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
Jason Short
f86e1ed63f
Axis lock beta (off by default)
2012-02-18 21:16:19 -08:00
Randy Mackay
cd89258294
ArduCopter - updated version to 2.4
2012-02-18 18:44:29 +09:00
Jason Short
677df0fe1c
added Rate_D tuning value
2012-02-17 15:23:59 -08:00
Jason Short
0d5f7ca072
upped rate loop to 250hz
2012-02-17 15:23:59 -08:00
Jason Short
43e695b1ac
removed some unused vars,
...
formatting, made loop speed same as PIDT1 to eliminate variable.
2012-02-16 22:09:21 -08:00
Jason Short
f2b6b86265
allow auto-land if failsafe is triggered
2012-02-15 10:53:54 -08:00
Jason Short
101979ed7b
AP slew rate
2012-02-15 09:10:15 -08:00
Jason Short
4ecbb19dcd
Added range setting via a parameter for CH6 tuning
2012-02-15 09:10:14 -08:00
Jason Short
ff627a8986
removed unused Vars
2012-02-13 15:25:23 -08:00
Andrew Tridgell
d2a4091716
fixed apm2beta build with AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
1af6f08b1c
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00
Jason Short
0315221bd1
Cosmetic tweaks for tuning
2012-02-11 15:29:11 -08:00
Jason Short
7c45d2bdc3
reset Rate_I for takeoff
2012-02-10 22:50:56 -08:00
Jason Short
927fc25421
made Yaw work like Roll and Pitch
2012-02-10 22:32:55 -08:00
Jason Short
a27bd9db46
2.3.1v
2012-02-09 22:22:01 -08:00
Jason Short
f3547a04a5
Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that.
2012-02-09 22:22:00 -08:00
Jason Short
d161c0451f
fix issue with low throttle in air
2012-02-03 13:29:59 +00:00
analoguedevices
256893f385
credits
2012-02-01 04:44:36 +00:00
analoguedevices
d86dbd1c6f
Incremented version number to 2.3
2012-02-01 04:39:15 +00:00
Jason Short
3050c1d765
tuning fixes
2012-01-30 21:13:03 -08:00
Jason Short
d93e259289
Added more attributions
2012-01-29 21:53:44 -08:00
Jason Short
af0b0d5a7f
made Loiter over ride exit dependent not on speed, but centered sticks.
2012-01-29 16:15:02 -08:00
Jason Short
0213f4dd88
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
8fcb2931d7
Cosmetic changes
...
GPS LED lock waits for home_is_set to be true
2012-01-28 21:19:46 -08:00
Jason Short
a685510c38
changed tuning range
2012-01-28 21:18:43 -08:00
Randy Mackay
2db4d2bfe6
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Randy Mackay
2f84b54bbb
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
Jason Short
8c4b955282
added Beta 4 tag
2012-01-21 22:15:23 -08:00
Jason Short
275815a7c9
Converted to cm for distance
2012-01-21 22:04:35 -08:00
Jason Short
fa06d4a2e3
Calc error for logs
2012-01-21 11:59:49 -08:00
Jason Short
e9a4253cd1
added note
2012-01-20 22:52:31 -08:00
Jason Short
2fa8a343ac
Added cast for comparison
2012-01-20 22:52:30 -08:00
Jason Short
ba535ed956
B3
2012-01-20 22:52:29 -08:00
Jason Short
556d646cad
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
0f24860552
Altitude no longer resets when moving loiter WP
2012-01-20 22:52:29 -08:00
Jason Short
aa1f09af83
Lowered range to more sensible values
2012-01-20 22:52:29 -08:00
Michael Oborne
7f272b4c4b
fix SITL attitude hil AC
2012-01-20 16:32:25 +08:00
Doug Weibel
2ea9db84e0
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
17b3e514dc
Just a little more commenting work on global variables
2012-01-15 16:11:02 -07:00
Jason Short
7e411f5fb6
This allows users to test the Auto_throttle hold or cruise value
2012-01-14 11:43:52 -08:00
Jason Short
3879e79898
b2
2012-01-14 11:37:00 -08:00
Jason Short
cf51967bbb
Fix for SIMPLE mode
2012-01-14 11:32:48 -08:00
Jason Short
e7ad08e209
adjusted GPS watch dog not to be so aggressive,
...
removed unneeded flag clearing
2012-01-14 11:20:40 -08:00
Jason Short
c970ba4f93
made resetting throttle cruise a function
2012-01-13 16:47:08 -08:00
Jason Short
05dce91c24
fixed GPS bug - moved to fast loop location
2012-01-13 12:47:22 -08:00
Jason Short
b9419e0123
moved GPS routines to 50hz loop to avoid delay.
