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3,363 Commits 71 Branches 511 Tags 786 MiB
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829 Commits

Author SHA1 Message Date
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
Jason Short
67cd412105 Landing update for better baro landing 2012-01-28 22:35:57 -08:00
Jason Short
5ab37a346c reduce test.pde size for 1280 users 2012-01-28 22:16:24 -08:00
Jason Short
7833cea9d4 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short
295631139a formatting 2012-01-28 21:19:46 -08:00
Jason Short
d1fcebb5ca Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short
326a663c6b changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay
f3a95ff3cb Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup 2012-01-28 10:13:58 +09:00
Randy Mackay
122623f64b OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Pat Hickey
1dcd50e3be ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2 2012-01-27 07:39:01 -08:00
Randy Mackay
8dee001657 Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Pat Hickey
6c03307217 ArduCopter Heli: add motors_output_enable function 2012-01-25 22:41:09 -08:00
Randy Mackay
2c906b7b27 OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Randy Mackay
4434ddf389 Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi 2012-01-25 21:53:20 +09:00
Jason Short
25529dec69 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
Jason Short
74daadb252 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short
6476ba22f2 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Pat Hickey
89e11afc09 ArduCopter: Call APM_RC.enable_out for camera channels in init_camera() 2012-01-22 12:03:11 -08:00
Pat Hickey
98a90d0352 ArduCopter: Call motors_output_enable at correct spot during init 2012-01-22 12:03:11 -08:00
Pat Hickey
04a3112f33 ArduCopter: Add implementation of motors_output_enable to each motors_ frame type 2012-01-22 12:03:11 -08:00
Jason Short
dd1e08a7e0 Causes Aero_SIM to fail 2012-01-22 09:34:43 -08:00
Jason Short
1d9783652a added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short
60e3508f7c converted to cm 
Signed-off-by: Jason Short <jasonshort@mac.com>
 2012-01-21 22:14:08 -08:00
Jason Short
aace39e65c Converted distance gains to CM 
added loiter_d for rate control, equal to old Nav_P gain
 2012-01-21 22:13:57 -08:00
Jason Short
fffa1af3b3 Fixed speed governor which was letting speed get to 0. 
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
 2012-01-21 22:12:57 -08:00
Jason Short
f638a4b81d recording nav_bearing rather than target bearing 
recording x and y speed rather than Iterms for nav since they are always 0 now
 2012-01-21 22:10:28 -08:00
Jason Short
2fa24e0557 added conversions of CM to M 2012-01-21 22:09:39 -08:00
Jason Short
7edd16e5fe Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning. 
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
 2012-01-21 22:09:13 -08:00
Jason Short
59d1f225d5 convert command into CM from M 
Making Landing boost be one at minimum to trigger better navthrottle output
 2012-01-21 22:06:35 -08:00
Jason Short
f3cc1121aa better default for speed governer 2012-01-21 22:05:48 -08:00
Jason Short
5cc19bbe7c slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short
9003b95499 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short
8cb645f3c2 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short
1aa6d0ea08 limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short
ab5716c42d Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short
7c25253422 Enabled auto throttle hold 2012-01-20 22:52:31 -08:00
Jason Short
7fb641ab77 added note 2012-01-20 22:52:31 -08:00
Jason Short
fb72ecd4e4 formatting 2012-01-20 22:52:31 -08:00
Jason Short
127544b833 Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short
42b1362bba cleanup 2012-01-20 22:52:30 -08:00
Jason Short
5ac26a5500 error on comparison operator 2012-01-20 22:52:30 -08:00
Jason Short
5180592913 Added Auto_land_timeout to params 2012-01-20 22:52:30 -08:00
Jason Short
c190f83bb0 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short
a22596fb33 Max throttle output was to high 2012-01-20 22:52:30 -08:00
Jason Short
19053bb725 Updated Firmware version 2012-01-20 22:52:30 -08:00
Jason Short
f5fd3a0597 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short
287ffb5fb4 enabled Mavlink Land command 2012-01-20 22:52:30 -08:00
Jason Short
6784989e83 relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short
d2c78d2b75 Stab_D changes units with the new dampening controller updates 
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
 2012-01-20 22:52:30 -08:00
Jason Short
932869b686 renamed function 2012-01-20 22:52:30 -08:00
Jason Short
43365fe802 Verify land updates from JLN 
Effectively a throttle control for landing that mimics a person lowering the throttle.
 2012-01-20 22:52:29 -08:00
Jason Short
ed32ad30fd Refined the D term for stabilize 
moved all the rest_I terms from code into 1 central place
 2012-01-20 22:52:29 -08:00
Jason Short
5141534ea9 B3 2012-01-20 22:52:29 -08:00
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
85f10589b2 slowed down slightly 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
Jason Short
2831ff9148 Off by default 2012-01-20 22:52:29 -08:00
Michael Oborne
3142a75913 AC fix attitude level hil 2012-01-21 07:52:52 +08:00
Michael Oborne
95f58b0432 fix scale error 2012-01-21 06:33:18 +08:00
Michael Oborne
1bebb9452b AC sync battery code with arduplane 2012-01-21 06:29:09 +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 
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
e2c2a453a8 APM2 Channel assignments 2012-01-15 10:24:16 -08:00
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
72faa6525e Tweak to make circle mode scripting more accurate 2012-01-14 11:21:50 -08:00
Jason Short
89343ae306 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short
95ac9d163e lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short
c02b403a06 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short
1843798697 Clarified the Increment for WP total 2012-01-14 11:20:40 -08:00
Jason Short
f97d58c753 added notes, removed redundant save wp_total 2012-01-14 11:20:40 -08:00