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899 Commits

Author SHA1 Message Date
Jason Short
4967251f16 renamed the options_mask 2011-11-20 00:22:52 -08:00
Jason Short
a2aa4e1e50 renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short
a0cc3bf897 renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short
5761b6b071 Logging stabilization KP to hunt bug 2011-11-19 16:59:54 -08:00
Jason Short
c762abdd00 Logging APVar saves 2011-11-19 16:59:54 -08:00
Jason Short
3a62f9dbd8 new DataLog message 2011-11-19 16:59:54 -08:00
Jason Short
5c762272df Added Arbitrary data logging 2011-11-19 16:59:54 -08:00
Jason Short
85905e3879 missed == 2011-11-19 14:42:57 -08:00
Jason Short
bd8182adda removed some tests 2011-11-19 14:02:00 -08:00
Jason Short
4c95bf27e6 s 
shortened strings, logging defines updated
 2011-11-19 14:01:47 -08:00
Jason Short
1b943276ed shortened strings for mem 2011-11-19 14:00:55 -08:00
Jason Short
bcfbdeb4d3 removed some unused code, made output min by default 2011-11-19 14:00:42 -08:00
Jason Short
13e2ecf096 Upped version 
added new logging params
added crosstrack gain
re-ordered param inits
 2011-11-19 14:00:23 -08:00
Jason Short
f75f514681 added param for crosstrack gain defaulted to 4 2011-11-19 13:59:37 -08:00
Jason Short
fbcc42097b Added crosstrack gain and lowered alt hold rate gain 2011-11-19 13:59:15 -08:00
Jason Short
a661311f60 remove PI_crosstrack 2011-11-19 13:58:53 -08:00
Jason Short
d8529a32a1 return to prev climb rate calc 2011-11-19 13:58:41 -08:00
Jason Short
332684f649 Added optimizations for radian calls to remove a division. 
added a protection for entering AP modes without Home being set by GPS lock.
 2011-11-19 11:08:13 -08:00
Jason Short
cac33f474f added logging of raw baro 2011-11-19 11:08:13 -08:00
Jason Short
366806359d PM restored to normal output 2011-11-17 10:37:01 -08:00
Jason Short
8d6701f072 Log type error fix 2011-11-17 10:27:02 -08:00
Randy Mackay
4baa2fd133 TradHeli - automatically reinitialise swash plate if HSV_MAN is switched from 1 to 0. 
Turn-off feed forward correction to yaw based on collect when in HIL mode.
 2011-11-17 20:43:07 +09:00
Jason Short
16eb5641c2 Working implementation of Jump Command 2011-11-16 21:28:56 -08:00
Jason Short
fc3e7767ba Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short
26f5a6f3f0 disabled raw GPS temp 2011-11-16 00:22:23 -08:00
Jason Short
870b4f3875 Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short
b746556933 Do not write home from GS, 
MAV_Action_Continue disabled until I find out what it does and how to do it.
 2011-11-16 00:22:23 -08:00
Jason Short
2c542a0b69 Made RTL Altitude hold current by default 2011-11-16 00:22:23 -08:00
Jason Short
006cb1ac9c Mission Scripting re-write 2011-11-16 00:22:23 -08:00
Jason Short
8051ebfba3 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
d0729a44b1 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
47354b61ce Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
d475e7ced5 Added better navigation flag for more accurate dtnav timing 
Added better support for climb rate in SIM
 2011-11-16 00:22:22 -08:00
Jason Short
c6c6a98b0b Fixed typo in notes about timer speed 2011-11-14 12:25:06 -08:00
Jason Short
730668b0c7 scaling width of circle mode to make it more round. 2011-11-13 23:09:42 -08:00
Jason Short
f338e6cc79 fixed bad indexing for setting current mission index 2011-11-13 22:59:57 -08:00
Jason Short
e55ba471bc Moved updated alt to GPS so the climb rate is sane 2011-11-13 22:54:57 -08:00
Jason Short
081cd0a225 Better error and defaults checking 2011-11-13 22:54:18 -08:00
Jason Short
69be03bab8 slowed Circle flight 2011-11-13 13:41:23 -08:00
Jason Short
aefa05e3d9 error checking command saving 2011-11-13 13:41:23 -08:00
Randy Mackay
d804b28638 TradHeli - reversed the direction of "phase angle" to make it more intuitive. This parameter is used to correct for a heli's tendency to lean left or right when the pilot gives it a pitch forward command. 2011-11-13 22:40:46 +09:00
Randy Mackay
2acc1fbd9d TradHeli - added two parameters to improve heli control. 
heli_phase_angle allows pilot roll/pitch command to be translated into mixed roll and pitch.
heli_coll_yaw_effect mixes some collective into the yaw so tail can counter act collective movements more easily.
