870b5e5f75
ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM
2012-04-16 23:47:57 +09:00
a71ed6abec
ArduCopter - updated firmware version to "2.6 Beta"
2012-04-14 14:26:44 +09:00
24b81db20e
ArduCopter - LEDS - main code to support COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:44 +09:00
54a0709759
ArduCopter - add includes for new AP_Motors classes.
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Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
2012-04-04 22:50:43 +09:00
c0a54762c6
MAVLink: port the new adaptive flow control to ArduCopter
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This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
2012-04-02 11:18:53 +10:00
75d7308fb4
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
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also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
0bc604f030
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
51b70e4d36
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
2012-03-30 14:25:06 +11:00
0efb0e5b4d
ArduCopter - added CH6_STABILIZE_KD tuning value
2012-03-29 21:09:41 +09:00
599cea21bb
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
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#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
e956e21e7d
ACM: enable the new compass offset nulling in ACM
2012-03-27 15:37:24 +11:00
67cf7b9eed
ArduCopter - updated firmware version to 2.5.3
2012-03-25 09:13:51 +09:00
63b96c0153
ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter
2012-03-23 23:48:24 +09:00
89576a281a
ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area
2012-03-23 23:12:49 +09:00
1dd554c333
ArduCopter - updated version to 2.5.1
2012-03-20 17:08:18 +09:00
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
c5344a2a85
ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes.
2012-03-18 22:31:22 -07:00
9841cb0335
ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero)
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- remove incorrect comments about when loiter target position is reset.
2012-03-18 15:16:04 +09:00
48a0c9a818
ACM: Small fix to nav_throttle to prevent too fast of a landing.
2012-03-16 14:10:19 -07:00
1c0b28c956
Fixed Scaling bug in Sonar mixing
2012-03-16 14:10:19 -07:00
86eff20d5d
Rev'ed version number to 2.5. Added more credits
2012-03-15 02:38:54 +00:00
6f8b97bf6a
ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system.
2012-03-13 21:31:16 -07:00
4315c06f34
Lowering the D filter for less latency and less oscillation.
2012-03-13 12:58:46 -07:00
7953808d14
ACM: Larger filter for Loiter D
2012-03-13 10:23:30 -07:00
0ab6b6e592
ACM: Rate_d filter for PID loop of Loiter.
2012-03-11 23:21:49 -07:00
77fe7de55d
ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time.
2012-03-11 23:21:49 -07:00
2a03a0584f
AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED
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unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
2012-03-11 21:46:41 +11:00
d3667faef4
AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
62c2aa4924
ACM: Added Loiter D tuning
2012-03-10 14:17:57 -08:00
0671bb9168
ACM: Firmware rev
2012-03-10 12:45:03 -08:00
29d6085bab
added Force_new_altitude call for alt hold
2012-03-10 12:37:54 -08:00
4ba600c0c5
upped throttle manual boost to 225
2012-03-10 12:37:28 -08:00
ef771fecdc
ACM: removed a lot of the special case code for quaternions
2012-03-10 10:34:31 +11:00
69c29d35ce
ACM: change DCM loop to 100Hz
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On my APM2 quad this seems to give better results
2012-03-10 10:34:31 +11:00
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
9bff4e2c4c
ACM: only call the fast loop if the imu has new data
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this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
486c56ce41
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
730476fdfd
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
46d7da4d14
Added define for throttle range for altitude changes, updated it to 250
2012-03-05 22:12:53 -08:00
ceef8070ac
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
76c3cd88f0
Added heli_collectiveFactor array
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Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-02-28 10:49:28 -05:00
744e5b8c60
ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine)
2012-02-28 22:56:26 +09:00
17d94b61ed
ArduCopter - modified to work with new Filter library
2012-02-28 21:02:44 +09:00
517172ba20
Added Loiter Rate Tuning
2012-02-26 11:33:37 -08:00
8193c786ef
ArduCopter - added #include <Filter.h> to unbreak the build!
2012-02-26 17:05:41 +09:00
69132e0fe7
ArduCopter - change sonar to use new mode filter from Filter library
2012-02-26 15:35:14 +09:00
a924c3685e
Based on Jani's latest logs I've made two tweaks to alt hold.
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The first is to remove the filter on the throttle output for alt_hold.
The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
2012-02-25 13:31:21 -08:00
e2bbc795ad
ACM: use a NULL gps pointer in DCM init
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current DCM API does need a GPS reference passed in, but it can be
NULL
2012-02-25 15:08:49 +11:00
698749dd92
ACM: don't pass a gps pointer to DCM
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after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
2012-02-25 14:51:08 +11:00
1cd3172954
ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch
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the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
2012-02-24 11:52:55 +11:00
rmackay9
Andrew Tridgell
Adam M Rivera
Jason Short
analoguedevices
Robert Lefebvre