Jason Short
a0978e06e5
Adjustments to the Inertial_nav
...
lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
2012-06-20 08:47:47 -07:00
Andrew Tridgell
5525180814
MAVLink: make usage of MAVLink defines more consistent
2012-06-15 16:27:11 +10:00
rmackay9
6b16ca190f
ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release
2012-06-15 00:42:59 +09:00
Jason Short
e261c62e6b
Inertial Nav disabled by default
2012-06-13 22:37:52 -07:00
Jason Short
6dc1e02f76
Inertial Control
...
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.
This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.
Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.
The Log should record RAW messages with special debugging values.
2012-06-13 22:34:45 -07:00
rmackay9
3618ac62e0
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
ee78818f5a
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
c9093a1609
ArduCopter: updated firmware version to 2.6 Epsilon
2012-06-12 23:22:57 +09:00
rmackay9
1b9ed1444e
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
ebff84d41e
Added Angel's name to contrib list
2012-06-10 12:38:22 -07:00
Andrew Tridgell
8f1121c980
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
2012-06-10 16:36:18 +10:00
rmackay9
df72f70aba
ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release)
2012-06-08 21:54:09 +09:00
Andrew Tridgell
bfb2c1ee87
GPS: open the GPS serial port with a 256 byte buffer
...
the UBLOX needs more than 128 bytes for reliable parsing
2012-06-08 16:42:03 +10:00
Robert Lefebvre
3e6f37d540
Opening up the Yaw Rate constraint for Trad Heli.
2012-06-07 22:40:25 -04:00
Robert Lefebvre
1b789b7928
Yaw Fix
...
Modified Nav_Yaw controller to better track intended heading changes.
2012-06-07 17:15:33 -04:00
Jason Short
71111a5816
Stabilization patches
...
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
rmackay9
cad76d4e0f
ArduCopter: updated firmware description to 2.6 Gamma
2012-06-05 21:28:13 +09:00
Andrew Tridgell
af1573ad30
ACM: prevent link flood with "Low Battery" warnings
...
thanks to Marco for noticing this
2012-06-05 11:31:40 +10:00
Michael Oborne
1423810247
AC: add hilstate message
2012-06-04 16:24:08 +08:00
Jason Short
9cadd8c1db
Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false.
2012-06-03 22:25:27 -07:00
Jason Short
60c89ee117
Updates to Flip:
...
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
2012-06-03 22:15:19 -07:00
Andrew Tridgell
13ae16e0c5
ACM: MAVLINK10 uses HIL_STATE
...
thanks to Michael for noticing this
2012-06-04 13:31:07 +10:00
Andrew Tridgell
8d28cb51fc
added mavlink09 targets
...
allows easier building with mavlink0.9
2012-06-04 13:14:52 +10:00
Andrew Tridgell
0721089acd
ACM: fixed HIL build for MAVLINK10
2012-06-04 13:14:52 +10:00
Michael Oborne
45c3c101fe
fix AC hil build
2012-06-04 11:12:52 +08:00
Michael Oborne
7d2532450a
enable mavlink10 by default
2012-06-04 08:02:08 +08:00
Jason Short
f2edc87797
Added note to remove this unused param
2012-06-03 11:13:50 -07:00
Jason Short
9723e52a01
using current PWM rather than a re-read of the PWM.
2012-06-03 11:13:50 -07:00
Jason Short
5ce93faf51
Moved PID logging counter into define
2012-06-03 11:13:50 -07:00
rmackay9
826cffe688
ArduCopter: Ensure update_GPS does nothing when gps is disabled.
...
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
2012-06-03 23:48:45 +09:00
rmackay9
68de4e0259
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 17:02:35 +09:00
rmackay9
09695602d2
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 16:59:23 +09:00
rmackay9
8f8e91a620
ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives.
...
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
2012-06-03 16:58:19 +09:00
rmackay9
df3fb5c041
ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx).
2012-06-02 12:51:12 +09:00
Jason Short
477aa6e47a
RC_Channel fix for throttle output.
...
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
2012-05-31 14:59:03 -07:00
Robert Lefebvre
bafb478924
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
Robert Lefebvre
3df1aac936
Change to increase Parameter space as we have run out.
...
This will decrease the max number of waypoints from 186
to 169.
2012-05-30 20:41:53 -04:00
Jason Short
abb426aec3
When RTLing, force home as the final location for loiter.
2012-05-30 11:06:41 -07:00
Jason Short
5b31f3ba27
moved detector to run until the throttle is low, then stop running.