 2011-11-13 22:20:57 +09:00
Jason Short
4816bf4857 added scale note 2011-11-13 00:25:04 -08:00
Jason Short
c1313ae6a9 Fixed scaling issue with Circle mode 2011-11-13 00:24:25 -08:00
Jason Short
3b825fb8c1 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	Tools/autotest/autotest.py
 2011-11-12 21:53:08 -08:00
Jason Short
e6acbacdb6 nav updates 2011-11-12 21:46:57 -08:00
Jason Short
b8c8d22fed WP counting update 2011-11-12 21:46:03 -08:00
Jason Short
bc6f523d83 updates to Mavlink for zero based WP counting 2011-11-12 21:44:38 -08:00
Jason Short
ccdfa13edb Update and fix for Circle mode 
HIL updates for altitude
 2011-11-12 21:43:21 -08:00
Jason Short
a277e117b3 Fix for WP saving with CH7 2011-11-12 21:40:58 -08:00
Jason Short
38b79a3b03 WIP: adding 255 to represent a completed mission 2011-11-12 21:40:33 -08:00
Jason Short
6283e1bf98 Work in progress for using 0 based counting 2011-11-12 21:39:24 -08:00
Jason Short
043c3197da Added additional nav params to reset 2011-11-12 21:39:00 -08:00
Michael Oborne
9aeda9f702 fix loiter radius 2011-11-13 08:24:56 +08:00
Jason Short
238c4cfab2 Fixed type error in params 2011-11-12 15:15:33 -08:00
Jason Short
511ae85060 Shortened test name 2011-11-12 15:14:32 -08:00
unknown
4fcf11cf6e TradHeli - new parameter HSV_MAN to allow better set-up from APMissionPlanner. Also changed swash movement to use radio_out which fixes some setup bugs 2011-11-12 23:23:07 +09:00
Jason Short
01a4a120df Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-10 10:02:08 -08:00
Jason Short
124527b108 Trying to break Nav to test a feature 2011-11-10 10:01:57 -08:00
Andrew Tridgell
48eb35c45a fixed build error 
the prototype extractor was finding the commented out version of
cross_track_test(), which had a different prototype
 2011-11-10 22:01:09 +11:00
Jason Short
811ec3ec58 made crosstrack functions static 2011-11-09 23:30:16 -08:00
Jason Short
0cee7f0525 removed unused functions, log fix 2011-11-09 23:28:50 -08:00
Jason Short
289d54038f renamed original_target_bearing 2011-11-09 23:04:04 -08:00
Jason Short
7df7dbe883 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-09 22:56:52 -08:00
Jason Short
3cb1f6b197 crosstrack angle variable 2011-11-09 22:56:38 -08:00
Jason Short
d8dcb0e0d0 Added in crosstrack correction - test for SIM 2011-11-09 22:56:09 -08:00
Andrew Tridgell
d69afc3945 HIL: allow for fast HIL attitude update in HIL_MODE_ATTITUDE 
this runs it at the full loop rate
 2011-11-10 13:17:06 +11:00
Jason Short
ae19d2158f back to original config for testing 2011-11-10 13:00:34 +11:00
Jason Short
2a451ba202 Lowered Nav_P based on SIM data 2011-11-10 13:00:34 +11:00
Jason Short
1605d71f32 back to original config for testing 2011-11-09 13:53:26 -08:00
Jason Short
d0211ed4ca Lowered Nav_P based on SIM data 2011-11-09 12:46:34 -08:00
Jason Short
a26758203f CTUN log update 2011-11-09 12:28:12 -08:00
Jason Short
e5b89e4226 Added code notes 2011-11-09 12:07:15 -08:00
Jason Short
c3c08d7915 Code formatting 2011-11-09 12:06:55 -08:00
Jason Short
4d27b725db Tuning nav_WP 
Added more notes
 2011-11-09 12:06:37 -08:00
Jason Short
54790bd981 Lowered Nav_P I term to ramp slower base on SIM 2011-11-09 11:30:50 -08:00
Jason Short
6c9e6f3f96 Added more output to Mavlink for debugging 2011-11-09 11:00:40 -08:00
Jason Short
ee8ab89f6e Added MAV_CMD YAW parsing 2011-11-08 23:44:14 -08:00
Jason Short
78668ce6f1 Added Mav_CMD_Yaw parsing 2011-11-08 23:42:41 -08:00
Andrew Tridgell
e32171b185 call gcs_update() while waiting for GPS lock 
this ensures we react to ground commands, and also allows HIL GPS to
work
 2011-11-09 17:43:55 +11:00
Jason Short
ccc2746a22 removed debugging code 2011-11-08 14:41:46 -08:00
Jason Short
c7eb695b4a SIM test 2011-11-08 14:11:02 -08:00
Jason Short
bc506514c9 fix for SIM GPS 2011-11-08 14:10:09 -08:00
Andrew Tridgell
7b175618fc Log: try to fix -ve lat in logging 2011-11-09 08:46:05 +11:00
Jason Short
