Robert Lefebvre
9130045298
ACM: Code Cleanup
2012-11-30 17:05:12 -05:00
rmackay9
8141f0b600
ArduCopter: bug fix - increase mpu6k sample rate to 100hz
2012-11-30 23:49:18 +09:00
Andrew Tridgell
6fbf5ec8f2
Copter: update ArduCopter for new ins interface
2012-11-30 07:15:18 +11:00
Robert Lefebvre
07d7d90882
ACM: TradHeli
...
Bringing in Low Pass Filter for Rate Controllers
2012-11-26 21:51:23 -05:00
Robert Lefebvre
6b8c39dd10
ACM: Creating Yaw_Look_Ahead yaw mode.
...
This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
Robert Lefebvre
3f0e8dd358
ACM: TradHeli
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Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
2012-11-26 21:21:12 -05:00
Robert Lefebvre
e8d619acad
ACM: Begin creation of TradHeli rate control.
...
May affect Multi-Rotors.
2012-11-26 21:02:41 -05:00
Robert Lefebvre
6b1fee767a
ACM: TradHeli
...
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
2012-11-26 19:37:20 -05:00
Robert Lefebvre
95eeda7cf7
ACM: TradHeli
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Removing Angle Boost function.
Does not make sense for helis due to aerodynamics. Can cause more problems than it solves.
2012-11-26 18:58:21 -05:00
Robert Lefebvre
8056b78c55
ACM: TradHeli
...
Remove Rate I-term reset when throttle stick is on the bottom. This could be very bad for helis since it's plausible to use full downstick while flying.
There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway.
Also removed what appears to be some deadwood.
2012-11-26 18:49:24 -05:00
Andrew Tridgell
5818aaad42
Copter: fixed build error
...
thanks to Marco for pointing this out
2012-11-24 20:39:35 +11:00
Andrew Tridgell
cd07d965a7
Copter: ported RSSI_PIN option from ArduPlane
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this is useful for OSD users
2012-11-22 20:59:33 +11:00
rmackay9
3372355e07
ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d
2012-11-22 12:50:39 +09:00
Andrew Tridgell
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
rmackay9
07a7a1acd8
ArduCopter: replaced digitalRead and digitalWrite with faster calls
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improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
Robert Lefebvre
9c6e914bf8
Added Leonard to Contributor List.
2012-11-16 15:43:03 -05:00
rmackay9
258442770d
ArduCopter: flight mode changes ignored while in throttle failsafe
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reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
2012-11-13 12:50:51 +09:00
rmackay9
dcd98eee78
ArduCopter: remove some variables no longer required with introduction of AP_state
2012-11-12 12:41:25 +09:00
rmackay9
ac5dcc8d49
ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables
2012-11-12 12:35:58 +09:00
Jason Short
c1b759d5d8
ACM: Added a speed filter for throttle cruise, increased alt change rate for alt hold, increased the max climb_rate reporting
2012-11-11 18:17:33 -08:00
Jason Short
9e0b0b9fcd
ACM : loging ApState at faster rate
2012-11-11 18:00:10 -08:00
rmackay9
bcb9519fd7
ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues
2012-11-11 22:42:10 +09:00
rmackay9
95f6357d35
ArduCopter: fix APM2 build
2012-11-10 22:06:23 +09:00
Jason Short
e4cec91e59
ACM : Arducopter Added ap state bitfield, system bitfield
2012-11-09 22:15:15 -08:00
Jason Short
cdabc3878b
ACM: Arducopter - remove the stabilize D scheduling
2012-11-09 22:15:15 -08:00
Jason Short
d2a0913b2d
ACM : formatting
2012-11-09 22:15:15 -08:00
rmackay9
b13264c884
AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors
2012-11-07 22:24:00 +09:00
rmackay9
ad431d2f25
ArduCopter: fixed HIL build caused by optical flow semaphore changes
2012-11-07 21:13:34 +09:00
rmackay9
1f801714e8
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
rmackay9
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
Jason Short
e138b0a1d7
ACM: Added simple mode bearing logging for bug hunting
2012-10-28 12:12:38 -07:00
rmackay9
78316adf75
ArduCopter: replace Serial.print with Serial.print_P to save memory.
