Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-15 13:18:28 -04:00
Code Issues Packages Projects Releases Wiki Activity
3,154 Commits 71 Branches 511 Tags 706 MiB
4904b4dd12
Commit Graph

739 Commits

Author SHA1 Message Date
Jason Short
5f55780b5e Added comments 
moved out failsafe check. otherwise the reporting was erroneous.
 2012-01-10 23:42:26 -08:00
Jason Short
92f7b22722 Moved failsafe check to more logical place 2012-01-10 23:42:26 -08:00
Jason Short
cf92631d33 added #if to wind compensation code 2012-01-10 23:42:26 -08:00
Pat Hickey
fc6321b7ca ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros 2012-01-09 22:06:49 -08:00
Pat Hickey
927e60d85b ArduCopter motors_y6: rewrite loop in terms of motors 2012-01-09 22:06:49 -08:00
Pat Hickey
ac7f6a5602 ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros 
* Third Tricopter motor was on CH_4, so it is called MOT_4. This
  will be changed in a subsequent commit.
 2012-01-09 22:06:49 -08:00
Pat Hickey
73610ddb6c ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 22:06:48 -08:00
Pat Hickey
7f4c994346 ArduCopter motors_octa_quad: rewrite loop in terms of motors 2012-01-09 22:05:01 -08:00
Pat Hickey
e2be119433 ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 21:57:02 -08:00
Pat Hickey
46b8037a73 ArduCopter motors_octa: rewrite janky loops to use ch_of_mot 
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
 2012-01-09 21:57:02 -08:00
Pat Hickey
79030a84b8 ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros. 2012-01-09 21:57:02 -08:00
Pat Hickey
f7e14fff37 ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot 
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
 2012-01-09 21:57:02 -08:00
Pat Hickey
b907c1fd5c ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Pat Hickey
7535c1c3fe ArduCopter test.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
6a4442557c ArduCopter setup.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
91bc2698a8 ArduCopter radio.pde: translate CH_ to MOT_ outputs 2012-01-09 21:57:02 -08:00
Pat Hickey
2f63c636ad Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey
f5b6746ad7 ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey
c105f64dca ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
e0e430895e motors_quad: translate from CH_ to MOT_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
0b40f55334 ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Pat Hickey
e5e8ed8a54 ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL 2012-01-09 21:57:01 -08:00
Pat Hickey
9eae2ec7fe ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8] 2012-01-09 21:57:01 -08:00
Pat Hickey
a30558e9b2 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Pat Hickey
a7628b7f78 ArduCopter: add config_motors.h with MOT_n to CH_m mapping 
* APM1 values are not valid, but hopefully APM2 will stay that way?
 2012-01-09 21:57:01 -08:00
Pat Hickey
a19afd926a APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
 2012-01-09 21:57:01 -08:00
Jason Short
78255b722e Slowed Auto Descent 
Don't return true in Landing code to prevent flyways in Stabilize
 2012-01-08 23:01:22 -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
analoguedevices
d46f36e624 Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves 2012-01-09 01:59:55 +00:00
Jason Short
d45c0ce9f2 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Randy Mackay
3dfa26920f ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short
f4b530ebb1 R8 2012-01-07 22:28:03 -08:00
Jason Short
48c211e055 Added finish to missions - auto-land or stabilize 2012-01-07 22:27:26 -08:00
Jason Short
9c8122e061 converted auto land to use the mission planner version 
Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
 2012-01-07 22:27:26 -08:00
Jason Short
63be9c5f7b Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short
06e032db68 Quad frame - X is default 
added wind comp stability option to config - off by default
 2012-01-07 22:27:26 -08:00
Jason Short
6678edf243 Auto-land updates - removed sonar option - not needed 
updates from JLN
 2012-01-07 22:27:26 -08:00
Jason Short
76dd79e7b5 Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short
dd42f06275 Cleanup 2012-01-07 22:27:26 -08:00
Jason Short
faa9dd43cf scaled to 0-1023 2012-01-06 21:43:37 -08:00
Jason Short
ee0551037e Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short
98f9a5f237 Forced Faildafe throttle mode to throttle Auto 2012-01-06 10:21:50 -08:00
