uncrustify
429c41155c
uncrustify ArduCopter/config.h
2012-08-21 19:19:50 -07:00
Andrew Tridgell
6d11940ada
AHRS: removed Quaternion build support from APM/ACM/rover
2012-08-22 10:42:21 +10:00
rmackay9
1d32e03f61
ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h.
...
Reduces possibility of difference between arduino ide compiled code and script built code (i.e. autotester, mission planner)
2012-08-19 12:31:02 +09:00
Jason Short
3ee2fd3fb6
ACM: Config.h - added default for toy mixer
2012-08-16 15:40:28 -07:00
Jason Short
9a568385b0
ACM increase the minimum speed at WP
2012-08-10 10:01:40 -07:00
Jason Short
3e57f8afd8
ACM: config.h = updated default gains
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More yaw rate control
2012-08-09 16:59:43 -07:00
Amilcar Lucas
d34549f386
Add an optional second mount to ArduPlane and ArduCopter
2012-08-08 23:22:24 +02:00
Amilcar Lucas
9cc705939a
Add a second mount instance
2012-08-08 23:07:25 +02:00
Amilcar Lucas
aa3cc63b15
ArduCopter: Make the code fit in a 1280 chip again
...
Even allows to control a camera/antenna mount, if the user explicitly wants to.
2012-08-06 00:23:48 +02:00
Amilcar Lucas
0106c133cf
Default CLI_SLIDER_ENABLED to DISABLED
...
Chris asked for this on the mailing list
2012-08-06 00:22:33 +02:00
Amilcar Lucas
afd96025a7
ArduCopter: Save more space in APM1280
2012-08-05 23:05:52 +02:00
Amilcar Lucas
d29f7023cc
Merge from ArduPlane
2012-08-04 18:38:50 +02:00
rmackay9
77b1785bc6
ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values
2012-07-30 11:01:45 +09:00
rmackay9
014f5aae99
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +09:00
Jason Short
96aabb7712
ACM: Lowered default Alt hold P
2012-07-21 16:45:00 -07:00
Jason Short
3b496ff229
Arducopter: Upped D rate to .005 by default
2012-07-19 22:35:21 -07:00
Jason Short
49c7579079
Arducopter: Config.h defaults adjustments
2012-07-19 17:48:48 -07:00
Jason Short
3401bd3583
Arducopter: Clarified units in comment
2012-07-19 09:49:13 -07:00
Jason Short
dcf9f9dab1
Arducopter
...
for rate altitude changes
2012-07-18 22:57:10 -07:00
Andreas M. Antonopoulos
a976a59c88
AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.
2012-07-16 11:46:43 -07:00
rmackay9
36ecdff593
ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library)
2012-07-15 16:38:52 +09:00
Jason Short
7a5544051d
Arducopter
...
Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
2012-07-11 17:46:07 -07:00
Jason Short
c04bff67de
Arducopter: Config.h, default gain tweaks from flight tests.
2012-07-10 21:53:38 -07:00
Amilcar Lucas
dfe0983e1e
Merge the changes from APM_Camera branch into ArduCopter
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Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
2012-07-11 00:39:13 +02:00
Jason Short
038116f521
Airspeed patch:
...
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
2012-07-09 13:13:32 -07:00
Andrew Tridgell
60caaa4b04
MAVLink: remove MAVLink 0.9 protocol support
...
this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
Adam M Rivera
6e93ab6af6
Parameters: Added flag for camera pitch/roll servos (continuous or regular)
2012-07-04 21:06:21 -05:00
Jason Short
37685756df
Config.h:
...
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
2012-07-03 17:37:37 -07:00
Jason Short
2d572461ec
Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise.
