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597 Commits

Author SHA1 Message Date
rmackay9
9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
Jason Short
834f961409 ACM : Fix enduf 2012-09-10 21:25:53 -07:00
Jason Short
4c8e257ea2 ACM : forced setup_show to dump params during log dump for better analysis. 2012-09-10 20:52:30 -07:00
Jason Short
34e07c826f ACM : Added centralized Iterm logging at a lower rate. Logs all iterms. 2012-09-10 20:26:48 -07:00
Andrew Tridgell
841d2700b6 ACM: use spare CPU cycles to read the magnetometer 2012-09-10 11:38:18 +09:00
rmackay9
fd110a2723 ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU. 
This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
 2012-09-10 11:37:53 +09:00
Andrew Tridgell
f97104b435 ACM: use compass.accumulate() in ArduCopter 
this gives us a much less noisy magnetometer
 2012-09-08 10:06:04 +10:00
rmackay9
5073e56c06 ArduCopter: upgraded firmware version to 2.7.3 2012-09-02 12:58:16 +09:00
rmackay9
c9d34c1737 ArduCopter: fixes to allow AP_Mount to work on APM1 with original default channels and fix to reenable support for 3-axis gimbals on APM2. 
Channels 5 to 11 changed to RC_Channel_aux.
Removed channel 9 because APM_RC doesn't support it in any case.
Updated EEPROM format version to 119 because of the change to RC_Channel_aux and because k_param_rc_11 moved to be after k_param_rc_10.
 2012-09-02 12:51:23 +09:00
Craig Elder
274b2e2143 Arducopter: Release 2.7.2 2012-08-31 19:18:10 -07:00
Jason Short
082913efd4 ACM : revert back to the 2.6 climb rate calc 
The current filter is outputting wild oscillations.
 2012-08-28 21:22:07 -07:00
Craig Elder
d8a2bfb9e8 Arducopter: Preparing for 2.7.2 Release 2012-08-28 18:30:41 -07:00
Jason Short
9d64bea2ef ACM: Altitude Adjust 2012-08-28 15:40:08 -07:00
Jason Short
98cc65862d ACM : Log Timing 2012-08-28 15:40:08 -07:00
uncrustify
4021a64747 uncrustify ArduCopter/ArduCopter.pde 2012-08-21 19:19:50 -07:00
Andrew Tridgell
6d11940ada AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
Andrew Tridgell
e9928e78de ACM: fixed TradHeli build 2012-08-22 09:55:31 +10:00
Robert Lefebvre
575b99b4be TradHeli: Creating Flybar Acro mode. 2012-08-21 16:54:01 -04:00
rmackay9
75459b09be ArduCopter: changed reset_throttle_counter to uint8_t to get rid of overflow bug that was preventing target altitude from being locked in after pilot input down throttle. 2012-08-19 11:50:35 +09:00
Jason Short
988d0c98fc ACM : Alt hold adjustment - made angle boost work during alt hold changes. 
increased length of delay when reverting to automatic hold to deal with latency of baro sensor
 2012-08-18 09:30:46 -07:00
rmackay9
5b6f7f0012 ArduCopter: modified altitude hold so that 1 second slow down period is executed after pilot moves throttle back into deadzone 2012-08-18 21:45:49 +09:00
Jason Short
770956a3fd ACM : Made control_roll and pitch global for logging; made yaw towards waypoint use initial angle and not a recalculated angle to deal with wiggles as we approach WP 2012-08-16 15:39:50 -07:00
rmackay9
36f947acb9 ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t". 
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
 2012-08-16 20:04:46 +09:00
Jason Short
a4bc5950cf ACM: Added a filtered version of Location for GPS lag. 