50703ed847 restoring throttle i term for SIM 2011-11-08 11:51:49 -08:00
Jason Short
59fb774226 bad hijacking of GPS_Status 2011-11-08 10:48:47 -08:00
Jason Short
31e05e40fd Fixes for Sim - Missing climb rate calculation 2011-11-08 10:46:52 -08:00
Jason Short
51c746c9a4 PID test for alt hold to narrow down on a bug 2011-11-08 10:13:16 -08:00
Jason Short
f80a08bf57 Updated Logs to be C++ compliant 2011-11-07 22:23:48 -08:00
Jason Short
7e49de6596 Update to RTL logic. 2011-11-07 21:30:12 -08:00
Jason Short
7bc6a7a2fa Fix for bad RTL tracking in Autopilot 2011-11-07 21:09:29 -08:00
Andrew Tridgell
2186a5978a Log: fixed a few more casts 2011-11-08 11:59:30 +11:00
Andrew Tridgell
87d5581046 ArduCopter: use specific sized data types in a lot of places 
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
 2011-11-08 11:05:36 +11:00
Jason Short
34a53f6f7d Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Andrew Tridgell
dacf98e201 HIL: enable CTUN log message in ATTITUDE HIL 2011-11-08 07:58:35 +11:00
Andrew Tridgell
a045e4ec7e Log: better way to check for -1 long portably 2011-11-08 07:58:34 +11:00
Jason Short
6d0a32cc65 Alt hold fix 2011-11-07 12:00:37 -08:00
Andrew Tridgell
4113d04f70 Log: make find_last_log_page() portable 
this makes it work with platforms with a larger 'long'
 2011-11-07 23:50:49 +11:00
Andrew Tridgell
0775f57a89 Log: fixed a bug where we could index outside an array 
when we first start up, num_existing_logs may be zero
 2011-11-07 22:56:13 +11:00
Jason Short
8ac8ea9c1d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-06 22:46:57 -08:00
Jason Short
7522b034ca moved to 200hz update 
Zccel Z updates from Aurelio in attitude.pde
lowered baro_alt sanity check
moved user hooks to the medium 10hz loop.
 2011-11-06 22:46:39 -08:00
Jason Short
7bf8ef98f5 default top_bottom ratio 1.0 2011-11-06 22:45:07 -08:00
Jason Short
ec6169000c default top_bottom ratio 1.0 2011-11-06 22:43:49 -08:00
Jason Short
2521b01c69 Y6 Motors now have top bottom ratio 2011-11-06 22:42:59 -08:00
unknown
8ca8ca3e73 AltHold - another correction to the manual boost. Hopefully properly transferring building up I terms to g.throttle_cruise 2011-11-06 19:06:13 +08:00
unknown
28032d0561 AltHold - made TradHeli code also use manual_boost 2011-11-06 18:25:13 +08:00
unknown
0aac828eeb Altitude hold bug fix - changed g.throttle_cruise to be updated to steal I term from correct controller 2011-11-06 17:47:24 +08:00
unknown
b30387bc5b TradHeli - small change to make throttle_cruise in terms of radio input instead of servo output 2011-11-06 17:40:17 +08:00
unknown
c76e1097e3 TradHeli - changed deadzones for throttle to zero (and also reduced for yaw) 2011-11-06 17:37:59 +08:00
Jason Short
37883a93f6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-04 21:42:10 -07:00
Jason Short
80c7e135d5 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
unknown
3df9a03e02 TradHeli - fix to allow tail servo to be reversed. Also increase max movement of tail servo to 45 degrees. 2011-11-05 12:31:30 +08:00
Jason Short
f4db53203b Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:18:56 -07:00
Jason Short
7b88499579 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Andrew Tridgell
73cc32fb0d fixed HIL build 2011-11-02 08:14:07 +11:00
Jason Short
53d7cac075 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 09:30:54 -07:00
Jason Short
eaff769f2f updated Alt hold PIDs 2011-11-01 09:30:34 -07:00
Jason Short
e7cecf03d3 updated baro test 2011-11-01 09:29:55 -07:00
Jason Short
0e8264a759 cleanup 2011-11-01 09:28:36 -07:00
Jason Short
561a5a740b removed accel.z references 2011-11-01 09:28:23 -07:00
Jason Short
e0d82ffa2d alt hold logging 2011-11-01 09:28:04 -07:00
Jason Short
65acc1ae5b resetting alt hold I 2011-11-01 09:27:49 -07:00
Jason Short
09fa260883 Tweaks to alt hold 2011-11-01 09:25:23 -07:00
Jason Short
946db43cc1 altered the interactive throttle to be more aggressive and proportional. 
reworked baro reading strategy.
