Andrew Tridgell
2e8e84ba8b
Copter: switch to using targets.mk
2012-12-20 14:52:36 +11:00
Pat Hickey
eb530b86e8
move Arduino.mk to /mk/Arduino.mk
2012-12-20 14:52:35 +11:00
Andrew Tridgell
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
Andrew Tridgell
08b1c2d590
Copter: fixed GPS init
2012-12-20 14:52:33 +11:00
Pat Hickey
9a28ed2df6
ArduCopter: refactor Makefile targets in terms of Arduino.mk targets
2012-12-20 14:52:31 +11:00
Andrew Tridgell
7d27e420ae
AP_HAL: remove unnecessary Arduino.h includes
2012-12-20 14:52:30 +11:00
Pat Hickey
22ac39a4ef
ArduCopter: disable and remove InertialNav defines from APM_Config
...
* We're not going to have the RAM available to support those in general release
2012-12-20 14:52:29 +11:00
Pat Hickey
d5d97be837
ArduCopter: add param loader properly implement parameters
...
* thanks tridge!
2012-12-20 14:52:29 +11:00
Pat Hickey
5e63491994
ArduCopter: fix issues with HAL/HIL mixup and baro/compass instances
2012-12-20 14:52:29 +11:00
Pat Hickey
21d0da84a6
ArduCopter: temporarily disable AP_Param::setup_sketch_results
...
* rebased away tridge's AP_Param changes as they seemed possibly buggy?
2012-12-20 14:52:29 +11:00
Pat Hickey
a0151aa66c
ArduCopter: fix cliSerial null ptr, do AP_Param::setup_sketch_defaults
...
* plus make SITL DataFlash available.
2012-12-20 14:52:29 +11:00
Pat Hickey
1e48d0fc69
Makefile Targets rewritten to use per-target extension style
2012-12-20 14:52:29 +11:00
Pat Hickey
524e52f449
ArduCopter: changed makefile to inherit environments properly
2012-12-20 14:52:29 +11:00
Pat Hickey
d93d932831
ArduCopter: defines fixes
...
Conflicts:
libraries/AP_Common/Arduino.mk
2012-12-20 14:52:28 +11:00
Pat Hickey
2aa4657315
ArduCopter: changes to use CONFIG_HIL_BOARD
2012-12-20 14:52:28 +11:00
Pat Hickey
ade7099d75
ArduCopter: add AP_HAL_MAIN
2012-12-20 14:52:28 +11:00
Pat Hickey
5bd7046a95
ArduCopter: sketch cpp builds!
2012-12-20 14:52:28 +11:00
Pat Hickey
8b49208771
ArduCopter: some fixes
2012-12-20 14:52:28 +11:00
Pat Hickey
13c044ab3e
ArduCopter: fixes to radio.pde
2012-12-20 14:52:28 +11:00
Pat Hickey
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
Pat Hickey
b90889dd11
ArduCopter: add ArduPlane's compat.h & compat.pde
2012-12-20 14:52:28 +11:00
Pat Hickey
70f4739522
ArduCopter: more fixes
2012-12-20 14:52:28 +11:00
Pat Hickey
4b84e99f85
remove dumb user hooks comments
2012-12-20 14:52:28 +11:00
Pat Hickey
901c692ee3
arducopter: type fix
2012-12-20 14:52:28 +11:00
Pat Hickey
f281d9265e
ArduCopter: reworked sonar analog source creation
2012-12-20 14:52:28 +11:00
Pat Hickey
d9e0bbbbab
ArduCopter: first pass at AP_HAL porting
...
* changed all the byte types to uint8_t
* fixed up much of the serial stuff
2012-12-20 14:52:27 +11:00
Pat Hickey
b7a7eceef8
ArduCopter: add nocore.inoflag and Arduino.h
2012-12-20 14:51:40 +11:00
Pat Hickey
ada10f6eb2
ArduCopter: change comment references to AP_Var to AP_Param
...
* jsut to clean up the grep for "AP_Var"
2012-12-20 14:51:31 +11:00
Pat Hickey
a4f1f6a5db
AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR
2012-12-20 14:51:28 +11:00
Pat Hickey
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
...
* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
2012-12-20 14:51:19 +11:00
Jason Short
0419dc8dfd
ACM: Simplified control mode code
2012-12-14 13:30:48 -08:00
Jason Short
19ae5c30eb
ACM : Formatting
2012-12-13 20:12:39 -08:00
rmackay9
52177c63f7
ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised
2012-12-11 00:14:29 +09:00
rmackay9
af77425636
ArduCopter: fix Failed to Init Optflow message at startup
2012-12-11 00:09:45 +09:00
rmackay9
2f748f8382
ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE
2012-12-10 23:47:14 +09:00
rmackay9
d31efebd44
ArduCopter: rename throttle failsafe parameters.
...
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
rmackay9
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
rmackay9
dadad8677e
ArduCopter: added descriptions for most parameters that did not have them
...
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
rmackay9
f522ef078e
ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude
2012-12-10 17:30:50 +09:00
rmackay9
047f848cc7
ArduCopter: remove ThirdOrderCompFilter from list of includes
2012-12-10 09:14:44 +09:00
rmackay9
154e3c33f7
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
2012-12-10 00:43:11 +09:00
rmackay9
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
rmackay9
56ceb230cb
ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission
2012-12-09 18:04:31 +09:00
rmackay9
0f7bb79d89
ArduCopter: add comments to tuning parameters.
...
Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
2012-12-09 16:44:42 +09:00
rmackay9
9a05d3bd36
ArduCopter: add comments at the top of many navigation functions
2012-12-09 15:50:50 +09:00
rmackay9
8c2423f618
ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde
2012-12-09 15:24:19 +09:00
rmackay9
b36eb406d4
ArduCopter: allow alt hold to be engaged with alt < 1m because sometimes we get baro drift.
...
Also initialisation of target altitude is done in set_throttle_mode function.
2012-12-09 14:48:01 +09:00
rmackay9
b4e5176e2a
ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.
2012-12-09 14:27:33 +09:00
Robert Lefebvre
aa4d4f8c24
ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.
2012-12-08 20:41:05 -05:00
Robert Lefebvre
0eb57bf93d
ACM: TradHeli
...
Fix to make update_throttle_cruise work with stab_throttle scaling.
2012-12-08 15:12:39 -05:00
Robert Lefebvre
1b97a92098
ACM: Code Cleanup
2012-12-08 14:49:38 -05:00
rmackay9
f98a807d36
ArduCopter: remove debug related to yaw mode used for alt hold
2012-12-08 14:24:50 +09:00
rmackay9
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
...
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
rmackay9
85c8bdce15
ArduCopter: removed unused and out-of-date #defines from APM_Config.h
2012-12-08 13:38:39 +09:00
rmackay9
68ca123224
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
rmackay9
99b32a39c4
ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis
2012-12-07 13:01:40 +09:00
rmackay9
cca9f9dbce
ArduCopter: do_set_servo fix to resolve -1 being assigned to uint8_t
2012-12-07 12:58:44 +09:00
rmackay9
3a90fc77f9
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
rmackay9
d74cf54b5d
ArduCopter: allow triggering of camera from a mission
2012-12-06 23:48:30 +09:00
rmackay9
d3de77f74c
ArduCopter: fix do_set_servo so that it works again
2012-12-06 20:18:33 +09:00
rmackay9
653535b9a1
ArduCopter: added CH7 option to trigger camera
...
Restructured reading of channel 7 into a switch statement.
2012-12-06 17:47:01 +09:00
rmackay9
4ca27defb3
ArduCopter: update comments related to CH7 switch options
2012-12-06 17:40:36 +09:00
rmackay9
75401756f2
ArduCopter: maintain loiter control even below 1m while landing
2012-12-06 12:40:53 +09:00
rmackay9
2dd4694eef
ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz)
2012-12-06 10:32:12 +09:00
rmackay9
269e02ee93
ArduCopter: bug fix - initialise inertial nav
2012-12-06 10:32:07 +09:00
rmackay9
8d682b9812
ArduCopter: disable INERTIAL_NAV_XY by default
2012-12-06 10:32:02 +09:00
rmackay9
39d524212f
ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter.
...
When disabled the original velocity based throttle controller is used.
2012-12-06 10:31:57 +09:00
rmackay9
a5bb54e36e
ArduCopter: RTL clean-up and slightly improved landing sensor
...
