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1374 Commits

Author SHA1 Message Date
Jason Short
610d1d1795 Arducopter: deprecated the get_nav_yaw_offset function. 
Small Toy mode updates
 2012-07-19 17:41:52 -07:00
Jason Short
91062b56af Arducopter.pde: Increased the throttle Hold altitude control 
simplified Yaw reset
 2012-07-19 17:38:25 -07:00
Jason Short
6506ebf69f Arducopter: Fix compile issue 2012-07-19 10:09:16 -07:00
Jason Short
5a73a2b9cd Arducopters parameter: Adjusted RTL_ALTITUDE units so they reflect comments in config.h 2012-07-19 09:50:57 -07:00
Jason Short
2df487ab7b Arducopter: Slower WP deceleration for RTL and WP navigation 
Slower descent and slightly faster ascent
 2012-07-19 09:50:18 -07:00
Jason Short
3401bd3583 Arducopter: Clarified units in comment 2012-07-19 09:49:13 -07:00
Jason Short
3a62608355 Arducopter: Added Slow_WP setting to regular wp navigation 2012-07-19 09:48:54 -07:00
Jason Short
1efc9eac58 Arducopter: Adjust landing speed 
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
c9d3ab5413 Oilpan ADC parameters added 
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
 2012-07-18 22:57:11 -07:00
Jason Short
e09d6ad7a8 Arducopter 
Simplified the inertial calcs for now
 2012-07-18 22:57:11 -07:00
Jason Short
a7b1252b51 arducopter 
alt hold state reset
 2012-07-18 22:57:11 -07:00
Jason Short
c995749aaa Arducopter 
upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.
 2012-07-18 22:57:11 -07:00
Jason Short
66ac438b9e Arducopter 
Better logging for Raw Inertial values
 2012-07-18 22:57:11 -07:00
Jason Short
dcf9f9dab1 Arducopter 
for rate altitude changes
 2012-07-18 22:57:10 -07:00
Jason Short
71248fe114 Arducopter 
increased landing authority
 2012-07-18 22:57:10 -07:00
Jason Short
c9851344e7 Arducopter 
removed old Var
 2012-07-18 22:57:10 -07:00
Jason Short
a88d69e40e Arducopter: 
Loiter unlimited can now travel to a WP and then loiter.
set_altitude for landing now set to 0
 2012-07-18 22:57:10 -07:00
Jason Short
aa645afe2b Arducopter: Altitude change nav 
Split altitude hold into two controls to parallel navigation.
 2012-07-18 22:57:10 -07:00
Jason Short
cb1cdcd4a7 Arducopter: New Alt control code 
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
3f5e787fe8 Arducopter: Flip mode 2012-07-18 22:57:10 -07:00
Jason Short
9dad38e91d Arducopter: Flip mode 
Flip mode graduates
 2012-07-18 22:57:10 -07:00
Jason Short
5965632888 Arducopter: Flip mode 
Flip mode graduates to pre-compiled option
 2012-07-18 22:57:10 -07:00
Jason Short
f73a2004be Arducopter: INS 
updated Nav control to use INS
 2012-07-18 22:57:10 -07:00
Jason Short
98725be0ec Arducopter: INS 
removed calibrate accels for now
 2012-07-18 22:57:10 -07:00
Jason Short
97845cace1 Arducopter: INS 
Updated INS gains
 2012-07-18 22:57:10 -07:00
Jason Short
0d8e8e0a04 Arducopter: INS 
removed IMU test, updated INS test to include normalized gravity accel vector.
 2012-07-18 22:57:10 -07:00
Jason Short
bb99bd4626 Arducopter: INS 
removed zero accells call
 2012-07-18 22:57:10 -07:00
rmackay9
33d8cbfd51 ArduCopter: small bug fix to radio.pde to allow code to compile when MOUNT == DISABLED 2012-07-18 23:49:41 +09:00
rmackay9
b691c3f658 ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch. 
This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
 2012-07-18 23:49:09 +09:00
Michael Oborne
636fcadde4 fix rc libray param gen 2012-07-18 07:03:39 +08:00
Andreas M. Antonopoulos
0e5345d17b AP_Limits: documentation bug (which uncovered a param_parser bug - the irony burns) 2012-07-16 23:35:11 -07:00
Jonathan Challinger
fc4f111d15 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
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
Michael Oborne
e632ad6aa4 AC fix limits param gen header 2012-07-15 18:23:06 +08:00
rmackay9
36ecdff593 ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library) 2012-07-15 16:38:52 +09:00
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
rmackay9
761dad4e99 ArduCopter: restored set_range calls for RC_Channels 5 ~ 8. 2012-07-15 16:37:40 +09:00
rmackay9
29b6ec0b11 ArduCopter: reverted channel 5~8 to be regular RC_Channel objects, restored rc_camera_roll and rc_camera_pitch RC_Channels and created new rc_camera_yaw RC_Channel to control the camera mount servos. 
Defined camera_mount (MNT_) in Parameters.h and Parameters.pde so that it appears in global parameters list.
Removed unused camera_*_gain and camaera_*_continuous parameters.
 2012-07-15 16:36:05 +09:00
rmackay9
793fb7f059 ArduCopter: added definition for yaw channels. 
APM1 uses channel 11 for camera's yaw servo, APM2 uses channel 8.  This should allow all frame types except octacopters to potentially use a 3 axis camera mount.