2012-01-12 22:59:47 -08:00
Jason Short
b81f9a5d77
Version 2.2
2012-01-12 22:37:33 -08:00
Jason Short
b884462ce3
removed wind comp code,
...
Added Landing boost code
2012-01-12 22:28:58 -08:00
Jason Short
33fe4db3fc
R10
2012-01-11 22:41:51 -08:00
Jason Short
db1fafaaec
R9
2012-01-10 23:46:08 -08:00
Jason Short
439c15f3fc
Added climb rate control
...
removed unused vars
2012-01-10 23:42:26 -08:00
Jason Short
9cbfcac802
Made timer unsigned
2012-01-10 23:42:26 -08:00
Pat Hickey
8d4db05f50
Rename ArduCopter/config_motors.h to config_channels.h
2012-01-09 21:57:02 -08:00
Pat Hickey
b22920c0ea
ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define
2012-01-09 21:57:02 -08:00
Pat Hickey
7b056f208d
ArduCopter: include config_motors.h in sketch
2012-01-09 21:57:01 -08:00
Randy Mackay
7b9701fdd5
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
...
Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
Jason Short
fda12c8902
Added Acro to Rate_P
2012-01-08 14:52:10 -08:00
Jason Short
a8574e813d
R8
2012-01-07 22:28:03 -08:00
Jason Short
ca80dc549c
Made RTL hold position until it reaches altitude
2012-01-07 22:27:26 -08:00
Jason Short
058a3275c3
Revved to R7
2012-01-06 10:22:53 -08:00
Jason Short
d430c847fa
Changed default throttle type for failsafe to avoid checking
...
changed timer to 20 seconds.
2012-01-06 10:20:31 -08:00
Jason Short
de912b5054
Auto_land update
2012-01-05 21:57:34 -08:00
Jason Short
beac2930c9
Added auto_land to RTL
2012-01-05 21:15:12 -08:00
Jason Short
a8af509517
timer set to unsigned
2012-01-04 17:31:20 -08:00
Andrew Tridgell
9ee3431928
ACM-simple: don't use uninitialised simple trig values
2012-01-05 10:13:36 +11:00
Jason Short
3ac37c09a9
Upped Revision
2012-01-04 09:28:38 -08:00
Jason Short
a70fdc58a1
Cleaned up and documented each global vavriable
...
Added Wind compensation for Stability
Acro mode fixes
2012-01-04 09:28:37 -08:00
Jason Short
86e01fce17
Cosmetic
2011-12-31 10:54:31 -08:00
Jason Short
e8db2225dd
upped to r5
2011-12-31 10:05:13 -08:00
Jason Short
e17c8705ba
Loiter I reset
2011-12-31 09:45:25 -08:00
Jason Short
e9d41897df
R4
2011-12-30 23:54:02 -08:00
Jason Short
4b2979743f
no longer calling reset_nav
2011-12-30 23:48:04 -08:00
Jason Short
f5ffa7bd7e
Updated Configs based on field testing.
2011-12-30 23:48:04 -08:00
Jason Short
09db32ee02
Added Nav_bearing, just like APlane
...
added fix for LOITER in missions so we don't Yaw in circles
2011-12-30 23:48:04 -08:00
Jason Short
57b2d17d8a
updated rev
2011-12-29 23:02:41 -08:00
Jason Short
4535bc4fd9
lowered to nav_lat and nav_lon int16
...
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
aa2e474b80
Added 5 sec Takeoff Timer to clear i terms when lifting
...
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
ff66a3417c
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
...
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
1cc38b0701
ACM: check compass health before using it
2011-12-28 20:41:53 +11:00
Andrew Tridgell
c27277c7f1
ACM: use new I2C library
2011-12-28 20:41:53 +11:00
Jason Short
a8070d86df
Fix for 11 channels of motors.
