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3,183 Commits 71 Branches 511 Tags 761 MiB
693a2cfdcd
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754 Commits

Author SHA1 Message Date
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