rmackay9
65050775e1
ArduCopter: made Robert's new yaw method optional (off by default).
...
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
2012-06-13 21:50:16 +09:00
Jason Short
ff0659535e
Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch.
2012-06-12 13:58:49 -07:00
rmackay9
e1acf21381
ArduCopter: updated firmware version to 2.6 Epsilon
2012-06-12 23:22:57 +09:00
rmackay9
c6f1d93849
ArduCopter: updated standard loiter pids.
...
Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
2012-06-12 20:56:31 +09:00
Jason Short
f5a85d48a0
Added Angel's name to contrib list
2012-06-10 12:38:22 -07:00
Andrew Tridgell
940d994efb
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
2012-06-10 16:36:18 +10:00
rmackay9
aeaebb21d5
ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release)
2012-06-08 21:54:09 +09:00
Andrew Tridgell
a684bddbda
GPS: open the GPS serial port with a 256 byte buffer
...
the UBLOX needs more than 128 bytes for reliable parsing
2012-06-08 16:42:03 +10:00
Robert Lefebvre
c5916a8b4d
Opening up the Yaw Rate constraint for Trad Heli.
2012-06-07 22:40:25 -04:00
Robert Lefebvre
e2496181ff
Yaw Fix
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Modified Nav_Yaw controller to better track intended heading changes.
2012-06-07 17:15:33 -04:00
Jason Short
a9610a0761
Stabilization patches
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removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
2012-06-05 16:41:44 -07:00
rmackay9
70b04d9427
ArduCopter: updated firmware description to 2.6 Gamma
2012-06-05 21:28:13 +09:00
Andrew Tridgell
8b258e23e7
ACM: prevent link flood with "Low Battery" warnings
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thanks to Marco for noticing this
2012-06-05 11:31:40 +10:00
Michael Oborne
14be88dd55
AC: add hilstate message
2012-06-04 16:24:08 +08:00
Jason Short
71f80f3a77
Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false.
2012-06-03 22:25:27 -07:00
Jason Short
1b9f75c844
Updates to Flip:
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Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
2012-06-03 22:15:19 -07:00
Andrew Tridgell
7c63d2c17b
ACM: MAVLINK10 uses HIL_STATE
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thanks to Michael for noticing this
2012-06-04 13:31:07 +10:00
Andrew Tridgell
e7cf643386
added mavlink09 targets
...
allows easier building with mavlink0.9
2012-06-04 13:14:52 +10:00
Andrew Tridgell
3f4e87cccc
ACM: fixed HIL build for MAVLINK10
2012-06-04 13:14:52 +10:00
Michael Oborne
9303a89573
fix AC hil build
2012-06-04 11:12:52 +08:00
Michael Oborne
a71ed6c5ce
enable mavlink10 by default
2012-06-04 08:02:08 +08:00
Jason Short
15aea320cb
Added note to remove this unused param
2012-06-03 11:13:50 -07:00
Jason Short
12ab875d58
using current PWM rather than a re-read of the PWM.
2012-06-03 11:13:50 -07:00
Jason Short
9ab06c5542
Moved PID logging counter into define
2012-06-03 11:13:50 -07:00
rmackay9
72d76558a7
ArduCopter: Ensure update_GPS does nothing when gps is disabled.
...
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
2012-06-03 23:48:45 +09:00
rmackay9
fd6b21d0c7
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 17:02:35 +09:00
rmackay9
4544b37fec
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 16:59:23 +09:00
rmackay9
dcdeae412e
ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives.
...
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
2012-06-03 16:58:19 +09:00
rmackay9
2a216ce900
ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx).
2012-06-02 12:51:12 +09:00
Jason Short
c2d14a5cad
RC_Channel fix for throttle output.
...
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
2012-05-31 14:59:03 -07:00
Robert Lefebvre
5f058fb9b2
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
Robert Lefebvre
30e55533dc
Change to increase Parameter space as we have run out.
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This will decrease the max number of waypoints from 186
to 169.
2012-05-30 20:41:53 -04:00
Jason Short
dec6f0ca62
When RTLing, force home as the final location for loiter.
2012-05-30 11:06:41 -07:00
Jason Short
bc578172a5
moved detector to run until the throttle is low, then stop running.
2012-05-30 09:44:59 -07:00
Jason Short
f0456dc947
Missed a Semicolon
2012-05-30 09:36:16 -07:00
Jason Short
302c632205
Altered the ground detector logic to no continuously run when landed
2012-05-30 09:34:31 -07:00
Jason Short
22065e3f3f
Broken timer - removed
2012-05-29 12:56:38 -07:00
Jason Short
0ce883b96a
Removed unused variable
2012-05-29 12:43:23 -07:00
Jason Short
9310d613e1
Lowered I term - causes oscillations in SIM
2012-05-29 12:43:01 -07:00
Jason Short
2311d52d37
Renamed some variables to clarify functionality.
2012-05-29 12:42:37 -07:00
Jason Short
7c6f766251
Speed up automatic disarming to 25 seconds for safety.
...
renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
2012-05-29 12:41:35 -07:00
Jason Short
f491f5e9ca
Removed references to a takeoff timer
2012-05-29 11:28:40 -07:00
Jason Short
15774366ba
Failsafe: Looking for takeoff_complete now vs unreliable GPS
2012-05-29 11:25:04 -07:00
Jason Short
08bf04dd08
pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle.
2012-05-29 11:25:04 -07:00
Jason Short
09f4a16bfb
changed the way takeoff complete is figured. Looking for high throttle.
2012-05-29 11:25:04 -07:00
Jason Short
b8349f5486
Added note to functionality
2012-05-29 11:25:04 -07:00
Jason Short
9d92602188
changed WP radius to AP_Int16
2012-05-28 22:39:29 -07:00
Jason Short
5754f97433
reversed circle_WP calculation so the next_WP refers to the destination around the circle and circle_WP refers to the center. The intent is to make it easier to see via ground station.
2012-05-27 09:21:20 -07:00
Jason Short
7df1aa2914
Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled.
2012-05-23 22:00:56 -07:00
Andrew Tridgell
d9457ecc38
MAVLink: send time of GPS fix accurately
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when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
2012-05-23 17:33:33 +10:00