2012-07-03 17:18:33 -07:00
Jason Short
8a08a74cc6
Config.h : shortening the landing time to 10s
2012-07-02 17:52:38 -07:00
Jason Short
8ab1acfb92
Config.h
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Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
2012-07-01 13:40:11 -07:00
rmackay9
78fa903e17
ArduCopter: updated STABILIZE_ROLL_I to 0.01 (was 0.1) as instructed by Marco
2012-06-30 19:26:14 +09:00
Jason Short
4450d80ea3
Config.h: Optimizing Nav gains
2012-06-29 21:20:28 -07:00
Jason Short
c76ac4543b
Added user editable define for Super simple radius
2012-06-26 10:38:46 -07:00
Jason Short
a0dc1f7ab1
Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm
2012-06-25 23:06:28 -07:00
Jason Short
7e0708ca36
Config.h - returned low to original 120
2012-06-20 15:22:35 -07:00
Jason Short
4f18e7f80b
lowered minimum throttle
2012-06-20 08:47:47 -07:00
Jason Short
39a253a273
decreased I term based on the tests last weekend in high winds
2012-06-20 08:47:47 -07:00
rmackay9
65050775e1
ArduCopter: made Robert's new yaw method optional (off by default).
...
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
2012-06-13 21:50:16 +09:00
Jason Short
ff0659535e
Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch.
2012-06-12 13:58:49 -07:00
rmackay9
c6f1d93849
ArduCopter: updated standard loiter pids.
...
Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
2012-06-12 20:56:31 +09:00
Jason Short
a9610a0761
Stabilization patches
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removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
2012-06-05 16:41:44 -07:00
Michael Oborne
a71ed6c5ce
enable mavlink10 by default
2012-06-04 08:02:08 +08:00
Jason Short
9310d613e1
Lowered I term - causes oscillations in SIM
2012-05-29 12:43:01 -07:00
Jason Short
7f3e142fa8
Loiter Gains based on new SIM
2012-05-15 22:01:01 -07:00
Robert Lefebvre
c8fb9a6635
More CopterLEDS changes.
...
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
Robert Lefebvre
a285e2779f
CopterLEDS changes for APM2
2012-05-15 10:07:03 -04:00
Adam M Rivera
8e580729b7
config.h: Removed comment.
2012-04-23 00:16:41 -05:00
Adam M Rivera
97040a7b3a
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
rmackay9
090f5aaa6f
ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame
2012-04-21 23:46:36 +09:00
rmackay9
919f004b27
ArduCopter - changed Optical Flow for APM2 to use A3 pin
2012-04-21 20:15:16 +09:00
Adam M Rivera
c233defbe6
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
Adam M Rivera
24363ccb83
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter
2012-04-19 10:17:36 -05:00
Adam M Rivera
d29f1ef331
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
James Goppert
0e7e77760a
Updated ArduPlane/ArduCopter cmake options.
2012-04-18 15:16:02 -04:00
Adam M Rivera
7b277d7044
config.h: Added RTL_APPROACH_DELAY config value.
2012-04-16 14:00:08 -05:00
rmackay9
84b07b5e6a
ArduCopter - LEDS - added new COPTER_LEDS definition
...
Code by Robert Lefebvre
2012-04-12 22:55:32 +09:00
Andrew Tridgell
0bc604f030
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
...
we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
Adam M Rivera
51b70e4d36
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
rmackay9
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
Jason Short
e2560c5865
Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator
2012-03-22 10:01:24 -07:00
rmackay9
0773a25b5d
ArduCopter - increased default THROTTLE_CRUISE to 450
2012-03-20 16:34:07 +09:00
rmackay9
dc92da818c
ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore
2012-03-18 14:53:19 +09:00
Jason Short
491af02d8a
ACM: Lowered gains from flight tests today with 3DR Quad
2012-03-17 11:04:01 -07:00
Jason Short
3038da1dc3
ACM: Softer Loiter Gains
2012-03-16 14:10:19 -07:00
Jason Short
a52a14bf12
Tune down Loiter_P a hair
2012-03-15 19:17:27 -07:00
Jason Short
48ba24a810
ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.
2012-03-13 10:23:31 -07:00
Jason Short
7034b709d1
ACM: removing old define
2012-03-12 13:11:30 -07:00
Jason Short
0b51d9b8b0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
2012-03-12 10:37:15 -07:00
Jason Short
a989b88680
ACM: made same as Loiter I
2012-03-11 23:21:49 -07:00
Jason Short
0d434ca92c
ACM: Tuning based on flights today
2012-03-11 23:21:49 -07:00
Adam M Rivera
2524f9c8df
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
...
