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1647 Commits

Author SHA1 Message Date
rmackay9
05fd04134a ArduCopter: fix heli build 2012-10-06 13:46:19 +09:00
rmackay9
61d0c8e35c ArduCopter: added AP_Semaphore to list of includes 2012-10-06 12:41:58 +09:00
rmackay9
af1d6a9b82 ArduCopter: reduce Stabilize Yaw P term to 4.5 2012-10-03 14:19:49 +09:00
rmackay9
e375a27058 ArduCopter: prioritise rate controllers, rate controller targets converted to body frame 2012-10-03 14:10:31 +09:00
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
Michael Oborne
a38fef65c7 AP,AC Add ability to override an altitude in any auto mode, on the current active target 2012-09-30 07:29:33 +08:00
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
rmackay9
8c6fd340d7 AP_AHRS: added scheduler parameter to init 
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
41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
rmackay9
bae53807b2 ArduCopter: tiny formatting change in defines.h 2012-09-27 17:40:54 +09:00
rmackay9
280488fa5e ArduCopter: bug fix to display ITERM enabled/disabled properly from cli 
Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
 2012-09-27 17:40:30 +09:00
rmackay9
ed881117e0 ArduCopter: updated version to 2.7.4-Beta 2012-09-25 23:39:15 +09:00
rmackay9
fff5d51694 ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08) 2012-09-25 19:08:31 +09:00
rmackay9
a71aa21514 ArduCopter: increase default Loiter Rate P to 5.0 2012-09-25 12:19:44 +09:00
rmackay9
b2f12c4854 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
rmackay9
889d1bb36c ArduCopter: alt hold bug fix - removed reset next_WP in init_home 2012-09-23 01:00:06 +09:00
rmackay9
b3ff368589 ArduCopter: position lead filters modified to use lag which varies by gps 2012-09-20 15:49:09 +09:00
rmackay9
361ff0c08f ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in. 2012-09-18 23:19:23 +09:00
rmackay9
93ae29a3e9 ArduCopter: added throttle curve (although disabled by default) for all multicopters 2012-09-18 23:05:08 +09:00
rmackay9
498cbb063b ArduCopter: set fast gains while auto trim is being executed 2012-09-18 09:03:29 +09:00
Andrew Tridgell
5fd39bb928 ACM: updates for new GPS detection 
a GPS can now be attached after startup
 2012-09-17 14:45:47 +10:00
rmackay9
6f32f52377 ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables. 2012-09-17 13:44:29 +09:00
rmackay9
303ca11c4c HIL: changes to fix HIL for ArduCopter after recent timing changes. 
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
 2012-09-15 18:42:56 +09:00
rmackay9
b6d2d4723f ArduCopter: print firmware version of code instead of zero. 2012-09-13 21:49:11 +09:00
rmackay9
9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
Jason Short
072085d2d8 ACM : better debugging text 2012-09-12 23:06:06 -07:00
Jason Short
6b6075ed30 ACM l Prevent pre-mature finish of mission 2012-09-12 23:06:06 -07:00
Jason Short
834f961409 ACM : Fix enduf 2012-09-10 21:25:53 -07:00
Jason Short
4c8e257ea2 ACM : forced setup_show to dump params during log dump for better analysis. 2012-09-10 20:52:30 -07:00
Jason Short
34e07c826f ACM : Added centralized Iterm logging at a lower rate. Logs all iterms. 2012-09-10 20:26:48 -07:00
Jason Short
e8e8c27db4 ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t 2012-09-10 20:22:57 -07:00
Jason Short
a73bc70553 ACM : Params - formatting cleanup 2012-09-10 20:22:11 -07:00
Andrew Tridgell
841d2700b6 ACM: use spare CPU cycles to read the magnetometer 2012-09-10 11:38:18 +09:00
rmackay9
fd110a2723 ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU. 