2012-05-30 09:44:59 -07:00
Jason Short
42032f9845
Missed a Semicolon
2012-05-30 09:36:16 -07:00
Jason Short
e6ee50f53d
Altered the ground detector logic to no continuously run when landed
2012-05-30 09:34:31 -07:00
Jason Short
c45209eaff
Broken timer - removed
2012-05-29 12:56:38 -07:00
Jason Short
93d7712c9a
Removed unused variable
2012-05-29 12:43:23 -07:00
Jason Short
9ea54b3171
Lowered I term - causes oscillations in SIM
2012-05-29 12:43:01 -07:00
Jason Short
2ae5d50261
Renamed some variables to clarify functionality.
2012-05-29 12:42:37 -07:00
Jason Short
33d1b5a137
Speed up automatic disarming to 25 seconds for safety.
...
renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
2012-05-29 12:41:35 -07:00
Jason Short
3ba6e1db7a
Removed references to a takeoff timer
2012-05-29 11:28:40 -07:00
Jason Short
c523a9822b
Failsafe: Looking for takeoff_complete now vs unreliable GPS
2012-05-29 11:25:04 -07:00
Jason Short
394f8c6eb0
pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle.
2012-05-29 11:25:04 -07:00
Jason Short
a3a90287f4
changed the way takeoff complete is figured. Looking for high throttle.
2012-05-29 11:25:04 -07:00
Jason Short
72758ff3ab
Added note to functionality
2012-05-29 11:25:04 -07:00
Jason Short
996cfc5c96
changed WP radius to AP_Int16
2012-05-28 22:39:29 -07:00
Jason Short
4ed48510dc
reversed circle_WP calculation so the next_WP refers to the destination around the circle and circle_WP refers to the center. The intent is to make it easier to see via ground station.
2012-05-27 09:21:20 -07:00
Jason Short
e2086decc6
Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled.
2012-05-23 22:00:56 -07:00
Andrew Tridgell
1fc8347af3
MAVLink: send time of GPS fix accurately
...
when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
2012-05-23 17:33:33 +10:00
Andrew Tridgell
5b5d43f5d0
Log: don't print '+' while erasing logs
...
we no longer do page based erase, so printing a + every 128 pages
makes no sense
2012-05-22 20:10:29 -07:00
Robert Lefebvre
df4246597f
Updates to CopterLEDS
...
Creation of Nav Blink Function.
2012-05-22 09:58:37 -04:00
Andrew Tridgell
27e7d425af
MAVLink: allow parameter fetch during mavlink_delay()
...
this allows the planner to fully connect to the APM with MAVLink while
doing a DataFlash erase
2012-05-22 16:13:35 +10:00
Jason Short
198da9c5e6
Flip.pde: renamed dcm to ahrs
2012-05-21 12:58:51 -07:00
Jason Short
f55da34496
Some bug fixes to Auto-flip. I ran this code through the sim and found these flaws.
2012-05-21 11:07:41 -07:00
Jason Short
99dee97385
Added note
2012-05-21 09:58:23 -07:00
Jason Short
6c999b5d54
Attitude.pde - Removed rate limit based on SIM flights. These should never have been in place and seriously detriment Acro flight.
2012-05-21 09:58:23 -07:00
Jason Short
f8ceec2b4b
added check for duplicate time-stamped GPS messages.
2012-05-18 09:54:18 -07:00
Jason Short
95076bf08e
navigation.pde:
...
removed unneeded WP_Distance check
remove unneeded return for Navigate
removed unneeded rate_D calcs
removed unused functions
2012-05-17 11:05:05 -07:00
Jason Short
be71cbfcc8
Arducopter.pde :
...
removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
2012-05-17 11:05:05 -07:00
Jason Short
7278e8d1e5
removed retro loiter code since Angel has a branch now.
...
shrank speed filter to avoid latency
removed unused forward estimator code
placed code for switchover to gps.groundspeed at 1.5m/s
added clamp for D term when below .5m/s to eliminate noise
added hybrid I-term based on speed error and position
changes Loiter D term to use position rather than acceleration to avoid noise
2012-05-15 22:14:23 -07:00
Jason Short
cb68adfff2
Loiter Gains based on new SIM
2012-05-15 22:01:01 -07:00
Robert Lefebvre
17a1b6d672
Fixed Syntax error.
2012-05-15 12:35:35 -04:00
Robert Lefebvre
a9349a6e87
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
9e73dc4bd8
CopterLEDS changes for APM2
2012-05-15 10:07:03 -04:00
rmackay9
eaeaa3811a
ArduCopter: bug fix for reversing tri servo
...
