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3,604 Commits 71 Branches 511 Tags 719 MiB
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934 Commits

Author SHA1 Message Date
Andrew Tridgell
4edf311865 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Jason Short
b1340bbf80 added a constraint to D term 2012-02-23 09:14:44 -08:00
Andrew Tridgell
b231112957 DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Jason Short
128f19cdf7 Emile's Fixes 2012-02-22 10:27:34 -08:00
Jason Short
ac5a4830a1 Marco's Hexa Motors 2012-02-22 09:55:44 -08:00
Jason Short
92cfc8913a revved a version 2012-02-22 09:00:42 -08:00
Jason Short
207ffee856 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short
ac81ddef04 commented out control mode debug print 2012-02-21 21:48:07 -08:00
Jason Short
7bfda28cdc removed old comments 2012-02-19 14:21:27 -08:00
Jason Short
70d7a1f5d0 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short
434b059586 reset slow_WP option at mode switch 2012-02-19 13:13:42 -08:00
Jason Short
151e710668 Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short
4b52dde882 set Slow WP option for RTL in Auto mode 2012-02-19 13:12:23 -08:00
Jason Short
79a9665c9d Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short
ba2cfee2fb Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Jason Short
a4b8119c24 added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short
2a5a7fa245 Added SW test for Manual Boost 2012-02-19 12:39:40 -08:00
Randy Mackay
b4ee111c49 TradHeli - change throttle range back to 0~1000 (was temporarily changed to be 1250~850 which limited the range of the swash plate's vertical movements) 2012-02-20 00:27:12 +09:00
Randy Mackay
7c4ef140b9 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Andrew Tridgell
1fc24b506e AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell
b06f35eaa2 Heli: fixed some 'used before initialised' warnings 2012-02-19 16:34:43 +11:00
Jason Short
f86e1ed63f Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Jason Short
aeed144180 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short
5d658e5743 Change 800 to a define 2012-02-18 21:13:28 -08:00
Jason Short
83ad721b73 added Axis_Lock params 2012-02-18 21:13:06 -08:00
Jason Short
0517ed5199 updated throttle range 2012-02-18 21:11:06 -08:00
Jason Short
669e8e34ea added a limit to range output 2012-02-18 21:08:17 -08:00
Jason Short
aa57fce9f4 some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Randy Mackay
e3c24fbce8 ArduCopter - fix for yaw control on Octa Quad Plus frame. 2012-02-18 22:04:09 +09:00
Randy Mackay
b55db247ca TradHeli - fixed small parameter bug affecting helis. The servo parameters were declared as GSCALAR instead of GGROUP in Parameters.pde. 
also renamed heli parameters from _coll_ to the more descriptive _collective_
 2012-02-18 20:57:51 +09:00
Randy Mackay
cd89258294 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Andrew Tridgell
db4fef174b ACM: expanded EEPROM parameter area by 256 bytes 2012-02-18 10:51:57 +11:00
Andrew Tridgell
6b357fc66b AP_Param: fixed saving of sensor calibration 
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
 2012-02-18 10:51:57 +11:00
Jason Short
677df0fe1c added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short
0d5f7ca072 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short
03aa28224b re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short
9c7b8586d5 Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short
75919436ac added extra gain logging 2012-02-16 22:09:22 -08:00
Jason Short
cbe297b634 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short
6732f0934a cast to float 2012-02-16 22:09:21 -08:00
Jason Short
6913400221 cast D term to float just in case 2012-02-16 22:09:21 -08:00
Jason Short
43e695b1ac removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short
b070225366 CH 6 Range setup 2012-02-15 11:47:54 -08:00
Jason Short
bb4c02fbff Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short
f2b6b86265 allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short
efb451e475 Marco's updated Motor testing code 2012-02-15 10:49:35 -08:00
Jason Short
f9296796fd Added lengthy note about motor testing 2012-02-15 10:49:11 -08:00
Jason Short
0b011e3cd3 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short
101979ed7b AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short
f20952df49 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short
11d1973abd Added Acro_P 2012-02-15 09:10:14 -08:00
Jason Short
67892cd8df synced params 2012-02-15 09:10:14 -08:00
Jason Short
c916a87a78 added RTL_land_enabled 
added auto_pilot slew rate
 2012-02-15 09:10:14 -08:00
Jason Short
eee43608de Added new params for CH6 Tuning 
moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
