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1056 Commits

Author SHA1 Message Date
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
Jason Short
307723960d Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short
3ff7b047d5 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Jason Short
49806d93d9 Added Land FLight mode definition 2011-12-10 10:19:20 -08:00
Randy Mackay
0b24914066 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay
fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Pat Hickey
cc38189f71 ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280 
Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
 2011-12-09 15:06:10 -08:00
Randy Mackay
4dc2956ca9 Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i 2011-12-09 22:13:37 +09:00
Randy Mackay
42421a09e2 TradHeli - Attitude.pde - made yaw contol use jason's stability patch 
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
 2011-12-08 22:23:50 +09:00
Randy Mackay
68e6be5eeb TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled 2011-12-08 21:30:47 +09:00
Doug Weibel
502a98dda1 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Jason Short
6dfdd754ea Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00
Jason Short
05409b8c1c made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short
a632c49b44 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short
e8a14c8d93 simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short
9bc6fce3b8 Function call defs commented with // so the preprocessor doesn't get confused 2011-12-03 17:55:44 -08:00
Jason Short
0d8071a401 Added new gain and clamp value for DCM 2011-12-03 17:55:11 -08:00
Jason Short
54c8e1033c Fixing reversed Simple mode switch 2011-12-03 17:54:57 -08:00
Jason Short
aad45c692f Stability patch from 55 2011-12-03 17:54:38 -08:00
Jason Short
778393c4a7 Enabled the compass test 2011-12-03 15:39:02 -08:00
Jason Short
5ed300db7e disabled Flash logs in 1280 by default 
Added stability patch I values and limits
 2011-12-03 15:38:46 -08:00
Jason Short
c99da66506 Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Jason Short
401c985572 Added Deg to rad, rad to deg * 100 to save a float calc 2011-12-03 15:29:33 -08:00
Jason Short
d7cc241f85 formatting 2011-12-03 15:29:33 -08:00
Michael Oborne
4c61462dfd Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 06:32:27 +08:00
Michael Oborne
edf3195384 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Andrew Tridgell
39a36fe946 fixed the "reboot on GPS lock" bug 
the problem was that with APM2 we may not have a 2nd GCS instance. The
"gps alt: xxx" message was being unconditionally sent to both GCS
instances, which caused a crash
 2011-12-04 09:06:58 +11:00
Andrew Tridgell
aaac6212ab MAVLink: use the configured system ID for ArduCopter 2011-12-03 07:54:36 +11:00
Jason Short
9931cacec7 Enabled Ch7 simple mode switching 2011-11-28 22:41:12 -08:00
Jason Short
69dd8264e6 adding flag for finished mission 2011-11-28 22:28:51 -08:00
Jason Short
b92b4e9092 cleanup 2011-11-28 21:40:22 -08:00
Jason Short
eb6d34e1fc Fix error with calc_nav_pitch_roll 2011-11-28 21:27:29 -08:00
Doug Weibel
88ab4f7d70 Fix for intermittent bug of log #1 starting on page 2 and confusing file system 2011-11-28 19:43:10 -07:00
Doug Weibel
b03de3095e Add DataFlash.Init before doing a forced log erase on eeprom reset. 
Add progress indication during log erase
 2011-11-28 19:42:27 -07:00
Jason Short
b4a0d8a275 Fixed navigation bug 2011-11-28 14:22:05 -08:00
Jason Short
ce5ad442fc Git Test 2011-11-28 10:54:20 -08:00
Jason Short
62ed256fca made the crosstrack use the previous WP instead of the current loc to get a better line in AP. 2011-11-28 10:33:06 -08:00
Jason Short
82adf1df6b removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00
Jason Short
504b4b52d6 slight refactoring to avoid the increment issue when changing commands 2011-11-28 10:33:06 -08:00
Jason Short
4a6feb3acb better comments out of some old unused functions to avoid compiler errors 2011-11-28 10:33:06 -08:00
Jason Short
909e5796eb Logging input to find this freeze bug 2011-11-28 10:33:06 -08:00
Jason Short
df57380adc Erasing Logs causing major havoc. Users getting infinite loop. 2011-11-28 10:33:05 -08:00
Jason Short
cc1593d16d made Logs dump with dump 0 or -1 2011-11-27 22:23:02 -08:00
Jason Short
b3bd4bd3c9 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Jason Short
fb5302c50b No longer resetting ch7 wp index with mode change, requires reboot 2011-11-27 22:23:02 -08:00
Andrew Tridgell
2cabb11307 mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Jason Short
940fa9621c Added minimum Altitude for RTL failsafe 2011-11-26 16:39:29 -08:00
Jason Short
44cb73c9fa added safety checks for RTL 2011-11-26 16:39:29 -08:00
Jason Short
d0af4e7200 CH7 with params 2011-11-26 16:39:29 -08:00
Jason Short
ec5b080167 Enable RTL 2011-11-26 16:39:29 -08:00
Jason Short
ca5e4bb802 Allow output of system type 2011-11-26 16:39:28 -08:00
Jason Short
1621f3a638 allow CH7 to be set via params 2011-11-26 16:39:28 -08:00
Jason Short
ea911e0bcb updated failsafe code 2011-11-26 16:39:28 -08:00
Jason Short
19c3c27ed0 Erasing Logs at new FW version detection 2011-11-26 16:39:28 -08:00
Jason Short
52297679c4 sending Mavlink system type 2011-11-26 16:39:28 -08:00
Andrew Tridgell
a048709828 Logs: don't print hundreds of bogus log boundaries 
this can take quite a long time
 2011-11-26 17:02:55 +11:00
Andrew Tridgell
a99bcec762 desktop: report motors armed in desktop build too 
this helps in autotest
 2011-11-25 20:00:19 -08:00
Pat Hickey
6ee477bd8d ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell
38c85c44ae ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell
3a542b3ef3 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell
338445e60c ArduCopter-HIL: fixed HIL build 
Logging isn't always enabled
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
ffba37d599 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
aa558eb033 fixed a valgrind error 
this error is harmless, but false positives can disguise real errors
 2011-11-25 20:00:18 -08:00
Pat Hickey
eee2da01ac Arducopter: each motors_ pde uses APM_RC.SetFastOutputChannels 2011-11-25 20:00:18 -08:00
Pat Hickey
ea4c220ee9 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell
6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey
1d50bb80fd hil-sensors ArduCopter: fixes to make hil-sensors build work properly 
* requires new stub libraries for InertialSensor and PeriodicProcess.
