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95 Commits

Author SHA1 Message Date
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
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