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
rmackay9
6da07ef1d2
ArduCopter: increase CONTROL_SWITCH_COUNTER so that flight mode switch must be changed for at least 1/10th of a second
2012-12-06 10:31:46 +09:00
rmackay9
072ffec493
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
rmackay9
aa5e7e63a0
ArduCopter: switch on INS in APM_Config.h (i.e. on by default for users uploading through Arduino IDE)
2012-12-06 10:31:36 +09:00
rmackay9
bdb47c449a
ArduCopter: pass linear altitude error to throttle rate controllers.
...
Previously the requested rate used the square root of the altitude error.
Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
2012-12-06 10:31:31 +09:00
rmackay9
d7f76ebd87
ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI)
2012-12-06 10:31:25 +09:00
rmackay9
7b4ed2d227
ArduCopter: restored landing detector to landing throttle mode.
...
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
2012-12-06 10:31:20 +09:00
rmackay9
560bb1d738
ArduCopter: removed unused AUTO_THROTTLE_HOLD #define
2012-12-06 10:31:15 +09:00
rmackay9
7035529953
ArduCopter: remove unused get_desired_climb_rate function
2012-12-06 10:31:09 +09:00
rmackay9
a94826f182
ArduCopter: add set_throttle_mode to better control initialisation of variables
2012-12-06 10:31:04 +09:00
rmackay9
1036b35128
ArduCopter: added back in angle boost and recombined for heli and multicopter
2012-12-06 10:30:55 +09:00
rmackay9
3cbef57c64
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
...
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
Robert Lefebvre
8c18a60766
ACM: Small fix to Yaw Look Ahead
2012-12-04 14:50:14 -05:00
Robert Lefebvre
1d589c0b7d
ACM: TradHeli
...
Fixes for Attitude rate controllers.
2012-12-04 14:42:04 -05:00
Robert Lefebvre
5723021be1
ACM: TradHeli
...
Creating Rate Feed-Forward Parameters
2012-12-04 13:47:38 -05:00
Robert Lefebvre
3e65dd3ded
ACM: TradHeli APM_Config.h changes
2012-12-04 13:32:40 -05:00
Robert Lefebvre
315a7e8000
ACM: Yaw Look Ahead Changes
2012-12-04 13:26:41 -05:00
Robert Lefebvre
9130045298
ACM: Code Cleanup
2012-11-30 17:05:12 -05:00
rmackay9
8141f0b600
ArduCopter: bug fix - increase mpu6k sample rate to 100hz
2012-11-30 23:49:18 +09:00
Andrew Tridgell
6fbf5ec8f2
Copter: update ArduCopter for new ins interface
2012-11-30 07:15:18 +11:00
Michael Oborne
68aa5e4682
AC add ability to start new accel_scale via mavlink
2012-11-28 21:38:58 +08:00
Andrew Tridgell
2949d58b71
Copter: re-enable sending of GLOBAL_POSITION_INT message
...
this gives important raw GPS velocity information, plus relative and
absolute height
2012-11-28 11:26:19 +11:00
Robert Lefebvre
07d7d90882
ACM: TradHeli
...
Bringing in Low Pass Filter for Rate Controllers
2012-11-26 21:51:23 -05:00
Robert Lefebvre
6b8c39dd10
ACM: Creating Yaw_Look_Ahead yaw mode.
...
This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
Robert Lefebvre
3f0e8dd358
ACM: TradHeli
...
Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
2012-11-26 21:21:12 -05:00
Robert Lefebvre
e8d619acad
ACM: Begin creation of TradHeli rate control.
...
May affect Multi-Rotors.
2012-11-26 21:02:41 -05:00
Robert Lefebvre
6b1fee767a
ACM: TradHeli
...
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
2012-11-26 19:37:20 -05:00
Robert Lefebvre
9e45e906fb
ACM: TradHeli
...
Move some TradHeli #defines into one place in APM_Config to clean up config.h and defines.h
2012-11-26 19:09:55 -05:00
Robert Lefebvre
b32d7c8b63
ACM: TradHeli
...
Prevent helis from arming while RSC control is switched on.
2012-11-26 19:03:28 -05:00
Robert Lefebvre
95eeda7cf7
ACM: TradHeli
...
Removing Angle Boost function.
Does not make sense for helis due to aerodynamics. Can cause more problems than it solves.