 2011-11-01 09:24:51 -07:00
Andrew Tridgell
3bf4cb52b1 GCS: fixed timeout loading waypoints (ArduCopter) 
prevents link saturation
 2011-10-31 21:25:58 +11:00
James Goppert
249ce91d78 Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
James Goppert
b655482b98 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-29 15:09:35 -04:00
James Goppert
c56c3e33e1 Working on cmake support. 2011-10-29 15:01:05 -04:00
Jason Short
81de29e398 Added additional NTUN logging entries. 2011-10-29 11:53:50 -07:00
unknown
f241888224 TradHeli - added TUNE value 13 to allow adjusting of external gyro gain using channel 6 2011-10-29 20:34:21 +09:00
unknown
8dc5683dff TradHeli - added throttle scaling and heli specific angle_boost function that takes into account that heli's main blades can have -ve pitch. 2011-10-29 17:27:43 +09:00
Jason Short
3d48ad2569 logging type change in CTUN 2011-10-28 21:59:47 -07:00
Jason Short
4ccc995576 Added save WP note to APM_Config.h 2011-10-28 21:46:31 -07:00
Jason Short
be3843ccb9 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-28 21:29:18 -07:00
Jason Short
a88424b152 Added a slew rate to the alt change rate. 
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
 2011-10-28 21:29:10 -07:00
Andrew Tridgell
4a92048ef0 fixed "Free RAM" display on bootup 2011-10-28 21:34:10 +11:00
Jason Short
357a9ba017 Log updates 
Added motor logging for different frame types. Switched the PM log to some new debugging values and speed up the writing of the value to the logs.
 2011-10-27 22:36:25 -07:00
Jason Short
5ed1c2ab9e 50 rev 
Work in progress, revved the EEPROM
 2011-10-27 12:42:28 -07:00
Jason Short
003e6e06a1 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	libraries/APM_PI/APM_PI.cpp
 2011-10-27 12:41:00 -07:00
Jason Short
4149819bf7 Loiter updates 
Added new option to do rate based Loiter with lat and long values, avoiding GPS heading latency issues.
 2011-10-27 12:37:33 -07:00
Jason Short
d5f12f50e0 Set default gain to 20 2011-10-27 12:33:44 -07:00
Jason Short
13f708cb40 added boost scalar arguments 
removed accel math from Trig function into Attitude.pde
 2011-10-27 12:33:19 -07:00
Jason Short
81083ddecf Attitude 
Made the Acro mode more NG like. Should be much more nimble!
Tweaked the Accel hold with sim tests. not flight tested or enabled by default.
added option to set scalar in angle boost
 2011-10-27 12:31:46 -07:00
Jason Short
4c79809efb Acro PI defaults 2011-10-27 11:55:13 -07:00
Jason Short
4ee8d52db0 Motor arming delays 
Speeding up delays for motor arming commands - Level and Inflight leveling.
 2011-10-27 11:54:46 -07:00
Jason Short
84310cf069 Added Acro Params 
Allows user's to fly separate PI loops settings for Acro
 2011-10-27 11:52:00 -07:00
Jason Short
171f43def0 Deafaut dead_zone call 
Sets the correct default values for the RC_Channel group for Quads.
 2011-10-27 11:35:02 -07:00
Jason Short
3b3f6bd168 RC_Channel Dead zone 
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
 2011-10-27 11:34:00 -07:00
Andrew Tridgell
c0c771042f CLI: enable "hit enter 3 times" support for CLI 
if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode
 2011-10-27 21:54:07 +11:00
Jani Hirvinen
f1334c30b3 adding missing config parameters 2011-10-21 10:41:52 +07:00
Jani Hirvinen
cf474d95df Adding second default PID sets for bigger motors 2011-10-21 10:38:36 +07:00
Jason Short
3ea2b1313c Added ability to dynamically set wp with toggle switch 2011-10-18 17:59:45 -07:00
Jason Short
3b526e23a4 added extra user hook 2011-10-17 23:51:47 -07:00
Jason Short
9f50cd14d1 tweaked Alt hold PIDs, loiter PIDs based on SIM testing and feedback. 
Increased distance error for loiter for faster return to center.