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Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
2012-10-22 16:45:24 +09:00
Jason Short
a0752dc7dc
ACM Acceleration management
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removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
2012-10-21 14:32:39 -07:00
rmackay9
a37a9b5b67
ArduCopter: updated firmware version to 2.8
2012-10-20 09:50:53 +09:00
Pat Hickey
d4bb8a10d7
Update ArduCopter and ArduPlane dependencies on AP_Menu
2012-10-18 20:53:39 -07:00
Robert Lefebvre
592f4040fd
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
rmackay9
1c08e48b4b
ArduCopter: updated firmware version to 2.7.4-Zeta
2012-10-18 23:30:28 +09:00
rmackay9
583f2e49a3
ArduCopter: integrated Leonard Hall's improved ACRO mode
2012-10-18 23:24:34 +09:00
rmackay9
d2912e4e01
ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1
2012-10-18 17:04:44 +09:00
rmackay9
9e3c2dd105
ArduCopter: updated firmware version to 2.7.4-Epsilon
2012-10-17 19:27:11 +09:00
rmackay9
8519fe55d3
ArduCopter: more out-of-date commented out code removed
2012-10-17 19:25:14 +09:00
rmackay9
956b347d68
ArduCopter: updated firmware version to 2.7.4-Delta
2012-10-17 10:20:41 +09:00
rmackay9
4016f3ba85
ArduCopter: update version information ahead of testing
2012-10-15 18:15:38 +09:00
LeonardTHall
d7b7e1cefa
New Yaw controller using rate feed forward and stabilize.
...
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
2012-10-15 11:37:49 +09:00
rmackay9
997fe85880
ArduCopter: fixed acro mode
...
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
2012-10-14 17:47:46 +09:00
rmackay9
1e79d265a1
ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read
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The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
2012-10-11 18:31:10 +09:00
rmackay9
cf3e49eea2
ArduCopter: changed sin_pitch and sin_roll to faster equivalents
2012-10-11 17:54:42 +09:00
Andrew Tridgell
601fe89baa
ACM-HIL: fixed optflow declaration
2012-10-11 11:51:25 +11:00
Pat Hickey
da374f9043
ArduCopter: Provide AP_Semaphore instance for SPI3 bus on APM2.
2012-10-09 11:39:39 -07:00
rmackay9
c0ad98be31
ArduCopter: failsafe added to shutdown motors if mainloop fails
2012-10-09 12:30:17 +09:00
rmackay9
61d0c8e35c
ArduCopter: added AP_Semaphore to list of includes
2012-10-06 12:41:58 +09:00
rmackay9
e375a27058
ArduCopter: prioritise rate controllers, rate controller targets converted to body frame
2012-10-03 14:10:31 +09:00
rmackay9
95763e610b
ArduCopter: allow DMP to run in parallel with DCM
...
Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
2012-09-30 00:25:40 +09:00
rmackay9
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
rmackay9
ed881117e0
ArduCopter: updated version to 2.7.4-Beta
2012-09-25 23:39:15 +09:00
rmackay9
b2f12c4854
ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5
2012-09-24 18:39:33 +09:00
rmackay9
93ae29a3e9
ArduCopter: added throttle curve (although disabled by default) for all multicopters
2012-09-18 23:05:08 +09:00
Andrew Tridgell
5fd39bb928
ACM: updates for new GPS detection
...
a GPS can now be attached after startup
2012-09-17 14:45:47 +10:00
rmackay9
303ca11c4c
HIL: changes to fix HIL for ArduCopter after recent timing changes.
...
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
rmackay9
9e66b555cb
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
Jason Short
834f961409
ACM : Fix enduf
2012-09-10 21:25:53 -07:00
Jason Short
4c8e257ea2
ACM : forced setup_show to dump params during log dump for better analysis.
2012-09-10 20:52:30 -07:00
Jason Short
34e07c826f
ACM : Added centralized Iterm logging at a lower rate. Logs all iterms.
2012-09-10 20:26:48 -07:00
Andrew Tridgell
841d2700b6
ACM: use spare CPU cycles to read the magnetometer
2012-09-10 11:38:18 +09:00
rmackay9
fd110a2723
ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU.
...
This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
2012-09-10 11:37:53 +09:00
Andrew Tridgell
f97104b435
ACM: use compass.accumulate() in ArduCopter
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this gives us a much less noisy magnetometer
2012-09-08 10:06:04 +10:00
rmackay9
5073e56c06
ArduCopter: upgraded firmware version to 2.7.3
2012-09-02 12:58:16 +09:00
rmackay9
c9d34c1737
ArduCopter: fixes to allow AP_Mount to work on APM1 with original default channels and fix to reenable support for 3-axis gimbals on APM2.
