rmackay9
68b62abd38
ArduCopter with the new Camera and Relay classes for APM1 and APM2.
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All changes by Sandro Benigno
2013-01-02 09:55:37 +11:00
rmackay9
e77b54c7dc
ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete.
2013-01-02 09:24:31 +11:00
Craig@3DR
0ed25cf719
Global change all references from
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GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
2013-01-02 09:24:31 +11:00
Jason Short
8b62c4630b
ACM: Restore Multi-mode support
2013-01-02 09:20:08 +11:00
Robert Lefebvre
6e64b1b357
ACM: Precision Loiter RePositioning code.
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Protected behind a #define
2013-01-02 09:19:39 +11:00
rmackay9
1b5ff6aac6
ArduCopter: restore initial climb to RTL
2013-01-02 09:19:17 +11:00
rmackay9
f4c50353b9
ArduCopter: allow tuning of the Throttle Rate D term
2013-01-02 09:16:48 +11:00
Andrew Tridgell
3c0440b0b4
Math: use common degrees() and radians() functions
2012-12-20 14:53:22 +11:00
Andrew Tridgell
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
Pat Hickey
d93d932831
ArduCopter: defines fixes
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Conflicts:
libraries/AP_Common/Arduino.mk
2012-12-20 14:52:28 +11:00
Pat Hickey
2aa4657315
ArduCopter: changes to use CONFIG_HIL_BOARD
2012-12-20 14:52:28 +11:00
rmackay9
56ceb230cb
ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission
2012-12-09 18:04:31 +09:00
rmackay9
0f7bb79d89
ArduCopter: add comments to tuning parameters.
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Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
2012-12-09 16:44:42 +09:00
rmackay9
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
rmackay9
68ca123224
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
rmackay9
3a90fc77f9
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
rmackay9
4ca27defb3
ArduCopter: update comments related to CH7 switch options
2012-12-06 17:40:36 +09:00
rmackay9
a5bb54e36e
ArduCopter: RTL clean-up and slightly improved landing sensor
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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
d7f76ebd87
ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI)
2012-12-06 10:31:25 +09:00
rmackay9
7b4ed2d227
ArduCopter: restored landing detector to landing throttle mode.
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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
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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
6b8c39dd10
ACM: Creating Yaw_Look_Ahead yaw mode.
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This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
Andrew Tridgell
bcf740a82f
ACM: support 16 character parameter names
2012-11-20 21:38:58 +11:00
Jason Short
d2a5928c06
Ap state updates
2012-11-09 22:15:15 -08:00
rmackay9
1f801714e8
ArduCopter: incorporate new version of inertial navigation
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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
Andrew Tridgell
9592be5af7
ACM: saved some more memory for strings
2012-10-22 18:57:08 +11:00
Robert Lefebvre
592f4040fd
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
rmackay9
95763e610b
ArduCopter: allow DMP to run in parallel with DCM
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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
bae53807b2
ArduCopter: tiny formatting change in defines.h
2012-09-27 17:40:54 +09:00
Jason Short
34e07c826f
ACM : Added centralized Iterm logging at a lower rate. Logs all iterms.
2012-09-10 20:26:48 -07:00
uncrustify
b9ba41c12a
uncrustify ArduCopter/defines.h
2012-08-21 18:57:21 -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
07bd1940e7
ACM Defines.h -added Toy mixer enums
2012-08-09 16:59:43 -07:00
rmackay9
014f5aae99
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +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
ab564b8a86
defines.h
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removed Approach mode enumeration
2012-07-01 13:40:11 -07:00
Jason Short
0011190880
defines.h: Toy Mode defines for flight modes
2012-06-29 21:20:28 -07:00
Jason Short
5e4d28baf0
Added Toy mode to navigation
2012-06-29 21:20:27 -07:00
Jason Short
807c4ced34
Added Toy Mode defines
2012-06-25 23:08:25 -07:00
Robert Lefebvre
30e55533dc
Change to increase Parameter space as we have run out.
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This will decrease the max number of waypoints from 186
to 169.
2012-05-30 20:41:53 -04:00
Robert Lefebvre
a285e2779f
CopterLEDS changes for APM2
2012-05-15 10:07:03 -04:00
Andrew Tridgell
4fee26437b
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
2012-04-24 22:24:58 +10:00
Adam M Rivera
97040a7b3a
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
rmackay9
c993049c48
ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion
2012-04-21 23:24:57 +09:00
Adam M Rivera
a3842734a9
Planner/defines.h: Updated the enumeration value for APPROACH so as not to disturb the order of the universe.
2012-04-18 10:32:01 -05:00
Adam M Rivera
f9affb3295
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
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Conflicts:
ArduCopter/Parameters.h
2012-04-16 10:23:01 -05:00
rmackay9
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
Adam M Rivera
83fe6733d4
Defines: Added new control mode (APPROACH).
2012-04-15 16:52:32 -05:00
rmackay9
d70f5da5e0
ArduCopter - LEDS - define pins to be used for COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:36 +09:00