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1002 Commits

Author SHA1 Message Date
Jason Short
4ba600c0c5 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
rmackay9
afc4aceb32 ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde 2012-03-11 01:27:58 +09:00
rmackay9
c7480f2281 ArduCopter - fix to dataflash logging of Mag heading 2012-03-11 01:27:29 +09:00
Andrew Tridgell
d75e883fe8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00
Andrew Tridgell
9a06d35772 make 'ENABLE' and 'ENABLED' mean the same things 
users get this wrong far too often!
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
828ad7625b ACM: removed the ADC filtering code 2012-03-10 10:34:32 +11:00
Andrew Tridgell
1016d3c95d ACM: removed quaternion special cases in CLI code 2012-03-10 10:34:31 +11:00
Andrew Tridgell
8393c0299b ACM: removed the DCM tuning overrides 
not needed now that DCM scales with deltat
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
7291dfc25a ACM: removed the special case for quaternions in GCS code 2012-03-10 10:34:31 +11:00
Andrew Tridgell
d6cfc51ae4 ACM: no need to fetch offsets at startup 
AP_Param handles this
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
ef771fecdc ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell
69c29d35ce ACM: change DCM loop to 100Hz 
On my APM2 quad this seems to give better results
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
2596acc8eb ACM: removed incorrect mode definition 2012-03-10 10:34:30 +11:00
Andrew Tridgell
7a9b3d3388 Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell
7e4c8592ff ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell
9bff4e2c4c ACM: only call the fast loop if the imu has new data 
this prevents us spinning waiting for the sensors to gather some data
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
367947fd33 HWSTATUS: if we don't know the voltage, report it as zero 
this will tell us if board_voltage() is really working
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
64cc04ae09 ACM: adjust yaw drift correction constants 
this should give the compass a bit more authority
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
a0ce202d87 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +11:00
Jason Short
486c56ce41 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short
c8e9d57567 temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest. 2012-03-06 22:23:06 -08:00
Jason Short
730476fdfd ACM - 
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
Jason Short
c26eb6afcc ACM: Updated config values 2012-03-06 22:12:24 -08:00
rmackay9
8b256cf924 ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down 2012-03-06 23:20:30 +09:00
rmackay9
72a775cc2a ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down. 2012-03-06 22:19:19 +09:00
rmackay9
706bea5992 ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino 2012-03-06 22:15:02 +09:00
Jason Short
46d7da4d14 Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
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
0ff44563ec ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls 2012-03-02 17:57:08 +11:00
Andrew Tridgell
0fc646d666 ACM: set default RC fast speed to 400Hz 2012-03-02 17:57:08 +11:00
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
Andrew Tridgell
f781bd735b ACM: fixed Parameters.h to avoid duplicate keys 
unfortunately everyone needs to reload
 2012-03-02 15:48:28 +11:00
Andrew Tridgell
cb874d6097 ACM: added board_voltage() 2012-03-02 15:48:28 +11:00
Robert Lefebvre
e49c2d2871 Rescale TradHeli roll_out and pitch_out into the min and max ranges to provide linear motion across the input range instead of stopping when the input hits the constrain value. These calculations are based on an assumption of the user specified roll_max and pitch_max coming into this equation at 4500 or less, and based on the original assumption of the total g.heli_servo_x.servo_out range being -4500 to 4500. 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-03-01 22:04:50 -05:00
Jason Short
7c09e4a5e6 added stab_d gain scheduling - off by default 2012-02-28 20:16:40 -08:00
Jason Short
a387956814 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short
ceef8070ac added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short
b76c4ecb22 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short
efdf6ee79f added option for stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short
ca34d7b7c2 Added test for stab_d gain scheduling. 2012-02-28 20:16:40 -08:00
Pat Hickey
16ed16f403 Cleanup: rm ArduCopter/GCS_Mavlink\ copy.txt 
* Not needed, but we can always checkout an old version if it is.

Hi Pat,
This may have been my WIP for the Mavlink 1.0 conversion. I tried to
give Tridge a head start on it. I've made small updates to it in
parallel to the current Mavlink. You can delete it as he would have used
it by now if he felt it was helpful.

Jason

On Feb 28, 2012, at 4:08 PM, Pat Hickey wrote:

It looks like this file was checked in by accident, possibly, but you've
made a few small changes to it since creating it.

Is it important? Should we get rid of it?

Git log of file below.