I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
 2012-08-14 14:11:51 -07:00
Jason Short
993c89c4f8 ACM: Revved the version 2012-08-14 14:11:51 -07:00
Jason Short
b01a71c4b9 ACM: Toy mode updates - added second toy mode 2012-08-11 22:37:27 -07:00
Andrew Tridgell
81440a1b09 AHRS: fixed build 
AP_Airspeed.h is now needed to build AHRS
 2012-08-11 12:22:55 +10:00
Jason Short
3ad08b7ffc ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second. 2012-08-10 10:02:32 -07:00
Jason Short
02649f3f11 ACM : Arducopter.pde 
command_nav_index upped to in16t for negative number
renamed trim flag > CH7_flag
Added fast_corner var
removed unused alt vars
Alt hold I term update
 2012-08-09 16:59:43 -07:00
Amilcar Lucas
0b0b9c29a2 Allow fully independent operation of two AP_Mount instances 2012-08-08 23:11:23 +02:00
Amilcar Lucas
9cc705939a Add a second mount instance 2012-08-08 23:07:25 +02:00
Andrew Tridgell
fb26160d3b ACM: change to use get_bearing_cd() instead of get_bearing() 2012-08-08 12:12:30 +10:00
Andrew Tridgell
c2a4d59132 AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Amilcar Lucas
d9f1140278 ArduCopter: Use generic channel names for AP_Mount servos. 
This simplifies mission planner, the same code can be used for plane and copter now.
 2012-08-06 23:33:51 +02:00
Amilcar Lucas
f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas
107155fa1a AP_Mount: Allow using any RC channel to control any of the mount axes. 
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
 2012-08-05 23:48:57 +02:00
Amilcar Lucas
b8c7b8a786 RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas
4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
rmackay9
c091c8e0e6 ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode. 2012-08-01 12:15:02 +09:00
Andreas M. Antonopoulos
de85442c36 AC2.7.1: Updated version and tag 2012-07-31 13:11:17 -07:00
rmackay9
5cb4a88292 ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered) 2012-07-28 23:05:05 +09:00
rmackay9
670a66667f ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing) 2012-07-28 16:22:35 +09:00
rmackay9
014f5aae99 ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP 2012-07-28 14:21:07 +09:00
Michael Oborne
f4705577c8 AC fix sitl attitude hil build 2012-07-24 21:18:36 +08:00
Andreas M. Antonopoulos
80cf794c86 AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant. 2012-07-21 17:52:06 -07:00
Jason Short
b17eb7f768 ACM: Fixed Baro rate patch to work with Sonar and added simple filter 2012-07-21 16:45:00 -07:00
Jason Short
9f6e1347b6 Ardcucopter: RTL distance check update, reset I terms fixed. 2012-07-20 13:27:35 -07:00
Jason Short
2b20c85279 Arducopter: cleanup, skip out of throttle control when flipping. 2012-07-19 22:35:21 -07:00
Jason Short
91062b56af Arducopter.pde: Increased the throttle Hold altitude control 
simplified Yaw reset
 2012-07-19 17:38:25 -07:00
Jason Short
1efc9eac58 Arducopter: Adjust landing speed 
removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.
 2012-07-19 09:48:31 -07:00
Jason Short
c9851344e7 Arducopter 
removed old Var
 2012-07-18 22:57:10 -07:00
Jason Short
cb1cdcd4a7 Arducopter: New Alt control code 
Uses a new method to manage altitude changes. Alt hold controller was split into a hold and a rate controller just like navigation. Changing alt is done by specifying a climb rate.
Interactive alt hold is now simplified and is an 80cm climb or descent.
 2012-07-18 22:57:10 -07:00
Jason Short
5965632888 Arducopter: Flip mode 
Flip mode graduates to pre-compiled option
 2012-07-18 22:57:10 -07:00
rmackay9
b691c3f658 ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch. 