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
1e41b4b2b0 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell
a3701e521a build: added hlsensors target 2011-11-25 20:00:18 -08:00
Andrew Tridgell
1c20efe4b8 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell
2a5a15abce test: fixed test code for HIL build 2011-11-25 20:00:17 -08:00
Andrew Tridgell
3072fdda85 adc.Init() needs timer_scheduler 2011-11-25 20:00:17 -08:00
Andrew Tridgell
c0898ab3b9 purple: timer_scheduler should be in all builds 2011-11-25 20:00:17 -08:00
Andrew Tridgell
2d8cfc0c3f test: neaten up the output of the dcm test 2011-11-25 20:00:17 -08:00
Pat Hickey
3131ab16ef remove BROKEN_SLIDER code 
use the new CLI_SLIDER_ENABLED option and the "hit ENTER 3 times"
method
 2011-11-25 20:00:17 -08:00
Pat Hickey
475afd6ac2 purple: enable dcm test, and fixed imu test to test the IMU API 2011-11-25 20:00:17 -08:00
Pat Hickey
c2972ff1f9 purple: fixed CLI code for non-ADC hardware and no sonar 
purple hardware does not use the ADC driver
 2011-11-25 20:00:17 -08:00
Pat Hickey
63393b206a purple: added ins test 
this tests the InertialSensor library API
 2011-11-25 20:00:17 -08:00
Pat Hickey
f1bad83d21 purple: fixed system init for purple sensor objects 2011-11-25 20:00:16 -08:00
Pat Hickey
e3027fe54e purple: pass isr_registry to APM_RC.Init() 2011-11-25 20:00:16 -08:00
Pat Hickey
660174e610 purple: switch ArduCopter to new sensor objects 
this uses the new sensor abstractions for the purple/APM1 hardware
choice
 2011-11-25 20:00:16 -08:00
Pat Hickey
4869ac3385 purple: use the new LED_ON/LED_OFF macros for LED level 
this gets this right on both APM1 and purple for ArduCopter
 2011-11-25 20:00:16 -08:00
Pat Hickey
3f2692d1da purple: added configuration logic for APM1 versus purple hardware 
This abstracts the names for LED on/off (due to the different wiring
of LEDs on APM1 and purple), and adds the needed config defines for
the two hardware types
 2011-11-25 20:00:16 -08:00
Pat Hickey
90c5eb8487 purple: added defines for APM hardware selection 
we can now choose APM_HARDWARE_APM1 or APM_HARDWARE_PURPLE
 2011-11-25 20:00:16 -08:00
Pat Hickey
cc67062442 build: added new command line build targets 
this makes it more convenient to build common options
 2011-11-25 20:00:16 -08:00
Pat Hickey
5ee5036fa1 purple: added comment for enabling purple hardware 2011-11-25 20:00:16 -08:00
Andrew Tridgell
89d2f0f849 mod barometer.Init() based on hardware 2011-11-25 20:00:15 -08:00
Michael Oborne
0a0b2d32f4 Add rc input to cli planner mode 2011-11-26 11:23:14 +08:00
Jason Short
abe4758c3b no longer using the raw pressure 2011-11-25 11:34:05 -08:00
Doug Weibel
9ecfac1156 Change ArduCopter DataFlash log file system to new file system which allows overwriting logs. 
Also changed the feature to dump all DataFlash memory to occur when user requests dumping log "-1"
 2011-11-25 07:17:15 -07:00
Jason Short
c5c5884006 v number 2011-11-21 22:13:18 -08:00
Jason Short
89e014c06a Added alternate alt hold, 
New ESC Calibration Routine
 2011-11-21 22:12:19 -08:00
Jason Short
85a5647f5d cleanup 2011-11-21 22:11:06 -08:00
Jason Short
6d99e78887 removed unused function 2011-11-20 21:59:55 -08:00
Jason Short
95b797d359 removed the init_esc - reworking the method to avoid the use of the CLI. 2011-11-20 21:24:32 -08:00
Jason Short
5c797e91b5 Better function definition 2011-11-20 20:32:46 -08:00
Jason Short
beeba99b92 Missed a function definition for no_logs option 2011-11-20 20:29:58 -08:00
Jason Short
2600f19172 RTL Yaw hold as default 2011-11-20 12:50:13 -08:00
Jason Short
fbf09dbf2d Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Randy Mackay
f397bae793 ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up 
Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
 2011-11-20 22:30:42 +09:00