Jason Short
db6db1ab91
set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units.
...
added the ability to force nav_throttle so we don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
2012-01-20 22:52:29 -08:00
Jason Short
6e94b21d67
Altitude no longer resets when moving loiter WP
2012-01-20 22:52:29 -08:00
Jason Short
017364fc5b
Lowered range to more sensible values
2012-01-20 22:52:29 -08:00
Michael Oborne
52a9bb3cd1
fix SITL attitude hil AC
2012-01-20 16:32:25 +08:00
Doug Weibel
ed9f7cb1b6
Update battery monitoring code for ArduCopter
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Fixes compatibility for APM2. Also a significant update to the battery monitoring code: We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos. These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere). Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs. The CLI battery and current monitoring tests were consolidated into 1 test.
changed
2012-01-15 17:10:02 -07:00
Doug Weibel
0306bf97a0
Just a little more commenting work on global variables
2012-01-15 16:11:02 -07:00
Jason Short
3ebed0b278
This allows users to test the Auto_throttle hold or cruise value
2012-01-14 11:43:52 -08:00
Jason Short
46ef246e67
b2
2012-01-14 11:37:00 -08:00
Jason Short
0ae82da0fd
Fix for SIMPLE mode
2012-01-14 11:32:48 -08:00
Jason Short
89343ae306
adjusted GPS watch dog not to be so aggressive,
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removed unneeded flag clearing
2012-01-14 11:20:40 -08:00
Jason Short
ec9880f725
made resetting throttle cruise a function
2012-01-13 16:47:08 -08:00
Jason Short
8d909f6eed
fixed GPS bug - moved to fast loop location
2012-01-13 12:47:22 -08:00
Jason Short
b0810e054e
moved GPS routines to 50hz loop to avoid delay.
2012-01-12 22:59:47 -08:00
Jason Short
648a404ee1
Version 2.2
2012-01-12 22:37:33 -08:00
Jason Short
91e05834c8
removed wind comp code,
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Added Landing boost code
2012-01-12 22:28:58 -08:00
Jason Short
a7bce15365
R10
2012-01-11 22:41:51 -08:00
Jason Short
f35411ac45
R9
2012-01-10 23:46:08 -08:00
Jason Short
5a91396f63
Added climb rate control
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removed unused vars
2012-01-10 23:42:26 -08:00
Jason Short
351be7c305
Made timer unsigned
2012-01-10 23:42:26 -08:00
Pat Hickey
2f63c636ad
Rename ArduCopter/config_motors.h to config_channels.h
2012-01-09 21:57:02 -08:00
Pat Hickey
f5b6746ad7
ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define
2012-01-09 21:57:02 -08:00
Pat Hickey
0b40f55334
ArduCopter: include config_motors.h in sketch
2012-01-09 21:57:01 -08:00
Randy Mackay
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
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Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
Jason Short
d45c0ce9f2
Added Acro to Rate_P
2012-01-08 14:52:10 -08:00
Jason Short
f4b530ebb1
R8
2012-01-07 22:28:03 -08:00
Jason Short
76dd79e7b5
Made RTL hold position until it reaches altitude
2012-01-07 22:27:26 -08:00
Jason Short
ee0551037e
Revved to R7
2012-01-06 10:22:53 -08:00
Jason Short
17873eb09c
Changed default throttle type for failsafe to avoid checking
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changed timer to 20 seconds.
2012-01-06 10:20:31 -08:00
Jason Short
e116636fe9
Auto_land update
2012-01-05 21:57:34 -08:00
Jason Short
e3c16fc1b1
Added auto_land to RTL
2012-01-05 21:15:12 -08:00
Jason Short
20661e5020
timer set to unsigned
2012-01-04 17:31:20 -08:00
Andrew Tridgell
596a1f43f4
ACM-simple: don't use uninitialised simple trig values
2012-01-05 10:13:36 +11:00
Jason Short
ed1ff0b171
Upped Revision
2012-01-04 09:28:38 -08:00
Jason Short
76cfdca6cc
Cleaned up and documented each global vavriable
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Added Wind compensation for Stability
Acro mode fixes
2012-01-04 09:28:37 -08:00
Jason Short
b3cea96970
Cosmetic
2011-12-31 10:54:31 -08:00
Jason Short
ea832c0818
upped to r5
2011-12-31 10:05:13 -08:00
Jason Short
1ef7f9fe62
Loiter I reset
2011-12-31 09:45:25 -08:00
Jason Short
0ace8474d7
R4
2011-12-30 23:54:02 -08:00
Jason Short
28984a72e4
no longer calling reset_nav
2011-12-30 23:48:04 -08:00
Jason Short
c7f93f8718
Updated Configs based on field testing.
