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934 Commits

Author SHA1 Message Date
Jason Short
89cf9550f2 logging for gyro and accell testing 2011-10-12 21:21:46 -07:00
Jason Short
be10a861c0 tweak to the Loiter N turns 2011-10-12 20:59:12 -07:00
Jason Short
a37d95634a lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Amilcar Lucas
18072d1eb9 Spell 2011-10-11 22:52:02 +02:00
Andrew Tridgell
22aafd6ca9 removed an unused variable 2011-10-11 20:53:43 +11:00
Andrew Tridgell
337100fe44 fixed a signed/unsigned warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell
d9d54ffa05 fixed a '=' vs '==' bug in do_loiter_turns() 2011-10-11 20:53:43 +11:00
Andrew Tridgell
661b6c4508 merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Andrew Tridgell
52dc221969 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Andrew Tridgell
ed2bec75b9 added build makefiles 2011-10-10 07:18:38 +11:00
Andrew Tridgell
f4184d0b02 don't check the slider switch if CLI is disabled 
this prevents a build error in desktop mode
 2011-10-09 22:39:23 +11:00
Andrew Tridgell
06ddaa2d81 don't initialise DataFlash if logging is disabled 2011-10-09 22:38:49 +11:00
Andrew Tridgell
85e8316809 use memcheck_available_memory() instead of freeRAM() 
this provides a more accurate view of memory
 2011-10-09 22:38:14 +11:00
Michael Oborne
3d67018cb9 undo config change 2011-10-08 21:13:53 +08:00
Michael Oborne
c1506111e4 Merge commit 'e7f5e4a623b79872a015dff5ca959e60f6f7fd64' 2011-10-08 20:43:13 +08:00
Jason Short
832458c804 Quick RTL Fix, logic was backward 2011-10-07 11:06:31 -07:00
Jason Short
ce136d850a Better Loiter PIDs 
Fixed RTL overshoot bug
 2011-10-06 17:42:09 -07:00
Michael Oborne
f6984631c6 fix ac2 hil build 2011-10-04 18:55:10 +08:00
Michael Oborne
1a715706a6 fix make issue 2011-10-04 09:34:47 +08:00
Jason Short
3be34ed31a Implementing a limiter for the ramp up of speed to WPs. 2011-10-03 10:37:56 -07:00
Jason Short
e5b66c1c7c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-02 11:36:31 -07:00
Jason Short
7e81756ccd Added second PI loop for alt hold. 
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
 2011-10-02 11:36:23 -07:00
Amilcar Lucas
101dc83239 Fix compilation 2011-10-02 14:52:02 +02:00
Amilcar Lucas
9d3e5a8e11 Use the new AP_Relay library 2011-10-02 14:22:27 +02:00
Jason Short
cf59e8ad82 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-30 18:40:40 -07:00
Jason Short
9a4bd31a8b Minimized the accel_filtered vector to be faster and more accurate. 
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
 2011-09-30 18:40:29 -07:00
James Goppert
204c6bb6e7 Added makefiles for ArduCopter/ArduPlane. 
These files are not generated by cmake. They are necessary for
the make based build to work. To build using this method
type make in the directoy such as ArudPlane/ArduCopter. Make
sure that you do not call cmake in the ArduPlane etc directory
as this will overwrite this Makefile with the autogenerated cmake
version. Cmake should be called from withing a build directory.
 2011-09-30 07:16:48 -04:00
Janne M
8b32fb00da ArduCopter: Fixed board setting in cmake-file. Removed now autogenerated Makefile 2011-09-30 11:30:43 +03:00
Jason Short
0064e80e4e 2.0.46 preliminary release 2011-09-29 23:30:32 -07:00
Jason Short
4c30b544dc Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-29 23:27:36 -07:00
Jason Short
df1a39f650 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
James Goppert
112d5e9531 Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert
b6dcf3743e Merge branch 'apo' 
Conflicts:
	ArduBoat/ArduBoat.pde
	ArduBoat/CMakeLists.txt
	ArduRover/ArduRover.pde
	ArduRover/CMakeLists.txt
	apo/CMakeLists.txt
	apo/apo.pde
 2011-09-29 14:22:55 -04:00
James Goppert
3a00ceb593 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Jason Short
b805263974 Attempting to mimic loiter values for 4.0.42 
lowered Rate Error max in loiter
 2011-09-28 23:11:19 -07:00
Jason Short
a790d1ef7a lowered the deadzone a tad 2011-09-27 13:56:02 -07:00
Jason Short
469acff0fa Added Loiter P tuning as #12 2011-09-27 09:39:32 -07:00
Jason Short
d0405b0a0a 2.0.46 -Not flight tested! 
