95076bf08e
navigation.pde:
...
removed unneeded WP_Distance check
remove unneeded return for Navigate
removed unneeded rate_D calcs
removed unused functions
2012-05-17 11:05:05 -07:00
be71cbfcc8
Arducopter.pde :
...
removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
2012-05-17 11:05:05 -07:00
7278e8d1e5
removed retro loiter code since Angel has a branch now.
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shrank speed filter to avoid latency
removed unused forward estimator code
placed code for switchover to gps.groundspeed at 1.5m/s
added clamp for D term when below .5m/s to eliminate noise
added hybrid I-term based on speed error and position
changes Loiter D term to use position rather than acceleration to avoid noise
2012-05-15 22:14:23 -07:00
cb68adfff2
Loiter Gains based on new SIM
2012-05-15 22:01:01 -07:00
17a1b6d672
Fixed Syntax error.
2012-05-15 12:35:35 -04:00
a9349a6e87
More CopterLEDS changes.
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Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2. Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2. Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code. Legacy users should see no difference.
2012-05-15 12:00:21 -04:00
9e73dc4bd8
CopterLEDS changes for APM2
2012-05-15 10:07:03 -04:00
eaeaa3811a
ArduCopter: bug fix for reversing tri servo
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Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
2012-05-13 12:36:46 +09:00
47ea92aa7f
ArduCopter: updated version to 2.5.5
2012-05-13 08:47:43 +09:00
ee20f887b5
ArduCopter: fixed compile error by declaring extern print_latlon
2012-04-30 21:44:27 +09:00
94b763fa1e
ACM: fixed HIL build
2012-04-30 22:42:17 +10:00
ed9c59879f
ArduCopter: restored gps test in CLI
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Added check so not enabled when using 1280. Also fixed comments in other tests to explain the check for the 1280.
2012-04-30 17:29:50 +09:00
292f9699fa
Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases
2012-04-28 20:50:41 -05:00
2a85a64b6e
Parameters.pde: Added value aliases to comments
2012-04-28 20:35:22 -05:00
c03f1d04ea
Parameters.pde: Added more parameter comments.
2012-04-28 12:14:17 -05:00
8134c9a883
autotest: fixes for MAVLink 1.0 in autotest
2012-04-27 15:15:53 +10:00
21886104a6
Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone.
2012-04-26 18:26:14 -05:00
09ffc69d93
Changed the marker for Group parameters to @Group.
2012-04-25 12:27:51 -05:00
0132392e36
Parameters.pde: Added lib comments.
2012-04-25 11:23:46 -05:00
74789273b7
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into param-suffix
2012-04-24 14:11:54 -05:00
f70a4e61ea
Parameters.pde: Updated comment schema to include the parameter name which becomes the XML node that contains the meta data.
2012-04-24 13:11:16 -05:00
8c607d93fc
Parameters.pde: Added new comment structure to a few parameters for testing.
2012-04-24 11:37:33 -05:00
7866740d62
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
2012-04-24 22:24:58 +10:00
712b7184be
ACM: added support for MAVLink 1.0 to ArduCopter
...
most operations should now work
2012-04-24 19:54:20 +10:00
2ee8237b5f
ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define.
2012-04-23 00:19:18 -05:00
ec06638db6
Parameters: Added g.retro_loiter which is configurable by the user via the MP.
2012-04-23 00:17:52 -05:00
788df5ed6f
config.h: Removed comment.
2012-04-23 00:16:41 -05:00
692bbee233
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
cb863dd483
Log.pde : Updated Flash Logging to log Floats properly vs scaled integers.
2012-04-21 15:25:53 -07:00
2aca6c64ab
Added a union for casting floats to ints and back when storing Floats to the DataFlash
2012-04-21 15:17:09 -07:00
3b5ffe0f61
ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame
2012-04-21 23:46:36 +09:00
114e6a3551
ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion
2012-04-21 23:24:57 +09:00
bd8534ef14
ArduCopter - Attitude.pde - added logging of optical flow pid controller
2012-04-21 20:17:12 +09:00
53ddb58c7b
ArduCopter - changed optflow object to be APM2 version if necessary
2012-04-21 20:15:55 +09:00
ce6dd8bb32
ArduCopter - changed Optical Flow for APM2 to use A3 pin
2012-04-21 20:15:16 +09:00
edf15c1b9b
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-20 11:45:38 -05:00
c323efc2d4
ArduCopter - regressed version back to 2.5.4
2012-04-20 21:58:32 +09:00
1bc4d54ce9
Worked on ArduCopter cmake options.
