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191 Commits

Author SHA1 Message Date
Randy Mackay
0e740bd4e1 Copter: enable AUTOTUNE for mission planner build 2013-10-13 11:57:50 +09:00
Randy Mackay
a53d28e018 Copter: remove support for dmp ahrs 2013-09-27 10:42:49 +09:00
Randy Mackay
02f7310689 Copter: make it easier for Arduino users to easily reduce flash space by turning off features 2013-09-26 13:15:30 +09:00
Randy Mackay
5b00ce24ed Copter: minor user hooks cleanup 
Only define and call functions if the appropriate #define in
APM_Config.h has been added
 2013-05-17 12:19:07 +09:00
Randy Mackay
1426f40319 Copter: remove unused JDrones motor PID overrides 2013-05-17 12:05:20 +09:00
Randy Mackay
19394918dd Copter: simplify APM_Config.h 
Remove items that can be more easily set with parameters
 2013-05-17 12:01:39 +09:00
Andrew Tridgell
0d027b7a23 Copter: updates for new compass API 2013-05-02 12:48:14 +10:00
Randy Mackay
a53e5f747b Copter: add fourth yaw behaviour, look-at-home 
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
 2013-04-20 15:36:24 +09:00
Randy Mackay
597a4b912a Copter: fix to allow building HIL_MODE_SENSORS 2013-03-18 13:41:52 +09:00
Randy Mackay
102b5da59d Copter: remove unnecessary #defines from APM_Config.h 2013-02-24 14:41:56 +09:00
Randy Mackay
67c69a19ee Copter: remove baro-only alt hold 
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
 2013-02-24 14:41:29 +09:00
Randy Mackay
b74da54c98 Copter: enable inav xy by default 2013-02-24 14:41:21 +09:00
Randy Mackay
766ccdf6f8 Copter: add selection of inertial nav wp controller to APM_Config.h 2013-02-24 14:41:13 +09:00
Robert Lefebvre
dde713aaa5 Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this. 2013-01-20 21:32:00 +09:00
Randy Mackay
fef7569dee Copter: added experimental LOITER_REPOSITIONING #define to config.h 
APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
 2013-01-14 13:34:14 +09:00
Andrew Tridgell
394dccf9a8 Copter: make config defaults match 2.9 2013-01-02 15:27:42 +11:00
Robert Lefebvre
6e64b1b357 ACM: Precision Loiter RePositioning code. 
Protected behind a #define
 2013-01-02 09:19:39 +11:00
Pat Hickey
22ac39a4ef ArduCopter: disable and remove InertialNav defines from APM_Config 
* We're not going to have the RAM available to support those in general release
 2012-12-20 14:52:29 +11:00
Pat Hickey
2aa4657315 ArduCopter: changes to use CONFIG_HIL_BOARD 2012-12-20 14:52:28 +11:00
Pat Hickey
4b84e99f85 remove dumb user hooks comments 2012-12-20 14:52:28 +11:00
Robert Lefebvre
1b97a92098 ACM: Code Cleanup 2012-12-08 14:49:38 -05:00
rmackay9
85c8bdce15 ArduCopter: removed unused and out-of-date #defines from APM_Config.h 2012-12-08 13:38:39 +09:00
rmackay9
4ca27defb3 ArduCopter: update comments related to CH7 switch options 2012-12-06 17:40:36 +09:00
rmackay9
8d682b9812 ArduCopter: disable INERTIAL_NAV_XY by default 2012-12-06 10:32:02 +09:00
rmackay9
072ffec493 ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position 2012-12-06 10:31:41 +09:00
rmackay9
aa5e7e63a0 ArduCopter: switch on INS in APM_Config.h (i.e. on by default for users uploading through Arduino IDE) 2012-12-06 10:31:36 +09:00
Robert Lefebvre
3e65dd3ded ACM: TradHeli APM_Config.h changes 2012-12-04 13:32:40 -05:00
Robert Lefebvre
07d7d90882 ACM: TradHeli 
Bringing in Low Pass Filter for Rate Controllers
 2012-11-26 21:51:23 -05:00
Robert Lefebvre
6b8c39dd10 ACM: Creating Yaw_Look_Ahead yaw mode. 
This function is not fully tested yet.