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Jason Short
83729d0f75
ACM: decreased rate P for alt hold to remove bumpy repsonse
2012-03-10 12:41:06 -08:00
Jason Short
220d5a1c6e
ACM: Increased the altitude error P for smoother alt hold response
2012-03-10 12:40:44 -08:00
Jason Short
4b703e8842
decreased the loiter rate P for overshoot
2012-03-10 12:40:07 -08:00
Andrew Tridgell
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Jason Short
730476fdfd
ACM -
...
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
2012-03-06 22:22:14 -08:00
Jason Short
c26eb6afcc
ACM: Updated config values
2012-03-06 22:12:24 -08:00
Andrew Tridgell
0fc646d666
ACM: set default RC fast speed to 400Hz
2012-03-02 17:57:08 +11:00
Jason Short
7c09e4a5e6
added stab_d gain scheduling - off by default
2012-02-28 20:16:40 -08:00
Jason Short
ba68d6d8a1
Set loiter rate enabled by default
2012-02-26 12:29:28 -08:00
Jason Short
e06d8142c1
Added OPtion for non-rate based loiter
2012-02-26 11:33:37 -08:00
Jason Short
cc5ab4aebf
increased speed of alt hold I term based on Jani's Logs
2012-02-25 13:31:21 -08:00
Jason Short
385828824d
updated Gains for Marco's loiter test
2012-02-23 22:03:26 -08:00
Jason Short
885710fce6
updated max throttle define
2012-02-18 21:14:13 -08:00
Jason Short
1b46daa12e
some better defaults for JDrones
2012-02-18 14:23:21 -08:00
Jason Short
b052dab80d
Adjusted gains to move closer to Marco's tests
2012-02-16 22:19:39 -08:00
Jason Short
3d63bb6cd4
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
21856e7696
new defaults for params
2012-02-15 09:10:15 -08:00
Jason Short
4faba2048c
Lowered for Jani
2012-02-13 15:25:23 -08:00
Pat Hickey
470fd8788e
ArduCopter Channel Config: config vars for user override of MOT_n mapping
...
* config variable CONFIG_CHANNELS has possible values
CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
2012-02-11 16:05:51 -08:00
Jason Short
0a63f104ab
Gain adjustments for 3d frame.
2012-02-11 15:29:11 -08:00
Jason Short
dc15fe4c5d
Moved to Rate_I by default for Jani to test
2012-02-10 22:32:55 -08:00
Jason Short
50aaa09348
Up Nav_Rate_P
2012-02-09 22:38:36 -08:00
Jason Short
62627e9b57
reverted to Save_WP now that CH7 triggering is fixed
2012-02-09 22:33:01 -08:00
Jason Short
c35ad2d493
Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune.
2012-02-09 22:22:00 -08:00
Randy Mackay
fe7a0a97ab
ArduCopter - CH7 - changed default to CH7_DO_NOTHING
2012-02-09 20:26:01 +09:00
Randy Mackay
b851d39eaa
OptFlow - reenable OF_LOITER pid controller and reduce I term
2012-02-01 08:04:18 +09:00
Jason Short
21bd48b6c3
Loiter PIDs
2012-01-30 21:13:03 -08:00
Jani Hirvinen
009e87105f
Minor changes for PID for jDrones motors due latest changes on control laws.
2012-01-31 09:00:31 +07:00
Jason Short
a3862ced62
cosmetic
2012-01-29 21:55:17 -08:00
Jason Short
02aacc454b
Lowering the throttle_P values by default
2012-01-29 16:27:13 -08:00
Jason Short
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
...
Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Randy Mackay
122623f64b
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Randy Mackay
8dee001657
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Randy Mackay
2c906b7b27
OpticalFlow - replaced PI controller with PID controller.
...
Modified optical flow hold to use aggregated position instead of speed.
2012-01-25 21:55:14 +09:00
Jason Short
74daadb252
Revert "test to switch loiter controls"
...