This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
 2012-09-10 11:37:53 +09:00
rmackay9
42406c827a ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU. 2012-09-10 11:37:48 +09:00
rmackay9
5d3ddf1fc9 ArduCopter: bug fix for ROI not working if user did not have a camera mount 
Changed verify_nav_roi command to attempt to point at the target if our camera mount type is not pan_tilt nor pan_tilt_roll
 2012-09-10 02:03:32 +09:00
Andrew Tridgell
f97104b435 ACM: use compass.accumulate() in ArduCopter 
this gives us a much less noisy magnetometer
 2012-09-08 10:06:04 +10:00
Michael Oborne
c1235c55d5 Fix Approach Altitude min 2012-09-06 17:43:58 +08:00
Pat Hickey
b02340fe10 APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE 2012-09-05 15:36:57 -07:00
rmackay9
5073e56c06 ArduCopter: upgraded firmware version to 2.7.3 2012-09-02 12:58:16 +09:00
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
rmackay9
9013d9be43 ArduCopter: remove unnecessary references to CH_CAM_PITCH, CH_CAM_ROLL, CH_CAM_YAW 2012-09-02 12:47:27 +09:00
Craig Elder
274b2e2143 Arducopter: Release 2.7.2 2012-08-31 19:18:10 -07:00
Andrew Tridgell
e8d928cca4 ACM: added TELEM_DELAY to ArduCopter 2012-08-30 09:03:01 +10:00
Jason Short
51969dca22 ACM Log.pde : whitespace clean up 2012-08-28 21:22:07 -07:00
Jason Short
082913efd4 ACM : revert back to the 2.6 climb rate calc 
The current filter is outputting wild oscillations.
 2012-08-28 21:22:07 -07:00
Craig Elder
4ad516c445 Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking 
Arduplane:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
 2012-08-28 20:09:10 -07:00
rmackay9
2ad6dcb7c4 ArduCopter: increased Stabilize Roll and Pitch I term to 0.05 (was 0.01) based on feedback from Jason 2012-08-29 11:34:53 +09:00
Craig Elder
d8a2bfb9e8 Arducopter: Preparing for 2.7.2 Release 2012-08-28 18:30:41 -07:00
Jason Short
fd4bc69d77 ACM : Logging updates 2012-08-28 15:40:08 -07:00
Jason Short
9d64bea2ef ACM: Altitude Adjust 2012-08-28 15:40:08 -07:00
Jason Short
98cc65862d ACM : Log Timing 2012-08-28 15:40:08 -07:00
rmackay9
2e9e3ce5a6 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
rmackay9
b4b394e67e ArduCopter: reduced Rate Roll and Pitch PID values 
RATE_ROLL_P, RATE_PITCH_P reduced to 0.165 (was 0.185)
RATE_ROLL_D, RATE_PITCH_D reduced to 0.004 (was 0.008)
 2012-08-26 10:45:45 +09:00
uncrustify
09fbe8e29a uncrustify ArduCopter/APM_Config.h 2012-08-21 19:19:50 -07:00
uncrustify
429c41155c uncrustify ArduCopter/config.h 2012-08-21 19:19:50 -07:00
uncrustify
969166c4e3 uncrustify ArduCopter/system.pde 2012-08-21 19:19:50 -07:00
uncrustify
841b4ce9c8 uncrustify ArduCopter/test.pde 2012-08-21 19:19:50 -07:00
uncrustify
bb6e4ac969 uncrustify ArduCopter/setup.pde 2012-08-21 19:19:50 -07:00
uncrustify
7f89e6c677 uncrustify ArduCopter/motors.pde 2012-08-21 19:19:50 -07:00
uncrustify
d49df965f3 uncrustify ArduCopter/navigation.pde 2012-08-21 19:19:50 -07:00
