d6ff5ae261
Copter: add roll-pitch slew for auto modes
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Added reporting of roll, pitch inputs for ACRO, AUTO
2013-02-24 14:42:04 +09:00
e297ba7d18
Copter: update default loiter gains for inertial nav
2013-02-24 14:42:00 +09:00
cbde042ec5
Copter: remove non-inav loiter and wp controllers
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lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
2013-02-24 14:41:52 +09:00
609676e26c
Copter: add logging of compass values
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Removed rarely used ITERM because we didn't have enough bits in the log
mask
2013-02-24 14:41:48 +09:00
67c69a19ee
Copter: remove baro-only alt hold
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Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
fcf102b2cf
Copter: inertial nav waypoint controller
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#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
2013-02-24 14:41:09 +09:00
8e4c9518ea
Copter: increase low voltage check to 10.5v
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Change requested by Rob Lefebvre and Richie Wilson
2013-02-23 00:36:51 +09:00
4c7a1a1806
Copter: change PX4 main baud rate back to 115200
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we now use USB console
2013-02-22 07:04:23 +11:00
06a71af12f
Copter: THR_MID used to scale manual throttle
2013-02-01 22:37:16 +09:00
ce370bab0c
Copter: rename CUR and CURR to CURRENT for logging
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Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
2013-01-26 17:20:41 +09:00
b74fe10aa9
Copter: set each flight mode's nav_mode
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Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
2013-01-25 15:57:55 +09:00
f303554259
Copter: run serial0 at 57600 on PX4
2013-01-22 09:50:22 +11:00
dde713aaa5
Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this.
2013-01-20 21:32:00 +09:00
580abf1106
Copter: fixed PX4 mag orientation
2013-01-17 17:23:34 +11:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
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- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
fef7569dee
Copter: added experimental LOITER_REPOSITIONING #define to config.h
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APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
2013-01-14 13:34:14 +09:00
9ad6f711f8
ArduCopter: replace FS_THR_RTL_MIN_DISTANCE with wp_radius
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This effectively means that an RTL kicked off by a failsafe will
immediately switch to LAND mode only if within 2 meters. Previously the
radius was much wider (15m).
2013-01-13 20:00:47 +11:00
12f885c33c
ArduCopter: disable ITERM logging by default
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This message takes 1ms to write and we are running over our limits on
some loops.
2013-01-13 20:00:39 +11:00
21b6c78d12
ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes
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Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
2013-01-13 19:51:47 +11:00
87627d883b
ArduCopter: use new logging method for remaining packet types
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Additional changes include renaming RAW dataflash type to IMU
2013-01-13 00:17:44 +09:00
7827a4a54a
ArduCopter: Add AP_HAL_SMACCM support.
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- Added default configuration to "config.h".
- Added main function to run under FreeRTOS with HWF4.
2013-01-09 11:19:51 -08:00
ab37f833db
MS5611: Fix CONFIG_MS5611_SERIAL definitions.
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- Make sure the values are defined as integers. We were always using
SPI rather than using I2C when desired.
2013-01-09 11:19:51 -08:00
c48714be16
Copter: enabled PX4 sensors
2013-01-05 20:39:31 +11:00
264db3670e
AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C.
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- Update ArduCopter and ArduPlane modules to pass the correct serial
driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
2013-01-03 13:48:06 -08:00
94e3322e24
Copter: fixed build on px4
2013-01-02 22:09:02 +11:00
9b2956b377
ArduCopter: increase throttle rate P to 6.0 (was 1.0) and alt hold P to 2.0 (was 1.0)
2013-01-02 09:55:37 +11:00
d400e5040b
ArduCopter: turn on INERTIAL_NAV_Z in the config.h file so that it takes effect when built for the mission planner
2013-01-02 09:55:37 +11:00
e850ab7ccd
ArduCopter: add AUTO_VELZ_MIN, AUTO_VELZ_MAX and PILOT_VELZ_MAX to allow better control of climb/descent rate in auto and manual throttle modes
2013-01-02 09:24:31 +11:00
5526ca204c
ArduCopter: on throttle failsafe, only initiate RTL if we are at least 15m from home
2013-01-02 09:22:51 +11:00
6e64b1b357
ACM: Precision Loiter RePositioning code.
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Protected behind a #define
2013-01-02 09:19:39 +11:00
e6519330f4
ArduCopter: remove unused rc_override variables to save 21 bytes
2013-01-02 09:19:17 +11:00
34e18ae12a
ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle
2013-01-02 09:19:17 +11:00
9605bd8ee1
ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work.
2013-01-02 09:14:55 +11:00
d8e3d5c10c
ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h
2013-01-02 09:12:40 +11:00
50d46898fb
ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden
2013-01-02 09:12:17 +11:00
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
5e63491994
ArduCopter: fix issues with HAL/HIL mixup and baro/compass instances
2012-12-20 14:52:29 +11:00
d93d932831
ArduCopter: defines fixes
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Conflicts:
libraries/AP_Common/Arduino.mk
2012-12-20 14:52:28 +11:00
2aa4657315
ArduCopter: changes to use CONFIG_HIL_BOARD
2012-12-20 14:52:28 +11:00
2f748f8382
ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE
2012-12-10 23:47:14 +09:00
d31efebd44
ArduCopter: rename throttle failsafe parameters.
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Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
2012-12-10 23:38:43 +09:00
2f1b2b70e6
ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees
2012-12-10 22:27:46 +09:00
dadad8677e
ArduCopter: added descriptions for most parameters that did not have them
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Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
2012-12-10 21:45:57 +09:00
cfe2507c0b
ArduCopter: reduce Rate Roll/Pitch P to 0.150 (was 0.175) and increase I to 0.1 (was 0.01)
2012-12-09 18:08:45 +09:00
aa4d4f8c24
ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.
2012-12-08 20:41:05 -05:00
1b97a92098
ACM: Code Cleanup
2012-12-08 14:49:38 -05:00
f98a807d36
ArduCopter: remove debug related to yaw mode used for alt hold
2012-12-08 14:24:50 +09:00
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
68ca123224
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
3a90fc77f9
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
Randy Mackay
Andrew Tridgell
Robert Lefebvre
James Bielman
Pat Hickey