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1381 Commits

Author SHA1 Message Date
tridge60@gmail.com 22b5eb4273 GPS: added delay hook for GPS detection 
this allows for MAVLink to be up during GPS detection

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2987 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 22:34:37 +00:00
tridge60@gmail.com 28cf3dfc79 IMU: added delay callback hooks to IMU initialisation 
this allows the imu init() call to use a custom replacement for
delay(), which will allow for the processing of MAVLink packets during
IMU initialisation

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2986 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 22:34:25 +00:00
jasonshort f04436e68b 2.0.39 
mistake on the defaults for kP - not symmetrical.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2985 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 20:09:27 +00:00
jasonshort cc054a7fac 2.0.39 
mistake on the defaults for kP - not symmetrical.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2984 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 20:06:36 +00:00
jasonshort 738d5db914 2.0.39 
limit RTL to 35°

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2983 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 19:57:35 +00:00
jasonshort 05122be463 2.0.39 
small change to RTL to prevent negative effects from flying backwards.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2982 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 19:42:07 +00:00
jasonshort b2a47c01a7 small change to RTL to prevent negative effects from flying backwards. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2981 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 19:41:11 +00:00
rmackay9@yahoo.com f096d8cb23 OpticalFlow - add check to see if sensor has initialised correctly. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2974 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 04:31:36 +00:00
mich146@hotmail.com bcc7bed491 fix hil build 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2970 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 01:24:20 +00:00
jasonshort e63fc0fe68 removed scaling on control in because it might cause rounding issues. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2969 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 23:48:38 +00:00
jasonshort e32f8057bb Reworked the filtering algorithm based on Maxbotics recommendations to use a Mode filter 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2968 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 23:34:25 +00:00
jasonshort 82e51aec82 Big update 2.0.38 
moved ground start to first arming
added ground start flag
moved throttle_integrator to 50hz loop
CAMERA_STABILIZER deprecated - now always on
renamed current logging bit mask to match APM
added MA filter to PID - D term
Adjusted PIDs based on continued testing and new PID filter
added MASK_LOG_SET_DEFAULTS to match APM
moved some stuff out of ground start into system start where it belonged
Added slower Yaw gains for DCM when the copter is in the air
changed camera output to be none scaled PWM
fixed bug where ground_temperature was unfiltered
shortened Baro startup time
fixed issue with Nav_WP integrator not being reset
RTL no longer yaws towards home
Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 20:42:54 +00:00
jasonshort ebf1697158 Reworked the filtering algorithm based on Maxbotics recommendations to use a Mode filter 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2965 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 20:35:36 +00:00
jasonshort 39677e7e66 Added some missing functions needed to get HIL to compile 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2964 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 20:34:23 +00:00
jasonshort 5c3837757a Added ability to grab an unfiltered value from the ADC 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2963 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 20:33:45 +00:00
tridge60@gmail.com 74edb558f4 GPS: fixed the GPS specific test programs 
This fixes the build

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2962 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 08:48:17 +00:00
mich146@hotmail.com 4dfce5d860 Fix Hil build on 2560 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2961 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 01:39:12 +00:00
jasonshort 7026405951 Changed the PID derivative filter to a moving average with 4 samples. Having great luck with it and High kD when using noisy sensors. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2957 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-29 21:52:37 +00:00
tridge60@gmail.com 1dc0063e67 HIL: fixed radio_status in setHIL() for APM_RC 
thanks to Michael Oborne for noticing this!

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2952 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-28 12:11:25 +00:00
rmackay9@yahoo.com 7d65418fa1 TradHeli - updated gps mount design files 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2949 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-26 14:13:48 +00:00
rmackay9@yahoo.com 43c193bbb6 TradHeli - mounting plate and gps mount design files 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2946 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-26 12:42:36 +00:00
jphelirc e783246380 fixed defaults 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2944 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-26 03:44:16 +00:00
jphelirc f2d3c0a246 added relay control to CH6 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2943 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-26 03:37:41 +00:00
tridge60@gmail.com 580f981d30 fixed quad PWM clipping 
this adopts the simpler approach suggested by Jason.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2936 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-22 21:25:59 +00:00
mich146@hotmail.com 87a260656e fix float issues - crosstrack & target alt 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2935 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-21 23:36:22 +00:00
rmackay9@yahoo.com 739a69c988 ACM - partial integration of optical flow sensor 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2934 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-21 23:14:53 +00:00
tridge60@gmail.com 7ae9a53d41 quad: fixed the clipping of PWM outputs 
when we clip a motor output we need to decrease the opposite motor by
the same amount, otherwise we lose the ability to control the quad
when the servo outputs are extreme

Found using the quad HIL test. Thanks to Jani for testing this on a
real quad!