2011-12-26 14:39:01 -08:00
Jason Short
359d186798
added define for optflow
2011-12-23 18:45:01 -08:00
Jason Short
f2d6708058
Fixed merge issues
2011-12-23 14:51:40 -08:00
Jason Short
6c5f41fe58
Begin to better integrate OptFlow, added necessary globals for Loiter estimation
2011-12-23 14:42:50 -08:00
Jason Short
2f5da31a05
change Alpha name
2011-12-18 16:38:07 -08:00
Jason Short
ed818e4ccf
Cleanup
...
removed Iterm experiment - no noticeable effect in actual flight
2011-12-16 20:47:23 -08:00
Andrew Tridgell
4bbd5392ef
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
027b710816
renamed super simple, added framework for auto calc of throttle cruise
2011-12-15 20:51:41 -08:00
Jason Short
96ce429537
made the last step of landing stop navigating so we can drop straight down.
2011-12-14 22:08:41 -08:00
Jason Short
2a7f981fb0
added failsafe check,
...
enable loiter repositioning
2011-12-14 22:08:41 -08:00
Andrew Tridgell
4e4a4a685c
fixed two more CONFIG_HARDWARE #ifdef bugs
2011-12-13 17:05:48 +11:00
Jason Short
6bac318def
Added param option for Simple mode reset
2011-12-12 17:47:45 -08:00
Andrew Tridgell
ae1ec05dd4
fixed barometer detection on APM2
2011-12-12 15:45:36 +11:00
Pat Hickey
067724b4f1
ArduCopter: update AP_Baro constructors & initializers
2011-12-11 15:21:10 -08:00
Pat Hickey
67436d7ff2
ArduCopter: Get barometer data in terms of AP_Baro interface
...
* 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
82b8f4d7b7
ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO
2011-12-11 15:21:09 -08:00
Pat Hickey
698a231dd6
ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes.
2011-12-11 15:21:09 -08:00
Randy Mackay
62a7b19600
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
995727383b
Adjust Simple mode on the fly.
2011-12-10 23:29:29 -08:00
Jason Short
f444aac706
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
7c1a975a71
Made Baro_alt int32_t
...
Added home to copter bearing, home to copter distance
Added Land mode
2011-12-10 10:19:20 -08:00
Jason Short
22e4ed67aa
Added Home Bearing
2011-12-10 10:19:20 -08:00
Jason Short
118a232b13
made RateP range a little more sensible
...
removed unused var
2011-12-06 21:03:07 -08:00
Jason Short
ad94166c22
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
55b2e5339a
simple patch to improve alt hold based on stability patch
2011-12-04 21:32:33 -08:00
Jason Short
8e0d8a860b
Formatting, swicth Omega to raw IMU rates
2011-12-03 15:29:33 -08:00
Michael Oborne
21143d87b5
add 1hz mavlink loop.
2011-12-04 06:32:08 +08:00
Jason Short
f3b3350d25
Git Test
2011-11-28 10:54:20 -08:00
Jason Short
dddf829c01
removed need to send increment flag to update commands
...
constrained climb_rate value
2011-11-28 10:33:06 -08:00
Pat Hickey
98534e71f7
ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha
2011-11-25 20:00:19 -08:00
Andrew Tridgell
1d66b075b0
ArduCopter: rename purple to APM2
2011-11-25 20:00:19 -08:00
Andrew Tridgell
e297f0cb23
USB-MUX: enable USB MUX switching for ArduCopter
2011-11-25 20:00:19 -08:00
Andrew Tridgell
2bed1dcfd5
desktop: first version of register level SITL support
...
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
252e858011
fixed InertialSensor stub build
2011-11-25 20:00:18 -08:00
Pat Hickey
8300e21a8c
hil-sensors ArduCopter: fixes to make hil-sensors build work properly
...
* requires new stub libraries for InertialSensor and PeriodicProcess.
2011-11-25 20:00:18 -08:00
Andrew Tridgell
446a9aac84
re-organiser sensor declarations
...
this tries to make the #ifdef nesting easier to understand
2011-11-25 20:00:17 -08:00
Andrew Tridgell
23ccce23d0
purple: timer_scheduler should be in all builds
2011-11-25 20:00:17 -08:00
Pat Hickey
bbae76efb5
purple: switch ArduCopter to new sensor objects
...
this uses the new sensor abstractions for the purple/APM1 hardware
choice
2011-11-25 20:00:16 -08:00
Jason Short
10330abf54
no longer using the raw pressure
2011-11-25 11:34:05 -08:00
Jason Short
4195204161
v number
2011-11-21 22:13:18 -08:00
Jason Short
7f80649566
Added alternate alt hold,
...