2012-11-26 18:58:21 -05:00
Robert Lefebvre
8056b78c55
ACM: TradHeli
...
Remove Rate I-term reset when throttle stick is on the bottom. This could be very bad for helis since it's plausible to use full downstick while flying.
There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway.
Also removed what appears to be some deadwood.
2012-11-26 18:49:24 -05:00
Robert Lefebvre
637c9a1a72
ACM: TradHeli
...
Removing this "throttle" output restriction for TradHelis.
2012-11-26 18:44:03 -05:00
Andrew Tridgell
5818aaad42
Copter: fixed build error
...
thanks to Marco for pointing this out
2012-11-24 20:39:35 +11:00
Andrew Tridgell
f6ec932d63
Copter: added reboot in CLI and over MAVLink
...
useful for getting out of CLI
2012-11-24 18:20:37 +11:00
Andrew Tridgell
cd07d965a7
Copter: ported RSSI_PIN option from ArduPlane
...
this is useful for OSD users
2012-11-22 20:59:33 +11:00
rmackay9
3372355e07
ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d
2012-11-22 12:50:39 +09:00
rmackay9
eb6d8fca57
ArduCopter: added ReleaseNotes.txt
2012-11-22 09:51:04 +09:00
Robert Lefebvre
6ffc115236
Changes to get_throttle_rate()
...
Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
2012-11-21 17:11:38 -05:00
Andrew Tridgell
dbdb3e1194
ACM: allow fetch of parameters by index
...
this makes it more efficient to re-fetch parameters that are missing
2012-11-22 00:16:57 +11:00
Andrew Tridgell
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
Andrew Tridgell
704da2a5d9
MAVLink: make it possible to enter the CLI over the radio
...
this only works on the APM2, where UART0 is also the radio port
2012-11-21 14:11:05 +11:00
Michael Oborne
a5e3ce4655
remove cli planner mode - no longer used
2012-11-21 07:45:45 +08:00
Michael Oborne
0c84b8abf1
fix unit max. and unit type
2012-11-21 07:42:53 +08:00
Andrew Tridgell
bcf740a82f
ACM: support 16 character parameter names
2012-11-20 21:38:58 +11:00
Andrew Tridgell
c008ca7560
ACM: fixed documentation of disabling voltage/current pins for ArduCopter
2012-11-20 20:26:14 +11:00
Andrew Tridgell
69fbcc8683
MAVLink: fixed accel and gyro sensor offsets in MAVLink
2012-11-20 18:32:26 +11:00
rmackay9
810da878e7
ArduCopter: performance monitoring - changed loop counters to uint16_t.
...
Removed an unused items from dataflash logging of Performance.
2012-11-19 11:55:47 +09:00
Andrew Tridgell
dafaa2efc8
SITL: disable optical flow on the desktop build
...
it doesn't work yet, as no sensor emulator is available
2012-11-19 09:04:03 +11:00
Andrew Tridgell
a3c3c59b82
ACM: fixed some memory cast warnings
2012-11-19 08:42:36 +11:00
rmackay9
07a7a1acd8
ArduCopter: replaced digitalRead and digitalWrite with faster calls
...
improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
Andrew Tridgell
531e62d3b5
MAVLink: improve usefulness of logged GPS velocities
...
we need them to align with time to use them for accelerations
2012-11-17 17:45:30 +11:00
Jason Short
5f57678a9c
ACM Nav_throttle- removed sign inversion
2012-11-16 17:38:57 -08:00
Robert Lefebvre
9c6e914bf8
Added Leonard to Contributor List.
2012-11-16 15:43:03 -05:00
rmackay9
e92b560df5
ArduCopter: low baterry failsafe
2012-11-15 23:35:41 +09:00
rmackay9
73ed6c9dbf
ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds
2012-11-15 23:35:36 +09:00
rmackay9
258442770d
ArduCopter: flight mode changes ignored while in throttle failsafe
...
reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
2012-11-13 12:50:51 +09:00
rmackay9
cdfd3f9ccc
ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap'
...
