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1056 Commits

Author SHA1 Message Date
Jason Short 02aacc454b Lowering the throttle_P values by default 2012-01-29 16:27:13 -08:00
Jason Short 650c0ed3f1 made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Randy Mackay 693a2cfdcd TradHeli - fix to servo limits. They had been unnecessarily limited to the collective pitch's min and max but actually there are cases (for example when the swash is leaning over 45degrees) where one servo goes well beyond the collective pitch's min or max. 2012-01-29 21:14:37 +09:00
Randy Mackay 974c825f4a Optflow - minor fix to D term defaulting 2012-01-29 21:06:41 +09:00
Jason Short 67cd412105 Landing update for better baro landing 2012-01-28 22:35:57 -08:00
Jason Short 5ab37a346c reduce test.pde size for 1280 users 2012-01-28 22:16:24 -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
Jason Short 295631139a formatting 2012-01-28 21:19:46 -08:00
Jason Short d1fcebb5ca Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short 326a663c6b changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay f3a95ff3cb Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup 2012-01-28 10:13:58 +09:00
Randy Mackay 122623f64b OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Pat Hickey 1dcd50e3be ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2 2012-01-27 07:39:01 -08:00
Randy Mackay 8dee001657 Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Pat Hickey 6c03307217 ArduCopter Heli: add motors_output_enable function 2012-01-25 22:41:09 -08:00
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
Randy Mackay 4434ddf389 Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi 2012-01-25 21:53:20 +09:00
Jason Short 25529dec69 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
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
Pat Hickey 89e11afc09 ArduCopter: Call APM_RC.enable_out for camera channels in init_camera() 2012-01-22 12:03:11 -08:00
Pat Hickey 98a90d0352 ArduCopter: Call motors_output_enable at correct spot during init 2012-01-22 12:03:11 -08:00
Pat Hickey 04a3112f33 ArduCopter: Add implementation of motors_output_enable to each motors_ frame type 2012-01-22 12:03:11 -08:00
Jason Short dd1e08a7e0 Causes Aero_SIM to fail 2012-01-22 09:34:43 -08:00
Jason Short 1d9783652a added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short 60e3508f7c converted to cm 
Signed-off-by: Jason Short <jasonshort@mac.com>
 2012-01-21 22:14:08 -08:00
Jason Short aace39e65c Converted distance gains to CM 
added loiter_d for rate control, equal to old Nav_P gain
 2012-01-21 22:13:57 -08:00
Jason Short fffa1af3b3 Fixed speed governor which was letting speed get to 0. 
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
 2012-01-21 22:12:57 -08:00
Jason Short f638a4b81d recording nav_bearing rather than target bearing 
recording x and y speed rather than Iterms for nav since they are always 0 now
 2012-01-21 22:10:28 -08:00
Jason Short 2fa24e0557 added conversions of CM to M 2012-01-21 22:09:39 -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 59d1f225d5 convert command into CM from M 
Making Landing boost be one at minimum to trigger better navthrottle output
 2012-01-21 22:06:35 -08:00
Jason Short f3cc1121aa better default for speed governer 2012-01-21 22:05:48 -08:00
Jason Short 5cc19bbe7c slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short 9003b95499 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short 8cb645f3c2 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short 1aa6d0ea08 limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short ab5716c42d Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short 7c25253422 Enabled auto throttle hold 2012-01-20 22:52:31 -08:00
Jason Short 7fb641ab77 added note 2012-01-20 22:52:31 -08:00
Jason Short fb72ecd4e4 formatting 2012-01-20 22:52:31 -08:00
Jason Short 127544b833 Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short 42b1362bba cleanup 2012-01-20 22:52:30 -08:00
Jason Short 5ac26a5500 error on comparison operator 2012-01-20 22:52:30 -08:00
Jason Short 5180592913 Added Auto_land_timeout to params 2012-01-20 22:52:30 -08:00
Jason Short c190f83bb0 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short a22596fb33 Max throttle output was to high 2012-01-20 22:52:30 -08:00
Jason Short 19053bb725 Updated Firmware version 2012-01-20 22:52:30 -08:00
Jason Short f5fd3a0597 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short 287ffb5fb4 enabled Mavlink Land command 2012-01-20 22:52:30 -08:00
Jason Short 6784989e83 relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short d2c78d2b75 Stab_D changes units with the new dampening controller updates 
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 932869b686 renamed function 2012-01-20 22:52:30 -08:00
Jason Short 43365fe802 Verify land updates from JLN 
Effectively a throttle control for landing that mimics a person lowering the throttle.
