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934 Commits

Author SHA1 Message Date
Pat Hickey
2f11c3f17a 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
757471c3a3 ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 22:06:48 -08:00
Pat Hickey
ee7356c1a7 ArduCopter motors_octa_quad: rewrite loop in terms of motors 2012-01-09 22:05:01 -08:00
Pat Hickey
f8aa1456cc ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 21:57:02 -08:00
Pat Hickey
ad5c31cd38 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
f055cbc720 ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros. 2012-01-09 21:57:02 -08:00
Pat Hickey
2cf935e2d2 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
b8b6e3c25b ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Pat Hickey
87735fef24 ArduCopter test.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
20b0e4cd33 ArduCopter setup.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
38c2a052be ArduCopter radio.pde: translate CH_ to MOT_ outputs 2012-01-09 21:57:02 -08:00
Pat Hickey
8d4db05f50 Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey
b22920c0ea ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey
ccff9041f8 ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
8d595d7c53 motors_quad: translate from CH_ to MOT_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
7b056f208d ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Pat Hickey
e969e0dc55 ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL 2012-01-09 21:57:01 -08:00
Pat Hickey
eb345c009b ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8] 2012-01-09 21:57:01 -08:00
Pat Hickey
bcb43ec9b5 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Pat Hickey
a1cc77f41e 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
d015e0d6d9 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
ba72a98345 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
7b9701fdd5 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
8b68da3105 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
fda12c8902 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Randy Mackay
598593e1fc ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short
a8574e813d R8 2012-01-07 22:28:03 -08:00
Jason Short
0a7378856d Added finish to missions - auto-land or stabilize 2012-01-07 22:27:26 -08:00
Jason Short
cf5e0b3a1b 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
12493d6431 Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short
7e96e0f7fa 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
250545f31d Auto-land updates - removed sonar option - not needed 
updates from JLN
 2012-01-07 22:27:26 -08:00
Jason Short
ca80dc549c Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short
b8bcd81b39 Cleanup 2012-01-07 22:27:26 -08:00
Jason Short
048532ae98 scaled to 0-1023 2012-01-06 21:43:37 -08:00
Jason Short
058a3275c3 Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short
056a08d838 Forced Faildafe throttle mode to throttle Auto 2012-01-06 10:21:50 -08:00
Jason Short
57c3405658 Added check for armed motors in failsafe 2012-01-06 10:21:23 -08:00
Jason Short
a640311f58 Added Note 2012-01-06 10:20:59 -08:00
Jason Short
e908390c64 Made RTL go up 10m for failsafe 2012-01-06 10:20:48 -08:00
Jason Short
d430c847fa Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short
de912b5054 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short
beac2930c9 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short
9d9bef37a8 Clears Auto_land timer 2012-01-05 21:15:12 -08:00
Jason Short
a8af509517 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell
600a5680f8 ACM: reset all I terms on gyro calibration 2012-01-05 10:15:14 +11:00
Andrew Tridgell
a6808162d6 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Andrew Tridgell
734b0a02be ACM: fixed a alt hold bug 
== instead of =
 2012-01-05 10:14:30 +11:00
Andrew Tridgell
3c965ff1a2 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Andrew Tridgell
9ee3431928 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short
8341a080ce Disabled stable mode wind comp by default for release 2012-01-04 09:28:38 -08:00
Jason Short
5aa0861ec2 Added Xplane output option 2012-01-04 09:28:38 -08:00
Jason Short
6b9d35cc34 Added home offset for altitude 2012-01-04 09:28:38 -08:00
Jason Short
f74e265bb9 Made landing disarm the motors 2012-01-04 09:28:38 -08:00
Jason Short
3ac37c09a9 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short
a70fdc58a1 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
123ce533bb Added precalc for wind compensation when entering Stabilze mode 2012-01-04 09:28:37 -08:00
Jason Short
bf8e3975ec 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
6b3094e053 removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short
7858976407 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
22c3853020 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
e5994c578a removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
3d7f3f6b77 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short
8d63af2a89 removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
a1c3ce88a0 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
e6887aa3ec 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
dd4b4c723a removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
7bef298a46 cleanup - removed unused functions, made pressure reading Float to avoid extra cast 2012-01-04 09:28:36 -08:00
Jason Short
d7f4328441 cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
1883d0c1a8 Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Jason Short
c629795050 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
801b3a8e8f removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
fcd18d5538 Removed unused options 2012-01-04 09:28:36 -08:00
Jason Short
525ac4df88 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