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
2012-05-13 12:36:46 +09:00
rmackay9
47ea92aa7f
ArduCopter: updated version to 2.5.5
2012-05-13 08:47:43 +09:00
rmackay9
ee20f887b5
ArduCopter: fixed compile error by declaring extern print_latlon
2012-04-30 21:44:27 +09:00
Andrew Tridgell
94b763fa1e
ACM: fixed HIL build
2012-04-30 22:42:17 +10:00
rmackay9
ed9c59879f
ArduCopter: restored gps test in CLI
...
Added check so not enabled when using 1280. Also fixed comments in other tests to explain the check for the 1280.
2012-04-30 17:29:50 +09:00
Adam M Rivera
292f9699fa
Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases
2012-04-28 20:50:41 -05:00
Adam M Rivera
2a85a64b6e
Parameters.pde: Added value aliases to comments
2012-04-28 20:35:22 -05:00
Adam M Rivera
c03f1d04ea
Parameters.pde: Added more parameter comments.
2012-04-28 12:14:17 -05:00
Andrew Tridgell
8134c9a883
autotest: fixes for MAVLink 1.0 in autotest
2012-04-27 15:15:53 +10:00
Adam M Rivera
21886104a6
Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone.
2012-04-26 18:26:14 -05:00
Adam M Rivera
09ffc69d93
Changed the marker for Group parameters to @Group.
2012-04-25 12:27:51 -05:00
Adam M Rivera
0132392e36
Parameters.pde: Added lib comments.
2012-04-25 11:23:46 -05:00
Adam M Rivera
74789273b7
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into param-suffix
2012-04-24 14:11:54 -05:00
Adam M Rivera
f70a4e61ea
Parameters.pde: Updated comment schema to include the parameter name which becomes the XML node that contains the meta data.
2012-04-24 13:11:16 -05:00
Adam M Rivera
8c607d93fc
Parameters.pde: Added new comment structure to a few parameters for testing.
2012-04-24 11:37:33 -05:00
Andrew Tridgell
7866740d62
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
2012-04-24 22:24:58 +10:00
Andrew Tridgell
712b7184be
ACM: added support for MAVLink 1.0 to ArduCopter
...
most operations should now work
2012-04-24 19:54:20 +10:00
Adam M Rivera
2ee8237b5f
ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define.
2012-04-23 00:19:18 -05:00
Adam M Rivera
ec06638db6
Parameters: Added g.retro_loiter which is configurable by the user via the MP.
2012-04-23 00:17:52 -05:00
Adam M Rivera
788df5ed6f
config.h: Removed comment.
2012-04-23 00:16:41 -05:00
Adam M Rivera
692bbee233
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
Jason Short
cb863dd483
Log.pde : Updated Flash Logging to log Floats properly vs scaled integers.
2012-04-21 15:25:53 -07:00
Jason Short
2aca6c64ab
Added a union for casting floats to ints and back when storing Floats to the DataFlash
2012-04-21 15:17:09 -07:00
rmackay9
3b5ffe0f61
ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame
2012-04-21 23:46:36 +09:00
rmackay9
114e6a3551
ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion
2012-04-21 23:24:57 +09:00
rmackay9
bd8534ef14
ArduCopter - Attitude.pde - added logging of optical flow pid controller
2012-04-21 20:17:12 +09:00
rmackay9
53ddb58c7b
ArduCopter - changed optflow object to be APM2 version if necessary
2012-04-21 20:15:55 +09:00
rmackay9
ce6dd8bb32
ArduCopter - changed Optical Flow for APM2 to use A3 pin
2012-04-21 20:15:16 +09:00
Adam M Rivera
edf15c1b9b
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-20 11:45:38 -05:00
rmackay9
c323efc2d4
ArduCopter - regressed version back to 2.5.4
2012-04-20 21:58:32 +09:00
James Goppert
1bc4d54ce9
Worked on ArduCopter cmake options.
2012-04-19 16:05:08 -04:00
Adam M Rivera
d09916422a
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
4430f75344
navigation.pde: Put the new calc_GPS_velocity method in a compiler if that checks the new RETRO_LOITER_MODE config value (saves space and ensures its not being used unless retro loiter mode is enabled)
2012-04-19 10:21:04 -05:00
Adam M Rivera
9181eedf5a
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
ad13854ab7
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
Adam M Rivera
3995381800
Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity.
