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1002 Commits

Author SHA1 Message Date
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
Andrew Tridgell
718a5b70e3 AP_Param: fixed saving of sensor calibration 
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
 2012-02-18 10:51:57 +11:00
Jason Short
b532cb91b1 added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short
0075901f77 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short
5218220f0f re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short
b052dab80d Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short
17c6c7b294 added extra gain logging 2012-02-16 22:09:22 -08:00
Jason Short
908ca4e915 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short
bc1593e89c cast to float 2012-02-16 22:09:21 -08:00
Jason Short
632cc783a1 cast D term to float just in case 2012-02-16 22:09:21 -08:00
Jason Short
36a120d8df removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short
a43ee36bee CH 6 Range setup 2012-02-15 11:47:54 -08:00
Jason Short
3d63bb6cd4 Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short
e8b6f5ecee allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short
fabeccad4a Marco's updated Motor testing code 2012-02-15 10:49:35 -08:00
Jason Short
73591a0ca5 Added lengthy note about motor testing 2012-02-15 10:49:11 -08:00
Jason Short
9a3e862b55 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short
e249c8466d AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short
21856e7696 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short
fcb24ee17d Added Acro_P 2012-02-15 09:10:14 -08:00
Jason Short
574b86b02e synced params 2012-02-15 09:10:14 -08:00
Jason Short
91edeeeef2 added RTL_land_enabled 
added auto_pilot slew rate
 2012-02-15 09:10:14 -08:00
Jason Short
aa0662008b Added new params for CH6 Tuning 
moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
 2012-02-15 09:10:14 -08:00
Jason Short
05abe44f32 Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short
c9b432955d removed unused Vars 2012-02-13 15:25:23 -08:00
Jason Short
4faba2048c Lowered for Jani 2012-02-13 15:25:23 -08:00
Andrew Tridgell
ecdbfd257a token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell
d55a0c3a71 added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
0f9adbdae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell
617082769a go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
0b3e3ec5c8 added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell
d4305e0ae2 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
16417b651e the ACM parameters have a max size of 1114 bytes 
to ensure that all parameters can be saved, expand parameter area by
256 bytes
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
3b4cae3cc3 adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
c9c422539e update ACM MAVLink code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
a2d0900460 fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell
bf1eb670e3 update main parameter code for AP_Param in ACM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f1a41b041f log: fixed some integer size errors 
need to be careful with the types passed to printf()
 2012-02-12 20:38:37 +11:00
Pat Hickey
306a3bb4f9 Makefile: extra convenience target for apm2hexa 2012-02-11 16:05:51 -08:00
Pat Hickey
84dd0d2fda ArduCopter Hexa output_motor_test: individually select all 6 motors 
* each of the 6 hexacopter motors can be selected individually
  by moving the joystick to extremes.

* previously, this was built from the quadcopter output_motor_test
  and some motors (left/right motors on +, front/back motors on X)
  were only selectable as pairs.
 2012-02-11 16:05:51 -08:00
Pat Hickey
739317276d ArduCopter setup motors: print basic instructions. 2012-02-11 16:05:51 -08:00
Pat Hickey
6573cec611 ArduCopter APM_Config.h: add sample custom channel config 
* uses new config variables introduced in 8a19543fd1e09621ba
 2012-02-11 16:05:51 -08:00
Pat Hickey
470fd8788e ArduCopter Channel Config: config vars for user override of MOT_n mapping 
* config variable CONFIG_CHANNELS has possible values
  CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
  CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
 2012-02-11 16:05:51 -08:00
Jason Short
2c65fc9ddf Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short
0a63f104ab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -08:00
Jason Short
969ac70000 reset All for Auto takeoff 2012-02-10 22:54:29 -08:00
Jason Short
b1d52da431 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short
efce991bfb upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short
8ae53bffd2 Made Yaw Hold universal for Acro 2012-02-10 22:32:55 -08:00
Jason Short
dc15fe4c5d Moved to Rate_I by default for Jani to test 2012-02-10 22:32:55 -08:00
Jason Short
c64d781dce get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short
19ab0f481e made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short
9f8d7d5076 Minimize the Yaw Deadzone 2012-02-10 22:32:55 -08:00
Jason Short
50aaa09348 Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short
62627e9b57 reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00
Jason Short
3afaf2689c Fix for disabled CH7 value triggering WP saving 2012-02-09 22:32:04 -08:00
Jason Short
4313d19bc5 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short
71d57a5371 Enabled PWM test 2012-02-09 22:22:01 -08:00
Jason Short
b315e23bbd Found missing Break in Switch statement. 2012-02-09 22:22:01 -08:00
Jason Short
2335b74bc3 faster FS timer 2012-02-09 22:22:00 -08:00
Jason Short
c35ad2d493 Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune. 2012-02-09 22:22:00 -08:00
Jason Short
6848dc17e5 Added safety to prevent shutdown of motors during Auto-land 2012-02-09 22:22:00 -08:00
Jason Short
f40d40b0f9 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Randy Mackay
fe7a0a97ab ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00
levinemax
345a23273e Motor mix update for X8 (octo quad), 
diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
 2012-02-09 03:57:40 +00:00
Randy Mackay
3517964e14 ArduCopter - Camera.pde - turn off camera pitch control (which uses channel 6) when channel 6 is being used for tuning. 2012-02-08 23:51:53 +09:00
Randy Mackay
70f91e3cc3 Arducopter - reduced rate of decent when landing using sonar 2012-02-08 22:46:32 +09:00
Randy Mackay
f1a129c8ea ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments 2012-02-05 16:56:51 +09:00
Randy Mackay
498970a948 TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction. 2012-02-05 11:04:38 +09:00
Andrew Tridgell
1a861b3de5 allow for lower serial baud rates 
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
 2012-02-04 19:07:18 +11:00
Jason Short
ef9418c2de fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
Michael Oborne
151479f769 fix issue 502 
to identify quad over mavlink
 2012-02-03 06:53:08 +08:00
Pat Hickey
dad4ee92e5 Revert all changes to ArduCopter Motors MOT mappings. 
Revert "Arducopter Motors Octa: Change V frame MOT_ output ordering."

