cb84ec9d9b
Copter: add current based compass compensation
2013-03-03 23:02:36 +09:00
e0506bd622
Copter: inav circle initial implementation
2013-02-26 11:35:35 +09:00
d6ff5ae261
Copter: add roll-pitch slew for auto modes
...
Added reporting of roll, pitch inputs for ACRO, AUTO
2013-02-24 14:42:04 +09:00
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
2013-02-24 14:41:52 +09:00
609676e26c
Copter: add logging of compass values
...
Removed rarely used ITERM because we didn't have enough bits in the log
mask
2013-02-24 14:41:48 +09:00
1410063a14
Copter: new ROLL_PITCH_WP_INAV roll-pitch mode
...
small corrections to allow waypoints to work with new inertial nav wp
controller
2013-02-24 14:41:40 +09:00
67c69a19ee
Copter: remove baro-only alt hold
...
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
fcf102b2cf
Copter: inertial nav waypoint controller
...
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
2013-02-24 14:41:09 +09:00
7d5b975da2
AC: Flip code fix
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Flight tested it today and made some flips. Throttle adjusted in Manual throttle modes. Not tested in AP throttle modes such as alt hold.
2013-02-23 13:14:11 +09:00
abd0fb9099
AC : global static variables should not be initialized to zero
2013-02-22 17:34:18 +09:00
9904e9f4db
Copter: update firmware version to 2.9.1-rc1
2013-02-19 13:43:36 +09:00
a0b65a262b
Copter: use scaled throttle for accel-throttle's I term
...
Accel throttle's I term is taken from scaled manual throttle
2013-02-01 22:37:25 +09:00
06a71af12f
Copter: THR_MID used to scale manual throttle
2013-02-01 22:37:16 +09:00
9c3b9907dd
Copter: bug fix to set sonar_alt_health to zero when disabled
2013-01-31 17:00:28 +09:00
ce370bab0c
Copter: rename CUR and CURR to CURRENT for logging
...
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
2013-01-26 17:20:41 +09:00
d2767b911c
AP_Math: switch get_distance_cm to return uint32_t
...
Includes changes required on ArduCopter and ArduPlane side as well
2013-01-26 17:04:12 +09:00
0056bfadd7
Copter: rename ROLL_PITCH_LOITER
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new name ROLL_PITCH_LOITER_INAV makes it more clear that it should only
be used with the new inertial nav loiter controllers
2013-01-25 23:27:31 +09:00
aaecc25ac7
Copter: leonard's inav2
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Moved loiter controller to navigation.pde
2013-01-25 15:16:35 +09:00
fd02cfe706
Copter: added set_nav_mode to control initialisation of nav controllers
...
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
2013-01-25 15:16:29 +09:00
9a09f086d2
Copter: Leonard Hall's inertial nav ver 2
2013-01-23 12:34:49 +09:00
ab1978ad50
Copter: Leonard Hall's inertial nav based loiter
2013-01-22 18:38:00 +09:00
dde713aaa5
Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this.
2013-01-20 21:32:00 +09:00
577bf865b3
Copter: update firmware version to 2.9-dev
...
The -dev extension indicates that we are post 2.9 release
2013-01-17 13:03:33 +09:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
148c227d73
Copter: update firmware version to rc5
2013-01-15 12:17:41 +09:00
c1fa850d10
ArduCopter: update firmware version to 2.9-rc4
2013-01-13 20:01:09 +11:00
175f69a64f
ArduCopter: smooth throttle when switching from manual throttle to alt hold
...
new set_accel_throttle_I_from_pilot_throttle function copies the
difference between the pilot's throttle and hover throttle to the
accelerometer based throttle controller's I term.
2013-01-13 20:00:59 +11:00
fbed8b8861
ArduCopter: alphabetized the contributors list
...
Jonathan Challinger added
2013-01-13 20:00:28 +11:00
5965914039
ArduCopter: increase firmware version to 2.9-rc3
2013-01-13 20:00:25 +11:00
b0c710b67f
Copter: move read_AHRS() before run_rate_controllers()
...
this ensures the rate controllers use the latest data
2013-01-13 20:00:14 +11:00
f25f1cb3bf
ArduCopter: changed alt hold to use the sonar if enabled and healthy
2013-01-13 19:56:19 +11:00
21b6c78d12
ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes
...