2012-04-18 23:07:35 -05:00
Adam M Rivera
c7c6dd70b9
navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error.
2012-04-18 23:06:15 -05:00
James Goppert
f094085c25
Improved cmake options.
2012-04-18 23:15:29 -04:00
James Goppert
0a38e2b8d4
Updated ArduPlane/ArduCopter cmake options.
2012-04-18 15:16:02 -04:00
Adam M Rivera
5ee15da73b
Planner/defines.h: Updated the enumeration value for APPROACH so as not to disturb the order of the universe.
2012-04-18 10:32:01 -05:00
James Goppert
26e3d6ae45
Switched to project specific cmake lists.
...
This is better since each project has very different options.
2012-04-17 23:07:20 -04:00
Adam M Rivera
baf8218b58
ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter.
2012-04-16 16:29:54 -05:00
Adam M Rivera
b891622210
ArduCopter: Changed millis compare to use new config value for approach delay.
2012-04-16 14:04:30 -05:00
Adam M Rivera
3146c22ea8
commands_logic.pde: Added write to constrained value to EEPROM.
2012-04-16 14:03:33 -05:00
Adam M Rivera
3135cd91d0
config.h: Added RTL_APPROACH_DELAY config value.
2012-04-16 14:00:08 -05:00
Adam M Rivera
8128fb2d5f
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
...
Conflicts:
ArduCopter/Parameters.h
2012-04-16 10:23:01 -05:00
Adam M Rivera
b611b6a1e8
system.pde: Updated param name to loiter_timer.
2012-04-16 10:12:30 -05:00
Adam M Rivera
03e11cf893
commands_logic: Allowed for an approach alt as low as 1m. Added a check to make sure we are currently above our target approach alt.
2012-04-16 10:11:50 -05:00
Adam M Rivera
637f778dd0
ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s).
2012-04-16 10:07:57 -05:00
Adam M Rivera
2d096c401f
Parameters: Changed rtl_approach_alt to float to support more granular altitudes
2012-04-16 10:06:29 -05:00
rmackay9
4dadd888d8
ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM
2012-04-16 23:47:57 +09:00
Andrew Tridgell
5a9ad6ddbb
AHRS: enable AHRS_ group in ArduCopter
2012-04-16 20:55:14 +10:00
Adam M Rivera
f27b5d538b
ArduCopter, commands_logic: Updated logic to allow as low as 5m.
2012-04-15 19:50:05 -05:00
Adam M Rivera
e4940ec3bb
ArduCopter: Added check to make sure user defined approach alt is at least 5.
2012-04-15 16:58:22 -05:00
Adam M Rivera
0027c9253b
commands_logic: Added check to make sure the do_approach method is not being used to land.
2012-04-15 16:57:49 -05:00
Adam M Rivera
70d67b0791
System: Added handler for the new APPROACH flight mode which will initiate an approach to a target alt as defined by the user.
2012-04-15 16:55:34 -05:00
Adam M Rivera
d1a7fdb9ef
ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land.
2012-04-15 16:54:43 -05:00
Adam M Rivera
d12bf86876
commands_logic: Added do_approach() to set the new target alt based on the user defined value.
2012-04-15 16:53:25 -05:00
Adam M Rivera
fb5dc3085b
Defines: Added new control mode (APPROACH).
2012-04-15 16:52:32 -05:00
Adam M Rivera
f5e0b002ba
Parameters: Added new APPROACH_ALT params (g.rtl_approach_alt) which stored the users desired target altitude after RTL is complete.
2012-04-15 16:51:41 -05:00
rmackay9
ccb21613b5
ArduCopter - updated firmware version to "2.6 Beta"
2012-04-14 14:26:44 +09:00
rmackay9
33bd558a94
ArduCopter - LEDS - main code to support COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:44 +09:00
rmackay9
a429c78d20
ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:40 +09:00
rmackay9
663eda6d47
ArduCopter - LEDS - define pins to be used for COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:36 +09:00
rmackay9
ac9555a3b4
ArduCopter - LEDS - added new COPTER_LEDS definition
...
Code by Robert Lefebvre
2012-04-12 22:55:32 +09:00
rmackay9
d1a5d1f94c
ArduCopter - LEDS - two new parameters to support COPTER_LEDS.
...
Code by Robert Lefebvre.