Jason Short
5b66a09688 Added check for armed motors in failsafe 2012-01-06 10:21:23 -08:00
Jason Short
c9f60f239d Added Note 2012-01-06 10:20:59 -08:00
Jason Short
8f3c577e47 Made RTL go up 10m for failsafe 2012-01-06 10:20:48 -08:00
Jason Short
17873eb09c Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short
e116636fe9 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short
e3c16fc1b1 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short
40ad164c8d Clears Auto_land timer 2012-01-05 21:15:12 -08:00
Jason Short
20661e5020 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell
df81a9459a ACM: reset all I terms on gyro calibration 2012-01-05 10:15:14 +11:00
Andrew Tridgell
2913948520 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Andrew Tridgell
c1c3115b42 ACM: fixed a alt hold bug 
== instead of =
 2012-01-05 10:14:30 +11:00
Andrew Tridgell
92f9c0b648 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Andrew Tridgell
596a1f43f4 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short
3cf77729ef Disabled stable mode wind comp by default for release 2012-01-04 09:28:38 -08:00
Jason Short
28262dd825 Added Xplane output option 2012-01-04 09:28:38 -08:00
Jason Short
467ef66a77 Added home offset for altitude 2012-01-04 09:28:38 -08:00
Jason Short
40c649a27b Made landing disarm the motors 2012-01-04 09:28:38 -08:00
Jason Short
ed1ff0b171 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short
76cfdca6cc Cleaned up and documented each global vavriable 
Added Wind compensation for Stability
Acro mode fixes
 2012-01-04 09:28:37 -08:00
Jason Short
2e83e42764 Added precalc for wind compensation when entering Stabilze mode 2012-01-04 09:28:37 -08:00
Jason Short
e36d2f6e96 Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short
fe8c99c49b removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short
a2c8f5af15 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
de6325fb8a removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
cf9e744ed2 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
8ed2d96396 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short
59f22f0ca0 removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
ecb3241489 calc_wind_compensation called when exiting AP modes 
Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
 2012-01-04 09:28:37 -08:00
Jason Short
4e0e783e7c added Reset_Rate_I function 
Removed I term from Throttle rate calc
Added some basic constrains to Acro
 2012-01-04 09:28:37 -08:00
Jason Short
b8c0bdb66f removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
92eece79a4 cleanup - removed unused functions, made pressure reading Float to avoid extra cast 2012-01-04 09:28:36 -08:00
Jason Short
e1232e7b80 cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
e7b750074b Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Jason Short
37cda3c364 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
2fc6a645b4 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
b28ae04e0d Removed unused options 2012-01-04 09:28:36 -08:00
Jason Short
6513b12eb2 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
67bf991598 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
c7b5b747e8 change how Reset Nav params work - no longer clear I terms 2012-01-04 09:28:36 -08:00
Jason Short
580ad2c5ce Added JLN's landing patch, moved some variables local such as Jump counter 2012-01-04 09:28:36 -08:00
Jason Short
c0c2ea4ebb removed unused functions 2012-01-04 09:28:36 -08:00
Andrew Tridgell
ca39fc8b47 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell
9d1c4ecfcd ACM: don't set defaults in APM_Config.h 
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
 2012-01-04 19:35:05 +11:00
Andrew Tridgell
cdd5589498 I2c: default to 5ms timeout, and faster bus speed 
we will slow down the speed when we get a failure
 2012-01-04 16:36:47 +11:00
Jason Short
26d0bf93ff Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short
b3cea96970 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short
74b203c7f2 Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short
ea832c0818 upped to r5 2011-12-31 10:05:13 -08:00
Jason Short
1ef7f9fe62 Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short
0ace8474d7 R4 2011-12-30 23:54:02 -08:00
Jason Short
c6586810cf New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short
2cb09f46e9 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