 2011-10-16 15:41:54 -07:00
Jason Short
97670246ff fix for Camera Roll 2011-10-15 20:45:45 -07:00
Jason Short
82bbc68198 typoo in params for camera roll gain. fixed. 2011-10-15 18:34:23 -07:00
Jason Short
327679b999 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-15 16:35:09 -07:00
Jason Short
9fd89a9f4d Added gains to adjust travel of camera. 2011-10-15 16:34:57 -07:00
Michael Oborne
a84d0cb406 ac quick redo fix 2011-10-16 06:58:03 +08:00
Jason Short
3c51ce6a5f Made wpspeed governor run per second so 1hz gps doesn't fail. Gave a 1m/s minimum. Increased WPspeed max to 4.0m/s 2011-10-15 15:35:18 -07:00
Jason Short
c3b93d70df Added Andrew's user hooks. 2011-10-15 15:29:33 -07:00
Jason Short
23c0bb9814 Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
Jason Short
791ce3368c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-13 10:55:17 -07:00
Jason Short
1a222fa2f4 slowed acceleration from WP 2011-10-13 10:54:51 -07:00
Michael Oborne
c7c8c309be AC2 fix guide mode fly off 2011-10-13 18:34:32 +08:00
Jason Short
89cf9550f2 logging for gyro and accell testing 2011-10-12 21:21:46 -07:00
Jason Short
be10a861c0 tweak to the Loiter N turns 2011-10-12 20:59:12 -07:00
Jason Short
a37d95634a lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Amilcar Lucas
18072d1eb9 Spell 2011-10-11 22:52:02 +02:00
Andrew Tridgell
22aafd6ca9 removed an unused variable 2011-10-11 20:53:43 +11:00
Andrew Tridgell
337100fe44 fixed a signed/unsigned warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell
d9d54ffa05 fixed a '=' vs '==' bug in do_loiter_turns() 2011-10-11 20:53:43 +11:00
Andrew Tridgell
661b6c4508 merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Andrew Tridgell
52dc221969 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Andrew Tridgell
ed2bec75b9 added build makefiles 2011-10-10 07:18:38 +11:00
Andrew Tridgell
f4184d0b02 don't check the slider switch if CLI is disabled 
this prevents a build error in desktop mode
 2011-10-09 22:39:23 +11:00
Andrew Tridgell
06ddaa2d81 don't initialise DataFlash if logging is disabled 2011-10-09 22:38:49 +11:00
Andrew Tridgell
85e8316809 use memcheck_available_memory() instead of freeRAM() 
this provides a more accurate view of memory
 2011-10-09 22:38:14 +11:00
Michael Oborne
3d67018cb9 undo config change 2011-10-08 21:13:53 +08:00
Michael Oborne
c1506111e4 Merge commit 'e7f5e4a623b79872a015dff5ca959e60f6f7fd64' 2011-10-08 20:43:13 +08:00
Jason Short
832458c804 Quick RTL Fix, logic was backward 2011-10-07 11:06:31 -07:00
Jason Short
ce136d850a Better Loiter PIDs 
Fixed RTL overshoot bug
 2011-10-06 17:42:09 -07:00
Michael Oborne
f6984631c6 fix ac2 hil build 2011-10-04 18:55:10 +08:00
Michael Oborne
1a715706a6 fix make issue 2011-10-04 09:34:47 +08:00
Jason Short
3be34ed31a Implementing a limiter for the ramp up of speed to WPs. 2011-10-03 10:37:56 -07:00
Jason Short
e5b66c1c7c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-02 11:36:31 -07:00
Jason Short
7e81756ccd Added second PI loop for alt hold. 
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
 2011-10-02 11:36:23 -07:00
Amilcar Lucas
101dc83239 Fix compilation 2011-10-02 14:52:02 +02:00
Amilcar Lucas
9d3e5a8e11 Use the new AP_Relay library 2011-10-02 14:22:27 +02:00
Jason Short
cf59e8ad82 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-30 18:40:40 -07:00
Jason Short
9a4bd31a8b Minimized the accel_filtered vector to be faster and more accurate. 
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
 2011-09-30 18:40:29 -07:00
James Goppert
204c6bb6e7 Added makefiles for ArduCopter/ArduPlane. 
These files are not generated by cmake. They are necessary for
the make based build to work. To build using this method
type make in the directoy such as ArudPlane/ArduCopter. Make
sure that you do not call cmake in the ArduPlane etc directory
as this will overwrite this Makefile with the autogenerated cmake
version. Cmake should be called from withing a build directory.