New ESC Calibration Routine
2011-11-21 22:12:19 -08:00
Jason Short
57f3eafb52
Made save WP the default
...
Cosmetic updates
2011-11-20 12:50:12 -08:00
Randy Mackay
7ac04af03d
ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up
...
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
188fbfd878
added some params from Arduplane to make Mavlink upgrade easier
...
made loiter radius smaller in storage
2011-11-20 00:22:53 -08:00
Jason Short
85905e3879
missed ==
2011-11-19 14:42:57 -08:00
Jason Short
d8529a32a1
return to prev climb rate calc
2011-11-19 13:58:41 -08:00
Jason Short
16eb5641c2
Working implementation of Jump Command
2011-11-16 21:28:56 -08:00
Jason Short
47354b61ce
Mission Scripting re-write
2011-11-16 00:22:22 -08:00
Jason Short
d475e7ced5
Added better navigation flag for more accurate dtnav timing
...
Added better support for climb rate in SIM
2011-11-16 00:22:22 -08:00
Jason Short
730668b0c7
scaling width of circle mode to make it more round.
2011-11-13 23:09:42 -08:00
Jason Short
e55ba471bc
Moved updated alt to GPS so the climb rate is sane
2011-11-13 22:54:57 -08:00
Jason Short
69be03bab8
slowed Circle flight
2011-11-13 13:41:23 -08:00
Jason Short
ccdfa13edb
Update and fix for Circle mode
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HIL updates for altitude
2011-11-12 21:43:21 -08:00
Jason Short
7df7dbe883
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-09 22:56:52 -08:00
Jason Short
3cb1f6b197
crosstrack angle variable
2011-11-09 22:56:38 -08:00
Andrew Tridgell
d69afc3945
HIL: allow for fast HIL attitude update in HIL_MODE_ATTITUDE
...
this runs it at the full loop rate
2011-11-10 13:17:06 +11:00
Jason Short
31e05e40fd
Fixes for Sim - Missing climb rate calculation
2011-11-08 10:46:52 -08:00
Andrew Tridgell
87d5581046
ArduCopter: use specific sized data types in a lot of places
...
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
2011-11-08 11:05:36 +11:00
Andrew Tridgell
dacf98e201
HIL: enable CTUN log message in ATTITUDE HIL
2011-11-08 07:58:35 +11:00
Jason Short
8ac8ea9c1d
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-06 22:46:57 -08:00
Jason Short
7522b034ca
moved to 200hz update
...
Zccel Z updates from Aurelio in attitude.pde
lowered baro_alt sanity check
moved user hooks to the medium 10hz loop.
2011-11-06 22:46:39 -08:00
unknown
8ca8ca3e73
AltHold - another correction to the manual boost. Hopefully properly transferring building up I terms to g.throttle_cruise
2011-11-06 19:06:13 +08:00
unknown
28032d0561
AltHold - made TradHeli code also use manual_boost
2011-11-06 18:25:13 +08:00
unknown
0aac828eeb
Altitude hold bug fix - changed g.throttle_cruise to be updated to steal I term from correct controller
2011-11-06 17:47:24 +08:00
Jason Short
80c7e135d5
renamed some command variables to align with Arduplane
...
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
2011-11-04 21:41:51 -07:00
Jason Short
f4db53203b
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-01 21:18:56 -07:00
Jason Short
7b88499579
Z dampener
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Integrated Aurelio R. Ramos' Z dampening code.
2011-11-01 21:18:47 -07:00
Andrew Tridgell
73cc32fb0d
fixed HIL build
2011-11-02 08:14:07 +11:00
Jason Short
0e8264a759
cleanup
2011-11-01 09:28:36 -07:00
Jason Short
946db43cc1
altered the interactive throttle to be more aggressive and proportional.
...
reworked baro reading strategy.
2011-11-01 09:24:51 -07:00
unknown
f241888224
TradHeli - added TUNE value 13 to allow adjusting of external gyro gain using channel 6
2011-10-29 20:34:21 +09:00
unknown
8dc5683dff
TradHeli - added throttle scaling and heli specific angle_boost function that takes into account that heli's main blades can have -ve pitch.
2011-10-29 17:27:43 +09:00
Jason Short
a88424b152
Added a slew rate to the alt change rate.
...
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
2011-10-28 21:29:10 -07:00
Jason Short
357a9ba017
Log updates
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Added motor logging for different frame types. Switched the PM log to some new debugging values and speed up the writing of the value to the logs.