 2012-01-20 22:52:29 -08:00
Jason Short ed32ad30fd Refined the D term for stabilize 
moved all the rest_I terms from code into 1 central place
 2012-01-20 22:52:29 -08:00
Jason Short 5141534ea9 B3 2012-01-20 22:52:29 -08:00
Jason Short db6db1ab91 set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units. 
added the ability to force nav_throttle so we  don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
 2012-01-20 22:52:29 -08:00
Jason Short 6e94b21d67 Altitude no longer resets when moving loiter WP 2012-01-20 22:52:29 -08:00
Jason Short 85f10589b2 slowed down slightly 2012-01-20 22:52:29 -08:00
Jason Short 017364fc5b Lowered range to more sensible values 2012-01-20 22:52:29 -08:00
Jason Short 2831ff9148 Off by default 2012-01-20 22:52:29 -08:00
Michael Oborne 3142a75913 AC fix attitude level hil 2012-01-21 07:52:52 +08:00
Michael Oborne 95f58b0432 fix scale error 2012-01-21 06:33:18 +08:00
Michael Oborne 1bebb9452b AC sync battery code with arduplane 2012-01-21 06:29:09 +08:00
Michael Oborne 52a9bb3cd1 fix SITL attitude hil AC 2012-01-20 16:32:25 +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
Doug Weibel 0306bf97a0 Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Jason Short e2c2a453a8 APM2 Channel assignments 2012-01-15 10:24:16 -08:00
Jason Short 3ebed0b278 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Jason Short 46ef246e67 b2 2012-01-14 11:37:00 -08:00
Jason Short 0ae82da0fd Fix for SIMPLE mode 2012-01-14 11:32:48 -08:00
Jason Short 72faa6525e Tweak to make circle mode scripting more accurate 2012-01-14 11:21:50 -08:00
Jason Short 89343ae306 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short 95ac9d163e lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short c02b403a06 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short 1843798697 Clarified the Increment for WP total 2012-01-14 11:20:40 -08:00
Jason Short f97d58c753 added notes, removed redundant save wp_total 2012-01-14 11:20:40 -08:00
Jason Short 7877a872d3 added update throttle cruise function 2012-01-13 16:48:05 -08:00
Jason Short 1269b07d9a Made RTL always the current Altitude 2012-01-13 16:47:38 -08:00
Jason Short ec9880f725 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short 6591089110 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short 8d909f6eed fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short c327a9f000 made landing shoot for below home by 2 meters to avoid bounce up. 2012-01-13 12:46:40 -08:00
Jason Short 7c475f178c tuned down Alt hold D gain 2012-01-13 09:36:51 -08:00
Jason Short 4eacc6f3eb re-enabled relay test 2012-01-13 08:55:02 -08:00
Jason Short ee7c948781 Added simple constrain for Alt d term 2012-01-13 08:49:55 -08:00
Jason Short b0810e054e moved GPS routines to 50hz loop to avoid delay. 2012-01-12 22:59:47 -08:00
Jason Short 648a404ee1 Version 2.2 2012-01-12 22:37:33 -08:00
Jason Short 91e05834c8 removed wind comp code, 
Added Landing boost code
 2012-01-12 22:28:58 -08:00
Jason Short 4459fc4e34 Added a small D term on alt hold 2012-01-12 22:28:58 -08:00
Jason Short 6b85adb460 Added Landing throttle control to force down the copter 2012-01-12 22:28:58 -08:00
Jason Short 154411c96c removed unused defines 
lowered default Loiter gain
 2012-01-12 22:28:58 -08:00
Jason Short 569ff5046f Added Ryan's GPS lag filter 
Removed unused code
refined alt change
 2012-01-12 22:28:58 -08:00
Jason Short a59c9ae22c added notes 2012-01-12 22:28:58 -08:00
Doug Weibel 9846822748 Bug fix for compass. 