 2011-09-30 07:16:48 -04:00
Janne M
8b32fb00da ArduCopter: Fixed board setting in cmake-file. Removed now autogenerated Makefile 2011-09-30 11:30:43 +03:00
Jason Short
0064e80e4e 2.0.46 preliminary release 2011-09-29 23:30:32 -07:00
Jason Short
4c30b544dc Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-29 23:27:36 -07:00
Jason Short
df1a39f650 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
James Goppert
112d5e9531 Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert
b6dcf3743e Merge branch 'apo' 
Conflicts:
	ArduBoat/ArduBoat.pde
	ArduBoat/CMakeLists.txt
	ArduRover/ArduRover.pde
	ArduRover/CMakeLists.txt
	apo/CMakeLists.txt
	apo/apo.pde
 2011-09-29 14:22:55 -04:00
James Goppert
3a00ceb593 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Jason Short
b805263974 Attempting to mimic loiter values for 4.0.42 
lowered Rate Error max in loiter
 2011-09-28 23:11:19 -07:00
Jason Short
a790d1ef7a lowered the deadzone a tad 2011-09-27 13:56:02 -07:00
Jason Short
469acff0fa Added Loiter P tuning as #12 2011-09-27 09:39:32 -07:00
Jason Short
d0405b0a0a 2.0.46 -Not flight tested! 
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
 2011-09-27 09:35:05 -07:00
Jason Short
1243e76f29 Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth. 2011-09-26 22:12:39 -07:00
Michael Oborne
e0714ec88c heli config 2011-09-27 07:36:12 +08:00
Michael Oborne
3e09ed08fb heli hil config 2011-09-27 07:34:32 +08:00
Michael Oborne
2de9e6a929 heli hil 2011-09-27 07:30:28 +08:00
Jason Short
a32772bfb0 Turned off Rate_I for Arduino users. 2011-09-25 15:34:59 -07:00
Jason Short
059551de48 Fixed issue with Simple mode changes. 
Reverted to simpler, safer timer code for throttle hold
 2011-09-25 14:16:35 -07:00
Jason Short
9de6117e4c Revved the firmware to force resetting the EERPOM 2011-09-25 12:24:02 -07:00
Jason Short
9dc42122f8 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-25 12:22:07 -07:00
Jason Short
18fea55f8d Fixed Flip code to compile. Flip still not flight tested! 2011-09-25 12:21:54 -07:00
rmackay9
6cddd0c162 Merge remote-tracking branch 'origin/master' 2011-09-25 16:55:52 +09:00
rmackay9
0e8a648043 TradHeli - added servo averaging to allow support of analog servos 
- moved heli parameters to 80 because they were causing flight modes to overlap with waypoints
 2011-09-25 16:51:25 +09:00
Jason Short
bdf6471587 Better throttle boost value 2011-09-24 21:55:54 -07:00
Jason Short
f8ac191402 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-24 21:50:08 -07:00
Jason Short
a2886fc991 turned off Stabilize_I by default because it was hurting loiter 
tweaked speed control of rate_nav
 2011-09-24 21:49:45 -07:00
rmackay9
3e19c219e3 TradHeli - fix to set motor_auto_armed = true if throttle > 0. Required to let ALT_HOLD work! 2011-09-25 12:30:37 +09:00
Jason Short
e0b4a26dee Added Loiter Turns - It orbits the Current location 
Added WP to Loiter_time so you can spec a specific location in the planner
added new Navigation alg. Should perform better (doesn't rely on 45° flow fields like last one)
Added "Jump" counter so missions don't get overwritten in flight.
removed I term by default for Rate pitch and roll
 2011-09-24 17:40:29 -07:00
Jason Short
5456b8fe1e Test for new nav function 2011-09-24 16:48:04 -07:00
Jason Short
843b5b12ab Removed default Rate_I for pitch and roll 
added change speed control for missions
 2011-09-24 09:49:11 -07:00
Amilcar Lucas
a3152b2410 Moved mavlink_check_target() to the libraries/. 
This allows it to be reused by the other libraries and by other projects ArduPlane, ArduCopter, ArduRover ... etc.
It also reduces code duplication
 2011-09-24 14:40:07 +02:00
Jason Short
0540331426 Fixed throttle_boost 2011-09-23 15:34:18 -07:00
Jason Short
0f5c74f03a Trying to make Alt hold more aggressively change altitudes. 2011-09-23 13:58:39 -07:00
Jason Short
7c72f13702 Adjusted DCM Gains to normal levels. Added a check to stop navigating when landing and to land faster. 2011-09-23 13:52:10 -07:00
Jason Short
f65390920a Added a default, but low throttle cruise value 
Added a clear integrator for Rate I to prevent tip ups at launch.
