Robert Lefebvre
07d7d90882
ACM: TradHeli
...
Bringing in Low Pass Filter for Rate Controllers
2012-11-26 21:51:23 -05:00
Robert Lefebvre
3f0e8dd358
ACM: TradHeli
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Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
2012-11-26 21:21:12 -05:00
Andrew Tridgell
f6ec932d63
Copter: added reboot in CLI and over MAVLink
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useful for getting out of CLI
2012-11-24 18:20:37 +11:00
Andrew Tridgell
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
Michael Oborne
a5e3ce4655
remove cli planner mode - no longer used
2012-11-21 07:45:45 +08:00
rmackay9
07a7a1acd8
ArduCopter: replaced digitalRead and digitalWrite with faster calls
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improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
rmackay9
bcb9519fd7
ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues
2012-11-11 22:42:10 +09:00
Jason Short
d2a5928c06
Ap state updates
2012-11-09 22:15:15 -08:00
rmackay9
1f801714e8
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
rmackay9
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
Jason Short
e138b0a1d7
ACM: Added simple mode bearing logging for bug hunting
2012-10-28 12:12:38 -07:00
Jason Short
1713279ace
ACM: Formatting
2012-10-27 14:13:46 -07:00
rmackay9
cebcc226ee
ArduCopter: change TOY_M throttle mode to THROTTLE_HOLD
2012-10-26 10:56:06 +09:00
rmackay9
78316adf75
ArduCopter: replace Serial.print with Serial.print_P to save memory.
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Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
2012-10-22 16:45:24 +09:00
Jason Short
a0752dc7dc
ACM Acceleration management
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removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
2012-10-21 14:32:39 -07:00
Robert Lefebvre
592f4040fd
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
rmackay9
a2a3eed063
ArduCopter: bug fix for telemetry not working on APM1.
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SPI3 is also UART3. On APM1 we use UART3 for telemetry and don't need SPI3.
2012-10-18 19:15:21 +09:00
rmackay9
997fe85880
ArduCopter: fixed acro mode
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Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
2012-10-14 17:47:46 +09:00
rmackay9
c0ad98be31
ArduCopter: failsafe added to shutdown motors if mainloop fails
2012-10-09 12:30:17 +09:00
rmackay9
95763e610b
ArduCopter: allow DMP to run in parallel with DCM
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Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
2012-09-30 00:25:40 +09:00
rmackay9
8c6fd340d7
AP_AHRS: added scheduler parameter to init
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Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
b2f12c4854
ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5
2012-09-24 18:39:33 +09:00
Andrew Tridgell
5fd39bb928
ACM: updates for new GPS detection
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a GPS can now be attached after startup
2012-09-17 14:45:47 +10:00
rmackay9
303ca11c4c
HIL: changes to fix HIL for ArduCopter after recent timing changes.
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Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
rmackay9
b6d2d4723f
ArduCopter: print firmware version of code instead of zero.
2012-09-13 21:49:11 +09:00
rmackay9
2e9e3ce5a6
ArduCopter: increase SPI bus speed to 2Mhz after IMU initialisation has completed (MPU6000 accepts maximum of 1Mhz for some registers but up to 20Mhz for main sensor and interrupt registers)
2012-08-28 17:29:48 +09:00
uncrustify
969166c4e3
uncrustify ArduCopter/system.pde
2012-08-21 19:19:50 -07:00
Andrew Tridgell
1b0f5ac84f
ACM: use ahrs.set_fast_gains() on arm/disarm
2012-08-21 15:38:31 +10:00
Jason Short
1e0ab8768e
ACM: Toy mode updates
2012-08-11 22:37:26 -07:00
Jason Short
f641c5d077
ACM system.pde - toy mode update, cleanup of throttle cruise code
2012-08-09 16:59:44 -07:00
rmackay9
94cb325184
ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP
2012-07-28 14:21:45 +09:00
Jason Short
a7b1252b51
arducopter
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alt hold state reset
2012-07-18 22:57:11 -07:00
Jason Short
bb99bd4626
Arducopter: INS
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removed zero accells call
2012-07-18 22:57:10 -07:00
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
1dbde3f803
Arducopter: Added note
2012-07-10 21:53:37 -07:00
Amilcar Lucas
dfe0983e1e
Merge the changes from APM_Camera branch into ArduCopter
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Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
2012-07-11 00:39:13 +02:00
Jason Short
9a30270879
System.pde - RTL
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removed Approach mode, fixed RTL to loiter until desired altitude is reached
2012-07-01 13:40:12 -07:00
Andrew Tridgell
82ede937e7
AnalogSource: convert analogRead() calls to the new API
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this should give us much better analog values, plus save a bunch of
CPU time
2012-07-01 15:01:05 +10:00
Jason Short
031830b5fe
System.pde: Toy mode details for set_mode()
2012-06-29 21:20:28 -07:00
Jason Short
cd93c40f09
Added Toy Mode control
2012-06-25 23:08:25 -07:00
Jason Short
8b212d8baa
Adjustments to the Inertial_nav
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lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
2012-06-20 08:47:47 -07:00
Andrew Tridgell
940d994efb
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
2012-06-10 16:36:18 +10:00
Andrew Tridgell
a684bddbda
GPS: open the GPS serial port with a 256 byte buffer
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the UBLOX needs more than 128 bytes for reliable parsing
2012-06-08 16:42:03 +10:00
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
0ce883b96a
Removed unused variable
2012-05-29 12:43:23 -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
Robert Lefebvre
c8fb9a6635
More CopterLEDS changes.
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Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2. Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2. Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code. Legacy users should see no difference.
2012-05-15 12:00:21 -04:00
Adam M Rivera
0c3d6614cd
system.pde: Updated param name to loiter_timer.