This reverts commit bdab02f408ddc5451fcb4c6390b2475d31ac657f.

Revert "hexa frame FRAME_CONFIG fixup"

This reverts commit d15e692df613cb728ec671a54dce166f6f1940a0.

Revert "Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME"

This reverts commit cb0a8c62fbd07a8ae9dcb8d4fffce337ace1aa1c.

Revert "Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame"

This reverts commit 120d7f9050d5ec9f8fbe02c0ed4f38621949f4ee.

Revert "Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME"

This reverts commit 7d65ec311fd2e1222a36d0b34c366e21f3869fcc.

Revert "Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines."

This reverts commit 47c6e8662f4d5e8fb920f2049338541343d8d18e.

Revert "Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types."

This reverts commit 8259c90ec7cb29dedac19890cd9a4449b7399e36.
 2012-02-01 10:14:46 -08:00
analoguedevices
3288b518c0 credits 2012-02-01 04:44:36 +00:00
analoguedevices
6dbcac855a Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Pat Hickey
36389cdbd8 ArduCopter Octa: fix yaw motors for Octa V. 
* I based this off the APM1 Octa V diagram at
  http://code.google.com/p/arducopter/wiki/AC2_Multi
 2012-01-31 19:37:49 -08:00
Pat Hickey
6a333b743a Arducopter Motors Octa: Change V frame MOT_ output ordering. 
* I backed this out from Max's changes, but I'm not sure whether its correct.
 2012-01-31 18:19:41 -08:00
Pat Hickey
7ca81bd2c9 hexa frame FRAME_CONFIG fixup 2012-01-31 18:19:41 -08:00
Pat Hickey
a24f89fb6d Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME 2012-01-31 18:19:41 -08:00
Pat Hickey
0735c2b62f Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame 
* This will change the output order for APM2, but not APM1.
 2012-01-31 18:18:13 -08:00
Pat Hickey
dbd1cc6a9f Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME 2012-01-31 18:18:13 -08:00
Pat Hickey
b245265669 Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines. 
* HEXA_X_FRAME and HEXA_PLUS_FRAME merged back into HEXA_FRAME
* OCTA_V_FRAME merged back into OCTA_FRAME
 2012-01-31 18:18:13 -08:00
Pat Hickey
0e9294538b Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. 
* HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and
  HEXA_PLUS_FRAME
* OCTA_FRAME stays the same name for X and +, but the V frame
  configuration requires new OCTA_V_FRAME name.
 2012-01-31 18:18:13 -08:00
Randy Mackay
b851d39eaa OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short
21bd48b6c3 Loiter PIDs 2012-01-30 21:13:03 -08:00
Jason Short
8aaf88e13b tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short
90099d4a42 ATT tuning update 2012-01-30 21:13:03 -08:00
Jason Short
f225efef9f tuning 2012-01-30 21:13:03 -08:00
Jason Short
08a9249e2b cosmetic 2012-01-30 21:13:03 -08:00
Jason Short
5934b503b8 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short
31614c39dd Cosmetic 2012-01-30 21:13:03 -08:00
Jani Hirvinen
009e87105f Minor changes for PID for jDrones motors due latest changes on control laws. 2012-01-31 09:00:31 +07:00
Jason Short
23709bafef pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short
a3862ced62 cosmetic 2012-01-29 21:55:17 -08:00
Jason Short
46e08fb46a Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short
ae65a0f03f removed filter. Don't need it. 2012-01-29 17:10:52 -08:00
Jason Short
bf2cc6072d limiting alt hold rate error to 1m/s 2012-01-29 17:08:34 -08:00
Jason Short
02aacc454b Lowering the throttle_P values by default 2012-01-29 16:27:13 -08:00
Jason Short
650c0ed3f1 made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Randy Mackay
693a2cfdcd TradHeli - fix to servo limits. They had been unnecessarily limited to the collective pitch's min and max but actually there are cases (for example when the swash is leaning over 45degrees) where one servo goes well beyond the collective pitch's min or max. 2012-01-29 21:14:37 +09:00
Randy Mackay
974c825f4a Optflow - minor fix to D term defaulting 2012-01-29 21:06:41 +09:00