2012-04-19 16:05:08 -04:00
d09916422a
Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach
...
Conflicts:
Tools/ArdupilotMegaPlanner/Common.cs
2012-04-19 11:08:34 -05:00
4430f75344
navigation.pde: Put the new calc_GPS_velocity method in a compiler if that checks the new RETRO_LOITER_MODE config value (saves space and ensures its not being used unless retro loiter mode is enabled)
2012-04-19 10:21:04 -05:00
9181eedf5a
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter
2012-04-19 10:17:36 -05:00
ad13854ab7
Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff.
2012-04-19 10:16:29 -05:00
3995381800
Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity.
2012-04-18 23:07:35 -05:00
c7c6dd70b9
navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error.
2012-04-18 23:06:15 -05:00
f094085c25
Improved cmake options.
2012-04-18 23:15:29 -04:00
0a38e2b8d4
Updated ArduPlane/ArduCopter cmake options.
2012-04-18 15:16:02 -04:00
5ee15da73b
Planner/defines.h: Updated the enumeration value for APPROACH so as not to disturb the order of the universe.
2012-04-18 10:32:01 -05:00
26e3d6ae45
Switched to project specific cmake lists.
...
This is better since each project has very different options.
2012-04-17 23:07:20 -04:00
baf8218b58
ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter.
2012-04-16 16:29:54 -05:00
b891622210
ArduCopter: Changed millis compare to use new config value for approach delay.
2012-04-16 14:04:30 -05:00
3146c22ea8
commands_logic.pde: Added write to constrained value to EEPROM.
2012-04-16 14:03:33 -05:00
3135cd91d0
config.h: Added RTL_APPROACH_DELAY config value.
2012-04-16 14:00:08 -05:00
8128fb2d5f
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
...
Conflicts:
ArduCopter/Parameters.h
2012-04-16 10:23:01 -05:00
b611b6a1e8
system.pde: Updated param name to loiter_timer.
2012-04-16 10:12:30 -05:00
03e11cf893
commands_logic: Allowed for an approach alt as low as 1m. Added a check to make sure we are currently above our target approach alt.
2012-04-16 10:11:50 -05:00
637f778dd0
ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s).
2012-04-16 10:07:57 -05:00
2d096c401f
Parameters: Changed rtl_approach_alt to float to support more granular altitudes
2012-04-16 10:06:29 -05:00
4dadd888d8
ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM
2012-04-16 23:47:57 +09:00
5a9ad6ddbb
AHRS: enable AHRS_ group in ArduCopter
2012-04-16 20:55:14 +10:00
f27b5d538b
ArduCopter, commands_logic: Updated logic to allow as low as 5m.
2012-04-15 19:50:05 -05:00
e4940ec3bb
ArduCopter: Added check to make sure user defined approach alt is at least 5.
2012-04-15 16:58:22 -05:00
0027c9253b
commands_logic: Added check to make sure the do_approach method is not being used to land.
2012-04-15 16:57:49 -05:00
70d67b0791
System: Added handler for the new APPROACH flight mode which will initiate an approach to a target alt as defined by the user.
2012-04-15 16:55:34 -05:00
d1a7fdb9ef
ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land.
2012-04-15 16:54:43 -05:00
d12bf86876
commands_logic: Added do_approach() to set the new target alt based on the user defined value.
2012-04-15 16:53:25 -05:00
fb5dc3085b
Defines: Added new control mode (APPROACH).
2012-04-15 16:52:32 -05:00
f5e0b002ba
Parameters: Added new APPROACH_ALT params (g.rtl_approach_alt) which stored the users desired target altitude after RTL is complete.
2012-04-15 16:51:41 -05:00
ccb21613b5
ArduCopter - updated firmware version to "2.6 Beta"
2012-04-14 14:26:44 +09:00
33bd558a94
ArduCopter - LEDS - main code to support COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:44 +09:00
a429c78d20
ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:40 +09:00
663eda6d47
ArduCopter - LEDS - define pins to be used for COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:36 +09:00
ac9555a3b4
ArduCopter - LEDS - added new COPTER_LEDS definition
...
Code by Robert Lefebvre
2012-04-12 22:55:32 +09:00
d1a5d1f94c
ArduCopter - LEDS - two new parameters to support COPTER_LEDS.
...
Code by Robert Lefebvre.