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
2013-01-13 19:51:47 +11:00
87627d883b
ArduCopter: use new logging method for remaining packet types
...
Additional changes include renaming RAW dataflash type to IMU
2013-01-13 00:17:44 +09:00
af478d52bc
Copter: use the new logging methods for 2 packet types
...
the rest still need to be converted
2013-01-12 18:15:23 +11:00
0fe7901422
Copter: only print perf data when SCHED_DEBUG is non-zero
2013-01-12 12:06:40 +11:00
dcb181d2d8
Copter: use new AP_Scheduler library
2013-01-12 12:02:57 +11:00
2e57720444
Copter: move memcheck_init() earlier in setup
2013-01-11 10:24:21 +11:00
7374e5d84e
ArduCopter: Use 16-bit arithmetic when comparing event tick counters.
...
- On the ARM, once the tick counter wrapped, we stopped running events
because the wraparound case wasn't being handled correctly. Make
sure the comparison is 16 bits to prevent this.
2013-01-09 11:19:52 -08:00
7827a4a54a
ArduCopter: Add AP_HAL_SMACCM support.
...
- Added default configuration to "config.h".
- Added main function to run under FreeRTOS with HWF4.
2013-01-09 11:19:51 -08:00
ab37f833db
MS5611: Fix CONFIG_MS5611_SERIAL definitions.
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- Make sure the values are defined as integers. We were always using
SPI rather than using I2C when desired.
2013-01-09 11:19:51 -08:00
e575c5eba0
Copter: read baro at 50Hz
2013-01-09 23:46:05 +11:00
269804e866
Copter: use barometer.accumulate()
...
this gives us more consistent timing and faster baro reads on APM1
2013-01-09 23:08:19 +11:00
860f4b2605
Copter: merge the latest 2.9 changes into master
2013-01-08 14:37:40 -08:00
d11dde578f
Copter: a useful bit of timing debug code
...
enable when looking at main loop timing
2013-01-07 11:07:44 +11:00
d952ccf968
Copter: added main_loop_ready() function
...
this tells us when the main loop is ready to run. MAVLink won't send a
message if the main loop could run.
2013-01-07 11:07:34 +11:00
c48714be16
Copter: enabled PX4 sensors
2013-01-05 20:39:31 +11:00
264db3670e
AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C.
...
- Update ArduCopter and ArduPlane modules to pass the correct serial
driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
2013-01-03 13:48:06 -08:00
94e3322e24
Copter: fixed build on px4
2013-01-02 22:09:02 +11:00
e56a7eacec
Copter: don't pass board version to motors
2013-01-02 15:28:34 +11:00
ead38f917f
Copter: use GRAVITY_MSS
2013-01-02 14:45:08 +11:00
228ad2198f
ArduCopter: update firmware version to 2.9-rc2
2013-01-02 09:55:37 +11:00
677b38a48e
ArduCopter: first implementation of surface tracking using sonar
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Note: not yet enabled as part of any flight mode
2013-01-02 09:55:37 +11:00
68b62abd38
ArduCopter with the new Camera and Relay classes for APM1 and APM2.
...
All changes by Sandro Benigno
2013-01-02 09:55:37 +11:00
e850ab7ccd
ArduCopter: add AUTO_VELZ_MIN, AUTO_VELZ_MAX and PILOT_VELZ_MAX to allow better control of climb/descent rate in auto and manual throttle modes
2013-01-02 09:24:31 +11:00
0ed25cf719
Global change all references from
...
GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
2013-01-02 09:24:31 +11:00
466097b383
ArduCopter: use inertial nav for current altitude and climb rate
2013-01-02 09:22:51 +11:00
5ba363b007
ArduCopter: move gcs_check function (which sends to ground station) to run when 50hz loop is not running
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Also removed redundant heartbeat message
2013-01-02 09:21:35 +11:00
bd0e018ca0
ArduCopter: restore auto-trim method but now use AHRS.add_trim
2013-01-02 09:20:08 +11:00
6e64b1b357
ACM: Precision Loiter RePositioning code.