...
Channels 5 to 11 changed to RC_Channel_aux.
Removed channel 9 because APM_RC doesn't support it in any case.
Updated EEPROM format version to 119 because of the change to RC_Channel_aux and because k_param_rc_11 moved to be after k_param_rc_10.
2012-09-02 12:51:23 +09:00
Craig Elder
274b2e2143
Arducopter: Release 2.7.2
2012-08-31 19:18:10 -07:00
Jason Short
082913efd4
ACM : revert back to the 2.6 climb rate calc
...
The current filter is outputting wild oscillations.
2012-08-28 21:22:07 -07:00
Craig Elder
d8a2bfb9e8
Arducopter: Preparing for 2.7.2 Release
2012-08-28 18:30:41 -07:00
Jason Short
9d64bea2ef
ACM: Altitude Adjust
2012-08-28 15:40:08 -07:00
Jason Short
98cc65862d
ACM : Log Timing
2012-08-28 15:40:08 -07:00
uncrustify
4021a64747
uncrustify ArduCopter/ArduCopter.pde
2012-08-21 19:19:50 -07:00
Andrew Tridgell
6d11940ada
AHRS: removed Quaternion build support from APM/ACM/rover
2012-08-22 10:42:21 +10:00
Andrew Tridgell
e9928e78de
ACM: fixed TradHeli build
2012-08-22 09:55:31 +10:00
Robert Lefebvre
575b99b4be
TradHeli: Creating Flybar Acro mode.
2012-08-21 16:54:01 -04:00
rmackay9
75459b09be
ArduCopter: changed reset_throttle_counter to uint8_t to get rid of overflow bug that was preventing target altitude from being locked in after pilot input down throttle.
2012-08-19 11:50:35 +09:00
Jason Short
988d0c98fc
ACM : Alt hold adjustment - made angle boost work during alt hold changes.
...
increased length of delay when reverting to automatic hold to deal with latency of baro sensor
2012-08-18 09:30:46 -07:00
rmackay9
5b6f7f0012
ArduCopter: modified altitude hold so that 1 second slow down period is executed after pilot moves throttle back into deadzone
2012-08-18 21:45:49 +09:00
Jason Short
770956a3fd
ACM : Made control_roll and pitch global for logging; made yaw towards waypoint use initial angle and not a recalculated angle to deal with wiggles as we approach WP
2012-08-16 15:39:50 -07:00
rmackay9
36f947acb9
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
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Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
2012-08-16 20:04:46 +09:00
Jason Short
a4bc5950cf
ACM: Added a filtered version of Location for GPS lag.
...
I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
2012-08-14 14:11:51 -07:00
Jason Short
993c89c4f8
ACM: Revved the version
2012-08-14 14:11:51 -07:00
Jason Short
b01a71c4b9
ACM: Toy mode updates - added second toy mode
2012-08-11 22:37:27 -07:00
Andrew Tridgell
81440a1b09
AHRS: fixed build
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AP_Airspeed.h is now needed to build AHRS
2012-08-11 12:22:55 +10:00
Jason Short
3ad08b7ffc
ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second.
2012-08-10 10:02:32 -07:00
Jason Short
02649f3f11
ACM : Arducopter.pde
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command_nav_index upped to in16t for negative number
renamed trim flag > CH7_flag
Added fast_corner var
removed unused alt vars
Alt hold I term update
2012-08-09 16:59:43 -07:00
Amilcar Lucas
0b0b9c29a2
Allow fully independent operation of two AP_Mount instances
2012-08-08 23:11:23 +02:00
Amilcar Lucas
9cc705939a
Add a second mount instance
2012-08-08 23:07:25 +02:00
Andrew Tridgell
fb26160d3b
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
Andrew Tridgell
c2a4d59132
AP_Param: update ArduCopter core for new AP_Param interface
2012-08-08 12:11:57 +10:00
Amilcar Lucas
d9f1140278
ArduCopter: Use generic channel names for AP_Mount servos.
...
This simplifies mission planner, the same code can be used for plane and copter now.
2012-08-06 23:33:51 +02:00
Amilcar Lucas
f14237126a
Add me :)
2012-08-06 00:40:12 +02:00
Amilcar Lucas
107155fa1a
AP_Mount: Allow using any RC channel to control any of the mount axes.