2011-10-27 22:36:25 -07:00
Jason Short
5ed1c2ab9e
50 rev
...
Work in progress, revved the EEPROM
2011-10-27 12:42:28 -07:00
Jason Short
13f708cb40
added boost scalar arguments
...
removed accel math from Trig function into Attitude.pde
2011-10-27 12:33:19 -07:00
Jason Short
c3b93d70df
Added Andrew's user hooks.
2011-10-15 15:29:33 -07:00
Jason Short
23c0bb9814
Updates to guided mode from Michael O.
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removed or commented unused static vars
2011-10-15 13:09:04 -07:00
Michael Oborne
c7c8c309be
AC2 fix guide mode fly off
2011-10-13 18:34:32 +08:00
Jason Short
be10a861c0
tweak to the Loiter N turns
2011-10-12 20:59:12 -07:00
Jason Short
a37d95634a
lowered DCM RP gains
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made Instant_PWM optional
upped PWM output to 400hz
2011-10-11 22:20:23 -07:00
Amilcar Lucas
18072d1eb9
Spell
2011-10-11 22:52:02 +02:00
Andrew Tridgell
337100fe44
fixed a signed/unsigned warning
2011-10-11 20:53:43 +11:00
Andrew Tridgell
661b6c4508
merged the GCS updates from ArduPlane to ArduCopter
...
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
2011-10-11 20:53:43 +11:00
Michael Oborne
c1506111e4
Merge commit 'e7f5e4a623b79872a015dff5ca959e60f6f7fd64'
2011-10-08 20:43:13 +08:00
Jason Short
832458c804
Quick RTL Fix, logic was backward
2011-10-07 11:06:31 -07:00
Jason Short
ce136d850a
Better Loiter PIDs
...
Fixed RTL overshoot bug
2011-10-06 17:42:09 -07:00
Jason Short
3be34ed31a
Implementing a limiter for the ramp up of speed to WPs.
2011-10-03 10:37:56 -07:00
Jason Short
e5b66c1c7c
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-02 11:36:31 -07:00
Jason Short
7e81756ccd
Added second PI loop for alt hold.
...
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
2011-10-02 11:36:23 -07:00
Amilcar Lucas
101dc83239
Fix compilation
2011-10-02 14:52:02 +02:00
Amilcar Lucas
9d3e5a8e11
Use the new AP_Relay library
2011-10-02 14:22:27 +02:00
Jason Short
df1a39f650
Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller
...
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
2011-09-29 23:27:23 -07:00
Jason Short
b805263974
Attempting to mimic loiter values for 4.0.42
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lowered Rate Error max in loiter
2011-09-28 23:11:19 -07:00
Jason Short
469acff0fa
Added Loiter P tuning as #12
2011-09-27 09:39:32 -07:00
Jason Short
d0405b0a0a
2.0.46 -Not flight tested!
...
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
2011-09-27 09:35:05 -07:00
Michael Oborne
2de9e6a929
heli hil
2011-09-27 07:30:28 +08:00
Jason Short
059551de48
Fixed issue with Simple mode changes.
...
Reverted to simpler, safer timer code for throttle hold
2011-09-25 14:16:35 -07:00
Jason Short
9dc42122f8
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-09-25 12:22:07 -07:00
Jason Short
18fea55f8d
Fixed Flip code to compile. Flip still not flight tested!
2011-09-25 12:21:54 -07:00
rmackay9
0e8a648043
TradHeli - added servo averaging to allow support of analog servos
...
- moved heli parameters to 80 because they were causing flight modes to overlap with waypoints
2011-09-25 16:51:25 +09:00
Jason Short
e0b4a26dee
Added Loiter Turns - It orbits the Current location
...
Added WP to Loiter_time so you can spec a specific location in the planner
added new Navigation alg. Should perform better (doesn't rely on 45° flow fields like last one)
Added "Jump" counter so missions don't get overwritten in flight.
removed I term by default for Rate pitch and roll
2011-09-24 17:40:29 -07:00
Jason Short
0f5c74f03a
Trying to make Alt hold more aggressively change altitudes.
2011-09-23 13:58:39 -07:00
Jason Short
f65390920a
Added a default, but low throttle cruise value
...
Added a clear integrator for Rate I to prevent tip ups at launch.
2011-09-22 23:10:55 -07:00
Jason Short
5b57df5d1c
Refined Throttle Timer reset
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Reduced Loiter I gain to decrease overshoot.