c450cc4e92 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
4a50e08ac1 change how Reset Nav params work - no longer clear I terms 2012-01-04 09:28:36 -08:00
Jason Short
fe265b3040 Added JLN's landing patch, moved some variables local such as Jump counter 2012-01-04 09:28:36 -08:00
Jason Short
5de709ceea removed unused functions 2012-01-04 09:28:36 -08:00
Andrew Tridgell
54b91ce2f4 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell
d6ccffc71b 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
645eac6f38 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
24bddb1c47 Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short
86e01fce17 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short
bfd7608f4d Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short
e8db2225dd upped to r5 2011-12-31 10:05:13 -08:00
Jason Short
e17c8705ba Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short
e9d41897df R4 2011-12-30 23:54:02 -08:00
Jason Short
1d636219f9 New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short
fc93a73ad7 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
170a646ecf removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short
4b2979743f no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
62ca68cdbb Reverted to Crosstrack like in Arduplane, requires Degrees * 100 2011-12-30 23:48:04 -08:00
Jason Short
27d3564eab Sync with Arduplane 2011-12-30 23:48:04 -08:00
Jason Short
f5ffa7bd7e Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short
e08b550f44 Added a default Yaw tracking setting 
Added Nav_Bearing
 2011-12-30 23:48:04 -08:00
Jason Short
09db32ee02 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
758a5240f2 removed old loiter method option 2011-12-30 23:48:04 -08:00
Randy Mackay
c39ebde9de ArduCopter - init_compass - fixed HIL build issue 2011-12-31 12:29:54 +09:00
Jason Short
57b2d17d8a updated rev 2011-12-29 23:02:41 -08:00
Jason Short
8fc73844ee Yaw Performance tweaks 2011-12-29 23:02:03 -08:00
Jason Short
4535bc4fd9 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
89c705c8b9 removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short
723adffc48 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short
4bfa5def76 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
2f657ebdbf cosmetic 2011-12-29 23:02:03 -08:00
Jason Short
aa2e474b80 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
8a1b9df325 Added Stabilize_D parameter 2011-12-29 23:02:02 -08:00
Jason Short
ce990f3050 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
83d52899b0 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
e42d5cb4f9 Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Jason Short
c4ad864ed0 Set Define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short
737feabc6c Fixed a 1280 only test 2011-12-29 23:02:02 -08:00
Jason Short
f94727ed02 added define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short
200f7da103 Added Dampening term for tuning 2011-12-29 23:02:02 -08:00
Jason Short
80e1715b12 updated Loiter PIDs 2011-12-29 23:02:02 -08:00
Jason Short
db0a7be233 Enable Magnetometer by default 2011-12-29 23:02:02 -08:00
Jason Short
3202f1cf64 Missing ; 2011-12-29 23:02:01 -08:00
Jason Short
9832d8eccb removed takeoff complete flag from missions, not used and would be useful elsewhere. 2011-12-29 23:02:01 -08:00
Jason Short
9f7aae5945 removed unused function 
Simplified the baro init filter
 2011-12-29 23:02:01 -08:00
Randy Mackay
ff66a3417c 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
1cc38b0701 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell
c27277c7f1 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell
8df91ea885 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Andrew Tridgell
ef1d8eaeac ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Jason Short
a8070d86df Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Andrew Tridgell
0f39336801 ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Andrew Tridgell
7520315475 ACM: fixed HIL build again 2011-12-26 19:17:11 +11:00
Andrew Tridgell
cb48bfd054 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay
85167be181 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
a4e00f7459 Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Randy Mackay
c3ea1ca5dc 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
da87622a5f 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
9e6ea0b167 disabled some tests with warnings 2011-12-23 18:54:38 -08:00
Jason Short
359d186798 added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short
bf29f09107 Getting rid of Simple Logging 2011-12-23 18:44:30 -08:00
Jason Short
c9a30ccf1f Made WP radius 1 by default 2011-12-23 15:01:53 -08:00
Jason Short
f2d6708058 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short
a40a026220 added ability to enter Loiter with only optflow available 2011-12-23 14:46:32 -08:00
Jason Short
da903d2c3e moved some defines around 2011-12-23 14:46:32 -08:00
Jason Short
c8ca841bd7 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
ce11f48809 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
fa2fa37f3b initing z dampener at arming 2011-12-23 14:46:08 -08:00
Jason Short
8aa6429b1e Too complicated 2011-12-23 14:46:08 -08:00
Jason Short
778c9cd1db added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Jason Short
7963a73816 used for testing 2011-12-23 14:42:50 -08:00
Jason Short
f892e0b00d 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
7820d96f4c No longer blocking before initing home 2011-12-23 14:42:50 -08:00
Jason Short
dc2103d67f the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -08:00
Jason Short
6c5f41fe58 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short
885548e693 removed some unneeded HIL #defines 2011-12-23 14:42:49 -08:00
Pat Hickey
343228c8cc Log_simple uses identical implementation of do_erase_logs. 