...
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
2012-08-05 23:48:57 +02:00
Amilcar Lucas
b8c7b8a786
RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.
2012-08-05 23:08:31 +02:00
Amilcar Lucas
4ba847c449
The mount type must be updated periodically
2012-08-04 18:44:08 +02:00
rmackay9
c091c8e0e6
ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode.
2012-08-01 12:15:02 +09:00
Andreas M. Antonopoulos
de85442c36
AC2.7.1: Updated version and tag
2012-07-31 13:11:17 -07:00
rmackay9
5cb4a88292
ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered)
2012-07-28 23:05:05 +09:00
rmackay9
670a66667f
ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing)
2012-07-28 16:22:35 +09:00
rmackay9
014f5aae99
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +09:00
Michael Oborne
f4705577c8
AC fix sitl attitude hil build
2012-07-24 21:18:36 +08:00
Andreas M. Antonopoulos
80cf794c86
AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant.
2012-07-21 17:52:06 -07:00
Jason Short
b17eb7f768
ACM: Fixed Baro rate patch to work with Sonar and added simple filter
2012-07-21 16:45:00 -07:00
Jason Short
9f6e1347b6
Ardcucopter: RTL distance check update, reset I terms fixed.
2012-07-20 13:27:35 -07:00
Jason Short
2b20c85279
Arducopter: cleanup, skip out of throttle control when flipping.
2012-07-19 22:35:21 -07:00
Jason Short
91062b56af
Arducopter.pde: Increased the throttle Hold altitude control
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simplified Yaw reset
2012-07-19 17:38:25 -07:00
Jason Short
1efc9eac58
Arducopter: Adjust landing speed
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removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.
2012-07-19 09:48:31 -07:00
Jason Short
c9851344e7
Arducopter
...
removed old Var
2012-07-18 22:57:10 -07:00
Jason Short
cb1cdcd4a7
Arducopter: New Alt control code
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Uses a new method to manage altitude changes. Alt hold controller was split into a hold and a rate controller just like navigation. Changing alt is done by specifying a climb rate.
Interactive alt hold is now simplified and is an 80cm climb or descent.
2012-07-18 22:57:10 -07:00
Jason Short
5965632888
Arducopter: Flip mode
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Flip mode graduates to pre-compiled option
2012-07-18 22:57:10 -07:00
rmackay9
b691c3f658
ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch.
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This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
2012-07-18 23:49:09 +09:00
Andreas M. Antonopoulos
a976a59c88
AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.
2012-07-16 11:46:43 -07:00
rmackay9
c495a5f36e
ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move
2012-07-15 16:38:28 +09:00
Andreas M. Antonopoulos
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Jason Short
e3af0c7920
Arducopter: Yaw stop fix
2012-07-14 12:23:10 -07:00
Robert Lefebvre
59e133235f
Implementing Yaw Fix. Tried to blend with Jason's changes.
2012-07-14 00:24:22 -04:00
Jason Short
4af392290b
Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance
2012-07-13 19:29:36 -07:00
Jason Short
7b746cf5e1
Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions
2012-07-13 12:51:38 -07:00
Jason Short
d8ff5dcfab
Arducopter: Fix circle_WP
2012-07-12 09:22:20 -07:00
Jason Short
293f17902b
Arducopter:Arducopter.pde
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switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
2012-07-10 21:53:38 -07:00
Jason Short
3048d2f9b4
Arducopter: WP_radius
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Switching to stored WP_radius in meters, just like Arduplane
2012-07-10 21:53:38 -07:00
Amilcar Lucas
dfe0983e1e
Merge the changes from APM_Camera branch into ArduCopter
...
Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
2012-07-11 00:39:13 +02:00
Jason Short
f019d41729
arducopter.pde
...
Timer was set =0 at initialization.
2012-07-09 13:13:32 -07:00
Jason Short
8ccda519fa
Arducopter.pde:
...
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
2012-07-03 17:21:46 -07:00
Jason Short
e0b3309500
Yaw mode:
...
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
2012-07-01 13:40:12 -07:00
Jason Short
c5617eeeac
Arducopter.pde_RTL:
...
added a new RTL function that goes into Loiter, first, checks if we have reached RTL_Altitude, then enters WP mode to come home.
Removes Approach mode. Uses Auto_Approach value to decide if we should land or descend to a certain altitude
2012-07-01 13:40:11 -07:00
Jason Short
2e8eee9306
Added code for self centering throttle - disabled by default.