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
analoguedevices 70b7951366 Eliminated second instance of APM2 #defines 2012-01-12 20:38:41 +00:00
Jason Short a7bce15365 R10 2012-01-11 22:41:51 -08:00
Jason Short 99ea69ef7b New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short 257890d5be New Loiter Gains for new Loiter methods 2012-01-11 22:41:51 -08:00
Jason Short 98f637282b moved to verify_land 2012-01-11 22:41:51 -08:00
Jason Short 5e9db462f5 attempting to force down without using Manual boost. 2012-01-11 22:41:51 -08:00
Jason Short f35411ac45 R9 2012-01-10 23:46:08 -08:00
Jason Short 84e001594d comma 2012-01-10 23:45:33 -08:00
Jason Short 4b54887c6c Switched to set_next_WP for mode switches 2012-01-10 23:43:44 -08:00
Jason Short 6b836d1a09 Fixed Type Error 2012-01-10 23:43:44 -08:00
Jason Short c4476bdd80 Fixed type error 2012-01-10 23:43:44 -08:00
Jason Short 3e8ff39d4b Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short a79d302b98 added set_new_altitude call() 2012-01-10 23:43:44 -08:00
Jason Short e102cb9e6a Added ending for auto landing 2012-01-10 23:42:27 -08:00
Jason Short 3a5ffc252d updated climb rate control 
Land detector
 2012-01-10 23:42:27 -08:00
Jason Short acd877abda added set_new_altitude call 2012-01-10 23:42:27 -08:00
Jason Short f36aba8af2 climb rate control 2012-01-10 23:42:26 -08:00
Jason Short 5a91396f63 Added climb rate control 
removed unused vars
 2012-01-10 23:42:26 -08:00
Jason Short dab4fb43d4 Added altitude change flags 2012-01-10 23:42:26 -08:00
Jason Short 351be7c305 Made timer unsigned 2012-01-10 23:42:26 -08:00
Jason Short 7b8767d846 Added comments 2012-01-10 23:42:26 -08:00
Jason Short b1e971ea18 added location error calc to get better data. Otherwise we'll be 1 GPS read off. 2012-01-10 23:42:26 -08:00
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
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
Jason Short a284fc222c No longer blocking before initing home 2011-12-23 14:42:50 -08:00
Jason Short 79fff0f096 the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -08:00
Jason Short 62cb407558 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short 85b564c5eb removed some unneeded HIL #defines 2011-12-23 14:42:49 -08:00
Pat Hickey c40fccbc26 Log_simple uses identical implementation of do_erase_logs. 
* fix build1280.ArduCopter
 2011-12-22 13:31:28 -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
Randy Mackay 310f072d50 Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer 2011-12-19 22:57:00 +09:00
Jani Hirvinen 106801a59c config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short b53a6bd4b4 Hexa stability patch bug fix by borna.segulin 2011-12-18 16:38:07 -08:00
Jason Short 239eb53983 change Alpha name 2011-12-18 16:38:07 -08:00
Andrew Tridgell ad9c0533d8 ACM: run mavlink loop while erasing logs 2011-12-18 10:19:41 +11:00
Jason Short 8970948804 Sync logging 2011-12-16 22:02:41 -08:00
Jason Short 47e4c875e1 Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
Andrew Tridgell f6f808357c removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Jason Short 2fc25d963d renamed super simple, added framework for auto calc of throttle cruise 2011-12-15 20:51:41 -08:00
Jason Short 3019c35364 turned off iterm for traverse 2011-12-15 20:51:41 -08:00
Jason Short f11f2c6d97 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Jason Short 72605f846c renamed super simple 2011-12-15 20:51:41 -08:00
Jason Short 88b3708dcf added altitude to circle mission 2011-12-15 20:51:40 -08:00
Jason Short 0ba8a9f30b Allows user to specify just an altitude for Circle Mode 2011-12-15 20:51:40 -08:00
Jason Short 4e280bb0dc More power to descend 2011-12-15 20:51:40 -08:00
Jason Short 3446744ae9 Addition of nav mode that tries to maintain level 2011-12-14 22:08:42 -08:00
Jason Short 4d90058c90 dupe of landing logic for scripting 2011-12-14 22:08:41 -08:00
Jason Short f48e394511 made the last step of landing stop navigating so we can drop straight down. 2011-12-14 22:08:41 -08:00
Jason Short 1251e8105d Added failsafe check 2011-12-14 22:08:41 -08:00
Jason Short c6657f4a93 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Jason Short d2fd6c5ee5 added loiter control to reset nav 2011-12-14 22:08:41 -08:00