* fix build1280.ArduCopter
 2011-12-22 13:31:28 -08:00
Pat Hickey
74530de4bb 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
73ff5138c6 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
9d7eb9cd1a config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short
a98a0b636a Hexa stability patch bug fix by borna.segulin 2011-12-18 16:38:07 -08:00
Jason Short
2f5da31a05 change Alpha name 2011-12-18 16:38:07 -08:00
Andrew Tridgell
1807585b98 ACM: run mavlink loop while erasing logs 2011-12-18 10:19:41 +11:00
Jason Short
35f0d31b9d Sync logging 2011-12-16 22:02:41 -08:00
Jason Short
ed818e4ccf Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
Andrew Tridgell
4bbd5392ef 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
027b710816 renamed super simple, added framework for auto calc of throttle cruise 2011-12-15 20:51:41 -08:00
Jason Short
2b5c039eae turned off iterm for traverse 2011-12-15 20:51:41 -08:00
Jason Short
b484fdab05 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Jason Short
fa908795d9 renamed super simple 2011-12-15 20:51:41 -08:00
Jason Short
6a55fe18f6 added altitude to circle mission 2011-12-15 20:51:40 -08:00
Jason Short
4b52b61563 Allows user to specify just an altitude for Circle Mode 2011-12-15 20:51:40 -08:00
Jason Short
05e921f5d0 More power to descend 2011-12-15 20:51:40 -08:00
Jason Short
958693ee5e Addition of nav mode that tries to maintain level 2011-12-14 22:08:42 -08:00
Jason Short
b4aafcce05 dupe of landing logic for scripting 2011-12-14 22:08:41 -08:00
Jason Short
96ce429537 made the last step of landing stop navigating so we can drop straight down. 2011-12-14 22:08:41 -08:00
Jason Short
66c974a949 Added failsafe check 2011-12-14 22:08:41 -08:00
Jason Short
c7da9c63f1 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
d5666f287c added loiter control to reset nav 2011-12-14 22:08:41 -08:00
Jason Short
2a7f981fb0 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Doug Weibel
737447c8cf Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Doug Weibel
2687f1c77d Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Michael Oborne
be9a741c88 add method of detecting if motors are armed 2011-12-14 06:18:29 +08:00
Randy Mackay
68d1fa6ec7 Arducopter - Attitude.pde - fixed small bug in pitch stabilise 2011-12-13 22:10:51 +09:00
Andrew Tridgell
c007fb49b8 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell
4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short
29788b98bd Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short
424a11d269 Stability patch2 - Jose style. 2011-12-12 17:47:45 -08:00
Jason Short
6b1bedc381 Gain updates 2011-12-12 17:47:45 -08:00
Jason Short
a386ea5e06 Added a simplified Log that is just GPS for my 1280 board 2011-12-12 17:47:45 -08:00
Jason Short
6bac318def Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Jason Short
3edd471983 Upped the max pitch to deal with wind - based on T3 testing 2011-12-12 10:10:33 -08:00
Jason Short
e1146b6df6 Just upped the nav_imax value 2011-12-12 10:10:33 -08:00
Andrew Tridgell
6857d9af14 fixed LOGGING_ENABLED default on ArduCopter 2011-12-12 23:40:43 +11:00
Andrew Tridgell
e184d1dfe4 quad: fixed the comments on the + motors 2011-12-12 21:01:58 +11:00
Andrew Tridgell
ae1ec05dd4 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Andrew Tridgell
483754cb70 fixed == that should be = 2011-12-12 15:19:50 +11:00
Andrew Tridgell
cadc5bde1d fixed hil ArduCopter build 2011-12-12 15:14:55 +11:00
Andrew Tridgell
dd4498d113 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell
65ed8cc2c3 added sitl build target 2011-12-12 15:14:55 +11:00
Andrew Tridgell
faf58a355b 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
067724b4f1 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey
6710cf5c5a 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
67436d7ff2 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
bd00b629e7 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
82b8f4d7b7 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
5fd8fea957 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
