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5,982 Commits 71 Branches 509 Tags 789 MiB
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463 Commits

Author SHA1 Message Date
rmackay9 89e737728c ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI) 2012-12-06 10:31:25 +09:00
rmackay9 dc0b35da30 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 e629fe2eb0 ArduCopter: add set_throttle_mode to better control initialisation of variables 2012-12-06 10:31:04 +09:00
rmackay9 1285198b71 ArduCopter: added back in angle boost and recombined for heli and multicopter 2012-12-06 10:30:55 +09:00
rmackay9 c1ce0ae752 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 5863c737a1 ACM: TradHeli 
Fixes for Attitude rate controllers.
 2012-12-04 14:42:04 -05:00
Robert Lefebvre fdcf966df7 ACM: Yaw Look Ahead Changes 2012-12-04 13:26:41 -05:00
Robert Lefebvre ac8a6b7c3e ACM: Code Cleanup 2012-11-30 17:05:12 -05:00
rmackay9 f7a05f577e ArduCopter: bug fix - increase mpu6k sample rate to 100hz 2012-11-30 23:49:18 +09:00
Andrew Tridgell 45e62add9f Copter: update ArduCopter for new ins interface 2012-11-30 07:15:18 +11:00
Robert Lefebvre 4463150122 ACM: TradHeli 
Bringing in Low Pass Filter for Rate Controllers
 2012-11-26 21:51:23 -05:00
Robert Lefebvre c78ecc4fd1 ACM: Creating Yaw_Look_Ahead yaw mode. 
This function is not fully tested yet.
 2012-11-26 21:37:13 -05:00
Robert Lefebvre 332b728ebf 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 a4ae24de6c ACM: Begin creation of TradHeli rate control. 
May affect Multi-Rotors.
 2012-11-26 21:02:41 -05:00
Robert Lefebvre ca23a7ba76 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 311d190494 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 6056d4fb7b 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
Andrew Tridgell 901a5326a4 Copter: fixed build error 
thanks to Marco for pointing this out
 2012-11-24 20:39:35 +11:00
Andrew Tridgell 386ef45fbb Copter: ported RSSI_PIN option from ArduPlane 
this is useful for OSD users
 2012-11-22 20:59:33 +11:00
rmackay9 79bcdf3625 ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d 2012-11-22 12:50:39 +09:00
Andrew Tridgell 76e9adb8d4 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
rmackay9 38fdacd93b ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
Robert Lefebvre 6c407e5770 Added Leonard to Contributor List. 2012-11-16 15:43:03 -05:00
rmackay9 cd5da84698 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 dab975301b ArduCopter: remove some variables no longer required with introduction of AP_state 2012-11-12 12:41:25 +09:00
rmackay9 702dd1fb2e ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables 2012-11-12 12:35:58 +09:00
Jason Short e32491d749 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 ee9ac7ab2c ACM : loging ApState at faster rate 2012-11-11 18:00:10 -08:00
rmackay9 eb25b917ad ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues 2012-11-11 22:42:10 +09:00
rmackay9 c8bc64be61 ArduCopter: fix APM2 build 2012-11-10 22:06:23 +09:00
Jason Short f48db96156 ACM : Arducopter Added ap state bitfield, system bitfield 2012-11-09 22:15:15 -08:00
Jason Short 00b41a198d ACM: Arducopter - remove the stabilize D scheduling 2012-11-09 22:15:15 -08:00
Jason Short 99cf67fc9c ACM : formatting 2012-11-09 22:15:15 -08:00
rmackay9 56f374fc7d AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 a0e69ddf27 ArduCopter: fixed HIL build caused by optical flow semaphore changes 2012-11-07 21:13:34 +09:00
rmackay9 af40201b14 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 0868917ff4 ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Jason Short 0a68468610 ACM: Added simple mode bearing logging for bug hunting 2012-10-28 12:12:38 -07:00
rmackay9 7fb58fce87 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 96f0a32cd3 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 6a66fdace9 ArduCopter: updated firmware version to 2.8 2012-10-20 09:50:53 +09:00
Pat Hickey 0dd0bd131a Update ArduCopter and ArduPlane dependencies on AP_Menu 2012-10-18 20:53:39 -07:00
Robert Lefebvre 5f8f53ec0a Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups. 2012-10-18 16:39:05 -04:00
rmackay9 d7c80fb025 ArduCopter: updated firmware version to 2.7.4-Zeta 2012-10-18 23:30:28 +09:00
rmackay9 3b631f1edd ArduCopter: integrated Leonard Hall's improved ACRO mode 2012-10-18 23:24:34 +09:00
rmackay9 9392c8cae2 ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1 2012-10-18 17:04:44 +09:00
rmackay9 f1fe5f303b ArduCopter: updated firmware version to 2.7.4-Epsilon 2012-10-17 19:27:11 +09:00
rmackay9 a4a2fad798 ArduCopter: more out-of-date commented out code removed 2012-10-17 19:25:14 +09:00
rmackay9 7228236db6 ArduCopter: updated firmware version to 2.7.4-Delta 2012-10-17 10:20:41 +09:00
rmackay9 025cc05cab ArduCopter: update version information ahead of testing 2012-10-15 18:15:38 +09:00