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
 2011-09-27 09:35:05 -07:00
Jason Short
1243e76f29 Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth. 2011-09-26 22:12:39 -07:00
Michael Oborne
e0714ec88c heli config 2011-09-27 07:36:12 +08:00
Michael Oborne
3e09ed08fb heli hil config 2011-09-27 07:34:32 +08:00
Michael Oborne
2de9e6a929 heli hil 2011-09-27 07:30:28 +08:00
Jason Short
a32772bfb0 Turned off Rate_I for Arduino users. 2011-09-25 15:34:59 -07:00
Jason Short
059551de48 Fixed issue with Simple mode changes. 
Reverted to simpler, safer timer code for throttle hold
 2011-09-25 14:16:35 -07:00
Jason Short
9de6117e4c Revved the firmware to force resetting the EERPOM 2011-09-25 12:24:02 -07:00
Jason Short
9dc42122f8 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-25 12:22:07 -07:00
Jason Short
18fea55f8d Fixed Flip code to compile. Flip still not flight tested! 2011-09-25 12:21:54 -07:00
rmackay9
6cddd0c162 Merge remote-tracking branch 'origin/master' 2011-09-25 16:55:52 +09:00
rmackay9
0e8a648043 TradHeli - added servo averaging to allow support of analog servos 
- moved heli parameters to 80 because they were causing flight modes to overlap with waypoints
 2011-09-25 16:51:25 +09:00
Jason Short
bdf6471587 Better throttle boost value 2011-09-24 21:55:54 -07:00
Jason Short
f8ac191402 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-24 21:50:08 -07:00
Jason Short
a2886fc991 turned off Stabilize_I by default because it was hurting loiter 
tweaked speed control of rate_nav
 2011-09-24 21:49:45 -07:00
rmackay9
3e19c219e3 TradHeli - fix to set motor_auto_armed = true if throttle > 0. Required to let ALT_HOLD work! 2011-09-25 12:30:37 +09:00
Jason Short
e0b4a26dee Added Loiter Turns - It orbits the Current location 
Added WP to Loiter_time so you can spec a specific location in the planner
added new Navigation alg. Should perform better (doesn't rely on 45° flow fields like last one)
Added "Jump" counter so missions don't get overwritten in flight.
removed I term by default for Rate pitch and roll
 2011-09-24 17:40:29 -07:00
Jason Short
5456b8fe1e Test for new nav function 2011-09-24 16:48:04 -07:00
Jason Short
843b5b12ab Removed default Rate_I for pitch and roll 
added change speed control for missions
 2011-09-24 09:49:11 -07:00
Amilcar Lucas
a3152b2410 Moved mavlink_check_target() to the libraries/. 
This allows it to be reused by the other libraries and by other projects ArduPlane, ArduCopter, ArduRover ... etc.
It also reduces code duplication
 2011-09-24 14:40:07 +02:00
Jason Short
0540331426 Fixed throttle_boost 2011-09-23 15:34:18 -07:00
Jason Short
0f5c74f03a Trying to make Alt hold more aggressively change altitudes. 2011-09-23 13:58:39 -07:00
Jason Short
7c72f13702 Adjusted DCM Gains to normal levels. Added a check to stop navigating when landing and to land faster. 2011-09-23 13:52:10 -07:00
Jason Short
f65390920a Added a default, but low throttle cruise value 
Added a clear integrator for Rate I to prevent tip ups at launch.
 2011-09-22 23:10:55 -07:00
Jason Short
6921d94d20 removed old CH6 tuning defines 2011-09-22 18:51:41 -07:00
Jason Short
45f9ab05f8 Better Tuning for default Quad 2011-09-22 18:30:29 -07:00
Jason Short
5b57df5d1c Refined Throttle Timer reset 
Reduced Loiter I gain to decrease overshoot.
 2011-09-22 17:38:39 -07:00
Jason Short
463aa0aa75 Fixed for sticky RTL CH7 option 2011-09-22 15:25:07 -07:00
Jason Short
ffb6f06f57 Fixed Throttle integrator bug. Time was not being reset causing a big drop in throttle control. 2011-09-22 12:28:46 -07:00
Jason Short
e4f87d7442 removed debug statements 2011-09-21 22:34:27 -07:00
Jason Short
7512e686b9 Fixed Timer overflow for throttle PI loop. 