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
2012-01-22 14:19:27 -08:00
Jason Short
6476ba22f2
test to switch loiter controls
2012-01-22 12:28:34 -08:00
Jason Short
7edd16e5fe
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
...
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
2012-01-21 22:09:13 -08:00
Jason Short
c190f83bb0
AutoLanding timeout for Mission Planner
2012-01-20 22:52:30 -08:00
Jason Short
d2c78d2b75
Stab_D changes units with the new dampening controller updates
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Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
2012-01-20 22:52:30 -08:00
Jason Short
85f10589b2
slowed down slightly
2012-01-20 22:52:29 -08:00
Doug Weibel
ed9f7cb1b6
Update battery monitoring code for ArduCopter
...
Fixes compatibility for APM2. Also a significant update to the battery monitoring code: We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos. These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere). Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs. The CLI battery and current monitoring tests were consolidated into 1 test.
changed
2012-01-15 17:10:02 -07:00
Jason Short
95ac9d163e
lowered Loiter I, commented out unused var
2012-01-14 11:20:40 -08:00
Jason Short
154411c96c
removed unused defines
...
lowered default Loiter gain
2012-01-12 22:28:58 -08:00
Jason Short
257890d5be
New Loiter Gains for new Loiter methods
2012-01-11 22:41:51 -08:00
Pat Hickey
a30558e9b2
ArduCopter config.h: add standard ifndef/define header macro wrappers
2012-01-09 21:57:01 -08:00
Randy Mackay
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
...
Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
Randy Mackay
3dfa26920f
ArduCopter - changed Sonar to use A1 (was AN4)
2012-01-08 17:48:30 +09:00
Jason Short
06e032db68
Quad frame - X is default
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added wind comp stability option to config - off by default
2012-01-07 22:27:26 -08:00
Jason Short
67bf991598
removed unused Airspeed config
2012-01-04 09:28:36 -08:00
Jason Short
74b203c7f2
Lowered Yaw to prevent overshoot based on feedback
2011-12-31 10:10:45 -08:00
Jason Short
c7f93f8718
Updated Configs based on field testing.
2011-12-30 23:48:04 -08:00
Jason Short
21460a57ae
Yaw Performance tweaks
2011-12-29 23:02:03 -08:00
Jason Short
95a70cf32e
lowered to nav_lat and nav_lon int16
...
added a version that didn't have I term added to get a better indication of velocity estimation
2011-12-29 23:02:03 -08:00
Jason Short
17acbc4572
updated Loiter gains
2011-12-29 23:02:03 -08:00
Jason Short
bb954bc479
Upped Yaw speed to deal with performance complaints
...
Added new Stabilize D term default of .25
2011-12-29 23:02:02 -08:00
Jason Short
7e1e1f84b3
updated Loiter PIDs
2011-12-29 23:02:02 -08:00
Jason Short
4b5437afe8
Enable Magnetometer by default
2011-12-29 23:02:02 -08:00
Randy Mackay
bbe6dea980
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
...
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
2011-12-30 12:06:31 +09:00
Andrew Tridgell
433df08cb3
ACM: enable compass by default on APM2
2011-12-28 20:30:35 +11:00
Jason Short
d7af42c925
Getting rid of Simple Logging
2011-12-23 18:44:30 -08:00
Jason Short
0f91fbcee5
Made WP radius 1 by default
2011-12-23 15:01:53 -08:00
Jason Short
a966a178f8
increased crosstrack thanks to float math fix
...
decreased loiter iterm, decreased throttle iterm based on simulator runs
2011-12-23 14:42:50 -08:00
Pat Hickey
f1624621b3
ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added
...
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
2011-12-19 21:04:51 -08:00
Jani Hirvinen
106801a59c
config settings for jD motors
2011-12-19 09:29:05 +07:00
Jason Short
f11f2c6d97
added some more throttle imax range
...
renamed Super Simple
2011-12-15 20:51:41 -08:00
Doug Weibel
5d197ae337
Change logging to default on for 2560
2011-12-13 20:53:44 -07:00
Jason Short
c9b317fc27
Gain updates
2011-12-12 17:47:45 -08:00
Jason Short
e4559bbf5c
Added param option for Simple mode reset
2011-12-12 17:47:45 -08:00
Jason Short
6bc90d6289
Just upped the nav_imax value
2011-12-12 10:10:33 -08:00
Andrew Tridgell
a22893124d
fixed LOGGING_ENABLED default on ArduCopter
2011-12-12 23:40:43 +11:00
Andrew Tridgell
358dc91d41
fixed hil ArduCopter build
2011-12-12 15:14:55 +11:00
Pat Hickey
d7f77aec93
ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define
...