0b0922d04c ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
698a231dd6 ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey
05b6f4be81 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
273492bc66 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
4efbae4a1c Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short
c01361a79d removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Jason Short
b442a1b23c added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short
4ff5d5016a fix for navigation scaleLongUp 2011-12-11 09:53:44 -08:00
Randy Mackay
26705111e1 ArduCopter - small fixes to fix HIL compile errors 2011-12-11 23:25:03 +09:00
Randy Mackay
62a7b19600 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
a0cef1cc88 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short
995727383b Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short
37f1a574fa Set Nav_WP as home 2011-12-10 23:26:10 -08:00
Jason Short
64cb2a54cf eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Jason Short
9c3475f168 Made landing slower 2011-12-10 19:33:19 -08:00
Jason Short
2b06a54fc5 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00
Jason Short
6228dfb37c Will add a landing command to last WP if we are on the ground. 2011-12-10 19:29:42 -08:00
Jason Short
146d52d650 Switched to Gyro only startup 2011-12-10 15:13:20 -08:00
Jason Short
2defbe818f rework of inflight trim. 2011-12-10 15:05:53 -08:00
Jason Short
37f3875968 Removed Instant PWM from disarmed output 2011-12-10 10:33:25 -08:00
Jason Short
34213e745c Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Jason Short
f444aac706 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
7c1a975a71 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
a9e82e3fbd Debugging some motor issues 2011-12-10 10:19:20 -08:00
Jason Short
22e4ed67aa Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short
9afd99b834 Added notes to Imu.ax, ay, az 2011-12-10 10:19:20 -08:00
Jason Short
9ef902d4a5 Added enumeration for Land 2011-12-10 10:19:20 -08:00
Jason Short
718af404ed Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short
0969bf3146 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Jason Short
b659d35f18 Added Land FLight mode definition 2011-12-10 10:19:20 -08:00
Randy Mackay
f77131db94 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay
f4ac36bd8b 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
2a7013f7e2 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
f4fd6e0910 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
ced26d7ba2 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
ee8986c463 TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled 2011-12-08 21:30:47 +09:00
Doug Weibel
4f6f9a6be4 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Jason Short
e3700365d4 Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00
Jason Short
118a232b13 made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short
ad94166c22 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
55b2e5339a simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short
50afa16f31 Function call defs commented with // so the preprocessor doesn't get confused 2011-12-03 17:55:44 -08:00
Jason Short
11363a26cb Added new gain and clamp value for DCM 2011-12-03 17:55:11 -08:00
Jason Short
fdcf9aecd5 Fixing reversed Simple mode switch 2011-12-03 17:54:57 -08:00
Jason Short
be3dba817b Stability patch from 55 2011-12-03 17:54:38 -08:00
Jason Short
3dc43c21af Enabled the compass test 2011-12-03 15:39:02 -08:00
Jason Short
ffa69f43ec disabled Flash logs in 1280 by default 
Added stability patch I values and limits
 2011-12-03 15:38:46 -08:00
Jason Short
8e0d8a860b Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Jason Short
06341cb1dc Added Deg to rad, rad to deg * 100 to save a float calc 2011-12-03 15:29:33 -08:00
Jason Short
8af8badcec formatting 2011-12-03 15:29:33 -08:00
Michael Oborne
1b63af896e Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 06:32:27 +08:00
Michael Oborne
