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1331 Commits

Author SHA1 Message Date
Robert Lefebvre
ef9cd54035 Implementing Yaw Fix. Tried to blend with Jason's changes. 2012-07-14 00:24:22 -04:00
Jason Short
9eb638dac8 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
ce0de98144 Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions 2012-07-13 12:51:38 -07:00
Jason Short
34cf0b4c24 Arducopter - commands: Add home logging 2012-07-13 11:51:40 -07:00
Jason Short
bfce0ad9c5 Arducopter: Fix circle_WP 2012-07-12 09:22:20 -07:00
Jason Short
1a62d84288 Arducopter: Loiter unlimited fix 2012-07-12 08:52:49 -07:00
Andreas M. Antonopoulos
9dfb3c4db9 Added Michael Pursifull's Maxsonar HRLV model support 2012-07-11 18:46:47 -07:00
Jason Short
0bb7acb6fe 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
b6715b2e53 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
23f8d20271 Arducopter: Toy mode refinements 2012-07-10 21:53:38 -07:00
Jason Short
1bd1975e2e 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
31d0211960 Arducopter: Config.h, default gain tweaks from flight tests. 2012-07-10 21:53:38 -07:00
Jason Short
997031bca0 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
e1484180f8 Arducopter:Log.pde Logging the calculated Climbrate 2012-07-10 21:53:38 -07:00
Jason Short
9de2c00d93 Arducopter: WP_radius 
Switching to stored WP_radius in meters, just like Arduplane
 2012-07-10 21:53:38 -07:00
Jason Short
32e6a6ba8d Arducopter:Params 
WP_RADIUS_DEFAULT is now stored the same as Arduplane
 2012-07-10 21:53:37 -07:00
Jason Short
225c63c06a Arducopter: Added note 2012-07-10 21:53:37 -07:00
Jason Short
492809098b Toy Mode: High Yaw default 2012-07-10 21:53:37 -07:00
Jason Short
cf6082fc44 Arducopter : Force home alt to 0 2012-07-10 21:53:37 -07:00
Jason Short
46f292bcd8 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
8e14ebbc10 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
a643d2aa6b 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
9b6acf168e 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
86cab799ed arducopter.pde 
Timer was set =0 at initialization.
 2012-07-09 13:13:32 -07:00
Jason Short
ab603c7fcf Toy Mode Yaw Rate fix 2012-07-09 13:13:32 -07:00
Jason Short
acfd263bab 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
9e796899e4 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
ba9b94851f ArduCopter: Copied parameter documentation from ArduPlane, where appropriate 2012-07-04 23:33:55 -07:00
Andrew Tridgell
a71f567d28 MAVLink: climb_rate is in m/s 2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos
a2e2bf69c6 parameter documentation to test auto build 2012-07-04 20:06:12 -07:00
Andrew Tridgell
fe54329de2 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
ddd069ad83 Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals. 2012-07-04 21:08:03 -05:00
Adam M Rivera
278e215a21 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Andrew Tridgell
35b73b9d01 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Jason Short
cc51d497c6 commands 
fixed logic bug to make a copter loiter after the mission is ended.
 2012-07-03 17:38:50 -07:00
Jason Short
a143e7bef6 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
fcc38889b4 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
69fe7feb54 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
207497a840 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
8a2df85ee8 commands_logic: Removed some old unused code 2012-07-03 17:19:19 -07:00
Jason Short
4a2e9b692d 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
2bc77c1020 Log.pde: formatting 2012-07-03 17:16:26 -07:00
Jason Short
c20c04ed24 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short
b2d932136a Toy Mode: Yaw performance update. 2012-07-03 17:14:54 -07:00
Jason Short
50d1ff56c5 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short
88428743b2 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
0aabd4efe2 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
bea1ab8810 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
44e12c6d2d Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short
42a321b76c GCS_Mavlink.pde 
removed Approach define
 2012-07-01 13:40:11 -07:00
Jason Short
95e1f05f82 defines.h 
removed Approach mode enumeration
 2012-07-01 13:40:11 -07:00
Jason Short
3fb268da96 read_control_switch 
Removed Prev_WP reference. unneeded.