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
config.h takes care of this default.
2011-12-11 15:21:09 -08:00
Pat Hickey
62844d8ddc
ArduCopter: added config.h and defines.h to support CONFIG_BARO
2011-12-11 15:21:09 -08:00
Jason Short
e8e126a636
removed CLI switch by default, decreased Nav I
2011-12-11 09:53:44 -08:00
Randy Mackay
67855b207d
Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types
2011-12-11 16:40:59 +09:00
Randy Mackay
0b24914066
OptFlow - turning on optical by default
2011-12-10 23:22:40 +09:00
Randy Mackay
fa0723f115
ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2.
...
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
2011-12-10 18:33:30 +09:00
Pat Hickey
cc38189f71
ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280
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Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
2011-12-09 15:06:10 -08:00
Jason Short
e8a14c8d93
simple patch to improve alt hold based on stability patch
2011-12-04 21:32:33 -08:00
Jason Short
5ed300db7e
disabled Flash logs in 1280 by default
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Added stability patch I values and limits
2011-12-03 15:38:46 -08:00
Andrew Tridgell
38c85c44ae
ArduCopter: rename purple to APM2
2011-11-25 20:00:19 -08:00
Andrew Tridgell
3a542b3ef3
USB-MUX: enable USB MUX switching for ArduCopter
2011-11-25 20:00:19 -08:00
Andrew Tridgell
6093db948b
compass: added AP_COMPASS_APM2_SHIELD
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this makes the orientation clearer
2011-11-25 20:00:18 -08:00
Pat Hickey
3131ab16ef
remove BROKEN_SLIDER code
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use the new CLI_SLIDER_ENABLED option and the "hit ENTER 3 times"
method
2011-11-25 20:00:17 -08:00
Pat Hickey
3f2692d1da
purple: added configuration logic for APM1 versus purple hardware
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This abstracts the names for LED on/off (due to the different wiring
of LEDs on APM1 and purple), and adds the needed config defines for
the two hardware types
2011-11-25 20:00:16 -08:00
Jason Short
89e014c06a
Added alternate alt hold,
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New ESC Calibration Routine
2011-11-21 22:12:19 -08:00
Jason Short
2600f19172
RTL Yaw hold as default
2011-11-20 12:50:13 -08:00
Jason Short
fbf09dbf2d
Made save WP the default
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Cosmetic updates
2011-11-20 12:50:12 -08:00
Jason Short
9bc4328724
Added crosstrack gain and lowered alt hold rate gain
2011-11-19 13:59:15 -08:00
Jason Short
937a364dce
Made RTL Altitude hold current by default
2011-11-16 00:22:23 -08:00
Jason Short
930ee51bbe
added scale note
2011-11-13 00:25:04 -08:00
Jason Short
fafa6e52e9
back to original config for testing
2011-11-09 13:53:26 -08:00
Jason Short
f994d16a48
Lowered Nav_P based on SIM data
2011-11-09 12:46:34 -08:00
Jason Short
a8d622d8e6
Lowered Nav_P I term to ramp slower base on SIM
2011-11-09 11:30:50 -08:00
Jason Short
2dc2a2114a
restoring throttle i term for SIM
2011-11-08 11:51:49 -08:00
Jason Short
10bbfdbe11
PID test for alt hold to narrow down on a bug
2011-11-08 10:13:16 -08:00
Jason Short
3153257d37
default top_bottom ratio 1.0
2011-11-06 22:43:49 -08:00
Jason Short
1df9f8488d
updated Alt hold PIDs
2011-11-01 09:30:34 -07:00
Jason Short
07daf34ccc
Added a slew rate to the alt change rate.