2011-12-30 23:48:04 -08:00
Jason Short
84d3e3135f
Added Nav_bearing, just like APlane
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added fix for LOITER in missions so we don't Yaw in circles
2011-12-30 23:48:04 -08:00
Jason Short
3ea49e1415
updated rev
2011-12-29 23:02:41 -08:00
Jason Short
95a70cf32e
lowered to nav_lat and nav_lon int16
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added a version that didn't have I term added to get a better indication of velocity estimation
2011-12-29 23:02:03 -08:00
Jason Short
6f42442e57
Added 5 sec Takeoff Timer to clear i terms when lifting
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Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
2011-12-29 23:02:03 -08:00
Randy Mackay
bbe6dea980
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
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Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
2011-12-30 12:06:31 +09:00
Andrew Tridgell
955dfe0226
ACM: check compass health before using it
2011-12-28 20:41:53 +11:00
Andrew Tridgell
03a16c6e45
ACM: use new I2C library
2011-12-28 20:41:53 +11:00
Jason Short
234121f3c3
Fix for 11 channels of motors.
2011-12-26 14:39:01 -08:00
Jason Short
0491d4feca
added define for optflow
2011-12-23 18:45:01 -08:00
Jason Short
d9590a44d6
Fixed merge issues
2011-12-23 14:51:40 -08:00
Jason Short
62cb407558
Begin to better integrate OptFlow, added necessary globals for Loiter estimation
2011-12-23 14:42:50 -08:00
Jason Short
239eb53983
change Alpha name
2011-12-18 16:38:07 -08:00
Jason Short
47e4c875e1
Cleanup
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removed Iterm experiment - no noticeable effect in actual flight
2011-12-16 20:47:23 -08:00
Andrew Tridgell
f6f808357c
removed AperiodicProcess code
...
this code was never being used, and was more complex than it was
worth.
2011-12-17 07:29:09 +11:00
Jason Short
2fc25d963d
renamed super simple, added framework for auto calc of throttle cruise
2011-12-15 20:51:41 -08:00
Jason Short
f48e394511
made the last step of landing stop navigating so we can drop straight down.
2011-12-14 22:08:41 -08:00
Jason Short
8691b10ee9
added failsafe check,
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enable loiter repositioning
2011-12-14 22:08:41 -08:00
Andrew Tridgell
888d6226b2
fixed two more CONFIG_HARDWARE #ifdef bugs
2011-12-13 17:05:48 +11:00
Jason Short
e4559bbf5c
Added param option for Simple mode reset
2011-12-12 17:47:45 -08:00
Andrew Tridgell
d076fb54b5
fixed barometer detection on APM2
2011-12-12 15:45:36 +11:00
Pat Hickey
a48c65b5b5
ArduCopter: update AP_Baro constructors & initializers
2011-12-11 15:21:10 -08:00
Pat Hickey
6dbd6b4181
ArduCopter: Get barometer data in terms of AP_Baro interface
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* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
2011-12-11 15:21:10 -08:00
Pat Hickey
b055aa6f81
ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO
2011-12-11 15:21:09 -08:00
Pat Hickey
de6507a47d
ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes.
2011-12-11 15:21:09 -08:00
Randy Mackay
67855b207d
Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types
2011-12-11 16:40:59 +09:00
Jason Short
4659a9ffce
Adjust Simple mode on the fly.
2011-12-10 23:29:29 -08:00
Jason Short
84b72b627b
Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling.