Jason Short 8691b10ee9 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Doug Weibel 5d197ae337 Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Doug Weibel 8b78c4a4c5 Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Michael Oborne e20d3a3676 add method of detecting if motors are armed 2011-12-14 06:18:29 +08:00
Randy Mackay 7f64080877 Arducopter - Attitude.pde - fixed small bug in pitch stabilise 2011-12-13 22:10:51 +09:00
Andrew Tridgell 483bef35e5 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell 888d6226b2 fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short edc3a731d4 Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short ba8fc57bd8 Stability patch2 - Jose style. 2011-12-12 17:47:45 -08:00
Jason Short c9b317fc27 Gain updates 2011-12-12 17:47:45 -08:00
Jason Short f3e408e7e0 Added a simplified Log that is just GPS for my 1280 board 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 d83ad1acd4 Upped the max pitch to deal with wind - based on T3 testing 2011-12-12 10:10:33 -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 5760239670 quad: fixed the comments on the + motors 2011-12-12 21:01:58 +11:00
Andrew Tridgell d076fb54b5 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Andrew Tridgell f5e439554d fixed == that should be = 2011-12-12 15:19:50 +11:00
Andrew Tridgell 358dc91d41 fixed hil ArduCopter build 2011-12-12 15:14:55 +11:00
Andrew Tridgell 07dba4eff7 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell 1b1c629167 added sitl build target 2011-12-12 15:14:55 +11:00
Andrew Tridgell 011110e1dd airspeed: use floating point values and better averaging in zero_airspeed() 
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
 2011-12-12 15:14:55 +11:00
Pat Hickey a48c65b5b5 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey 6dbd6b4181 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey 39fe9075d9 ArduCopter Init: different call to barometer.init based on CONFIG_BARO 
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
 2011-12-11 15:21:10 -08:00
Pat Hickey b055aa6f81 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
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
Pat Hickey de6507a47d ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey 8d878a2cae ArduCopter CLI: Add imu.init before imu.init_accel for "level" 
* Depending on when you entered the CLI, the imu might not be
  initialized yet, and init_accel would hang.
 2011-12-11 15:19:46 -08:00
Pat Hickey 2e200834e1 ArduCopter: Revert "Switched to Gyro only startup" 
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.

I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.

It is no longer valid to call IMU::init_gyro() before IMU::init().
 2011-12-11 14:50:02 -08:00
Jason Short 5d0e3664ad Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short e8e126a636 removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Jason Short c1aa015ef1 added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short a685e5b575 fix for navigation scaleLongUp 2011-12-11 09:53:44 -08:00
Randy Mackay fe336fb749 ArduCopter - small fixes to fix HIL compile errors 2011-12-11 23:25:03 +09:00
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
Jason Short f89fed02c3 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short 4659a9ffce Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short af0ae6a10f Set Nav_WP as home 2011-12-10 23:26:10 -08:00
Jason Short 1f3abcf048 eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Jason Short 069bcbf5e6 Made landing slower 2011-12-10 19:33:19 -08:00
Jason Short 873daae095 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00
Jason Short 29554b7d73 Will add a landing command to last WP if we are on the ground. 2011-12-10 19:29:42 -08:00
Jason Short 648ab5f4ae Switched to Gyro only startup 2011-12-10 15:13:20 -08:00
Jason Short f3ff7aa0a8 rework of inflight trim. 2011-12-10 15:05:53 -08:00
Jason Short 5e12924907 Removed Instant PWM from disarmed output 2011-12-10 10:33:25 -08:00
Jason Short 0289e35347 Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Jason Short 84b72b627b Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short 7cecca74bc Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short 69f1841d8e Debugging some motor issues 2011-12-10 10:19:20 -08:00
Jason Short 76d60a2111 Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short d9347290a4 Added notes to Imu.ax, ay, az 2011-12-10 10:19:20 -08:00
Jason Short 2b8280e533 Added enumeration for Land 2011-12-10 10:19:20 -08:00