 2012-07-15 16:31:23 +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
584e7dcda4 Arducopter: Removed Yaw Limit for Quads 2012-07-14 14:06:34 -07:00
Jason Short
44b16b7b61 Arducopter: Temp reversion to old Yaw controller. 2012-07-14 12:26:13 -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
d34ca0e6ea Arducopter - commands: Add home logging 2012-07-13 11:51:40 -07:00
Jason Short
d8ff5dcfab Arducopter: Fix circle_WP 2012-07-12 09:22:20 -07:00
Jason Short
a28070e0e0 Arducopter: Loiter unlimited fix 2012-07-12 08:52:49 -07:00
Andreas M. Antonopoulos
d4a0cb5db1 Added Michael Pursifull's Maxsonar HRLV model support 2012-07-11 18:46:47 -07:00
Jason Short
7a5544051d Arducopter 
Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
 2012-07-11 17:46:07 -07:00
Jason Short
6f9e2bf3a8 Arducopter: Toy mode update 
Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
 2012-07-11 17:46:06 -07:00
Jason Short
1feaaa4655 Arducopter: Toy mode refinements 2012-07-10 21:53:38 -07:00
Jason Short
293f17902b Arducopter:Arducopter.pde 
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
c04bff67de Arducopter: Config.h, default gain tweaks from flight tests. 2012-07-10 21:53:38 -07:00
Jason Short
f35b5ba13f Arducopter:test.pde made a note for WP radius that shows m in the printout. 2012-07-10 21:53:38 -07:00
Jason Short
782ebf5176 Arducopter:Log.pde Logging the calculated Climbrate 2012-07-10 21:53:38 -07:00
Jason Short
3048d2f9b4 Arducopter: WP_radius 
Switching to stored WP_radius in meters, just like Arduplane
 2012-07-10 21:53:38 -07:00
Jason Short
0620d86bfd Arducopter:Params 
WP_RADIUS_DEFAULT is now stored the same as Arduplane
 2012-07-10 21:53:37 -07:00
Jason Short
1dbde3f803 Arducopter: Added note 2012-07-10 21:53:37 -07:00
Jason Short
af5423b863 Toy Mode: High Yaw default 2012-07-10 21:53:37 -07:00
Jason Short
19d8c405fd Arducopter : Force home alt to 0 2012-07-10 21:53:37 -07:00
Jason Short
89fec907e2 Arducopter: CH7 Waypoint saving 
Saves the takeoff Waypoint as Home + new altitude rather than current location.
 2012-07-10 21:53:37 -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
Andrew Tridgell
be763a6ead ACM: use get_distance_cm() not get_distance() 
this fixes a bug introduced in 28f2eb6b9
 2012-07-11 07:50:07 +10:00
Andrew Tridgell
0f9fb2c64b AHRS: added AHRS_GPS_GAIN parameter 
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
 2012-07-10 16:22:48 +10:00
Jason Short
f019d41729 arducopter.pde 
Timer was set =0 at initialization.
 2012-07-09 13:13:32 -07:00
Jason Short
226bba48a6 Toy Mode Yaw Rate fix 2012-07-09 13:13:32 -07:00
Jason Short
cf6d73ec88 commands.pde RTL Alt 
fix to maintain current altitude of we are above our RTL alt for safety.
 2012-07-09 13:13:32 -07:00
Jason Short
038116f521 Airspeed patch: 
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
 2012-07-09 13:13:32 -07:00
Andreas M. Antonopoulos
384365832a ArduCopter: Copied parameter documentation from ArduPlane, where appropriate 2012-07-04 23:33:55 -07:00
Andrew Tridgell
8220ae8096 MAVLink: climb_rate is in m/s 2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos
fdbb1ebd42 parameter documentation to test auto build 2012-07-04 20:06:12 -07:00
Andrew Tridgell
60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Adam M Rivera
857ad6c706 Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals. 2012-07-04 21:08:03 -05:00
Adam M Rivera
6e93ab6af6 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Andrew Tridgell
5ed345fe94 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Jason Short
fd97eb5a8d commands 
fixed logic bug to make a copter loiter after the mission is ended.
 2012-07-03 17:38:50 -07:00
Jason Short
37685756df Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short
c29a0bc3f8 Navigation 
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
 2012-07-03 17:34:50 -07:00
Jason Short
3a3966736c Params 
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
 2012-07-03 17:33:03 -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
b076b571eb commands_logic: Removed some old unused code 2012-07-03 17:19:19 -07:00
Jason Short
2d572461ec Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short
1070eea70b Log.pde: formatting 2012-07-03 17:16:26 -07:00
Jason Short
1a6549fef7 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short
c62706ad06 Toy Mode: Yaw performance update. 2012-07-03 17:14:54 -07:00
Jason Short
8a08a74cc6 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short
16b25a26c2 Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks. 2012-07-02 17:52:38 -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
9a30270879 System.pde - RTL 
removed Approach mode, fixed RTL to loiter until desired altitude is reached
 2012-07-01 13:40:12 -07:00
Jason Short
e35fb9ecd7 Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short
3cf16c1424 GCS_Mavlink.pde 
removed Approach define
 2012-07-01 13:40:11 -07:00
Jason Short
ab564b8a86 defines.h 
removed Approach mode enumeration
 2012-07-01 13:40:11 -07:00
Jason Short
3646d69faf read_control_switch 
Removed Prev_WP reference. unneeded.
 2012-07-01 13:40:11 -07:00
Jason Short
8ab1acfb92 Config.h 
Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
 2012-07-01 13:40:11 -07:00
Jason Short
2ad08fdd98 RTL: Commands.pde 
When we are out of commands we land or Loiter at the RTL_Approach_altitude.
 2012-07-01 13:40:11 -07:00
Jason Short
d58ceb2b09 RTL: Commands.pde 
Removed do_approach function - now redundant
 2012-07-01 13:40:11 -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
2450c25544 Arducopter: enabled RTL_altitude, renamed function to be more accurate 2012-07-01 13:40:11 -07:00