 2011-09-22 23:10:55 -07:00
Jason Short
6921d94d20 removed old CH6 tuning defines 2011-09-22 18:51:41 -07:00
Jason Short
45f9ab05f8 Better Tuning for default Quad 2011-09-22 18:30:29 -07:00
Jason Short
5b57df5d1c Refined Throttle Timer reset 
Reduced Loiter I gain to decrease overshoot.
 2011-09-22 17:38:39 -07:00
Jason Short
463aa0aa75 Fixed for sticky RTL CH7 option 2011-09-22 15:25:07 -07:00
Jason Short
ffb6f06f57 Fixed Throttle integrator bug. Time was not being reset causing a big drop in throttle control. 2011-09-22 12:28:46 -07:00
Jason Short
e4f87d7442 removed debug statements 2011-09-21 22:34:27 -07:00
Jason Short
7512e686b9 Fixed Timer overflow for throttle PI loop. 
Moved look at home to update_nav where it belongs
 2011-09-21 22:31:12 -07:00
Jason Short
c2d56de264 Added Auto_trim to CH7 option 2011-09-21 16:24:09 -07:00
Jason Short
790bd6f8c9 Altered CIRCLE mode to allow Loiter_N_Turns to work in AP mode. 2011-09-21 13:19:36 -07:00
Jason Short
3f1faf70ac upped to 2.0.44 - not flight tested 2011-09-20 23:23:42 -07:00
Jason Short
a57c0323ab Fixed do_flip, 2011-09-20 23:20:33 -07:00
Jason Short
79c41fa9e2 Fixed Yaw for Auto mode. 2011-09-20 22:59:23 -07:00
Jason Short
23c063f374 Logic fix for RTL option 2011-09-20 10:39:39 -07:00
Jason Short
9005cc6cda Edited CH7 options to include Do Nothing and RTL. 2011-09-20 10:37:50 -07:00
Jason Short
59a2d2a256 Converted Millis to Micros 
added navigation check to return a failed navigation
 2011-09-19 22:24:57 -07:00
Jason Short
3b4743ef03 changed PI Library to take Float for DeltaTime 
Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!
 2011-09-19 14:02:42 -07:00
Jason Short
6962cf93b1 removed outdated reference file. 2011-09-18 17:18:35 -07:00
Jason Short
aeb70eb8e0 added contributor 2011-09-18 17:12:59 -07:00
Jason Short
4425e72034 Added Piezo Support, code from Oliver. 2011-09-18 17:12:28 -07:00
Jason Short
5bf7898438 removed saving - not needed for copters 2011-09-18 16:28:53 -07:00
Jason Short
7e672a602b Jump command was reported to have issues, updated to match APM branch. 2011-09-18 16:27:43 -07:00
Amilcar Lucas
e4d0646088 Added comment, spellcheck 
This reduces the diff to the APM_Camera branch
 2011-09-18 14:57:55 +02:00
Andrew Tridgell
f74c1f9c7e MAVLink: merged in the stack saving changes from ArduPlane 2011-09-18 11:37:24 +10:00
Jason Short
da65096ee2 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-17 12:23:22 -07:00
Jason Short
e81a666478 Added a GPS watchdog to stop navigating if we loose signal. 2011-09-17 12:23:16 -07:00
Amilcar Lucas
dd06263941 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-17 20:25:49 +02:00
Amilcar Lucas
c9d9ee0d3b Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Jason Short
b10493e205 Reverted to current_loc.alt in MSG_VFR_HUD and MSG_Location 2011-09-17 11:16:13 -07:00
rmackay9
6fda1e3f14 ArduCopter - small changes to fix compile errors when optical flow enabled 2011-09-17 22:09:18 +09:00
Andrew Tridgell
fc030db54e fixed bit-logic for simple modes 2011-09-17 14:58:02 +10:00
Andrew Tridgell
a13c68a404 fixed build of OpticalFlow code 2011-09-17 14:58:02 +10:00
Andrew Tridgell
ea26a06f49 updates for new DCM code 
G_Dt is no longer needed by the DCM
 2011-09-17 14:58:02 +10:00
Jason Short
43e77222ff fixed naming for opt flow 2011-09-16 19:26:17 -07:00
Jason Short
41dada23ea removed DCM reference from OPT FLOW 2011-09-16 19:17:50 -07:00
Jason Short
1f52ad27d9 roughed in an expo option idea 
made min and max values 1100, 1900
removed hard coded init for camera values
 2011-09-16 19:06:53 -07:00
Jason Short
cf58c3c88d removed unused pde file 2011-09-16 18:57:35 -07:00
Jason Short
3d307c9fde Added low voltage code flashing code. 2011-09-16 18:56:51 -07:00
Jason Short
867e01cab5 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-16 18:35:14 -07:00
Jason Short
4f6ac5c403 Lowered Loiter_I - higher value didn't test well. 2011-09-16 18:24:42 -07:00
Jason Short
024512e34a Fixed CIRCLE mode trig error 
made loiter_radius * 100 in Params
updated gains
 2011-09-16 16:54:45 -07:00
Jason Short
0d31d775b8 cleanup 
added more ifdef for optflow
 2011-09-15 23:41:15 -07:00
Jason Short
9a508a20f4 Integration of optical flow 
bug fixes for new Simple mode
increased Baro filter by 2 fields
 2011-09-15 23:33:00 -07:00
Michael Oborne
c6eae87f8a fix remote error value 2011-09-15 18:26:59 +08:00
Jason Short
3daabf3c8b Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-14 14:45:13 -07:00
Jason Short
ae81a758de Removed Simple Mode 
Added Simple option to mode switch positions
removed unused OptFlow code
added reset lat and lon error
removed unused init_auto
Fixed log formatting
Added simple mode bitmask
removed pitchmax
added CLI setup for enabling Simple mode to any switch position
 2011-09-14 13:58:18 -07:00
unknown
9f028bb5a0 Adding CMake support 2011-09-14 15:44:55 +02:00
Jason Short
bca934b538 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-12 12:57:56 -07:00
Jason Short
4a2f58b013 Cleaned up guided mode 
Reduced ADC filter to 3 from 6 to increase speed of filter.