6a8391f0a7 removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short
28984a72e4 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
26267f75b2 Reverted to Crosstrack like in Arduplane, requires Degrees * 100 2011-12-30 23:48:04 -08:00
Jason Short
dac29af7ab Sync with Arduplane 2011-12-30 23:48:04 -08:00
Jason Short
c7f93f8718 Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short
15a377d759 Added a default Yaw tracking setting 
Added Nav_Bearing
 2011-12-30 23:48:04 -08:00
Jason Short
84d3e3135f Added Nav_bearing, just like APlane 
added fix for LOITER in missions so we don't Yaw in circles
 2011-12-30 23:48:04 -08:00
Jason Short
cf48091d00 removed old loiter method option 2011-12-30 23:48:04 -08:00
Randy Mackay
3cb74cb459 ArduCopter - init_compass - fixed HIL build issue 2011-12-31 12:29:54 +09:00
Jason Short
3ea49e1415 updated rev 2011-12-29 23:02:41 -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
10abb7871e removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short
17acbc4572 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short
53c09774e5 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short
2c1fe93856 cosmetic 2011-12-29 23:02:03 -08:00
Jason Short
6f42442e57 Added 5 sec Takeoff Timer to clear i terms when lifting 
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
 2011-12-29 23:02:03 -08:00
Jason Short
f41835d546 Added Stabilize_D parameter 2011-12-29 23:02:02 -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
d055763947 Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have. 2011-12-29 23:02:02 -08:00
Jason Short
fa49aa5eec Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Jason Short
4f60fa412c Set Define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short
8a921e869c Fixed a 1280 only test 2011-12-29 23:02:02 -08:00
Jason Short
db96b9ec7a added define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short
244ca98264 Added Dampening term for tuning 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
Jason Short
51e6170ecb Missing ; 2011-12-29 23:02:01 -08:00
Jason Short
4353f60f60 removed takeoff complete flag from missions, not used and would be useful elsewhere. 2011-12-29 23:02:01 -08:00
Jason Short
fbb35928fe removed unused function 
Simplified the baro init filter
 2011-12-29 23:02:01 -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
955dfe0226 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell
03a16c6e45 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell
433df08cb3 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Andrew Tridgell
73e6d5ee11 ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Jason Short
234121f3c3 Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Andrew Tridgell
4fe527aefa ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Andrew Tridgell
111d156a99 ACM: fixed HIL build again 2011-12-26 19:17:11 +11:00
Andrew Tridgell
ab64a689c8 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay
07041c2149 TradHeli - modified the default collective min/max values to restrict movement to about half the full range. 2011-12-26 16:59:01 +09:00
Jason Short
1afa25d9ef Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Randy Mackay
c24b5229e1 AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell
0dadbf932a removed "Please run setup" loop from ArduCopter 
Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
 2011-12-24 18:12:51 +11:00
Jason Short
cc4f5e7c74 disabled some tests with warnings 2011-12-23 18:54:38 -08:00
Jason Short
0491d4feca added define for optflow 2011-12-23 18:45:01 -08:00
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
d9590a44d6 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short
e5a3899b7f added ability to enter Loiter with only optflow available 2011-12-23 14:46:32 -08:00
Jason Short
73a73fbf35 moved some defines around 2011-12-23 14:46:32 -08:00
Jason Short
5518882c69 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short
2d46022a2b This is the test to deal with big props with lots of inertia. We use a low pass filter on positive acceleration. 2011-12-23 14:46:32 -08:00
Jason Short
58ad9faf6d initing z dampener at arming 2011-12-23 14:46:08 -08:00
Jason Short
5f03c62bd9 Too complicated 2011-12-23 14:46:08 -08:00
Jason Short
be4b031c7d added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Jason Short
ca8f71a705 used for testing 2011-12-23 14:42:50 -08:00