21143d87b5 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Andrew Tridgell
c1569e49a8 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
63126ece83 MAVLink: use the configured system ID for ArduCopter 2011-12-03 07:54:36 +11:00
Jason Short
9b47e376d5 Enabled Ch7 simple mode switching 2011-11-28 22:41:12 -08:00
Jason Short
a7e0135cd4 adding flag for finished mission 2011-11-28 22:28:51 -08:00
Jason Short
8a1fcfd0f4 cleanup 2011-11-28 21:40:22 -08:00
Jason Short
7e1d41be14 Fix error with calc_nav_pitch_roll 2011-11-28 21:27:29 -08:00
Doug Weibel
b3b218fa40 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
aa6c336479 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
104f93cef5 Fixed navigation bug 2011-11-28 14:22:05 -08:00
Jason Short
f3b3350d25 Git Test 2011-11-28 10:54:20 -08:00
Jason Short
e1ea71efff 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
dddf829c01 removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00
Jason Short
60237bd01b slight refactoring to avoid the increment issue when changing commands 2011-11-28 10:33:06 -08:00
Jason Short
eea0062ea6 better comments out of some old unused functions to avoid compiler errors 2011-11-28 10:33:06 -08:00
Jason Short
8e582b4169 Logging input to find this freeze bug 2011-11-28 10:33:06 -08:00
Jason Short
d4a9808a61 Erasing Logs causing major havoc. Users getting infinite loop. 2011-11-28 10:33:05 -08:00
Jason Short
ab183e54a0 made Logs dump with dump 0 or -1 2011-11-27 22:23:02 -08:00
Jason Short
2e0b55d887 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Jason Short
afee053bac No longer resetting ch7 wp index with mode change, requires reboot 2011-11-27 22:23:02 -08:00
Andrew Tridgell
7f4c87eeec mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Jason Short
67873813ce Added minimum Altitude for RTL failsafe 2011-11-26 16:39:29 -08:00
Jason Short
b09ab99699 added safety checks for RTL 2011-11-26 16:39:29 -08:00
Jason Short
6e9d3f72ec CH7 with params 2011-11-26 16:39:29 -08:00
Jason Short
6bdc116176 Enable RTL 2011-11-26 16:39:29 -08:00
Jason Short
3a453b56c1 Allow output of system type 2011-11-26 16:39:28 -08:00
Jason Short
a226234cee allow CH7 to be set via params 2011-11-26 16:39:28 -08:00
Jason Short
f487fd505b updated failsafe code 2011-11-26 16:39:28 -08:00
Jason Short
a2857f9746 Erasing Logs at new FW version detection 2011-11-26 16:39:28 -08:00
Jason Short
9d55f8ee90 sending Mavlink system type 2011-11-26 16:39:28 -08:00
Andrew Tridgell
fb21e619fe 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
6c57cda17a desktop: report motors armed in desktop build too 
this helps in autotest
 2011-11-25 20:00:19 -08:00
Pat Hickey
98534e71f7 ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell
1d66b075b0 ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell
e297f0cb23 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell
c797794e3f ArduCopter-HIL: fixed HIL build 
Logging isn't always enabled
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
2bed1dcfd5 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
f071321efa 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
5c13aa33be Arducopter: each motors_ pde uses APM_RC.SetFastOutputChannels 2011-11-25 20:00:18 -08:00
Pat Hickey
718f3dee00 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell
67e5c89226 compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
252e858011 fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey
8300e21a8c 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
01cfd64327 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell
0d3e07c2f7 build: added hlsensors target 2011-11-25 20:00:18 -08:00
Andrew Tridgell
446a9aac84 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell
c11ea91721 test: fixed test code for HIL build 2011-11-25 20:00:17 -08:00
Andrew Tridgell
8e9851c217 adc.Init() needs timer_scheduler 2011-11-25 20:00:17 -08:00
Andrew Tridgell
23ccce23d0 purple: timer_scheduler should be in all builds 2011-11-25 20:00:17 -08:00
Andrew Tridgell
3945d6702b test: neaten up the output of the dcm test 2011-11-25 20:00:17 -08:00
