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
35f94a6f71
AP_InertialNav: increase Z axis default time constant to 3.0 (was 1.5)
2012-12-07 12:57:12 +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
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Restructured reading of channel 7 into a switch statement.
2012-12-06 17:47:01 +09:00
rmackay9
d11ee04888
AP_Camera: add three new parameters DURATION, SERVO_ON and SERVO_OFF to allow better shutter control when using servo.
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Removed unused variables to save 4 bytes.
Renamed some variables and functions to make more consistent with existing code base.
2012-12-06 17:46:09 +09:00
rmackay9
eac26b2313
RC_Channel_aux: immediately send output to servos when set_radio, set_radio_to_min, set_radio_to_max, set_radio_to_trim or set_servo_out functions are called.
2012-12-06 17:41:42 +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.
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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
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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.
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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.
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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
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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
rmackay9
e6686dcab8
ThirdOrderCompFilter: remove last_time_constant_xy and _z static variables to save 8 bytes.
2012-12-06 10:24:58 +09:00
rmackay9
06d1c6b0c1
AP_Buffer: bug fix to allow buffer to completely fill up.
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Also removed redundant _tail parameter which saves 1 byte.
2012-12-06 10:18:00 +09:00
rmackay9
8b5f66255e
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:35:55 +09:00
rmackay9
a92b7f3477
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:20:31 +09:00
Robert Lefebvre
a5c4e65cdf
ACM: TradHeli
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Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
2012-12-04 15:09:27 -05:00
Robert Lefebvre
8c18a60766
ACM: Small fix to Yaw Look Ahead
2012-12-04 14:50:14 -05:00
Robert Lefebvre
1d589c0b7d
ACM: TradHeli
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Fixes for Attitude rate controllers.
2012-12-04 14:42:04 -05:00
Robert Lefebvre
5723021be1
ACM: TradHeli
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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
Michael Oborne
47529e9454
firmware build
2012-12-04 08:52:48 +08:00
Andrew Tridgell
898aa0b260
Plane: fixed spelling error
2012-12-04 11:38:29 +11:00
Andrew Tridgell
e4949291e5
Plane: preparing for 2.68 release
2012-12-04 11:24:24 +11:00
Andrew Tridgell
33e6edcab2
scripts: added apm2 hil to build_all.sh
2012-12-04 11:13:54 +11:00
Andrew Tridgell
805a340350
Plane: enable attitude and raw logging in HIL modes
2012-12-04 11:13:33 +11:00
Andrew Tridgell
3b18c57691
AP_InertialSensor: removed axis getters for accel/gyro
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these were only being used in one place, and in that place were used
incorrectly!
2012-12-04 09:11:55 +11:00
Andrew Tridgell
4484144228
Rover: removed INS print code
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its all in parameters now
2012-12-04 09:11:55 +11:00
Andrew Tridgell
cbb97f7294
Plane: added apm2 hilsensors target
2012-12-04 09:05:02 +11:00
Andrew Tridgell
d2f9a705ea
MAVLink: clarify frame of reference for HIL_STATE
2012-12-03 23:31:34 +11:00
Andrew Tridgell
15abc784ec
MAVLink: use a smaller maximum payload to reduce memory
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this limits the sizes of the MAVLink buffers. It doesn't make a big
difference now, but it will matter when we update to the latest
mavlink code which has some very large packets
2012-12-03 23:28:23 +11:00
Andrew Tridgell
5e77119377
AP_InertialSensor: fixed stub driver to work correctly with sensors HIL
2012-12-03 23:27:21 +11:00
Andrew Tridgell
24e1af1c82
Plane: fixed sensors and attitude HIL
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we now use the Stub version of the InertialSensor driver. In sensors
HIL we can now correctly drive the AHRS code.
2012-12-03 23:26:39 +11:00
Andrew Tridgell
53951f995a
Plane: fixed GPS course in HIL
2012-12-03 17:38:55 +11:00