This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
 2012-07-18 23:49:09 +09:00
Andreas M. Antonopoulos
a976a59c88 AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling. 2012-07-16 11:46:43 -07:00
rmackay9
c495a5f36e ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move 2012-07-15 16:38:28 +09:00
Andreas M. Antonopoulos
c73f7ef3ab AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Jason Short
e3af0c7920 Arducopter: Yaw stop fix 2012-07-14 12:23:10 -07:00
Robert Lefebvre
59e133235f Implementing Yaw Fix. Tried to blend with Jason's changes. 2012-07-14 00:24:22 -04:00
Jason Short
4af392290b Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance 2012-07-13 19:29:36 -07:00
Jason Short
7b746cf5e1 Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions 2012-07-13 12:51:38 -07:00
Jason Short
d8ff5dcfab Arducopter: Fix circle_WP 2012-07-12 09:22:20 -07:00
Jason Short
293f17902b Arducopter:Arducopter.pde 
switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
 2012-07-10 21:53:38 -07:00
Jason Short
3048d2f9b4 Arducopter: WP_radius 
Switching to stored WP_radius in meters, just like Arduplane
 2012-07-10 21:53:38 -07:00
Amilcar Lucas
dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Jason Short
f019d41729 arducopter.pde 
Timer was set =0 at initialization.
 2012-07-09 13:13:32 -07:00
Jason Short
8ccda519fa Arducopter.pde: 
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
 2012-07-03 17:21:46 -07:00
Jason Short
e0b3309500 Yaw mode: 
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
 2012-07-01 13:40:12 -07:00
Jason Short
c5617eeeac Arducopter.pde_RTL: 
added a new RTL function that goes into Loiter, first, checks if we have reached RTL_Altitude, then enters WP mode to come home.
Removes Approach mode. Uses Auto_Approach value to decide if we should land or descend to a certain altitude
 2012-07-01 13:40:11 -07:00
Jason Short
2e8eee9306 Added code for self centering throttle - disabled by default. 2012-07-01 13:40:11 -07:00
Jason Short
4d6ccccef5 Circle_WP distance check fix 2012-06-29 21:20:28 -07:00
Jason Short
668135ea8b Arducopter.pde: Added Toy mode refinements 2012-06-29 21:20:27 -07:00
Jason Short
e036bee424 Aeducopter.pde: Toy mode updates 2012-06-29 21:20:27 -07:00
Andrew Tridgell
55092c25a6 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Adam M Rivera
dadc7d5a7d ArduCopter: Loiter Timer should have been set when the approach altitude was set. Previously, land had to be enabled before auto approach would work. 2012-06-28 20:34:53 -05:00
Andrew Tridgell
33440567e6 ACM: ArduCopter updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell
dae1a57dc5 ACM: adapt the ArduCopter code for new barometer interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell
b676caa626 ACM: enable GPS in AHRS for ArduCopter 
this is an experiment in centripetal correction for multicopters
 2012-06-27 16:01:49 +10:00
Jason Short
c76ac4543b Added user editable define for Super simple radius 2012-06-26 10:38:46 -07:00
Jason Short
80d15368bc Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with. 
Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
 2012-06-25 23:08:25 -07:00
Jason Short
6020f6d9fa Added throttle_min as a user definable param 2012-06-20 14:58:34 -07:00
rmackay9
c62cc4844e ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release 2012-06-15 00:42:59 +09:00
Jason Short
c42f9ece43 Inertial Control 
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.
 2012-06-13 22:34:45 -07:00
rmackay9
e1acf21381 ArduCopter: updated firmware version to 2.6 Epsilon 2012-06-12 23:22:57 +09:00
Jason Short
f5a85d48a0 Added Angel's name to contrib list 2012-06-10 12:38:22 -07:00
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
rmackay9
70b04d9427 ArduCopter: updated firmware description to 2.6 Gamma 2012-06-05 21:28:13 +09:00
Jason Short
1b9f75c844 Updates to Flip: 
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
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
Robert Lefebvre
5f058fb9b2 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -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
22065e3f3f Broken timer - removed 2012-05-29 12:56:38 -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
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
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
Robert Lefebvre
4e4ff84cf1 Updates to CopterLEDS 
Creation of Nav Blink Function.