Changed ArduPlane to keep function consistent with ArduCopter
2012-11-12 13:30:04 +09:00
rmackay9
dcd98eee78
ArduCopter: remove some variables no longer required with introduction of AP_state
2012-11-12 12:41:25 +09:00
rmackay9
ac5dcc8d49
ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables
2012-11-12 12:35:58 +09:00
Jason Short
ea7f639ebf
ACM: Added fast descent with Bill P's equation for managed accerlation
2012-11-11 18:23:45 -08:00
Jason Short
69db678252
ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller.
2012-11-11 18:22:54 -08:00
Jason Short
c1b759d5d8
ACM: Added a speed filter for throttle cruise, increased alt change rate for alt hold, increased the max climb_rate reporting
2012-11-11 18:17:33 -08:00
Jason Short
f344eb875a
ACM: Allow greater than 45° pitch and roll in Stab
2012-11-11 18:07:58 -08:00
Jason Short
be63481a8c
ACM : Logging.pde formatting
2012-11-11 18:06:50 -08:00
Jason Short
9e0b0b9fcd
ACM : loging ApState at faster rate
2012-11-11 18:00:10 -08:00
Jason Short
9735a0eff1
ACM: Allow for user defined roll and pitch input max
2012-11-11 18:00:10 -08:00
Andrew Tridgell
fddfb0b1a3
MAVLink: update compass health in SYS_STATUS
...
this will make it easier to tell if a I2C error occurred in flight
2012-11-12 11:26:54 +11:00
rmackay9
bcb9519fd7
ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues
2012-11-11 22:42:10 +09:00
rmackay9
e212744f4c
ArduCopter: failsafe improvements
...
resolves momentary throttle drop to zero before failsafe engages
resolves motor cut after 30seconds if flying in stabilize without GPS (now switches to ALT_HOLD with target altitude zero)
disables motors if throttle was zero before failsafe event
2012-11-11 22:11:12 +09:00
rmackay9
96872493ae
ArduCopter: remove unnecessary debug print mesage from save_trim function
2012-11-10 23:10:29 +09:00
rmackay9
95f6357d35
ArduCopter: fix APM2 build
2012-11-10 22:06:23 +09:00
Jason Short
883bb7cfc0
ACM formatting
2012-11-09 22:15:16 -08:00
Jason Short
fb2180ddcd
ACM : climb rate option using Bill P's equation
2012-11-09 22:15:16 -08:00
Jason Short
129ec35c35
ACM crosstrack min distance
2012-11-09 22:15:16 -08:00
Jason Short
4b5e0a5046
ACM Logging Events
2012-11-09 22:15:16 -08:00
Jason Short
6dba79e3a7
ACM Log, formatting
2012-11-09 22:15:16 -08:00
Jason Short
549489ddbb
ACM : Setup, format
2012-11-09 22:15:16 -08:00
Jason Short
ecdc281315
ACM | removing old files
2012-11-09 22:15:16 -08:00
Jason Short
d2a5928c06
Ap state updates
2012-11-09 22:15:15 -08:00
Jason Short
4d7b9137fe
ACM: Added max RTL altitude
2012-11-09 22:15:15 -08:00
Jason Short
bfca0ff9bc
ACM: added ap_state.pde
2012-11-09 22:15:15 -08:00
Jason Short
5ad38a32bf
ACM : Attitude : added nav param reset
2012-11-09 22:15:15 -08:00
Jason Short
3c78c4a7a3
ACM : Attitude.pde added ap bitfield for failsafe bit
2012-11-09 22:15:15 -08:00
Jason Short
a42c6bb609
ACM : Attitude.pde removed stabilize D
2012-11-09 22:15:15 -08:00
Jason Short
e4cec91e59
ACM : Arducopter Added ap state bitfield, system bitfield
2012-11-09 22:15:15 -08:00
Jason Short
cdabc3878b
ACM: Arducopter - remove the stabilize D scheduling
2012-11-09 22:15:15 -08:00
Jason Short
d2a0913b2d
ACM : formatting
2012-11-09 22:15:15 -08:00
rmackay9
2b714ff7b0
ArduCopter: remove unused functions wrap_360f, wrap_180f and wrap_PI
2012-11-08 15:20:08 +09:00
rmackay9
14cbe37d3e
ArduCopter: remove unused get_stabilize_rate_yaw
2012-11-07 23:28:25 +09:00
rmackay9
b13264c884
AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors
2012-11-07 22:24:00 +09:00
rmackay9
ad431d2f25
ArduCopter: fixed HIL build caused by optical flow semaphore changes
2012-11-07 21:13:34 +09:00
rmackay9
cec96a76d7
ArduCopter: comment out InertialNav related Alt Hold and Loiter PID changes from APM_Config.h
2012-11-07 19:21:36 +09:00
rmackay9
1f801714e8
ArduCopter: incorporate new version of inertial navigation
...
Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
rmackay9
d9b4407e64
AP_InertialSensor: changes after review with Tridge.
...
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
2012-11-07 19:21:15 +09:00
rmackay9
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
Andrew Tridgell
e8ab62f6e5
ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT
...
these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
2012-11-05 15:23:41 +11:00
Jason Short
8a8ed7a711
ACM : Formatting
2012-10-28 12:12:38 -07:00
Jason Short
36040461df
ACM : Formatting
2012-10-28 12:12:38 -07:00
Jason Short
e138b0a1d7
ACM: Added simple mode bearing logging for bug hunting
2012-10-28 12:12:38 -07:00
Jason Short
1713279ace
ACM: Formatting
2012-10-27 14:13:46 -07:00
Jason Short
5149a8c723
ACM: Added notes, credit to decel code. added speed_min to calc.
2012-10-27 14:13:24 -07:00
Jason Short
73bc90f9b8
ACM: config.h cleanup
...
Added LOG_ITERM default to enabled
2012-10-27 09:59:57 -07:00
rmackay9
cebcc226ee
ArduCopter: change TOY_M throttle mode to THROTTLE_HOLD
2012-10-26 10:56:06 +09:00
rmackay9
4877348c49
ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon.
...
Increase other constraints from 3200 to 32000. These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
2012-10-24 22:04:35 +09:00
rmackay9
5e8043fd9c
ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters
...
Changes on behalf of Leonard Hall
2012-10-23 21:30:50 +09:00
Andrew Tridgell
406a5dc328
ACM: save another 20 bytes
2012-10-22 18:59:51 +11:00
Andrew Tridgell
9592be5af7
ACM: saved some more memory for strings
2012-10-22 18:57:08 +11:00
rmackay9
78316adf75
ArduCopter: replace Serial.print with Serial.print_P to save memory.
...
Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
2012-10-22 16:45:24 +09:00
Jason Short
6a40fcd56a
ACM : fix compiler warning on non returning function
2012-10-21 14:37:42 -07:00
Jason Short
8842a7dc1b
ACM : Cast to int32_T
...
Don't think it really needs it, but I feel better with the cast.
2012-10-21 14:36:05 -07:00
Jason Short
a0752dc7dc
ACM Acceleration management
...
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
2012-10-21 14:32:39 -07:00
rmackay9
a37a9b5b67
ArduCopter: updated firmware version to 2.8
2012-10-20 09:50:53 +09:00
rmackay9
4395fad6e9
ArduCopter: incremented eeprom format version to force users to accept the new defaults.
...
Particularly important is the roll-pitch I term move from the stabilize to rate controllers.
2012-10-19 16:14:51 +09:00
Pat Hickey
d4bb8a10d7
Update ArduCopter and ArduPlane dependencies on AP_Menu
2012-10-18 20:53:39 -07:00
Robert Lefebvre
bfade7d0ed
Fixed that last commit
...
#define Stupid_Mistake
2012-10-18 16:50:42 -04:00
Robert Lefebvre
592f4040fd
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
rmackay9
1c08e48b4b
ArduCopter: updated firmware version to 2.7.4-Zeta
2012-10-18 23:30:28 +09:00
rmackay9
583f2e49a3
ArduCopter: integrated Leonard Hall's improved ACRO mode
2012-10-18 23:24:34 +09:00
rmackay9
a2a3eed063
ArduCopter: bug fix for telemetry not working on APM1.
...
SPI3 is also UART3. On APM1 we use UART3 for telemetry and don't need SPI3.
2012-10-18 19:15:21 +09:00
rmackay9
d2912e4e01
ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1
2012-10-18 17:04:44 +09:00
rmackay9
401fb4101c
ArduCopter: removed deprecated mag offset routine.
...
Also removed commented-out block of code from navigation.pde.