2012-04-16 10:12:30 -05:00
Adam M Rivera
a2b338c052
System: Added handler for the new APPROACH flight mode which will initiate an approach to a target alt as defined by the user.
2012-04-15 16:55:34 -05:00
rmackay9
c337df11c8
ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:40 +09:00
rmackay9
1d086c83f0
ArduCopter - system.pde - changed references to "motor_armed" to "motors.armed()" as part of the move to use AP_Motors library.
2012-04-04 23:03:21 +09:00
Andrew Tridgell
b4107d35e8
MAVLink: raise the serial transmit buffer size to 256 bytes
...
the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
Andrew Tridgell
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
Jason Short
fe7ca98701
ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset.
2012-03-18 22:31:21 -07:00
Jason Short
f9d0dc9daa
ACM: disabled auto_calibration until more testing can be done
2012-03-10 12:44:49 -08:00
Jason Short
5ad7320505
ACM: changed alt hold initialization of altitude to be immediate
2012-03-10 12:44:18 -08:00
Andrew Tridgell
828ad7625b
ACM: removed the ADC filtering code
2012-03-10 10:34:32 +11:00
Andrew Tridgell
8393c0299b
ACM: removed the DCM tuning overrides
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not needed now that DCM scales with deltat
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
367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
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this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
64cc04ae09
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
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
Andrew Tridgell
cb874d6097
ACM: added board_voltage()
2012-03-02 15:48:28 +11:00
Jason Short
eac77504a3
Added more Logging for PIDs.
2012-02-26 11:33:36 -08:00
Jason Short
f27e9f9ca1
added a simple rest of nav_throttle just in case
2012-02-25 13:31:21 -08:00
Jason Short
42b5d47f7b
commented out control mode debug print
2012-02-21 21:48:07 -08:00
Jason Short
336441b109
reset slow_WP option at mode switch
2012-02-19 13:13:42 -08:00
Jason Short
17c6c7b294
added extra gain logging
2012-02-16 22:09:22 -08:00
Andrew Tridgell
3b4cae3cc3
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00
Jason Short
8ae53bffd2
Made Yaw Hold universal for Acro
2012-02-10 22:32:55 -08:00
Andrew Tridgell
1a861b3de5
allow for lower serial baud rates
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not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
2012-02-04 19:07:18 +11:00
Michael Oborne
151479f769
fix issue 502
...
to identify quad over mavlink
2012-02-03 06:53:08 +08:00
Jason Short
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
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Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Randy Mackay
122623f64b
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Jason Short
6784989e83
relocated reset_I term functions to central location
2012-01-20 22:52:30 -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
7877a872d3
added update throttle cruise function
2012-01-13 16:48:05 -08:00
Jason Short
a59c9ae22c
added notes
2012-01-12 22:28:58 -08:00
Jason Short
4b54887c6c
Switched to set_next_WP for mode switches
2012-01-10 23:43:44 -08:00
Jason Short
cf92631d33
added #if to wind compensation code
2012-01-10 23:42:26 -08:00
Randy Mackay
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
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Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
Jason Short
9c8122e061
converted auto land to use the mission planner version
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Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
2012-01-07 22:27:26 -08:00
Jason Short
98f9a5f237
Forced Faildafe throttle mode to throttle Auto
2012-01-06 10:21:50 -08:00
Jason Short
40ad164c8d
Clears Auto_land timer
2012-01-05 21:15:12 -08:00
Andrew Tridgell
df81a9459a
ACM: reset all I terms on gyro calibration
2012-01-05 10:15:14 +11:00
Jason Short
2e83e42764
Added precalc for wind compensation when entering Stabilze mode
2012-01-04 09:28:37 -08:00
Jason Short
ecb3241489
calc_wind_compensation called when exiting AP modes
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Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
2012-01-04 09:28:37 -08:00
Andrew Tridgell
cdd5589498
I2c: default to 5ms timeout, and faster bus speed
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we will slow down the speed when we get a failure
2012-01-04 16:36:47 +11:00
Randy Mackay
bbe6dea980
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
03a16c6e45
ACM: use new I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
73e6d5ee11
ACM: update for DataFlash changes
2011-12-28 16:00:49 +11:00
Andrew Tridgell
0dadbf932a
removed "Please run setup" loop from ArduCopter
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Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
2011-12-24 18:12:51 +11:00
Jason Short
e5a3899b7f
added ability to enter Loiter with only optflow available
2011-12-23 14:46:32 -08:00
Andrew Tridgell
ad9c0533d8
ACM: run mavlink loop while erasing logs
2011-12-18 10:19:41 +11:00
Jason Short
1251e8105d
Added failsafe check
2011-12-14 22:08:41 -08:00
Andrew Tridgell
483bef35e5
IMU: update ACM and APM for flash_leds change in IMU init
2011-12-13 18:19:41 +11:00
Andrew Tridgell
07dba4eff7
desktop: fixed Wire.begin() build problem
2011-12-12 15:14:55 +11:00
Pat Hickey
a48c65b5b5
ArduCopter: update AP_Baro constructors & initializers
2011-12-11 15:21:10 -08:00
Pat Hickey
f3ad7f3af8
Wire and SPI Init: move to sketch system.pde from libraries
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* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin removed from AP_Baro_MS5611::init()
* SPI.begin removed from AP_InertialSensor_MPU6000::hardware_init()
* Both Wire.begin and SPI.begin added very early in init_ardupilot in
ArduCopter/system.pde and ArduPlane/system.pde
2011-12-11 15:21:10 -08:00
Pat Hickey
39fe9075d9
ArduCopter Init: different call to barometer.init based on CONFIG_BARO
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* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
2011-12-11 15:21:10 -08:00