Thanks
Pat
...
 2012-02-28 16:28:27 -08:00
Pat Hickey
ff0fc26484 Cleanup: rename files with spaces in their names, replace with underscores 
* Skipped /Tools/ArdupilotMegaPlanner/Resources/new...
  and /archive/Configurator/Source/Utilities/TDMS/G...
  because I don't want to mess with that.
 2012-02-28 16:14:31 -08:00
Robert Lefebvre
76c3cd88f0 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9
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
rmackay9
4a0989f95d ArduCopter - Attitude.pde - updated get_rate_roll and get_rate_pitch to use new average filter. 
modified all int to int16_t in Attitude.pde
 2012-02-28 21:26:37 +09:00
rmackay9
17d94b61ed ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short
ba68d6d8a1 Set loiter rate enabled by default 2012-02-26 12:29:28 -08:00
Jason Short
e06d8142c1 Added OPtion for non-rate based loiter 2012-02-26 11:33:37 -08:00
Jason Short
6e53949c2a removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short
517172ba20 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
Jason Short
0ce0c7c262 Added Loiter_rate_tuning 2012-02-26 11:33:36 -08:00
Jason Short
eac77504a3 Added more Logging for PIDs. 2012-02-26 11:33:36 -08:00
rmackay9
8193c786ef ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9
69132e0fe7 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short
f27e9f9ca1 added a simple rest of nav_throttle just in case 2012-02-25 13:31:21 -08:00
Jason Short
cc5ab4aebf increased speed of alt hold I term based on Jani's Logs 2012-02-25 13:31:21 -08:00
Jason Short
1ce267f904 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
Jason Short
a924c3685e Based on Jani's latest logs I've made two tweaks to alt hold. 
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
Andrew Tridgell
e2bbc795ad ACM: use a NULL gps pointer in DCM init 
current DCM API does need a GPS reference passed in, but it can be
NULL
 2012-02-25 15:08:49 +11:00
Andrew Tridgell
0248b48d30 allow MAG_ENABLE to be changed in flight 
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled

This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
 2012-02-25 14:51:09 +11:00
Andrew Tridgell
864ed1a87f ACM: check the return of compass.init() 
if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell
698749dd92 ACM: don't pass a gps pointer to DCM 
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
Andrew Tridgell
690dc9052a GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +11:00
Andrew Tridgell
2e9105c68a AP_Param: added special handling for Vector3f 
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
 2012-02-25 11:37:20 +11:00
Jason Short
1e254cbca0 Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
rmackay9
57e5eee8c8 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short
385828824d updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short
24345d4f43 Loiter updates 2012-02-23 22:03:26 -08:00
Andrew Tridgell
1cd3172954 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
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
Jason Short
364afe8da0 added a constraint to D term 2012-02-23 09:14:44 -08:00
Andrew Tridgell
95ef9206dc DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Jason Short
c7c16a5b0f Emile's Fixes 2012-02-22 10:27:34 -08:00
Jason Short
4483f19f85 Marco's Hexa Motors 2012-02-22 09:55:44 -08:00
Jason Short
242f54793c revved a version 2012-02-22 09:00:42 -08:00
Jason Short
729c824809 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short
42b5d47f7b commented out control mode debug print 2012-02-21 21:48:07 -08:00
Jason Short
30efbae0e9 removed old comments 2012-02-19 14:21:27 -08:00
Jason Short
265c5255a3 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short
336441b109 reset slow_WP option at mode switch 2012-02-19 13:13:42 -08:00
Jason Short
81a861c8ac Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short
33d4d52a6b set Slow WP option for RTL in Auto mode 2012-02-19 13:12:23 -08:00
Jason Short
cae49b3543 Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short
b54d08f410 Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Jason Short
bcd5129f9b added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short
fa32b084bd Added SW test for Manual Boost 2012-02-19 12:39:40 -08:00
Randy Mackay
9fabdb5797 TradHeli - change throttle range back to 0~1000 (was temporarily changed to be 1250~850 which limited the range of the swash plate's vertical movements) 2012-02-20 00:27:12 +09:00
Randy Mackay
e146f225b1 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Andrew Tridgell
df8a557630 AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell
12327eb2a9 Heli: fixed some 'used before initialised' warnings 2012-02-19 16:34:43 +11:00
Jason Short
028de5d2c5 Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Jason Short
885710fce6 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short
05024cc06c Change 800 to a define 2012-02-18 21:13:28 -08:00
Jason Short
04b70ffdc2 added Axis_Lock params 2012-02-18 21:13:06 -08:00
Jason Short
ff2b4ecb7a updated throttle range 2012-02-18 21:11:06 -08:00
Jason Short
1e37a0ec17 added a limit to range output 2012-02-18 21:08:17 -08:00
Jason Short
1b46daa12e some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Randy Mackay
b92d7aaad5 ArduCopter - fix for yaw control on Octa Quad Plus frame. 2012-02-18 22:04:09 +09:00
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
Randy Mackay
b64c0da003 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Andrew Tridgell
6929226b96 ACM: expanded EEPROM parameter area by 256 bytes 2012-02-18 10:51:57 +11:00