 2012-07-01 13:40:11 -07:00
Jason Short
99d6a45948 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
059fea36aa 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
9cd9dd168e RTL: Commands.pde 
Removed do_approach function - now redundant
 2012-07-01 13:40:11 -07:00
Jason Short
e5fbcb629d 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
8c8f44e6f7 Arducopter: enabled RTL_altitude, renamed function to be more accurate 2012-07-01 13:40:11 -07:00
Jason Short
b199fb22a2 Added code for self centering throttle - disabled by default. 2012-07-01 13:40:11 -07:00
Andrew Tridgell
e791cad9ef AnalogSource: convert analogRead() calls to the new API 
this should give us much better analog values, plus save a bunch of
CPU time
 2012-07-01 15:01:05 +10:00
rmackay9
9624f8c179 ArduCopter: updated STABILIZE_ROLL_I to 0.01 (was 0.1) as instructed by Marco 2012-06-30 19:26:14 +09:00
Jason Short
60cdbe771c Circle_WP distance check fix 2012-06-29 21:20:28 -07:00
Jason Short
d448ea23e6 Commands.pde: increased bad WP distance check 2012-06-29 21:20:28 -07:00
Jason Short
d893cde785 navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction. 2012-06-29 21:20:28 -07:00
Jason Short
59181eab3d System.pde: Toy mode details for set_mode() 2012-06-29 21:20:28 -07:00
Jason Short
7178da3538 GCS_Mavlink: added notes to #if malink10 2012-06-29 21:20:28 -07:00
Jason Short
49243bc206 defines.h: Toy Mode defines for flight modes 2012-06-29 21:20:28 -07:00
Jason Short
40e0d88d12 Config.h: Optimizing Nav gains 2012-06-29 21:20:28 -07:00
Jason Short
bcf6c03157 Attitude.pde: Toy mode logic 2012-06-29 21:20:27 -07:00
Jason Short
146a4b021f Arducopter.pde: Added Toy mode refinements 2012-06-29 21:20:27 -07:00
Jason Short
eb06320559 Params: Added toy_yate_rate 2012-06-29 21:20:27 -07:00
Jason Short
57b75736ce Added Toy mode to navigation 2012-06-29 21:20:27 -07:00
Jason Short
c830ab6ded Aeducopter.pde: Toy mode updates 2012-06-29 21:20:27 -07:00
Adam M Rivera
d399143498 commands_process.pde: Bug fix 427. By default, the copter would land after an AUTO mission. Updated to check for valid approach altitude at end of mission. 2012-06-29 21:41:56 -05:00
Andrew Tridgell
1cb96e14a9 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Adam M Rivera
44ce8fc4bc ArduCopter: Loiter Timer should have been set when the approach altitude was set. Previously, land had to be enabled before auto approach would work. 2012-06-28 20:34:53 -05:00
Andrew Tridgell
7883c4a545 ACM: ArduCopter updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell
7eb150a2f0 ACM: adapt the ArduCopter code for new barometer interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell
d71e82191f ACM: enable GPS in AHRS for ArduCopter 
this is an experiment in centripetal correction for multicopters
 2012-06-27 16:01:49 +10:00
Jason Short
57e4fabb57 Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco. 2012-06-26 10:39:42 -07:00
Jason Short
3fcd3100cc Added user editable define for Super simple radius 2012-06-26 10:38:46 -07:00
rmackay9
c034e38cbd ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float) 2012-06-26 22:50:17 +09:00
Jason Short
91cde15c27 Attitude.pde - Added small boost to alt hold for takeoff. 2012-06-25 23:12:19 -07:00
Jason Short
711bbeb6f3 GCS_Mavlink.pde : mav_nav only used in legacy Mavlink. 2012-06-25 23:08:25 -07:00
Jason Short
4a85c40f03 Added Toy Mode control 2012-06-25 23:08:25 -07:00
Jason Short
03879d9113 Added Toy Mode defines 2012-06-25 23:08:25 -07:00
Jason Short
4872880134 Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with. 
Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
 2012-06-25 23:08:25 -07:00
Jason Short
efc74a87aa commands.pde: fixed unit error for distance check 2012-06-25 23:06:28 -07:00
Jason Short
7a5347fb1f Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm 2012-06-25 23:06:28 -07:00
Jason Short
81c684664b GCS Mavlink.pde: change reference to nav_bearing to target_bearing. 2012-06-25 23:06:28 -07:00
Jason Short
50b3ef66a7 Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s 2012-06-25 23:06:28 -07:00
Jason Short
2fdbbb87f2 inertia.pde: WIP don't fly with inertia enabled until FN. 2012-06-25 23:06:28 -07:00
Jason Short
900f169c44 Log.pde: removed nav_bearing reference and replaced with target_bearing ref 2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos
678b12af25 AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane 
http://code.google.com/p/arducopter/issues/detail?id=430
 2012-06-24 17:01:25 -07:00
Robert Lefebvre
7eae382a22 Open up constraint on Rate Yaw Output for all copters. 2012-06-22 10:06:01 -04:00
Jason Short
014f0f9a99 Config.h - returned low to original 120 2012-06-20 15:22:35 -07:00
Jason Short
95f3041d25 Parameters.h: throttle_min and throttle_max now have defaults from Config.h 2012-06-20 15:02:00 -07:00
Jason Short
b8016dfe48 changed define to a param for throttle_min and throttle_max 2012-06-20 15:00:53 -07:00
Jason Short
ef847eecbb changed define to param for throttle_min 2012-06-20 15:00:05 -07:00
Jason Short
8ef60f2d75 Added throttle_min as a user definable param 2012-06-20 14:58:34 -07:00
Jason Short
25a67c9953 lowered minimum throttle 2012-06-20 08:47:47 -07:00