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179 Commits

Author SHA1 Message Date
Michael Oborne 7f272b4c4b fix SITL attitude hil AC 2012-01-20 16:32:25 +08:00
Doug Weibel 2ea9db84e0 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
Doug Weibel 17b3e514dc Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Jason Short 7e411f5fb6 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Jason Short 3879e79898 b2 2012-01-14 11:37:00 -08:00
Jason Short cf51967bbb Fix for SIMPLE mode 2012-01-14 11:32:48 -08:00
Jason Short e7ad08e209 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short c970ba4f93 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short 05dce91c24 fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short b9419e0123 moved GPS routines to 50hz loop to avoid delay. 2012-01-12 22:59:47 -08:00
Jason Short b81f9a5d77 Version 2.2 2012-01-12 22:37:33 -08:00
Jason Short b884462ce3 removed wind comp code, 
Added Landing boost code
 2012-01-12 22:28:58 -08:00
Jason Short 33fe4db3fc R10 2012-01-11 22:41:51 -08:00
Jason Short db1fafaaec R9 2012-01-10 23:46:08 -08:00
Jason Short 439c15f3fc Added climb rate control 
removed unused vars
 2012-01-10 23:42:26 -08:00
Jason Short 9cbfcac802 Made timer unsigned 2012-01-10 23:42:26 -08:00
Pat Hickey 8d4db05f50 Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey b22920c0ea ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey 7b056f208d ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Randy Mackay 7b9701fdd5 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
Jason Short fda12c8902 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Jason Short a8574e813d R8 2012-01-07 22:28:03 -08:00
Jason Short ca80dc549c Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short 058a3275c3 Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short d430c847fa Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short de912b5054 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short beac2930c9 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short a8af509517 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell 9ee3431928 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short 3ac37c09a9 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short a70fdc58a1 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 86e01fce17 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short e8db2225dd upped to r5 2011-12-31 10:05:13 -08:00
Jason Short e17c8705ba Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short e9d41897df R4 2011-12-30 23:54:02 -08:00
Jason Short 4b2979743f no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short f5ffa7bd7e Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short 09db32ee02 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 57b2d17d8a updated rev 2011-12-29 23:02:41 -08:00
Jason Short 4535bc4fd9 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 aa2e474b80 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
Randy Mackay ff66a3417c 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 1cc38b0701 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell c27277c7f1 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Jason Short a8070d86df Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Jason Short 359d186798 added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short f2d6708058 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short 6c5f41fe58 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short 2f5da31a05 change Alpha name 2011-12-18 16:38:07 -08:00
Jason Short ed818e4ccf Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00