Moved look at home to update_nav where it belongs
 2011-09-21 22:31:12 -07:00
Jason Short
c2d56de264 Added Auto_trim to CH7 option 2011-09-21 16:24:09 -07:00
Jason Short
790bd6f8c9 Altered CIRCLE mode to allow Loiter_N_Turns to work in AP mode. 2011-09-21 13:19:36 -07:00
Jason Short
3f1faf70ac upped to 2.0.44 - not flight tested 2011-09-20 23:23:42 -07:00
Jason Short
a57c0323ab Fixed do_flip, 2011-09-20 23:20:33 -07:00
Jason Short
79c41fa9e2 Fixed Yaw for Auto mode. 2011-09-20 22:59:23 -07:00
Jason Short
23c063f374 Logic fix for RTL option 2011-09-20 10:39:39 -07:00
Jason Short
9005cc6cda Edited CH7 options to include Do Nothing and RTL. 2011-09-20 10:37:50 -07:00
Jason Short
59a2d2a256 Converted Millis to Micros 
added navigation check to return a failed navigation
 2011-09-19 22:24:57 -07:00
Jason Short
3b4743ef03 changed PI Library to take Float for DeltaTime 
Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!
 2011-09-19 14:02:42 -07:00
Jason Short
6962cf93b1 removed outdated reference file. 2011-09-18 17:18:35 -07:00
Jason Short
aeb70eb8e0 added contributor 2011-09-18 17:12:59 -07:00
Jason Short
4425e72034 Added Piezo Support, code from Oliver. 2011-09-18 17:12:28 -07:00
Jason Short
5bf7898438 removed saving - not needed for copters 2011-09-18 16:28:53 -07:00
Jason Short
7e672a602b Jump command was reported to have issues, updated to match APM branch. 2011-09-18 16:27:43 -07:00
Amilcar Lucas
e4d0646088 Added comment, spellcheck 
This reduces the diff to the APM_Camera branch
 2011-09-18 14:57:55 +02:00
Andrew Tridgell
f74c1f9c7e MAVLink: merged in the stack saving changes from ArduPlane 2011-09-18 11:37:24 +10:00
Jason Short
da65096ee2 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-17 12:23:22 -07:00
Jason Short
e81a666478 Added a GPS watchdog to stop navigating if we loose signal. 2011-09-17 12:23:16 -07:00
Amilcar Lucas
dd06263941 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-17 20:25:49 +02:00
Amilcar Lucas
c9d9ee0d3b Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Jason Short
b10493e205 Reverted to current_loc.alt in MSG_VFR_HUD and MSG_Location 2011-09-17 11:16:13 -07:00
rmackay9
6fda1e3f14 ArduCopter - small changes to fix compile errors when optical flow enabled 2011-09-17 22:09:18 +09:00
Andrew Tridgell
fc030db54e fixed bit-logic for simple modes 2011-09-17 14:58:02 +10:00
Andrew Tridgell
a13c68a404 fixed build of OpticalFlow code 2011-09-17 14:58:02 +10:00
Andrew Tridgell
ea26a06f49 updates for new DCM code 
G_Dt is no longer needed by the DCM
 2011-09-17 14:58:02 +10:00
Jason Short
43e77222ff fixed naming for opt flow 2011-09-16 19:26:17 -07:00
Jason Short
41dada23ea removed DCM reference from OPT FLOW 2011-09-16 19:17:50 -07:00
Jason Short
1f52ad27d9 roughed in an expo option idea 
made min and max values 1100, 1900
removed hard coded init for camera values
 2011-09-16 19:06:53 -07:00
Jason Short
cf58c3c88d removed unused pde file 2011-09-16 18:57:35 -07:00
Jason Short
3d307c9fde Added low voltage code flashing code. 2011-09-16 18:56:51 -07:00
Jason Short
867e01cab5 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-16 18:35:14 -07:00
Jason Short
4f6ac5c403 Lowered Loiter_I - higher value didn't test well. 2011-09-16 18:24:42 -07:00
Jason Short
024512e34a Fixed CIRCLE mode trig error 
made loiter_radius * 100 in Params
updated gains
 2011-09-16 16:54:45 -07:00
Jason Short
0d31d775b8 cleanup 
added more ifdef for optflow
 2011-09-15 23:41:15 -07:00
Jason Short
9a508a20f4 Integration of optical flow 
bug fixes for new Simple mode
increased Baro filter by 2 fields
 2011-09-15 23:33:00 -07:00
Michael Oborne
c6eae87f8a fix remote error value 2011-09-15 18:26:59 +08:00
Jason Short
3daabf3c8b Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-14 14:45:13 -07:00
Jason Short
ae81a758de Removed Simple Mode 
Added Simple option to mode switch positions
removed unused OptFlow code
added reset lat and lon error
removed unused init_auto
Fixed log formatting
Added simple mode bitmask
removed pitchmax
added CLI setup for enabling Simple mode to any switch position
 2011-09-14 13:58:18 -07:00
unknown
9f028bb5a0 Adding CMake support 2011-09-14 15:44:55 +02:00
Jason Short
bca934b538 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-12 12:57:56 -07:00
Jason Short
4a2f58b013 Cleaned up guided mode 
Reduced ADC filter to 3 from 6 to increase speed of filter.