uncrustify
6791da4ee7 uncrustify ArduCopter/commands_logic.pde 2012-08-21 19:19:50 -07:00
uncrustify
f783ace0de uncrustify ArduCopter/Attitude.pde 2012-08-21 19:19:50 -07:00
uncrustify
2438cd32fc uncrustify ArduCopter/Parameters.pde 2012-08-21 19:19:50 -07:00
uncrustify
4021a64747 uncrustify ArduCopter/ArduCopter.pde 2012-08-21 19:19:50 -07:00
uncrustify
c1ce689e38 uncrustify ArduCopter/Log.pde 2012-08-21 19:19:50 -07:00
uncrustify
6a893c11c7 uncrustify ArduCopter/Parameters.h 2012-08-21 18:57:21 -07:00
uncrustify
b9ba41c12a uncrustify ArduCopter/defines.h 2012-08-21 18:57:21 -07:00
uncrustify
d0e48755ab uncrustify ArduCopter/config_channels.h 2012-08-21 18:57:21 -07:00
uncrustify
4311b15005 uncrustify ArduCopter/UserVariables.h 2012-08-21 18:56:57 -07:00
uncrustify
3d4ca7aa30 uncrustify ArduCopter/GCS.h 2012-08-21 18:56:56 -07:00
uncrustify
37e00fae80 uncrustify ArduCopter/APM_Config_mavlink_hil.h 2012-08-21 18:56:56 -07:00
uncrustify
42f107706e uncrustify ArduCopter/planner.pde 2012-08-21 18:56:56 -07:00
uncrustify
8dccd9d6b0 uncrustify ArduCopter/sensors.pde 2012-08-21 18:56:50 -07:00
uncrustify
df6bdfbd5a uncrustify ArduCopter/UserCode.pde 2012-08-21 18:56:01 -07:00
uncrustify
f7a748d43b uncrustify ArduCopter/GCS_Mavlink.pde 2012-08-21 18:56:01 -07:00
uncrustify
30c0328d0c uncrustify ArduCopter/flip.pde 2012-08-21 18:56:01 -07:00
uncrustify
58b5f4e271 uncrustify ArduCopter/GCS.pde 2012-08-21 18:56:00 -07:00
uncrustify
c7ff6a6335 uncrustify ArduCopter/toy.pde 2012-08-21 18:56:00 -07:00
uncrustify
1e2c01d8f6 uncrustify ArduCopter/commands_process.pde 2012-08-21 18:56:00 -07:00
uncrustify
b6dd8aa592 uncrustify ArduCopter/leds.pde 2012-08-21 18:55:44 -07:00
uncrustify
2d398aa663 uncrustify ArduCopter/commands.pde 2012-08-21 18:55:43 -07:00
uncrustify
a75d477071 uncrustify ArduCopter/radio.pde 2012-08-21 18:55:43 -07:00
uncrustify
ff0e2e537e uncrustify ArduCopter/events.pde 2012-08-21 18:55:43 -07:00
uncrustify
4303e0bcae uncrustify ArduCopter/limits.pde 2012-08-21 18:55:16 -07:00
uncrustify
a20f75e12c uncrustify ArduCopter/inertia.pde 2012-08-21 18:54:57 -07:00
uncrustify
7c8f4421a3 uncrustify ArduCopter/control_modes.pde 2012-08-21 18:54:57 -07:00
Andrew Tridgell
6d11940ada AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
Andrew Tridgell
e9928e78de ACM: fixed TradHeli build 2012-08-22 09:55:31 +10:00
Robert Lefebvre
575b99b4be TradHeli: Creating Flybar Acro mode. 2012-08-21 16:54:01 -04:00
Andrew Tridgell
16e06ea1f4 ACM: build DMP version in autotest 
this gives it a chance of keeping working
 2012-08-21 15:58:59 +10:00
Andrew Tridgell
bf2319a0fc AHRS: fixed reference to AHRS var_info for APM and ACM 2012-08-21 15:58:32 +10:00
Andrew Tridgell
1b0f5ac84f ACM: use ahrs.set_fast_gains() on arm/disarm 2012-08-21 15:38:31 +10:00
rmackay9
1d32e03f61 ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h. 