2012-10-17 19:47:21 +09:00
rmackay9
9e3c2dd105
ArduCopter: updated firmware version to 2.7.4-Epsilon
2012-10-17 19:27:11 +09:00
rmackay9
8519fe55d3
ArduCopter: more out-of-date commented out code removed
2012-10-17 19:25:14 +09:00
rmackay9
b944d9df26
ArduCopter: bug fix in earthframe->body frame translation.
...
Provided by Leonard Hall.
Also removed large unnecessary comments.
2012-10-17 19:15:25 +09:00
rmackay9
7d7de976c3
ArduCopter: reduced optical flow's I and IMAX terms
2012-10-17 17:47:43 +09:00
rmackay9
956b347d68
ArduCopter: updated firmware version to 2.7.4-Delta
2012-10-17 10:20:41 +09:00
rmackay9
5fbe53a84d
ArduCopter: bug fix for get_yaw_rate_stabilized_ef
...
Provided by Leonard Hall
2012-10-17 10:18:24 +09:00
Andrew Tridgell
f828956cb8
battery: use set_pin() to allow pins to be changed at runtime
2012-10-16 17:20:49 +11:00
Robert Lefebvre
063cb41a11
Adding some comments to parameters.
2012-10-15 09:37:02 -04:00
rmackay9
4016f3ba85
ArduCopter: update version information ahead of testing
2012-10-15 18:15:38 +09:00
LeonardTHall
d7b7e1cefa
New Yaw controller using rate feed forward and stabilize.
...
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
2012-10-15 11:37:49 +09:00
rmackay9
ee5dab9647
ArduCopter: enable ACRO mode's AXIS_LOCK by default
2012-10-14 19:50:45 +09:00
rmackay9
997fe85880
ArduCopter: fixed acro mode
...
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
2012-10-14 17:47:46 +09:00
rmackay9
240b0b43fd
ArduCopter: small comment fixes related to battery monitoring
2012-10-13 20:52:14 +09:00
rmackay9
4a41a3d210
ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor
2012-10-13 18:40:46 +09:00
Robert Lefebvre
dae81d2068
Added #define for Tilt_Compensation.
...
Also added some detail to WP_Speed_Max parameter.
2012-10-12 14:51:31 -04:00
Robert Lefebvre
4e649a381c
Added comment detail for Tilt_Comp Parameter.
...
Reduced parameter default value for TradHeli.
2012-10-11 13:17:39 -04:00
rmackay9
1e79d265a1
ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read
...
The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
2012-10-11 18:31:10 +09:00
rmackay9
cf3e49eea2
ArduCopter: changed sin_pitch and sin_roll to faster equivalents
2012-10-11 17:54:42 +09:00
rmackay9
03933df5b7
ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015
...
Updated after discussing with Marco
2012-10-11 17:25:01 +09:00
rmackay9
35fa50234f
ArduCopter: move I terms from stabilize to rate controllers
2012-10-11 17:20:05 +09:00
rmackay9
2848bb8ee6
ArduCopter: freeze I terms if motor limits breached
2012-10-11 17:20:00 +09:00
Andrew Tridgell
601fe89baa
ACM-HIL: fixed optflow declaration
2012-10-11 11:51:25 +11:00
Pat Hickey
bbc7f050e5
ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors
...
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
mavelous <mavelous@googlegroups.com>
Michael,
Per our discussion today,
In a MAVLINK_MSG_ID_COMMAND_LONG
A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
uses param index 1 to specify an arm/disarm motors event: 1 to arm,
0 to disarm
Thanks for working this out with me. Sorry to get it so completely
wrong the first time around!
Best
Pat
2012-10-10 18:59:55 +08:00
Pat Hickey
da374f9043
ArduCopter: Provide AP_Semaphore instance for SPI3 bus on APM2.