2012-04-12 22:55:28 +09:00
rmackay9
8f0bc57967
ArduCopter - navigation.pde - added logging of Loiter PID controllers
2012-04-11 23:52:25 +09:00
rmackay9
023378a214
ArduCopter - Parameters.h - changed initialisation order to remove compiler warning (have not changed enum values so shouldn't require eeprom format id update)
2012-04-09 17:37:06 +09:00
rmackay9
c7edd7857c
ArduCopter - added dataflash logging of roll and pitch rate controllers
2012-04-08 10:19:20 +09:00
rmackay9
0607be8ea5
ArduCopter - removed unused motor pde files including heli.pde, motors_hexa.pde, motors_octa.pde, motors_octa_quad.pde, motors_tri.pde and motors_y6.pde
2012-04-04 23:06:12 +09:00
rmackay9
2128085576
ArduCopter - test.pde - changed references "motor_armed" to "motors.armed()" as part of move to AP_Motors library.
...
Change to ESC initialisation calls to use motors.throttle_pass_through method of AP_Motors class.
2012-04-04 23:05:26 +09:00
rmackay9
2fc3b740c4
ArduCopter - system.pde - changed references to "motor_armed" to "motors.armed()" as part of the move to use AP_Motors library.
2012-04-04 23:03:21 +09:00
rmackay9
5e2147de1f
ArduCopter - setup.pde - changed cli for helicopter to call the new AP_Motors class's parameters instead of the global parameters.
...
changed init_esc to call the AP_Motor's class's "throttle_pass_through" function.
2012-04-04 23:02:29 +09:00
rmackay9
1701cac0b1
ArduCopter - radio.pde - changed motor initialisation to set update rate, frame orientation, min and max throttle to AP_Motors class.
...
Note: perhaps the motors speed at least should be moved to a parameter within the motors class.
output_min function greatly simplified as this is handled by the AP_Motors class.
2012-04-04 23:00:56 +09:00
rmackay9
0f4203a755
ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class.
...
Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
2012-04-04 22:58:42 +09:00
rmackay9
00d540bfa9
ArduCopter - leds.pde - changed refrences to "motor_armed" to "motors.armed()"
2012-04-04 22:57:50 +09:00
rmackay9
ffd77f58ab
ArduCopter - removed references to MOT_1 etc as these are now within the AP_Motors class (i.e. MOT_1 has become AP_MOTORS_MOT_1)
2012-04-04 22:56:07 +09:00
rmackay9
929e933b69
ArduCopter - increased firmware version to 118. Removed nearly all heli parameters as these are all created by the AP_MotorHeli class now.
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Note: we cannot move the heli_servos to the AP_MotorHeli class yet because of a small issue in the parameters class.
2012-04-04 22:55:07 +09:00
rmackay9
acc24291f3
ArduCopter - Log.pde - changed MOT output to dataflash to take values from AP_Motors class's motor_out array instead of the global motor_out array.
2012-04-04 22:53:21 +09:00
rmackay9
86d2a9ffdb
ArduCopter - GCS_Mavlink.pde - changed output to ground station to use new AP_Motor's class motors array inplace of the global "motor_out" array.
2012-04-04 22:52:26 +09:00
rmackay9
23c3f25654
ArduCopter - Attitude.pde - moved heli_get_angle_boost from heli.pde (which will be removed) to Attitude.pde. In fact we should combine heli_get_angle_boost and the regular get_angle_boost.
2012-04-04 22:51:39 +09:00
rmackay9
544237d60a
ArduCopter - add includes for new AP_Motors classes.
...
Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
2012-04-04 22:50:43 +09:00
Andrew Tridgell
40d7b07789
MAVLink: port the new adaptive flow control to ArduCopter
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This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
2012-04-02 11:18:53 +10:00
rmackay9
b0c9a25024
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
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also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
Andrew Tridgell
1e0a2fb0be
MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
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the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.