Reduces possibility of difference between arduino ide compiled code and script built code (i.e. autotester, mission planner)
 2012-08-19 12:31:02 +09:00
rmackay9
75459b09be ArduCopter: changed reset_throttle_counter to uint8_t to get rid of overflow bug that was preventing target altitude from being locked in after pilot input down throttle. 2012-08-19 11:50:35 +09:00
Jason Short
c81064279a ACM : removed 2-level DCM gain change - .1 will still be the default. 2012-08-18 15:43:34 -07:00
Jason Short
575a9c4fd1 ACM : Fix for reloading the user DCM gains upon arming 2012-08-18 13:17:43 -07:00
Jason Short
0a25a189eb ACM | Attitude.pde - removed next_wp.alt reset. 2012-08-18 12:25:48 -07:00
Jason Short
988d0c98fc ACM : Alt hold adjustment - made angle boost work during alt hold changes. 
increased length of delay when reverting to automatic hold to deal with latency of baro sensor
 2012-08-18 09:30:46 -07:00
Jason Short
77f47a45d0 ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency. 2012-08-18 09:04:22 -07:00
Jason Short
522fa58ea5 ACM : temp fix for throttle output limit 
I had a bad crash when I lost authority. The logs showed the throttle pegged at 1000 which killed my control. We went round and round on this and somehow settled on no limit. That wasn't a good idea. This should really be hard coded into the Motors Library, but for now I'm just sticking it here.
 2012-08-18 09:04:22 -07:00
Jason Short
bc631b656e ACM: Added a more sane limit to Angle boost 2012-08-18 09:04:21 -07:00
rmackay9
64cfaf74b7 ArduCopter: renamed "_new_alt" parameter to just "new_alt" in force_new_altitude and set_new_altitude functions 2012-08-18 21:46:48 +09:00
rmackay9
5b6f7f0012 ArduCopter: modified altitude hold so that 1 second slow down period is executed after pilot moves throttle back into deadzone 2012-08-18 21:45:49 +09:00
rmackay9
11e946eb54 ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +09:00
rmackay9
2e4e8bbf1a ArduCopter: changed "unsigned long" to "uint32_t" 2012-08-18 19:05:55 +09:00
rmackay9
99859ae42f ArduCopter: added cast to (int) in printf statments. 
Also modified dump_log function's last_log_num to be int16_t to match return type from DataFlash's find_last_log method.
 2012-08-18 18:58:15 +09:00
rmackay9
7a6732fb4b ArduCopter: removed unused icount variable from commands_logic.pde to reduce compiler warnings. 2012-08-18 16:04:23 +09:00
rmackay9
87d5b5944d ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings 2012-08-18 16:03:49 +09:00
rmackay9
8a6085a3ba ArduCopter: removed unused maggy variable from test.pde to reduce compiler warnings. 2012-08-18 16:03:26 +09:00
rmackay9
07c7c3945d ArduCopter: fixed small bug re arming_counter for TOY mode 2012-08-18 13:21:41 +09:00
rmackay9
92688a793a ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch. 2012-08-18 11:48:12 +09:00
rmackay9
8c636ca263 ArduCopter: fix compiler error related to printing boarding type in dataflash logs. 2012-08-18 11:47:10 +09:00
Michael Oborne
b2b73cc6cb AC fix some Parameter units 2012-08-18 08:30:16 +08:00
Jason Short
1b7e27658b ACM : removed old note 2012-08-17 17:03:40 -07:00
Jason Short
0ac1373591 ACM Logging - added APM version #, stab_I term logging 2012-08-17 17:03:40 -07:00
Jason Short
387a021c30 ACM : APM_Config.h : default removed for toy mixer. 2012-08-16 15:41:35 -07:00
Jason Short
3ee2fd3fb6 ACM: Config.h - added default for toy mixer 2012-08-16 15:40:28 -07:00
Jason Short
770956a3fd ACM : Made control_roll and pitch global for logging; made yaw towards waypoint use initial angle and not a recalculated angle to deal with wiggles as we approach WP 2012-08-16 15:39:50 -07:00
Jason Short
9cee1b2fa0 ACM : Upped Yaw Limit to 2200 2012-08-16 15:38:46 -07:00
Jason Short
bdc1c41e62 ACM: made target bearing the lead filtered location 
Had some major nav trouble from crosstrack if I used the laggy position.