2012-10-09 11:39:39 -07:00
rmackay9
b876733c0d
ArduCopter: added message to console when entering ESC Calibration on startup
2012-10-09 12:31:05 +09:00
rmackay9
c0ad98be31
ArduCopter: failsafe added to shutdown motors if mainloop fails
2012-10-09 12:30:17 +09:00
rmackay9
fa0963d592
ArduCopter: APM_Config.h - make it ever so slightly easier to enable INERTIAL_NAV
2012-10-08 12:31:51 +09:00
rmackay9
3c9ba94f42
ArduCopter: bug fix to ROI when no camera mount is specific
2012-10-08 12:31:10 +09:00
rmackay9
7cf60e61b4
ArduCopter: bug fix in earth-frame to body-frame conversion for roll
2012-10-07 19:14:40 +09:00
rmackay9
05fd04134a
ArduCopter: fix heli build
2012-10-06 13:46:19 +09:00
rmackay9
61d0c8e35c
ArduCopter: added AP_Semaphore to list of includes
2012-10-06 12:41:58 +09:00
rmackay9
af1d6a9b82
ArduCopter: reduce Stabilize Yaw P term to 4.5
2012-10-03 14:19:49 +09:00
rmackay9
e375a27058
ArduCopter: prioritise rate controllers, rate controller targets converted to body frame
2012-10-03 14:10:31 +09:00
rmackay9
ea4f256f8e
ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements
...
To save a parameter, the current sensor pin is assumed to always be 1 higher than the voltage pin.
2012-10-02 22:16:19 +09:00
Michael Oborne
a38fef65c7
AP,AC Add ability to override an altitude in any auto mode, on the current active target
2012-09-30 07:29:33 +08:00
rmackay9
95763e610b
ArduCopter: allow DMP to run in parallel with DCM
...
Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
2012-09-30 00:25:40 +09:00
rmackay9
8c6fd340d7
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
rmackay9
bae53807b2
ArduCopter: tiny formatting change in defines.h
2012-09-27 17:40:54 +09:00
rmackay9
280488fa5e
ArduCopter: bug fix to display ITERM enabled/disabled properly from cli
...
Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
2012-09-27 17:40:30 +09:00
rmackay9
ed881117e0
ArduCopter: updated version to 2.7.4-Beta
2012-09-25 23:39:15 +09:00
rmackay9
fff5d51694
ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08)
2012-09-25 19:08:31 +09:00
rmackay9
a71aa21514
ArduCopter: increase default Loiter Rate P to 5.0
2012-09-25 12:19:44 +09:00
rmackay9
b2f12c4854
ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5
2012-09-24 18:39:33 +09:00
rmackay9
889d1bb36c
ArduCopter: alt hold bug fix - removed reset next_WP in init_home
2012-09-23 01:00:06 +09:00
rmackay9
b3ff368589
ArduCopter: position lead filters modified to use lag which varies by gps
2012-09-20 15:49:09 +09:00
rmackay9
361ff0c08f
ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.
2012-09-18 23:19:23 +09:00
rmackay9
93ae29a3e9
ArduCopter: added throttle curve (although disabled by default) for all multicopters
2012-09-18 23:05:08 +09:00
rmackay9
498cbb063b
ArduCopter: set fast gains while auto trim is being executed
2012-09-18 09:03:29 +09:00
Andrew Tridgell
5fd39bb928
ACM: updates for new GPS detection
...
a GPS can now be attached after startup
2012-09-17 14:45:47 +10:00
rmackay9
6f32f52377
ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables.
2012-09-17 13:44:29 +09:00
rmackay9
303ca11c4c
HIL: changes to fix HIL for ArduCopter after recent timing changes.
...
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
rmackay9
b6d2d4723f
ArduCopter: print firmware version of code instead of zero.
2012-09-13 21:49:11 +09:00
rmackay9
9e66b555cb
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
Jason Short
072085d2d8
ACM : better debugging text
2012-09-12 23:06:06 -07:00
Jason Short
6b6075ed30
ACM l Prevent pre-mature finish of mission
2012-09-12 23:06:06 -07:00
Jason Short
834f961409
ACM : Fix enduf
2012-09-10 21:25:53 -07:00
Jason Short
4c8e257ea2
ACM : forced setup_show to dump params during log dump for better analysis.
2012-09-10 20:52:30 -07:00
Jason Short
34e07c826f
ACM : Added centralized Iterm logging at a lower rate. Logs all iterms.
2012-09-10 20:26:48 -07:00
Jason Short
e8e8c27db4
ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t
2012-09-10 20:22:57 -07:00
Jason Short
a73bc70553
ACM : Params - formatting cleanup
2012-09-10 20:22:11 -07:00
Andrew Tridgell
841d2700b6
ACM: use spare CPU cycles to read the magnetometer
2012-09-10 11:38:18 +09:00