2012-04-12 22:55:28 +09:00
8f0bc57967
ArduCopter - navigation.pde - added logging of Loiter PID controllers
2012-04-11 23:52:25 +09:00
023378a214
ArduCopter - Parameters.h - changed initialisation order to remove compiler warning (have not changed enum values so shouldn't require eeprom format id update)
2012-04-09 17:37:06 +09:00
c7edd7857c
ArduCopter - added dataflash logging of roll and pitch rate controllers
2012-04-08 10:19:20 +09:00
0607be8ea5
ArduCopter - removed unused motor pde files including heli.pde, motors_hexa.pde, motors_octa.pde, motors_octa_quad.pde, motors_tri.pde and motors_y6.pde
2012-04-04 23:06:12 +09:00
2128085576
ArduCopter - test.pde - changed references "motor_armed" to "motors.armed()" as part of move to AP_Motors library.
...
Change to ESC initialisation calls to use motors.throttle_pass_through method of AP_Motors class.
2012-04-04 23:05:26 +09:00
2fc3b740c4
ArduCopter - system.pde - changed references to "motor_armed" to "motors.armed()" as part of the move to use AP_Motors library.
2012-04-04 23:03:21 +09:00
5e2147de1f
ArduCopter - setup.pde - changed cli for helicopter to call the new AP_Motors class's parameters instead of the global parameters.
...
changed init_esc to call the AP_Motor's class's "throttle_pass_through" function.
2012-04-04 23:02:29 +09:00
1701cac0b1
ArduCopter - radio.pde - changed motor initialisation to set update rate, frame orientation, min and max throttle to AP_Motors class.
...
Note: perhaps the motors speed at least should be moved to a parameter within the motors class.
output_min function greatly simplified as this is handled by the AP_Motors class.
2012-04-04 23:00:56 +09:00
0f4203a755
ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class.
...
Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
2012-04-04 22:58:42 +09:00
00d540bfa9
ArduCopter - leds.pde - changed refrences to "motor_armed" to "motors.armed()"
2012-04-04 22:57:50 +09:00
ffd77f58ab
ArduCopter - removed references to MOT_1 etc as these are now within the AP_Motors class (i.e. MOT_1 has become AP_MOTORS_MOT_1)
2012-04-04 22:56:07 +09:00
929e933b69
ArduCopter - increased firmware version to 118. Removed nearly all heli parameters as these are all created by the AP_MotorHeli class now.
...
Note: we cannot move the heli_servos to the AP_MotorHeli class yet because of a small issue in the parameters class.
2012-04-04 22:55:07 +09:00
acc24291f3
ArduCopter - Log.pde - changed MOT output to dataflash to take values from AP_Motors class's motor_out array instead of the global motor_out array.
2012-04-04 22:53:21 +09:00
86d2a9ffdb
ArduCopter - GCS_Mavlink.pde - changed output to ground station to use new AP_Motor's class motors array inplace of the global "motor_out" array.
2012-04-04 22:52:26 +09:00
23c3f25654
ArduCopter - Attitude.pde - moved heli_get_angle_boost from heli.pde (which will be removed) to Attitude.pde. In fact we should combine heli_get_angle_boost and the regular get_angle_boost.
2012-04-04 22:51:39 +09:00
544237d60a
ArduCopter - add includes for new AP_Motors classes.
...
Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
2012-04-04 22:50:43 +09:00
40d7b07789
MAVLink: port the new adaptive flow control to ArduCopter
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This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
2012-04-02 11:18:53 +10:00
b0c9a25024
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
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also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
1e0a2fb0be
MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
...
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.
This makes MAVLink work better at low baud rates
2012-03-30 17:46:20 +11:00
0985327331
ACM: use set_blocking_writes(false) when we arm motors
2012-03-30 17:46:20 +11:00
36e741b078
MAVLink: raise the serial transmit buffer size to 256 bytes
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the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
58f539ca35
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
0727955fe3
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
2012-03-30 14:25:06 +11:00
a12a7a7d87
ArduCopter - added CH6_STABILIZE_KD tuning value
2012-03-29 21:09:41 +09:00
2cc87af180
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
...
#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
8ccf3a05f0
Mavlink: fixed warnings about limits on int32 values
2012-03-27 15:37:25 +11:00
409c147ce3
ACM: fixed heli build
2012-03-27 15:37:25 +11:00
Jason Short
Robert Lefebvre
rmackay9
Andrew Tridgell
Adam M Rivera
James Goppert