 2012-02-15 09:10:14 -08:00
Jason Short
4ecbb19dcd Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short
ff627a8986 removed unused Vars 2012-02-13 15:25:23 -08:00
Jason Short
a69dc32020 Lowered for Jani 2012-02-13 15:25:23 -08:00
Andrew Tridgell
153575a01c token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell
16a5b5c3ee added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
781617cae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell
50f9d12ad5 go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f5f6e2d4ec added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell
d2a4091716 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
1bf832de2d the ACM parameters have a max size of 1114 bytes 
to ensure that all parameters can be saved, expand parameter area by
256 bytes
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
1af6f08b1c adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
da1526ced2 update ACM MAVLink code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f363d0542c fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell
55d0ad3255 update main parameter code for AP_Param in ACM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
2133b9fb08 log: fixed some integer size errors 
need to be careful with the types passed to printf()
 2012-02-12 20:38:37 +11:00
Pat Hickey
abd85f99a7 Makefile: extra convenience target for apm2hexa 2012-02-11 16:05:51 -08:00
Pat Hickey
0ad15e4fff ArduCopter Hexa output_motor_test: individually select all 6 motors 
* each of the 6 hexacopter motors can be selected individually
  by moving the joystick to extremes.

* previously, this was built from the quadcopter output_motor_test
  and some motors (left/right motors on +, front/back motors on X)
  were only selectable as pairs.
 2012-02-11 16:05:51 -08:00
Pat Hickey
81ce8d346e ArduCopter setup motors: print basic instructions. 2012-02-11 16:05:51 -08:00
Pat Hickey
2022c1bab0 ArduCopter APM_Config.h: add sample custom channel config 
* uses new config variables introduced in 8a19543fd1e09621ba
 2012-02-11 16:05:51 -08:00
Pat Hickey
db4195b7a0 ArduCopter Channel Config: config vars for user override of MOT_n mapping 
* config variable CONFIG_CHANNELS has possible values
  CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
  CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
 2012-02-11 16:05:51 -08:00
Jason Short
0315221bd1 Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short
f369a02aab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -08:00
Jason Short
c39cafc3c5 reset All for Auto takeoff 2012-02-10 22:54:29 -08:00
Jason Short
7c45d2bdc3 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short
8cc480f7e6 upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short
1851dd541b Made Yaw Hold universal for Acro 2012-02-10 22:32:55 -08:00
Jason Short
32e7b075d9 Moved to Rate_I by default for Jani to test 2012-02-10 22:32:55 -08:00
Jason Short
4f44ccc182 get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short
927fc25421 made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short
480be14eb0 Minimize the Yaw Deadzone 2012-02-10 22:32:55 -08:00
Jason Short
b29384581a Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short
7cb4711e8e reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00
Jason Short
8a1c2165b2 Fix for disabled CH7 value triggering WP saving 2012-02-09 22:32:04 -08:00
Jason Short
a27bd9db46 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short
fb003e9742 Enabled PWM test 2012-02-09 22:22:01 -08:00
Jason Short
e5a0959394 Found missing Break in Switch statement. 2012-02-09 22:22:01 -08:00
Jason Short
471bd12799 faster FS timer 2012-02-09 22:22:00 -08:00
Jason Short
0f3c3bb563 Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune. 2012-02-09 22:22:00 -08:00
Jason Short
d00d6b8c64 Added safety to prevent shutdown of motors during Auto-land 2012-02-09 22:22:00 -08:00
Jason Short
f3547a04a5 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Randy Mackay
7745239c13 ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00
levinemax
0d3369af45 Motor mix update for X8 (octo quad), 
diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
 2012-02-09 03:57:40 +00:00
Randy Mackay
31ff9a9318 ArduCopter - Camera.pde - turn off camera pitch control (which uses channel 6) when channel 6 is being used for tuning. 2012-02-08 23:51:53 +09:00
Randy Mackay
e9ef79c42d Arducopter - reduced rate of decent when landing using sonar 2012-02-08 22:46:32 +09:00
Randy Mackay
54fe857236 ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments 2012-02-05 16:56:51 +09:00
Randy Mackay
bde1ebb56e TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction. 2012-02-05 11:04:38 +09:00