 2012-08-16 15:38:25 -07:00
Jason Short
0f9f72e8ab ACM: added nav_yaw to att logging 
Removed unnecessary casting
 2012-08-16 12:43:55 -07:00
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
a72bf6ef57 ArduCopter: replaced abs with labs as required in a few places. 
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
 2012-08-16 17:51:09 +09:00
Jason Short
4d5d16720b ACM Test: Added a return statement 2012-08-15 21:37:23 -07:00
Jason Short
31f31eec75 ACM : Test for bearing calc 2012-08-15 21:04:24 -07:00
Jason Short
99dcbd039d ACM Log : fixed formatting 2012-08-15 21:04:24 -07:00
Andrew Tridgell
ed064b2506 MAVLink: enable fetching of single parameters 
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
 2012-08-16 10:14:46 +10:00
Jason Short
f1af837543 ACM: Switched to filtered loc 2012-08-14 14:11:52 -07:00
Jason Short
cdd2093a4c ACM: Switched to filtered_loc for distance calcs 2012-08-14 14:11:52 -07:00
Jason Short
a4bc5950cf ACM: Added a filtered version of Location for GPS lag. 
I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
 2012-08-14 14:11:51 -07:00
Jason Short
993c89c4f8 ACM: Revved the version 2012-08-14 14:11:51 -07:00
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
Jason Short
b01a71c4b9 ACM: Toy mode updates - added second toy mode 2012-08-11 22:37:27 -07:00
Jason Short
8160aa6103 ACM : Toy mode updates 2012-08-11 22:37:27 -07:00
Jason Short
1e0ab8768e ACM: Toy mode updates 2012-08-11 22:37:26 -07:00
Jason Short
b27c1ce396 ACM : Added check for second Toy mode 2012-08-11 22:37:26 -07:00
Jason Short
11b7475ff9 ACM : Added CH7 multimode triggers, split Toy mode into two 2012-08-11 22:37:26 -07:00
Jason Short
45574c0b1a ACM : CH_7 multimode option added 2012-08-11 22:37:26 -07:00
Jason Short
c305237e3a ACM : Added CH_7 Multimode 2012-08-11 22:37:26 -07:00
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
Amilcar Lucas
780b469b11 ArduCopter: Enable the aux servos later, only in the slow periodic loop 
This might solve some of the boot issues some users are having
 2012-08-11 12:58:13 +02:00
Andrew Tridgell
81440a1b09 AHRS: fixed build 
AP_Airspeed.h is now needed to build AHRS
 2012-08-11 12:22:55 +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
Jason Short
3ad08b7ffc ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second. 2012-08-10 10:02:32 -07:00
Jason Short
9a568385b0 ACM increase the minimum speed at WP 2012-08-10 10:01:40 -07:00
Jason Short
be0559864c ACM : switched to get_bearing_cd 2012-08-09 17:04:30 -07:00
Jason Short
132ac7d412 ACM : attitude.pde - removed unused function 2012-08-09 17:04:12 -07:00
Jason Short
e73c0250ad ACM: Radio.pde - toy mode updates 2012-08-09 17:00:11 -07:00
Jason Short
f641c5d077 ACM system.pde - toy mode update, cleanup of throttle cruise code 2012-08-09 16:59:44 -07:00