 2012-05-22 09:58:37 -04:00
Jason Short
f6d8a18182 Added note 2012-05-21 09:58:23 -07:00
Jason Short
8d075015e1 added check for duplicate time-stamped GPS messages. 2012-05-18 09:54:18 -07:00
Jason Short
7e190c6f5c Arducopter.pde : 
removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
 2012-05-17 11:05:05 -07:00
Jason Short
d1cd04486a removed retro loiter code since Angel has a branch now. 
shrank speed filter to avoid latency
removed unused forward estimator code

placed code for switchover to gps.groundspeed at 1.5m/s

added clamp for D term when below .5m/s to eliminate noise

added hybrid I-term based on speed error and position

changes Loiter D term to use position rather than acceleration to avoid noise
 2012-05-15 22:14:23 -07:00
rmackay9
357d6c2d9b ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
rmackay9
2f74004fcb ArduCopter: updated version to 2.5.5 2012-05-13 08:47:43 +09:00
Andrew Tridgell
4fee26437b MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI 2012-04-24 22:24:58 +10:00
Adam M Rivera
b2a7227ae7 ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define. 2012-04-23 00:19:18 -05:00
Adam M Rivera
97040a7b3a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
Jason Short
e22832a832 Added a union for casting floats to ints and back when storing Floats to the DataFlash 2012-04-21 15:17:09 -07:00
rmackay9
c993049c48 ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion 2012-04-21 23:24:57 +09:00
rmackay9
3e95ade004 ArduCopter - changed optflow object to be APM2 version if necessary 2012-04-21 20:15:55 +09:00
Adam M Rivera
7d13371acf Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-20 11:45:38 -05:00
rmackay9
f0a9209935 ArduCopter - regressed version back to 2.5.4 2012-04-20 21:58:32 +09:00
Adam M Rivera
c233defbe6 Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera
24363ccb83 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera
d29f1ef331 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
Adam M Rivera
a7bc3d2cc6 Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity. 2012-04-18 23:07:35 -05:00
Adam M Rivera
f6d81a16c2 ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter. 2012-04-16 16:29:54 -05:00
Adam M Rivera
56a00fa1f7 ArduCopter: Changed millis compare to use new config value for approach delay. 2012-04-16 14:04:30 -05:00
Adam M Rivera
f9affb3295 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 
Conflicts:
	ArduCopter/Parameters.h
 2012-04-16 10:23:01 -05:00
Adam M Rivera
41702aca94 ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s). 2012-04-16 10:07:57 -05:00
rmackay9
870b5e5f75 ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM 2012-04-16 23:47:57 +09:00
Adam M Rivera
77d6f22864 ArduCopter, commands_logic: Updated logic to allow as low as 5m. 2012-04-15 19:50:05 -05:00
Adam M Rivera
2954bf6f76 ArduCopter: Added check to make sure user defined approach alt is at least 5. 2012-04-15 16:58:22 -05:00
Adam M Rivera
a24b7bcf14 ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land. 2012-04-15 16:54:43 -05:00
rmackay9
a71ed6abec ArduCopter - updated firmware version to "2.6 Beta" 2012-04-14 14:26:44 +09:00
rmackay9
24b81db20e ArduCopter - LEDS - main code to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:44 +09:00
rmackay9
54a0709759 ArduCopter - add includes for new AP_Motors classes. 
Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
 2012-04-04 22:50:43 +09:00
Andrew Tridgell
c0a54762c6 MAVLink: port the new adaptive flow control to ArduCopter 
This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
 2012-04-02 11:18:53 +10:00
rmackay9
75d7308fb4 ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100. 
also changed heli_ext_gyro_gain to make it use the tuning range directly.