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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
Jason Short
27d9712e80
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
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Conflicts:
libraries/APM_PI/APM_PI.cpp
2011-10-27 12:41:00 -07:00
Jason Short
0b4a3ccadb
Acro PI defaults
2011-10-27 11:55:13 -07:00
Andrew Tridgell
5a44298d57
CLI: enable "hit enter 3 times" support for CLI
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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
a503d9a7a7
adding missing config parameters
2011-10-21 10:41:52 +07:00
Jason Short
42d0b5cdb3
tweaked Alt hold PIDs, loiter PIDs based on SIM testing and feedback.
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Increased distance error for loiter for faster return to center.
2011-10-16 15:41:54 -07:00
Jason Short
6a5aefd0ec
Added gains to adjust travel of camera.
2011-10-15 16:34:57 -07:00
Jason Short
4052fd4f73
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
43b3015963
lowered DCM RP gains
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made Instant_PWM optional
upped PWM output to 400hz
2011-10-11 22:20:23 -07:00
Andrew Tridgell
d89ae696ef
merged the GCS updates from ArduPlane to ArduCopter
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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
Jason Short
167df79b49
Better Loiter PIDs
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Fixed RTL overshoot bug
2011-10-06 17:42:09 -07:00
Jason Short
b0bd9d1c44
Added second PI loop for alt hold.
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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
Jason Short
de61e87128
Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller
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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
Jason Short
758d0e1aec
Attempting to mimic loiter values for 4.0.42
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lowered Rate Error max in loiter
2011-09-28 23:11:19 -07:00
Jason Short
c209d6e6dd
2.0.46 -Not flight tested!
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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
b2a2221474
Fixed issue with Simple mode changes.
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Reverted to simpler, safer timer code for throttle hold
2011-09-25 14:16:35 -07:00
Jason Short
d495e6a9c4
turned off Stabilize_I by default because it was hurting loiter
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tweaked speed control of rate_nav
2011-09-24 21:49:45 -07:00
Jason Short
e961d3f3d4
Removed default Rate_I for pitch and roll
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added change speed control for missions
2011-09-24 09:49:11 -07:00
Jason Short
25b0a3c43b
Added a default, but low throttle cruise value
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Added a clear integrator for Rate I to prevent tip ups at launch.
2011-09-22 23:10:55 -07:00
Jason Short
7177bcec77
removed old CH6 tuning defines
2011-09-22 18:51:41 -07:00
Jason Short
cfd2c31fb2
Better Tuning for default Quad
2011-09-22 18:30:29 -07:00
Jason Short
991279851a
Refined Throttle Timer reset
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Reduced Loiter I gain to decrease overshoot.
2011-09-22 17:38:39 -07:00
Jason Short
078f64e276
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
73fd0084be
Added Piezo Support, code from Oliver.
2011-09-18 17:12:28 -07:00
Jason Short
f79b8de5e8
removed DCM reference from OPT FLOW
2011-09-16 19:17:50 -07:00
Jason Short
b948e0f02b
Lowered Loiter_I - higher value didn't test well.
2011-09-16 18:24:42 -07:00
Jason Short
129c13e065
Fixed CIRCLE mode trig error
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made loiter_radius * 100 in Params
updated gains
2011-09-16 16:54:45 -07:00
Jason Short
8d0a2fae9b
cleanup
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added more ifdef for optflow
2011-09-15 23:41:15 -07:00
Jason Short
d29cfbcee3
Integration of optical flow
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bug fixes for new Simple mode
increased Baro filter by 2 fields
2011-09-15 23:33:00 -07:00
Jason Short
1ce2308d11
Removed Simple Mode
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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
Jason Short
c15b6be83f
increased imax
2011-09-11 20:28:43 -07:00
Jason Short
d733868fea
Fixed Yaw mode for CIRCLE
2011-09-11 11:48:11 -07:00
Jason Short
02bfd43390
Fixes Alt hold mistake
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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
Andrew Tridgell
1456a2a912
renamed top level directories
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ArduCopterMega -> ArduCopter
added archives directory for old code
2011-09-09 11:27:41 +10:00