This makes MAVLink work better at low baud rates
2012-03-30 17:46:20 +11:00
Andrew Tridgell
0985327331
ACM: use set_blocking_writes(false) when we arm motors
2012-03-30 17:46:20 +11:00
Andrew Tridgell
36e741b078
MAVLink: raise the serial transmit buffer size to 256 bytes
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the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
Andrew Tridgell
58f539ca35
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
Adam M Rivera
0727955fe3
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
a12a7a7d87
ArduCopter - added CH6_STABILIZE_KD tuning value
2012-03-29 21:09:41 +09:00
rmackay9
2cc87af180
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
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#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
Andrew Tridgell
8ccf3a05f0
Mavlink: fixed warnings about limits on int32 values
2012-03-27 15:37:25 +11:00
Andrew Tridgell
409c147ce3
ACM: fixed heli build
2012-03-27 15:37:25 +11:00
Andrew Tridgell
5d7c571fb1
ACM: fixed the build on the 1280
2012-03-27 15:37:24 +11:00
Andrew Tridgell
4821eb4807
ACM: enable the new compass offset nulling in ACM
2012-03-27 15:37:24 +11:00
rmackay9
441413f1c6
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
rmackay9
eb55234809
ArduCopter - updated firmware version to 2.5.3
2012-03-25 09:13:51 +09:00
rmackay9
1f253c5217
ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter
2012-03-23 23:48:24 +09:00
rmackay9
19981d4864
ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area
2012-03-23 23:12:49 +09:00
Robert Lefebvre
872ec65afa
Fix Auto_Trim to allow it to actually be called when setup on Ch7 pulldown menu in MP.
2012-03-23 09:17:58 -04:00
Jason Short
74893f6959
Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator
2012-03-22 10:01:24 -07:00
rmackay9
be22deb56f
ArduCopter - motors_quad.pde - corrected test sequence for + configuration
2012-03-21 22:04:50 +09:00
rmackay9
7dc18b53ad
ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint
2012-03-20 17:11:22 +09:00
rmackay9
198ac97914
ArduCopter - updated version to 2.5.1
2012-03-20 17:08:18 +09:00
rmackay9
0ba48a8556
ArduCopter - increased default THROTTLE_CRUISE to 450
2012-03-20 16:34:07 +09:00
rmackay9
ce6b1ccc75
ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!)
2012-03-20 16:13:38 +09:00
Andrew Tridgell
dc71191f25
MAVLink: constrain variable changes to the datatype range
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if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
2012-03-19 17:29:02 +11:00
Andrew Tridgell
690ad58a64
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
Jason Short
223a6f80c8
ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes.
2012-03-18 22:31:22 -07:00
Jason Short
722a4d01e8
ACM: Attitude.pde - consolidated wind I term resets
2012-03-18 22:31:21 -07:00
Jason Short
e42c64f94e
ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset.
2012-03-18 22:31:21 -07:00
rmackay9
bed667c62e
ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero)
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- remove incorrect comments about when loiter target position is reset.
2012-03-18 15:16:04 +09:00
rmackay9
7bf4e22c7b
ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore
2012-03-18 14:53:19 +09:00
rmackay9
485cebf85c
ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations)
2012-03-18 12:11:12 +09:00
Jason Short
27f276a066
ACM: Lowered gains from flight tests today with 3DR Quad
2012-03-17 11:04:01 -07:00
Jason Short
f6638d00d6
ACM: Smoother Speed calcs
2012-03-16 14:10:19 -07:00
Jason Short
09995aed62
ACM: Softer Loiter Gains
2012-03-16 14:10:19 -07:00
Jason Short
234a5dc65e
ACM: Small fix to nav_throttle to prevent too fast of a landing.
2012-03-16 14:10:19 -07:00
Jason Short
d52b93849e
ACM: Fixed comment
2012-03-16 14:10:19 -07:00
Jason Short
1ecca36dd0
Fixed Scaling bug in Sonar mixing
2012-03-16 14:10:19 -07:00
Jason Short
0c6a87db3f
ACM: Disabled D term experiment for Loiter until more testing
2012-03-15 19:20:03 -07:00
Jason Short
ce14ef1b2b
Tune down Loiter_P a hair
2012-03-15 19:17:27 -07:00
Robert Lefebvre
0bc40f51fb
Small fix on the Traditional Helicopter Collective-Yaw compensation calculation.
2012-03-15 20:14:18 -04:00
rmackay9
eea8d67a1e
ArduCopter - removed #define AUTOMATIC_DECLINATION ENABLED line to ensure users don't try and enable it because it needs a bit more work before it's ready for general use
2012-03-15 21:58:42 +09:00
analoguedevices
eb530a2045
Rev'ed version number to 2.5. Added more credits
2012-03-15 02:38:54 +00:00
Jason Short
59fb1f3542
ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system.
2012-03-13 21:31:16 -07:00
Jason Short
50b4c07261
Lowering the D filter for less latency and less oscillation.
2012-03-13 12:58:46 -07:00
Jason Short
72d03a8046
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
0edc1020ac
ACM: Loiter D performance updates
2012-03-13 10:23:31 -07:00
Jason Short
6edad4d9ef
ACM: Larger filter for Loiter D
2012-03-13 10:23:30 -07:00