2012-07-01 13:40:11 -07:00
Jason Short
4d6ccccef5
Circle_WP distance check fix
2012-06-29 21:20:28 -07:00
Jason Short
668135ea8b
Arducopter.pde: Added Toy mode refinements
2012-06-29 21:20:27 -07:00
Jason Short
e036bee424
Aeducopter.pde: Toy mode updates
2012-06-29 21:20:27 -07:00
Andrew Tridgell
55092c25a6
SITL: enable the SIM_* parameters in ArduCopter and ArduPlane
2012-06-29 15:10:52 +10:00
Adam M Rivera
dadc7d5a7d
ArduCopter: Loiter Timer should have been set when the approach altitude was set. Previously, land had to be enabled before auto approach would work.
2012-06-28 20:34:53 -05:00
Andrew Tridgell
33440567e6
ACM: ArduCopter updates for new compass interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
dae1a57dc5
ACM: adapt the ArduCopter code for new barometer interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
b676caa626
ACM: enable GPS in AHRS for ArduCopter
...
this is an experiment in centripetal correction for multicopters
2012-06-27 16:01:49 +10:00
Jason Short
c76ac4543b
Added user editable define for Super simple radius
2012-06-26 10:38:46 -07:00
Jason Short
80d15368bc
Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with.
...
Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
2012-06-25 23:08:25 -07:00
Jason Short
6020f6d9fa
Added throttle_min as a user definable param
2012-06-20 14:58:34 -07:00
rmackay9
c62cc4844e
ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release
2012-06-15 00:42:59 +09:00
Jason Short
c42f9ece43
Inertial Control
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I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.
This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.
Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.
The Log should record RAW messages with special debugging values.
2012-06-13 22:34:45 -07:00
rmackay9
e1acf21381
ArduCopter: updated firmware version to 2.6 Epsilon
2012-06-12 23:22:57 +09:00
Jason Short
f5a85d48a0
Added Angel's name to contrib list
2012-06-10 12:38:22 -07:00
rmackay9
aeaebb21d5
ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release)
2012-06-08 21:54:09 +09:00
rmackay9
70b04d9427
ArduCopter: updated firmware description to 2.6 Gamma
2012-06-05 21:28:13 +09:00
Jason Short
1b9f75c844
Updates to Flip:
...
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
2012-06-03 22:15:19 -07:00
rmackay9
72d76558a7
ArduCopter: Ensure update_GPS does nothing when gps is disabled.
...
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
2012-06-03 23:48:45 +09:00
rmackay9
fd6b21d0c7
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 17:02:35 +09:00
rmackay9
4544b37fec
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 16:59:23 +09:00
Robert Lefebvre
5f058fb9b2
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
Jason Short
dec6f0ca62
When RTLing, force home as the final location for loiter.
2012-05-30 11:06:41 -07:00
Jason Short
22065e3f3f
Broken timer - removed
2012-05-29 12:56:38 -07:00
Jason Short
7c6f766251
Speed up automatic disarming to 25 seconds for safety.
...
renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
2012-05-29 12:41:35 -07:00
Jason Short
f491f5e9ca
Removed references to a takeoff timer
2012-05-29 11:28:40 -07:00
Jason Short
08bf04dd08
pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle.
2012-05-29 11:25:04 -07:00
Jason Short
09f4a16bfb
changed the way takeoff complete is figured. Looking for high throttle.
2012-05-29 11:25:04 -07:00
Jason Short
5754f97433
reversed circle_WP calculation so the next_WP refers to the destination around the circle and circle_WP refers to the center. The intent is to make it easier to see via ground station.
2012-05-27 09:21:20 -07:00
Jason Short
7df1aa2914
Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled.
2012-05-23 22:00:56 -07:00
Robert Lefebvre
4e4ff84cf1
Updates to CopterLEDS
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Creation of Nav Blink Function.
2012-05-22 09:58:37 -04:00
Jason Short
f6d8a18182
Added note
2012-05-21 09:58:23 -07:00
Jason Short
8d075015e1
added check for duplicate time-stamped GPS messages.
2012-05-18 09:54:18 -07:00
Jason Short
7e190c6f5c
Arducopter.pde :
...
removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
2012-05-17 11:05:05 -07:00
Jason Short
d1cd04486a
removed retro loiter code since Angel has a branch now.
