12 20:56:31 +09:00
Jason Short f5a85d48a0 Added Angel's name to contrib list 2012-06-10 12:38:22 -07:00
Andrew Tridgell 940d994efb GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover 2012-06-10 16:36:18 +10:00
rmackay9 aeaebb21d5 ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release) 2012-06-08 21:54:09 +09:00
Andrew Tridgell a684bddbda GPS: open the GPS serial port with a 256 byte buffer 
the UBLOX needs more than 128 bytes for reliable parsing
 2012-06-08 16:42:03 +10:00
Robert Lefebvre c5916a8b4d Opening up the Yaw Rate constraint for Trad Heli. 2012-06-07 22:40:25 -04:00
Robert Lefebvre e2496181ff Yaw Fix 
Modified Nav_Yaw controller to better track intended heading changes.
 2012-06-07 17:15:33 -04:00
Jason Short a9610a0761 Stabilization patches 
removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
 2012-06-05 16:41:44 -07:00
rmackay9 70b04d9427 ArduCopter: updated firmware description to 2.6 Gamma 2012-06-05 21:28:13 +09:00
Andrew Tridgell 8b258e23e7 ACM: prevent link flood with "Low Battery" warnings 
thanks to Marco for noticing this
 2012-06-05 11:31:40 +10:00
Michael Oborne 14be88dd55 AC: add hilstate message 2012-06-04 16:24:08 +08:00
Jason Short 71f80f3a77 Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false. 2012-06-03 22:25:27 -07:00
Jason Short 1b9f75c844 Updates to Flip: 
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
 2012-06-03 22:15:19 -07:00
Andrew Tridgell 7c63d2c17b ACM: MAVLINK10 uses HIL_STATE 
thanks to Michael for noticing this
 2012-06-04 13:31:07 +10:00
Andrew Tridgell e7cf643386 added mavlink09 targets 
allows easier building with mavlink0.9
 2012-06-04 13:14:52 +10:00
Andrew Tridgell 3f4e87cccc ACM: fixed HIL build for MAVLINK10 2012-06-04 13:14:52 +10:00
Michael Oborne 9303a89573 fix AC hil build 2012-06-04 11:12:52 +08:00
Michael Oborne a71ed6c5ce enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Jason Short 15aea320cb Added note to remove this unused param 2012-06-03 11:13:50 -07:00
Jason Short 12ab875d58 using current PWM rather than a re-read of the PWM. 2012-06-03 11:13:50 -07:00
Jason Short 9ab06c5542 Moved PID logging counter into define 2012-06-03 11:13:50 -07:00
rmackay9 72d76558a7 ArduCopter: Ensure update_GPS does nothing when gps is disabled. 
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
 2012-06-03 23:48:45 +09:00
rmackay9 fd6b21d0c7 ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 17:02:35 +09:00
rmackay9 4544b37fec ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 16:59:23 +09:00
rmackay9 dcdeae412e ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
 2012-06-03 16:58:19 +09:00
rmackay9 2a216ce900 ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx). 2012-06-02 12:51:12 +09:00
Jason Short c2d14a5cad RC_Channel fix for throttle output. 
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
 2012-05-31 14:59:03 -07:00
Robert Lefebvre 5f058fb9b2 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
Robert Lefebvre 30e55533dc Change to increase Parameter space as we have run out. 
This will decrease the max number of waypoints from 186
to 169.
 2012-05-30 20:41:53 -04:00
Jason Short dec6f0ca62 When RTLing, force home as the final location for loiter. 2012-05-30 11:06:41 -07:00
Jason Short bc578172a5 moved detector to run until the throttle is low, then stop running. 2012-05-30 09:44:59 -07:00
Jason Short f0456dc947 Missed a Semicolon 2012-05-30 09:36:16 -07:00
Jason Short 302c632205 Altered the ground detector logic to no continuously run when landed 2012-05-30 09:34:31 -07:00
Jason Short 22065e3f3f Broken timer - removed 2012-05-29 12:56:38 -07:00
Jason Short 0ce883b96a Removed unused variable 2012-05-29 12:43:23 -07:00
Jason Short 9310d613e1 Lowered I term - causes oscillations in SIM 2012-05-29 12:43:01 -07:00
Jason Short 2311d52d37 Renamed some variables to clarify functionality. 2012-05-29 12:42:37 -07:00
Jason Short 7c6f766251 Speed up automatic disarming to 25 seconds for safety. 
renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
 2012-05-29 12:41:35 -07:00
Jason Short f491f5e9ca Removed references to a takeoff timer 2012-05-29 11:28:40 -07:00
Jason Short 15774366ba Failsafe: Looking for takeoff_complete now vs unreliable GPS 2012-05-29 11:25:04 -07:00
Jason Short 08bf04dd08 pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle. 2012-05-29 11:25:04 -07:00