 2012-03-31 09:28:25 +09:00
Andrew Tridgell
0bc604f030 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE 
we now have the EEPROM option COMPASS_AUTODEC instead
 2012-03-30 14:25:27 +11:00
Adam M Rivera
51b70e4d36 ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM. 2012-03-30 14:25:06 +11:00
rmackay9
0efb0e5b4d ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9
599cea21bb Added multiple new tuning parameters to the inflight channel 6 tuning feature: 
#define CH6_YAW_KI 24
        #define CH6_ACRO_KP 25
        #define CH6_YAW_RATE_KD 26
        #define CH6_LOITER_KI 27
        #define CH6_LOITER_RATE_KI 28
 2012-03-28 23:58:58 +09:00
Andrew Tridgell
e956e21e7d ACM: enable the new compass offset nulling in ACM 2012-03-27 15:37:24 +11:00
rmackay9
67cf7b9eed ArduCopter - updated firmware version to 2.5.3 2012-03-25 09:13:51 +09:00
rmackay9
63b96c0153 ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter 2012-03-23 23:48:24 +09:00
rmackay9
89576a281a ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area 2012-03-23 23:12:49 +09:00
rmackay9
1dd554c333 ArduCopter - updated version to 2.5.1 2012-03-20 17:08:18 +09:00
Andrew Tridgell
547b4ed55b AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short
c5344a2a85 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
9841cb0335 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
48a0c9a818 ACM: Small fix to nav_throttle to prevent too fast of a landing. 2012-03-16 14:10:19 -07:00
Jason Short
1c0b28c956 Fixed Scaling bug in Sonar mixing 2012-03-16 14:10:19 -07:00
analoguedevices
86eff20d5d Rev'ed version number to 2.5. Added more credits 2012-03-15 02:38:54 +00:00
Jason Short
6f8b97bf6a 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
4315c06f34 Lowering the D filter for less latency and less oscillation. 2012-03-13 12:58:46 -07:00
Jason Short
7953808d14 ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short
0ab6b6e592 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short
77fe7de55d 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
2a03a0584f 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
d3667faef4 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
62c2aa4924 ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short
0671bb9168 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short
29d6085bab added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short
4ba600c0c5 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
Andrew Tridgell
ef771fecdc ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell
69c29d35ce 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
7e4c8592ff ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell
9bff4e2c4c 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
486c56ce41 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
730476fdfd 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
46d7da4d14 Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Jason Short
ceef8070ac added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Robert Lefebvre
76c3cd88f0 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9
744e5b8c60 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
17d94b61ed ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short
517172ba20 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
rmackay9
8193c786ef ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9
69132e0fe7 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short
a924c3685e 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
e2bbc795ad 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
698749dd92 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
1cd3172954 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
242f54793c revved a version 2012-02-22 09:00:42 -08:00
Jason Short
729c824809 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short
30efbae0e9 removed old comments 2012-02-19 14:21:27 -08:00
Jason Short
cae49b3543 Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short
b54d08f410 Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Randy Mackay
e146f225b1 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Jason Short
028de5d2c5 Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Randy Mackay
b64c0da003 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Jason Short
b532cb91b1 added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short
0075901f77 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short
36a120d8df removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short
e8b6f5ecee allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short
e249c8466d AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short
05abe44f32 Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short
c9b432955d removed unused Vars 2012-02-13 15:25:23 -08:00
Andrew Tridgell
d4305e0ae2 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
3b4cae3cc3 adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Jason Short
2c65fc9ddf Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short
b1d52da431 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short
19ab0f481e made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short
4313d19bc5 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short
f40d40b0f9 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
ef9418c2de fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
analoguedevices
3288b518c0 credits 2012-02-01 04:44:36 +00:00
analoguedevices
6dbcac855a Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Jason Short
5934b503b8 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short
46e08fb46a Added more attributions 2012-01-29 21:53:44 -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
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
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
122623f64b OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
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
Jason Short
1d9783652a added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short
9003b95499 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short
ab5716c42d Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short
7fb641ab77 added note 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
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
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 
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, 
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, 
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 
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) 
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 
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 
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