 2011-09-12 12:57:36 -07:00
Amilcar Lucas
49b31299ef These defines got moved to the library 2011-09-12 21:32:05 +02:00
Jason Short
2c27be980d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-11 21:46:53 -07:00
Jason Short
7e79612125 Removed last of Xtrack 2011-09-11 20:40:05 -07:00
Jason Short
7d57dfa3ec removed Xtrack and increased rate error limit 2011-09-11 20:36:20 -07:00
Jason Short
efeb1555ba removed nav_bearing 2011-09-11 20:33:29 -07:00
Jason Short
1ae63e2a4c removed Nav_bearing 2011-09-11 20:32:58 -07:00
Jason Short
689bfb803c increased imax 2011-09-11 20:28:43 -07:00
Jason Short
f2e33f8303 removed nav_bearing - not used 2011-09-11 20:27:56 -07:00
Olivier ADLER
36c982d84c Added missing motor tests for octa quad and octa V 2011-09-12 00:43:54 +02:00
Olivier ADLER
7e3983210c Merge branch 'APM_Camera' of https://code.google.com/p/ardupilot-mega/ 
Conflicts:
	ArduPlane/ArduPlane.pde
	libraries/AP_Camera/AP_Camera.h
	libraries/AP_Mount/AP_Mount.cpp
	libraries/AP_Mount/AP_Mount.h
 2011-09-12 00:31:18 +02:00
Olivier ADLER
6dfa53bcb1 Signed-off-by: Olivier ADLER <contact2@nerim.net> 
slightly upped motor out values for motor test. Was too low for some ESCs.
 2011-09-11 23:32:04 +02:00
Jason Short
810d8e5cde Fixed Yaw mode for CIRCLE 2011-09-11 11:48:11 -07:00
Jason Short
db331efbae Circle Mode now working 
250Hz loop implemented
 2011-09-11 11:22:01 -07:00
Jason Short
b0c3cda23b Added Input Voltage value to params 2011-09-10 18:44:56 -07:00
Jason Short
bd52458e74 Added Nav Rate tuning 2011-09-10 18:37:28 -07:00
Jason Short
66bda3934c Fixed numbering issue with defines 2011-09-10 16:25:52 -07:00
Jason Short
2a8bdad678 Incremented to 2.0.41 2011-09-10 15:28:55 -07:00
Jason Short
8ae158191f Fixes Alt hold mistake 
Moves tuning into runtime definable param
Added more IMax to throttle

Signed-off-by: Jason Short <jasonshort@gmail.com>
 2011-09-10 15:16:51 -07:00
Chris Anderson
4682634ab1 Renamed code to ArduCopter 2011-09-08 19:14:12 -07:00
jasonshort
ec68835898 circle mode patch 2011-09-09 11:59:42 +10:00
Andrew Tridgell
6e2f231688 rename main pde file for arduino requirements 2011-09-09 11:52:25 +10:00
Andrew Tridgell
1ca13fcd3b move Frame into ArduCopter 2011-09-09 11:52:15 +10:00
Andrew Tridgell
40c6edae0f rename main pde file for arduino requirements 2011-09-09 11:51:21 +10:00
Andrew Tridgell
5277be04b9 move Frame into ArduCopter 2011-09-09 11:49:11 +10:00
Andrew Tridgell
be8864f424 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00