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2929 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-20 00:33:04 +00:00
rmackay9@yahoo.com b930b892c2 DataFlash library - changed to use standard arduino SPI library 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2928 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-19 23:00:18 +00:00
tridge60@gmail.com e14d0df898 HIL: fixed build with HIL and logging 
thanks to Jani for noticing this

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2925 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-19 10:51:07 +00:00
tridge60@gmail.com 9d9d82b222 HIL: we only need 50Hz attitude for HIL 
putting it in the fastest loop clogged up mavlink too much

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2923 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-19 09:49:57 +00:00
rmackay9@yahoo.com ab8d8fedb9 AP_OpticalFlow - fixes to position calculations (lat was reversed and would calculate position even with surface quality was very low) 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2913 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-18 21:51:27 +00:00
jasonshort 5c3113955d doubled Slew rate limiter to 2 m/s max @ 10 hz. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2912 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-18 18:18:47 +00:00
tridge60@gmail.com a4cf3bf87c HIL: fixed altitude calculation 
ACM uses a zero home altitude, so we need an offset when using GPS for
altitude

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2910 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-18 12:44:02 +00:00
tridge60@gmail.com f915eb7052 GPS-HIL: set new_data on setHIL() 
this fixes navigation for ACM in HIL

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2909 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-18 12:42:36 +00:00
jasonshort a0d599ad95 2.0.37 
Added rate of change limit for noisy Sonars.
converted to static functions - Tridge
New Throttle PIDs from Jack

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2904 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 19:14:23 +00:00
jasonshort c741392434 2.0.37 
Added rate of change limit for noisy Sonars.
converted to static functions - Tridge


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2902 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 19:08:29 +00:00
jasonshort f486d84271 2.0.37 
Added rate of change limit for noisy Sonars.
converted to static functions - Tridge


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2901 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 19:08:17 +00:00
jasonshort de76785499 Added a slew rate limit 
reworked filter, same results, just wanted to get rid of modulus.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2900 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 19:05:18 +00:00
tridge60@gmail.com 6491ac2b58 CLI: make it possible to completely disable the CLI 
set CLI_ENABLED to DISABLED for no CLI. This saves a lot of memory

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2895 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:34:05 +00:00
tridge60@gmail.com 0227c97a99 HIL: don't access dcm functions in HIL mode 
the dcm is not valid in HIL_MODE_ATTITUDE

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2894 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:53 +00:00
tridge60@gmail.com 1a35209e5d HIL: enable reception of GPS and ATTITUDE via MAVLink 
this allows us to get GPS position and ATTITUDE in HIL_MODE_ATTITUDE

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2893 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:42 +00:00
tridge60@gmail.com e6a46d888f HIL: send location information 
we don't send MSG_LOCATION in HIL mode during GPS updates, as we don't
call the GPS update routines, so we need to send MSG_LOCATION as part
of the Position stream

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2892 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:33 +00:00
tridge60@gmail.com ba21d6d642 HIL: when in HIL_MODE_ATTITUDE, we get altitude from gps setHIL 
we need to skip the barometer and sonar calls

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2891 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:17 +00:00
tridge60@gmail.com 3dd3f1091e don't force config in default APM_Config.h 
defaults for these are already in config.h, but protected with #ifndef
wrappers. The #ifndef wrappers are useful to allow users to have
makefile targets for different configs, so you can (for example), do
"make heli" with a local makefile

This makes it easier for developers to ensure that all configs build
correctly

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2890 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:33:09 +00:00
tridge60@gmail.com 7b83bbf47b make a lot more functions and variables static 
this saves about 1k of code space through better compiler optimisation

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2889 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:32:00 +00:00
tridge60@gmail.com 8e5c48842f make main variables and functions static 
this makes most of the variables and functions in the main
ArduCopterMega.pde code static, which allows the compiler to optimise
better, and exposes unused variables as compiler warnings

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2888 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:31:46 +00:00
tridge60@gmail.com 1b2f19156f logging: moved the default log_bitmask calculation to compile time 
this saves a little bit of code by moving the calculation of the
default log bitmask to compile time from runtime

(merge from APM)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2887 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:31:17 +00:00
tridge60@gmail.com 1eb4b611e6 make it possible to completely disable logging 
set LOGGING_ENABLED  to DISABLED to disable all logging. This saves
about 10k of flash when disabled.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2886 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:31:07 +00:00
tridge60@gmail.com 72fc086005 allow flight modes to be setup over MAVLink 
this adopts the same method of setting up flight modes over MAVLink as
APM now has

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2885 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:30:53 +00:00
tridge60@gmail.com 6467338f10 fixed a bunch of compiler warnings 
mostly signed/unsigned warnings

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2884 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:30:21 +00:00