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58f539ca35
Commit Graph

265 Commits

Author SHA1 Message Date
Andrew Tridgell
58f539ca35 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE 
we now have the EEPROM option COMPASS_AUTODEC instead
 2012-03-30 14:25:27 +11:00
Adam M Rivera
0727955fe3 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
rmackay9
a12a7a7d87 ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9
2cc87af180 Added multiple new tuning parameters to the inflight channel 6 tuning feature: 
#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
Andrew Tridgell
4821eb4807 ACM: enable the new compass offset nulling in ACM 2012-03-27 15:37:24 +11:00
rmackay9
eb55234809 ArduCopter - updated firmware version to 2.5.3 2012-03-25 09:13:51 +09:00
rmackay9
1f253c5217 ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter 2012-03-23 23:48:24 +09:00
rmackay9
19981d4864 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
rmackay9
198ac97914 ArduCopter - updated version to 2.5.1 2012-03-20 17:08:18 +09:00
Andrew Tridgell
690ad58a64 AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short
223a6f80c8 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
rmackay9
bed667c62e 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) 
- remove incorrect comments about when loiter target position is reset.
 2012-03-18 15:16:04 +09:00
Jason Short
234a5dc65e ACM: Small fix to nav_throttle to prevent too fast of a landing. 2012-03-16 14:10:19 -07:00
Jason Short
1ecca36dd0 Fixed Scaling bug in Sonar mixing 2012-03-16 14:10:19 -07:00
analoguedevices
eb530a2045 Rev'ed version number to 2.5. Added more credits 2012-03-15 02:38:54 +00:00
Jason Short
59fb1f3542 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
Jason Short
50b4c07261 Lowering the D filter for less latency and less oscillation. 2012-03-13 12:58:46 -07:00
Jason Short
6edad4d9ef ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short
38a60df189 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short
2ac29effe9 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
Andrew Tridgell
1e47ab26f2 AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
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
Adam M Rivera
2e1cacd67f AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Jason Short
8b887b77bd ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short
149a484984 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short
0ccfdc664d added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short
037221cd02 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
Andrew Tridgell
34d25ab298 ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell
e780dd2b44 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
1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell
bc81d8e6ac 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
Jason Short
13e9608fb8 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
43b3e1ccd1 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
fe5612d38b Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Jason Short
a096292edb added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Robert Lefebvre
b7ccfb0114 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9
8da8ce5b58 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
701a21ff2f ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short
3ce1633157 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
rmackay9
41ea8e3eff ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9
add3133100 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short
68739f3cc4 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
6b265c5034 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
ce5c7c2c85 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
4edf311865 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
92cfc8913a revved a version 2012-02-22 09:00:42 -08:00
Jason Short
207ffee856 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short
7bfda28cdc removed old comments 2012-02-19 14:21:27 -08:00
Jason Short
79a9665c9d Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short
ba2cfee2fb Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Randy Mackay
7c4ef140b9 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00