...
shrank speed filter to avoid latency
removed unused forward estimator code
placed code for switchover to gps.groundspeed at 1.5m/s
added clamp for D term when below .5m/s to eliminate noise
added hybrid I-term based on speed error and position
changes Loiter D term to use position rather than acceleration to avoid noise
2012-05-15 22:14:23 -07:00
rmackay9
357d6c2d9b
ArduCopter: bug fix for reversing tri servo
...
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
2012-05-13 12:36:46 +09:00
rmackay9
2f74004fcb
ArduCopter: updated version to 2.5.5
2012-05-13 08:47:43 +09:00
Andrew Tridgell
4fee26437b
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
2012-04-24 22:24:58 +10:00
Adam M Rivera
b2a7227ae7
ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define.
2012-04-23 00:19:18 -05:00
Adam M Rivera
97040a7b3a
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
Jason Short
e22832a832
Added a union for casting floats to ints and back when storing Floats to the DataFlash
2012-04-21 15:17:09 -07:00
rmackay9
c993049c48
ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion
2012-04-21 23:24:57 +09:00
rmackay9
3e95ade004
ArduCopter - changed optflow object to be APM2 version if necessary
2012-04-21 20:15:55 +09:00
Adam M Rivera
7d13371acf
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-20 11:45:38 -05:00
rmackay9
f0a9209935
ArduCopter - regressed version back to 2.5.4
2012-04-20 21:58:32 +09:00
Adam M Rivera
c233defbe6
Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach
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Conflicts:
Tools/ArdupilotMegaPlanner/Common.cs
2012-04-19 11:08:34 -05:00
Adam M Rivera
24363ccb83
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter
2012-04-19 10:17:36 -05:00
Adam M Rivera
d29f1ef331
Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff.
2012-04-19 10:16:29 -05:00
Adam M Rivera
a7bc3d2cc6
Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity.
2012-04-18 23:07:35 -05:00
Adam M Rivera
f6d81a16c2
ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter.
2012-04-16 16:29:54 -05:00
Adam M Rivera
56a00fa1f7
ArduCopter: Changed millis compare to use new config value for approach delay.
2012-04-16 14:04:30 -05:00
Adam M Rivera
f9affb3295
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
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Conflicts:
ArduCopter/Parameters.h
2012-04-16 10:23:01 -05:00
Adam M Rivera
41702aca94
ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s).
2012-04-16 10:07:57 -05:00
rmackay9
870b5e5f75
ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM
2012-04-16 23:47:57 +09:00
Adam M Rivera
77d6f22864
ArduCopter, commands_logic: Updated logic to allow as low as 5m.
2012-04-15 19:50:05 -05:00
Adam M Rivera
2954bf6f76
ArduCopter: Added check to make sure user defined approach alt is at least 5.
2012-04-15 16:58:22 -05:00
Adam M Rivera
a24b7bcf14
ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land.
2012-04-15 16:54:43 -05:00
rmackay9
a71ed6abec
ArduCopter - updated firmware version to "2.6 Beta"
2012-04-14 14:26:44 +09:00
rmackay9
24b81db20e
ArduCopter - LEDS - main code to support COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:44 +09:00
rmackay9
54a0709759
ArduCopter - add includes for new AP_Motors classes.
...
Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
2012-04-04 22:50:43 +09:00
Andrew Tridgell
c0a54762c6
MAVLink: port the new adaptive flow control to ArduCopter
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This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
2012-04-02 11:18:53 +10:00
rmackay9
75d7308fb4
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
...
also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
Andrew Tridgell
0bc604f030
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
Adam M Rivera
51b70e4d36
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
2012-03-30 14:25:06 +11:00
rmackay9
0efb0e5b4d
ArduCopter - added CH6_STABILIZE_KD tuning value
2012-03-29 21:09:41 +09:00
rmackay9
599cea21bb
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
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#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
Andrew Tridgell
e956e21e7d
ACM: enable the new compass offset nulling in ACM
2012-03-27 15:37:24 +11:00
rmackay9
67cf7b9eed
ArduCopter - updated firmware version to 2.5.3
2012-03-25 09:13:51 +09:00
rmackay9
63b96c0153
ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter
2012-03-23 23:48:24 +09:00
rmackay9
89576a281a
ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area
2012-03-23 23:12:49 +09:00
rmackay9
1dd554c333
ArduCopter - updated version to 2.5.1
2012-03-20 17:08:18 +09:00