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330 Commits

Author SHA1 Message Date
rmackay9 39d524212f ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter. 
When disabled the original velocity based throttle controller is used.
 2012-12-06 10:31:57 +09:00
rmackay9 a5bb54e36e ArduCopter: RTL clean-up and slightly improved landing sensor 
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
 2012-12-06 10:31:52 +09:00
rmackay9 072ffec493 ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position 2012-12-06 10:31:41 +09:00
rmackay9 7b4ed2d227 ArduCopter: restored landing detector to landing throttle mode. 
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
 2012-12-06 10:31:20 +09:00
rmackay9 3cbef57c64 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy 
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
 2012-12-06 10:30:49 +09:00
Robert Lefebvre 5723021be1 ACM: TradHeli 
Creating Rate Feed-Forward Parameters
 2012-12-04 13:47:38 -05:00
Andrew Tridgell cd07d965a7 Copter: ported RSSI_PIN option from ArduPlane 
this is useful for OSD users
 2012-11-22 20:59:33 +11:00
Andrew Tridgell bcae83c4f6 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
Michael Oborne 0c84b8abf1 fix unit max. and unit type 2012-11-21 07:42:53 +08:00
Andrew Tridgell c008ca7560 ACM: fixed documentation of disabling voltage/current pins for ArduCopter 2012-11-20 20:26:14 +11:00
rmackay9 e92b560df5 ArduCopter: low baterry failsafe 2012-11-15 23:35:41 +09:00
Jason Short d2a5928c06 Ap state updates 2012-11-09 22:15:15 -08:00
rmackay9 b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 1f801714e8 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
rmackay9 a1b4ec6d0e ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
rmackay9 5e8043fd9c ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters 
Changes on behalf of Leonard Hall
 2012-10-23 21:30:50 +09:00
Jason Short a0752dc7dc ACM Acceleration management 
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
 2012-10-21 14:32:39 -07:00
Robert Lefebvre 063cb41a11 Adding some comments to parameters. 2012-10-15 09:37:02 -04:00
rmackay9 240b0b43fd ArduCopter: small comment fixes related to battery monitoring 2012-10-13 20:52:14 +09:00
rmackay9 4a41a3d210 ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor 2012-10-13 18:40:46 +09:00
Robert Lefebvre dae81d2068 Added #define for Tilt_Compensation. 
Also added some detail to WP_Speed_Max parameter.
 2012-10-12 14:51:31 -04:00
Robert Lefebvre 4e649a381c Added comment detail for Tilt_Comp Parameter. 
Reduced parameter default value for TradHeli.
 2012-10-11 13:17:39 -04:00
rmackay9 ea4f256f8e ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements 
To save a parameter, the current sensor pin is assumed to always be 1 higher than the voltage pin.
 2012-10-02 22:16:19 +09:00
rmackay9 95763e610b ArduCopter: allow DMP to run in parallel with DCM 
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
Michael Oborne c1235c55d5 Fix Approach Altitude min 2012-09-06 17:43:58 +08:00
rmackay9 c9d34c1737 ArduCopter: fixes to allow AP_Mount to work on APM1 with original default channels and fix to reenable support for 3-axis gimbals on APM2. 
Channels 5 to 11 changed to RC_Channel_aux.
Removed channel 9 because APM_RC doesn't support it in any case.
Updated EEPROM format version to 119 because of the change to RC_Channel_aux and because k_param_rc_11 moved to be after k_param_rc_10.
 2012-09-02 12:51:23 +09:00
Andrew Tridgell e8d928cca4 ACM: added TELEM_DELAY to ArduCopter 2012-08-30 09:03:01 +10:00
uncrustify 2438cd32fc uncrustify ArduCopter/Parameters.pde 2012-08-21 19:19:50 -07:00
Andrew Tridgell bf2319a0fc AHRS: fixed reference to AHRS var_info for APM and ACM 2012-08-21 15:58:32 +10:00
Michael Oborne b2b73cc6cb AC fix some Parameter units 2012-08-18 08:30:16 +08:00
rmackay9 36f947acb9 ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t". 
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
 2012-08-16 20:04:46 +09:00
rmackay9 2a83f1eef2 ArduCopter: remove RTL_LAND parameter as it's been deprecated in favour of APPROACH_ALT. 
Updated comments on ALT_HOLD_RTL and APPROACH_ALT to make it a little easier to understand.