Pat Hickey
d2f4fea58a 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
36923c0996 purple: enable dcm test, and fixed imu test to test the IMU API 2011-11-25 20:00:17 -08:00
Pat Hickey
ddbb6c3348 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
99ae313695 purple: added ins test 
this tests the InertialSensor library API
 2011-11-25 20:00:17 -08:00
Pat Hickey
0f25ae0fd7 purple: fixed system init for purple sensor objects 2011-11-25 20:00:16 -08:00
Pat Hickey
8dffdd18d4 purple: pass isr_registry to APM_RC.Init() 2011-11-25 20:00:16 -08:00
Pat Hickey
bbae76efb5 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
bc5a59e5fe 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
1fc57f06b6 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
910a94fcbe 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
395f43bee8 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
0c2e443f75 purple: added comment for enabling purple hardware 2011-11-25 20:00:16 -08:00
Andrew Tridgell
32073eaa51 mod barometer.Init() based on hardware 2011-11-25 20:00:15 -08:00
Michael Oborne
f66a6b4308 Add rc input to cli planner mode 2011-11-26 11:23:14 +08:00
Jason Short
10330abf54 no longer using the raw pressure 2011-11-25 11:34:05 -08:00
Doug Weibel
0d62fbd197 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
4195204161 v number 2011-11-21 22:13:18 -08:00
Jason Short
7f80649566 Added alternate alt hold, 
New ESC Calibration Routine
 2011-11-21 22:12:19 -08:00
Jason Short
c00f0d3dfb cleanup 2011-11-21 22:11:06 -08:00
Jason Short
ad813059bb removed unused function 2011-11-20 21:59:55 -08:00
Jason Short
180a851d2c removed the init_esc - reworking the method to avoid the use of the CLI. 2011-11-20 21:24:32 -08:00
Jason Short
023034e9f5 Better function definition 2011-11-20 20:32:46 -08:00
Jason Short
d900449013 Missed a function definition for no_logs option 2011-11-20 20:29:58 -08:00
Jason Short
048c081e9f RTL Yaw hold as default 2011-11-20 12:50:13 -08:00
Jason Short
57f3eafb52 Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Randy Mackay
7ac04af03d 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
Jason Short
d378a31e44 my take at a merge to give tridge a head start at Mav1.0 2011-11-20 00:23:40 -08:00
Jason Short
c6990088f9 Made loiter rad smaller in storage 2011-11-20 00:22:53 -08:00
Jason Short
b503902b34 renamed WP mask 2011-11-20 00:22:53 -08:00
Jason Short
188fbfd878 added some params from Arduplane to make Mavlink upgrade easier 
made loiter radius smaller in storage
 2011-11-20 00:22:53 -08:00
Jason Short
fa80b7a895 removed typo 2011-11-20 00:22:52 -08:00
Jason Short
e1e6268911 renamed MASK_OPTIONS_RELATIVE_ALT 2011-11-20 00:22:52 -08:00
Jason Short
4288280025 renamed set_command_with_index 2011-11-20 00:22:52 -08:00
Jason Short
4967251f16 renamed the options_mask 2011-11-20 00:22:52 -08:00
Jason Short
a2aa4e1e50 renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short
a0cc3bf897 renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short
5761b6b071 Logging stabilization KP to hunt bug 2011-11-19 16:59:54 -08:00
Jason Short
c762abdd00 Logging APVar saves 2011-11-19 16:59:54 -08:00
Jason Short
3a62f9dbd8 new DataLog message 2011-11-19 16:59:54 -08:00
Jason Short
5c762272df Added Arbitrary data logging 2011-11-19 16:59:54 -08:00
Jason Short
85905e3879 missed == 2011-11-19 14:42:57 -08:00
Jason Short
bd8182adda removed some tests 2011-11-19 14:02:00 -08:00
Jason Short
4c95bf27e6 s 
shortened strings, logging defines updated
 2011-11-19 14:01:47 -08:00
Jason Short
1b943276ed shortened strings for mem 2011-11-19 14:00:55 -08:00
Jason Short
bcfbdeb4d3 removed some unused code, made output min by default 2011-11-19 14:00:42 -08:00
Jason Short
13e2ecf096 Upped version 
added new logging params
added crosstrack gain
re-ordered param inits
 2011-11-19 14:00:23 -08:00
Jason Short
f75f514681 added param for crosstrack gain defaulted to 4 2011-11-19 13:59:37 -08:00
Jason Short
fbcc42097b Added crosstrack gain and lowered alt hold rate gain 2011-11-19 13:59:15 -08:00