 2011-09-12 12:57:36 -07:00
Amilcar Lucas
49b31299ef These defines got moved to the library 2011-09-12 21:32:05 +02:00
Jason Short
2c27be980d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-11 21:46:53 -07:00
Jason Short
7e79612125 Removed last of Xtrack 2011-09-11 20:40:05 -07:00
Jason Short
7d57dfa3ec removed Xtrack and increased rate error limit 2011-09-11 20:36:20 -07:00
Jason Short
efeb1555ba removed nav_bearing 2011-09-11 20:33:29 -07:00
Jason Short
1ae63e2a4c removed Nav_bearing 2011-09-11 20:32:58 -07:00
Jason Short
689bfb803c increased imax 2011-09-11 20:28:43 -07:00
Jason Short
f2e33f8303 removed nav_bearing - not used 2011-09-11 20:27:56 -07:00
Olivier ADLER
36c982d84c Added missing motor tests for octa quad and octa V 2011-09-12 00:43:54 +02:00
Olivier ADLER
7e3983210c Merge branch 'APM_Camera' of https://code.google.com/p/ardupilot-mega/ 
Conflicts:
	ArduPlane/ArduPlane.pde
	libraries/AP_Camera/AP_Camera.h
	libraries/AP_Mount/AP_Mount.cpp
	libraries/AP_Mount/AP_Mount.h
 2011-09-12 00:31:18 +02:00
Olivier ADLER
6dfa53bcb1 Signed-off-by: Olivier ADLER <contact2@nerim.net> 
slightly upped motor out values for motor test. Was too low for some ESCs.
 2011-09-11 23:32:04 +02:00
Jason Short
810d8e5cde Fixed Yaw mode for CIRCLE 2011-09-11 11:48:11 -07:00
Jason Short
db331efbae Circle Mode now working 
250Hz loop implemented
 2011-09-11 11:22:01 -07:00
Jason Short
b0c3cda23b Added Input Voltage value to params 2011-09-10 18:44:56 -07:00
Jason Short
bd52458e74 Added Nav Rate tuning 2011-09-10 18:37:28 -07:00
Jason Short
66bda3934c Fixed numbering issue with defines 2011-09-10 16:25:52 -07:00
Jason Short
2a8bdad678 Incremented to 2.0.41 2011-09-10 15:28:55 -07:00
Jason Short
8ae158191f Fixes Alt hold mistake 
Moves tuning into runtime definable param
Added more IMax to throttle

Signed-off-by: Jason Short <jasonshort@gmail.com>
 2011-09-10 15:16:51 -07:00
Chris Anderson
4682634ab1 Renamed code to ArduCopter 2011-09-08 19:14:12 -07:00
jasonshort
ec68835898 circle mode patch 2011-09-09 11:59:42 +10:00
Andrew Tridgell
6e2f231688 rename main pde file for arduino requirements 2011-09-09 11:52:25 +10:00
Andrew Tridgell
1ca13fcd3b move Frame into ArduCopter 2011-09-09 11:52:15 +10:00
Andrew Tridgell
40c6edae0f rename main pde file for arduino requirements 2011-09-09 11:51:21 +10:00
Andrew Tridgell
5277be04b9 move Frame into ArduCopter 2011-09-09 11:49:11 +10:00
Andrew Tridgell
be8864f424 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00