rmackay9
fc4f4d76c9
ArduCopter: allow DMP to run in parallel with DCM
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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
1cd4b08fac
AP_AHRS: added scheduler parameter to init
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Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
090a672636
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
Andrew Tridgell
14d19ac33d
ACM: updates for new GPS detection
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a GPS can now be attached after startup
2012-09-17 14:45:47 +10:00
rmackay9
9965dd8b1a
HIL: changes to fix HIL for ArduCopter after recent timing changes.
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Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
rmackay9
94d4305cf3
ArduCopter: print firmware version of code instead of zero.
2012-09-13 21:49:11 +09:00
rmackay9
6f236f0c3b
ArduCopter: increase SPI bus speed to 2Mhz after IMU initialisation has completed (MPU6000 accepts maximum of 1Mhz for some registers but up to 20Mhz for main sensor and interrupt registers)
2012-08-28 17:29:48 +09:00
uncrustify
06031868d8
uncrustify ArduCopter/system.pde
2012-08-21 19:19:50 -07:00
Andrew Tridgell
878bcab4cf
ACM: use ahrs.set_fast_gains() on arm/disarm
2012-08-21 15:38:31 +10:00
Jason Short
4f14baf5e5
ACM: Toy mode updates
2012-08-11 22:37:26 -07:00
Jason Short
3b2a1ad9e8
ACM system.pde - toy mode update, cleanup of throttle cruise code
2012-08-09 16:59:44 -07:00
rmackay9
0073f65ac6
ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP
2012-07-28 14:21:45 +09:00
Jason Short
79cdef1a48
arducopter
...
alt hold state reset
2012-07-18 22:57:11 -07:00
Jason Short
0ea3424779
Arducopter: INS
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removed zero accells call
2012-07-18 22:57:10 -07:00
Andreas M. Antonopoulos
31fd74d94c
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Jason Short
225c63c06a
Arducopter: Added note
2012-07-10 21:53:37 -07:00
Amilcar Lucas
8e14ebbc10
Merge the changes from APM_Camera branch into ArduCopter
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Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
2012-07-11 00:39:13 +02:00
Jason Short
bea1ab8810
System.pde - RTL
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removed Approach mode, fixed RTL to loiter until desired altitude is reached
2012-07-01 13:40:12 -07:00
Andrew Tridgell
e791cad9ef
AnalogSource: convert analogRead() calls to the new API
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this should give us much better analog values, plus save a bunch of
CPU time
2012-07-01 15:01:05 +10:00
Jason Short
59181eab3d
System.pde: Toy mode details for set_mode()
2012-06-29 21:20:28 -07:00
Jason Short
4a85c40f03
Added Toy Mode control
2012-06-25 23:08:25 -07:00
Jason Short
a0978e06e5
Adjustments to the Inertial_nav
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lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
2012-06-20 08:47:47 -07:00
Andrew Tridgell
8f1121c980
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
2012-06-10 16:36:18 +10:00
Andrew Tridgell
bfb2c1ee87
GPS: open the GPS serial port with a 256 byte buffer
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the UBLOX needs more than 128 bytes for reliable parsing
2012-06-08 16:42:03 +10:00
Jason Short
9cadd8c1db
Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false.
2012-06-03 22:25:27 -07:00
Jason Short
93d7712c9a
Removed unused variable
2012-05-29 12:43:23 -07:00
Jason Short
4ed48510dc
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
Robert Lefebvre
a9349a6e87
More CopterLEDS changes.
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Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2. Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2. Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code. Legacy users should see no difference.
2012-05-15 12:00:21 -04:00
Adam M Rivera
b611b6a1e8
system.pde: Updated param name to loiter_timer.
2012-04-16 10:12:30 -05:00
Adam M Rivera
70d67b0791
System: Added handler for the new APPROACH flight mode which will initiate an approach to a target alt as defined by the user.
2012-04-15 16:55:34 -05:00
rmackay9
a429c78d20
ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:40 +09:00
rmackay9
2fc3b740c4
ArduCopter - system.pde - changed references to "motor_armed" to "motors.armed()" as part of the move to use AP_Motors library.
2012-04-04 23:03:21 +09:00
Andrew Tridgell
36e741b078
MAVLink: raise the serial transmit buffer size to 256 bytes
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the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
Andrew Tridgell
690ad58a64
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
Jason Short
e42c64f94e
ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset.
2012-03-18 22:31:21 -07:00
Jason Short
a9e7194e3d
ACM: disabled auto_calibration until more testing can be done
2012-03-10 12:44:49 -08:00
Jason Short
3c1f4b1ad7
ACM: changed alt hold initialization of altitude to be immediate
2012-03-10 12:44:18 -08:00
Andrew Tridgell
a874f920d5
ACM: removed the ADC filtering code
2012-03-10 10:34:32 +11:00
Andrew Tridgell
e870e7bd82
ACM: removed the DCM tuning overrides
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not needed now that DCM scales with deltat
2012-03-10 10:34:31 +11:00
Andrew Tridgell
1591d41b33
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a54d6f744e
HWSTATUS: if we don't know the voltage, report it as zero
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this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
9393b21a8d
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Jason Short
43b3e1ccd1
ACM -
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Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
2012-03-06 22:22:14 -08:00
Andrew Tridgell
fcb1b9ba95
ACM: added board_voltage()
2012-03-02 15:48:28 +11:00
Jason Short
00d5ad9343
Added more Logging for PIDs.
2012-02-26 11:33:36 -08:00
Jason Short
e4e8189448
added a simple rest of nav_throttle just in case
2012-02-25 13:31:21 -08:00
Jason Short
ac81ddef04
commented out control mode debug print
2012-02-21 21:48:07 -08:00
Jason Short
434b059586
reset slow_WP option at mode switch
2012-02-19 13:13:42 -08:00
Jason Short
75919436ac
added extra gain logging
2012-02-16 22:09:22 -08:00
Andrew Tridgell
1af6f08b1c
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00