2011-12-10 10:19:20 -08:00
Jason Short
7cecca74bc
Made Baro_alt int32_t
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Added home to copter bearing, home to copter distance
Added Land mode
2011-12-10 10:19:20 -08:00
Jason Short
76d60a2111
Added Home Bearing
2011-12-10 10:19:20 -08:00
Jason Short
05409b8c1c
made RateP range a little more sensible
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removed unused var
2011-12-06 21:03:07 -08:00
Jason Short
a632c49b44
Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise
2011-12-04 21:32:33 -08:00
Jason Short
e8a14c8d93
simple patch to improve alt hold based on stability patch
2011-12-04 21:32:33 -08:00
Jason Short
c99da66506
Formatting, swicth Omega to raw IMU rates
2011-12-03 15:29:33 -08:00
Michael Oborne
edf3195384
add 1hz mavlink loop.
2011-12-04 06:32:08 +08:00
Jason Short
ce5ad442fc
Git Test
2011-11-28 10:54:20 -08:00
Jason Short
82adf1df6b
removed need to send increment flag to update commands
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constrained climb_rate value
2011-11-28 10:33:06 -08:00
Pat Hickey
6ee477bd8d
ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha
2011-11-25 20:00:19 -08:00
Andrew Tridgell
38c85c44ae
ArduCopter: rename purple to APM2
2011-11-25 20:00:19 -08:00
Andrew Tridgell
3a542b3ef3
USB-MUX: enable USB MUX switching for ArduCopter
2011-11-25 20:00:19 -08:00
Andrew Tridgell
ffba37d599
desktop: first version of register level SITL support
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this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
2011-11-25 20:00:18 -08:00
Andrew Tridgell
41caa949ca
fixed InertialSensor stub build
2011-11-25 20:00:18 -08:00
Pat Hickey
1d50bb80fd
hil-sensors ArduCopter: fixes to make hil-sensors build work properly
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* requires new stub libraries for InertialSensor and PeriodicProcess.
2011-11-25 20:00:18 -08:00
Andrew Tridgell
1c20efe4b8
re-organiser sensor declarations
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this tries to make the #ifdef nesting easier to understand
2011-11-25 20:00:17 -08:00
Andrew Tridgell
c0898ab3b9
purple: timer_scheduler should be in all builds
2011-11-25 20:00:17 -08:00
Pat Hickey
660174e610
purple: switch ArduCopter to new sensor objects
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this uses the new sensor abstractions for the purple/APM1 hardware
choice
2011-11-25 20:00:16 -08:00
Jason Short
abe4758c3b
no longer using the raw pressure
2011-11-25 11:34:05 -08:00
Jason Short
c5c5884006
v number
2011-11-21 22:13:18 -08:00
Jason Short
89e014c06a
Added alternate alt hold,
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New ESC Calibration Routine
2011-11-21 22:12:19 -08:00
Jason Short
fbf09dbf2d
Made save WP the default
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Cosmetic updates
2011-11-20 12:50:12 -08:00
Randy Mackay
f397bae793
ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up
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Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
2011-11-20 22:30:42 +09:00
Jason Short
185c2a50ce
added some params from Arduplane to make Mavlink upgrade easier
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made loiter radius smaller in storage
2011-11-20 00:22:53 -08:00
Jason Short
b6adfdb62f
missed ==
2011-11-19 14:42:57 -08:00
Jason Short
579096cd2e
return to prev climb rate calc
2011-11-19 13:58:41 -08:00
Jason Short
a168691eba
Working implementation of Jump Command
2011-11-16 21:28:56 -08:00
Jason Short
5ed931c582
Mission Scripting re-write
2011-11-16 00:22:22 -08:00
Jason Short
3eaef4081c
Added better navigation flag for more accurate dtnav timing
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Added better support for climb rate in SIM
2011-11-16 00:22:22 -08:00
Jason Short
2ad1294514
scaling width of circle mode to make it more round.
2011-11-13 23:09:42 -08:00
Jason Short
be1007d032
Moved updated alt to GPS so the climb rate is sane
2011-11-13 22:54:57 -08:00
Jason Short
349ab7e0c6
slowed Circle flight
2011-11-13 13:41:23 -08:00
Jason Short
e1315b1ab8
Update and fix for Circle mode
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HIL updates for altitude
2011-11-12 21:43:21 -08:00