2011-09-22 17:38:39 -07:00
Jason Short
ffb6f06f57
Fixed Throttle integrator bug. Time was not being reset causing a big drop in throttle control.
2011-09-22 12:28:46 -07:00
Jason Short
e4f87d7442
removed debug statements
2011-09-21 22:34:27 -07:00
Jason Short
7512e686b9
Fixed Timer overflow for throttle PI loop.
...
Moved look at home to update_nav where it belongs
2011-09-21 22:31:12 -07:00
Jason Short
790bd6f8c9
Altered CIRCLE mode to allow Loiter_N_Turns to work in AP mode.
2011-09-21 13:19:36 -07:00
Jason Short
3f1faf70ac
upped to 2.0.44 - not flight tested
2011-09-20 23:23:42 -07:00
Jason Short
a57c0323ab
Fixed do_flip,
2011-09-20 23:20:33 -07:00
Jason Short
79c41fa9e2
Fixed Yaw for Auto mode.
2011-09-20 22:59:23 -07:00
Jason Short
9005cc6cda
Edited CH7 options to include Do Nothing and RTL.
2011-09-20 10:37:50 -07:00
Jason Short
59a2d2a256
Converted Millis to Micros
...
added navigation check to return a failed navigation
2011-09-19 22:24:57 -07:00
Jason Short
3b4743ef03
changed PI Library to take Float for DeltaTime
...
Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!
2011-09-19 14:02:42 -07:00
Jason Short
aeb70eb8e0
added contributor
2011-09-18 17:12:59 -07:00
Amilcar Lucas
e4d0646088
Added comment, spellcheck
...
This reduces the diff to the APM_Camera branch
2011-09-18 14:57:55 +02:00
Jason Short
da65096ee2
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-09-17 12:23:22 -07:00
Jason Short
e81a666478
Added a GPS watchdog to stop navigating if we loose signal.
2011-09-17 12:23:16 -07:00
Amilcar Lucas
c9d9ee0d3b
Merge some small misc improvements from APM_Camera branch
2011-09-17 20:25:31 +02:00
rmackay9
6fda1e3f14
ArduCopter - small changes to fix compile errors when optical flow enabled
2011-09-17 22:09:18 +09:00
Andrew Tridgell
a13c68a404
fixed build of OpticalFlow code
2011-09-17 14:58:02 +10:00
Andrew Tridgell
ea26a06f49
updates for new DCM code
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G_Dt is no longer needed by the DCM
2011-09-17 14:58:02 +10:00
Jason Short
41dada23ea
removed DCM reference from OPT FLOW
2011-09-16 19:17:50 -07:00
Jason Short
024512e34a
Fixed CIRCLE mode trig error
...
made loiter_radius * 100 in Params
updated gains
2011-09-16 16:54:45 -07:00
Jason Short
0d31d775b8
cleanup
...
added more ifdef for optflow
2011-09-15 23:41:15 -07:00
Jason Short
9a508a20f4
Integration of optical flow
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bug fixes for new Simple mode
increased Baro filter by 2 fields
2011-09-15 23:33:00 -07:00
Jason Short
ae81a758de
Removed Simple Mode
...
Added Simple option to mode switch positions
removed unused OptFlow code
added reset lat and lon error
removed unused init_auto
Fixed log formatting
Added simple mode bitmask
removed pitchmax
added CLI setup for enabling Simple mode to any switch position
2011-09-14 13:58:18 -07:00
Jason Short
4a2f58b013
Cleaned up guided mode
...
Reduced ADC filter to 3 from 6 to increase speed of filter.
2011-09-12 12:57:36 -07:00
Jason Short
7e79612125
Removed last of Xtrack
2011-09-11 20:40:05 -07:00
Jason Short
db331efbae
Circle Mode now working
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250Hz loop implemented
2011-09-11 11:22:01 -07:00
Jason Short
bd52458e74
Added Nav Rate tuning
2011-09-10 18:37:28 -07:00
Jason Short
8ae158191f
Fixes Alt hold mistake
...
Moves tuning into runtime definable param
Added more IMax to throttle
Signed-off-by: Jason Short <jasonshort@gmail.com>
2011-09-10 15:16:51 -07:00
jasonshort
ec68835898
circle mode patch
2011-09-09 11:59:42 +10:00
Andrew Tridgell
40c6edae0f
rename main pde file for arduino requirements
2011-09-09 11:51:21 +10:00