 2012-08-14 12:14:35 +09:00
Andrew Tridgell 3bdc7d41be INS: disable INS AP_Param table when not on APM1 hardware 
this could cause overwriting of memory with default values
 2012-08-11 22:06:03 +10:00
Andrew Tridgell c2dc920d02 ACM: allow users to set the AHRS_YAW_P and AHRS_RP_P 
the forced set left users with parameters they couldn't use
 2012-08-11 08:35:10 +10:00
Amilcar Lucas d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Amilcar Lucas 9cc705939a Add a second mount instance 2012-08-08 23:07:25 +02:00
Andrew Tridgell 03714fc695 ACM: make it possible to set AHRS_GPS_GAIN on ArduCopter 
this was affected by the AP_Param change, in particular the
constructor ordering. To ensure a user can set AHRS_GPS_GAIN to 1.0 if
they want to, we need to do a set_and_save() if the value isn't in
EEPROM
 2012-08-08 17:36:01 +10:00
Andrew Tridgell c2a4d59132 AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Amilcar Lucas d9f1140278 ArduCopter: Use generic channel names for AP_Mount servos. 
This simplifies mission planner, the same code can be used for plane and copter now.
 2012-08-06 23:33:51 +02:00
rmackay9 a5b5f6a619 ArduCopter: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:27 +09:00
rmackay9 f97257830b ArduCopter: changes in arducopter to support moving AHRS var_info from AP_AHRS to AP_AHRS_DCM 2012-07-28 14:18:31 +09:00
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
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
Michael Oborne e632ad6aa4 AC fix limits param gen header 2012-07-15 18:23:06 +08:00
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
Andreas M. Antonopoulos c73f7ef3ab AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -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 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
Andreas M. Antonopoulos 384365832a ArduCopter: Copied parameter documentation from ArduPlane, where appropriate 2012-07-04 23:33:55 -07:00
Andreas M. Antonopoulos fdbb1ebd42 parameter documentation to test auto build 2012-07-04 20:06:12 -07:00
Adam M Rivera 6e93ab6af6 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
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 e35fb9ecd7 Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short 49401bffae Params: Added toy_yate_rate 2012-06-29 21:20:27 -07:00
Andrew Tridgell 55092c25a6 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Adam M Rivera 56d3fa1601 Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases 2012-04-28 20:50:41 -05:00
Adam M Rivera 40fdba441b Parameters.pde: Added value aliases to comments 2012-04-28 20:35:22 -05:00
Adam M Rivera 941cf6fa69 Parameters.pde: Added more parameter comments. 2012-04-28 12:14:17 -05:00
Adam M Rivera 239323eaa4 Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone. 2012-04-26 18:26:14 -05:00
Adam M Rivera cb6f97fc7f Changed the marker for Group parameters to @Group. 2012-04-25 12:27:51 -05:00
Adam M Rivera 51bcc73c77 Parameters.pde: Added lib comments. 2012-04-25 11:23:46 -05:00
Adam M Rivera 29fec278eb Parameters.pde: Updated comment schema to include the parameter name which becomes the XML node that contains the meta data. 2012-04-24 13:11:16 -05:00
Adam M Rivera acab9b7c2c Parameters.pde: Added new comment structure to a few parameters for testing. 2012-04-24 11:37:33 -05:00
Adam M Rivera 60c347e23b Parameters: Added g.retro_loiter which is configurable by the user via the MP. 2012-04-23 00:17:52 -05:00
Adam M Rivera f9affb3295 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 
Conflicts:
	ArduCopter/Parameters.h
 2012-04-16 10:23:01 -05:00
Andrew Tridgell 95cb35c7bb AHRS: enable AHRS_ group in ArduCopter 2012-04-16 20:55:14 +10:00
Adam M Rivera 7ba8c291bd Parameters: Added new APPROACH_ALT params (g.rtl_approach_alt) which stored the users desired target altitude after RTL is complete. 2012-04-15 16:51:41 -05:00
rmackay9 0a3bc9a66a ArduCopter - LEDS - two new parameters to support COPTER_LEDS. 
Code by Robert Lefebvre.
 2012-04-12 22:55:28 +09:00
rmackay9 ee308ea06c ArduCopter - increased firmware version to 118. Removed nearly all heli parameters as these are all created by the AP_MotorHeli class now. 
Note: we cannot move the heli_servos to the AP_MotorHeli class yet because of a small issue in the parameters class.
 2012-04-04 22:55:07 +09:00
Robert Lefebvre a480b32400 Added support for TradHeli H1 swashplate type. Added new param heli_h1_swash_enabled. 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-03-03 08:14:14 -05:00
Andrew Tridgell e213f6780e ACM: added RC_SPEED MAVLink parameter 
this will set the speed for APM_RC.SetFastOutputChannels()
 2012-03-02 17:57:08 +11:00
Jason Short efdf6ee79f added option for stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short 1e37a0ec17 added a limit to range output 2012-02-18 21:08:17 -08:00
Randy Mackay 232359186e 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
Andrew Tridgell 718a5b70e3 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 a43ee36bee CH 6 Range setup 2012-02-15 11:47:54 -08:00
Jason Short 3d63bb6cd4 Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short 574b86b02e synced params 2012-02-15 09:10:14 -08:00
Andrew Tridgell bf1eb670e3 update main parameter code for AP_Param in ACM 2012-02-13 16:22:52 +11:00