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Protected behind a #define
2013-01-02 09:19:39 +11:00
e6519330f4
ArduCopter: remove unused rc_override variables to save 21 bytes
2013-01-02 09:19:17 +11:00
ac8af9a53f
ArduCopter: Leonard Hall's changes to alt hold including adding low pass filter to climb rate
...
get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
2013-01-02 09:19:17 +11:00
d926360e81
ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts
2013-01-02 09:14:31 +11:00
6da68c53a5
ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled
2013-01-02 09:13:42 +11:00
5633164fa0
ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue)
2013-01-02 09:12:40 +11:00
8e032b89ee
ArduCopter: create 2.9 branch and update firmware version
2013-01-02 09:10:40 +11:00
06357c40f2
Copter: use new functions
2012-12-20 14:53:22 +11:00
a02f723f3a
Copter: fixed HIL builds
2012-12-20 14:52:37 +11:00
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
08b1c2d590
Copter: fixed GPS init
2012-12-20 14:52:33 +11:00
d5d97be837
ArduCopter: add param loader properly implement parameters
...
* thanks tridge!
2012-12-20 14:52:29 +11:00
5e63491994
ArduCopter: fix issues with HAL/HIL mixup and baro/compass instances
2012-12-20 14:52:29 +11:00
21d0da84a6
ArduCopter: temporarily disable AP_Param::setup_sketch_results
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* rebased away tridge's AP_Param changes as they seemed possibly buggy?
2012-12-20 14:52:29 +11:00
a0151aa66c
ArduCopter: fix cliSerial null ptr, do AP_Param::setup_sketch_defaults
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* plus make SITL DataFlash available.
2012-12-20 14:52:29 +11:00
2aa4657315
ArduCopter: changes to use CONFIG_HIL_BOARD
2012-12-20 14:52:28 +11:00
ade7099d75
ArduCopter: add AP_HAL_MAIN
2012-12-20 14:52:28 +11:00
5bd7046a95
ArduCopter: sketch cpp builds!
2012-12-20 14:52:28 +11:00
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
70f4739522
ArduCopter: more fixes
2012-12-20 14:52:28 +11:00
f281d9265e
ArduCopter: reworked sonar analog source creation
2012-12-20 14:52:28 +11:00
d9e0bbbbab
ArduCopter: first pass at AP_HAL porting
...
* changed all the byte types to uint8_t
* fixed up much of the serial stuff
2012-12-20 14:52:27 +11:00
a4f1f6a5db
AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR
2012-12-20 14:51:28 +11:00
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
...
* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
2012-12-20 14:51:19 +11:00
19ae5c30eb
ACM : Formatting
2012-12-13 20:12:39 -08:00
047f848cc7
ArduCopter: remove ThirdOrderCompFilter from list of includes
2012-12-10 09:14:44 +09:00
0f7bb79d89
ArduCopter: add comments to tuning parameters.
...
Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
2012-12-09 16:44:42 +09:00
8c2423f618
ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde
2012-12-09 15:24:19 +09:00
b4e5176e2a
ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.
2012-12-09 14:27:33 +09:00
0eb57bf93d
ACM: TradHeli
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Fix to make update_throttle_cruise work with stab_throttle scaling.
2012-12-08 15:12:39 -05:00
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
99b32a39c4
ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis
2012-12-07 13:01:40 +09:00
39d524212f
ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter.
...
When disabled the original velocity based throttle controller is used.
2012-12-06 10:31:57 +09:00
a5bb54e36e
ArduCopter: RTL clean-up and slightly improved landing sensor
...
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
072ffec493
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
d7f76ebd87
ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI)
2012-12-06 10:31:25 +09:00
7b4ed2d227
ArduCopter: restored landing detector to landing throttle mode.
...
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
2012-12-06 10:31:20 +09:00
a94826f182
ArduCopter: add set_throttle_mode to better control initialisation of variables
2012-12-06 10:31:04 +09:00
1036b35128
ArduCopter: added back in angle boost and recombined for heli and multicopter
2012-12-06 10:30:55 +09:00
3cbef57c64
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
...
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
1d589c0b7d
ACM: TradHeli
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Fixes for Attitude rate controllers.
2012-12-04 14:42:04 -05:00
315a7e8000
ACM: Yaw Look Ahead Changes
2012-12-04 13:26:41 -05:00
Randy Mackay
Jason Short
Robert Lefebvre
James Bielman
Andrew Tridgell
Craig@3DR
Pat Hickey
Jason Short