 2012-11-26 21:37:13 -05:00
Robert Lefebvre
9e45e906fb ACM: TradHeli 
Move some TradHeli #defines into one place in APM_Config to clean up config.h and defines.h
 2012-11-26 19:09:55 -05:00
Jason Short
f344eb875a ACM: Allow greater than 45° pitch and roll in Stab 2012-11-11 18:07:58 -08:00
rmackay9
cec96a76d7 ArduCopter: comment out InertialNav related Alt Hold and Loiter PID changes from APM_Config.h 2012-11-07 19:21:36 +09:00
rmackay9
fa0963d592 ArduCopter: APM_Config.h - make it ever so slightly easier to enable INERTIAL_NAV 2012-10-08 12:31:51 +09:00
rmackay9
95763e610b ArduCopter: allow DMP to run in parallel with DCM 
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
Pat Hickey
b02340fe10 APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE 2012-09-05 15:36:57 -07:00
uncrustify
09fbe8e29a uncrustify ArduCopter/APM_Config.h 2012-08-21 19:19:50 -07:00
rmackay9
1d32e03f61 ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h. 
Reduces possibility of difference between arduino ide compiled code and script built code (i.e. autotester, mission planner)
 2012-08-19 12:31:02 +09:00
Jason Short
387a021c30 ACM : APM_Config.h : default removed for toy mixer. 2012-08-16 15:41:35 -07:00
Jason Short
c305237e3a ACM : Added CH_7 Multimode 2012-08-11 22:37:26 -07:00
Jason Short
4a56e8ea2c ACM : Toy Mixer options 2012-08-09 16:59:43 -07:00
Amilcar Lucas
af08b630cd Spellcheck in comments 2012-08-06 00:21:14 +02:00
rmackay9
3047084ed3 ArduCopter: added DMP_ENABLED to APM_Config.h to make it easier for people to enable it. 2012-07-28 16:31:38 +09:00
Jason Short
97845cace1 Arducopter: INS 
Updated INS gains
 2012-07-18 22:57:10 -07:00
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
Andreas M. Antonopoulos
c73f7ef3ab AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Andrew Tridgell
60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Jason Short
8b212d8baa Adjustments to the Inertial_nav 
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
Jason Short
e31a1d969f Inertial Nav disabled by default 2012-06-13 22:37:52 -07:00
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
Andrew Tridgell
4fee26437b MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI 2012-04-24 22:24:58 +10:00
rmackay9
68e37774a6 ArduCopter - removed #define AUTOMATIC_DECLINATION ENABLED line to ensure users don't try and enable it because it needs a bit more work before it's ready for general use 2012-03-15 21:58:42 +09:00
Adam M Rivera
2524f9c8df AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
rmackay9
706bea5992 ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino 2012-03-06 22:15:02 +09:00
Pat Hickey
6573cec611 ArduCopter APM_Config.h: add sample custom channel config 
* uses new config variables introduced in 8a19543fd1e09621ba
 2012-02-11 16:05:51 -08:00
Jason Short
7c25253422 Enabled auto throttle hold 2012-01-20 22:52:31 -08:00
Jason Short
2831ff9148 Off by default 2012-01-20 22:52:29 -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
analoguedevices
70b7951366 Eliminated second instance of APM2 #defines 2012-01-12 20:38:41 +00:00
analoguedevices
d46f36e624 Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves 2012-01-09 01:59:55 +00:00
Jason Short
dd42f06275 Cleanup 2012-01-07 22:27:26 -08:00
Jason Short
3cf77729ef Disabled stable mode wind comp by default for release 2012-01-04 09:28:38 -08:00
Andrew Tridgell
9d1c4ecfcd ACM: don't set defaults in APM_Config.h 
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
 2012-01-04 19:35:05 +11:00
Jason Short
cf48091d00 removed old loiter method option 2011-12-30 23:48:04 -08:00
Randy Mackay
310f072d50 Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer 2011-12-19 22:57:00 +09:00
Jani Hirvinen
106801a59c config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short
c6657f4a93 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Andrew Tridgell
38c85c44ae ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Pat Hickey
3131ab16ef remove BROKEN_SLIDER code 
use the new CLI_SLIDER_ENABLED option and the "hit ENTER 3 times"
method
 2011-11-25 20:00:17 -08:00
Pat Hickey
5ee5036fa1 purple: added comment for enabling purple hardware 2011-11-25 20:00:16 -08:00
Jason Short
85a5647f5d cleanup 2011-11-21 22:11:06 -08:00
Jason Short
288db5c7c5 Better error and defaults checking 2011-11-13 22:54:18 -08:00
Jason Short
c8304114a3 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
27fc6eea10 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Jason Short
842311dfcd Added save WP note to APM_Config.h 2011-10-28 21:46:31 -07:00
Jason Short
27d9712e80 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	libraries/APM_PI/APM_PI.cpp
 2011-10-27 12:41:00 -07:00
Jason Short
d089059f58 Set default gain to 20 2011-10-27 12:33:44 -07:00
Jani Hirvinen
f5f3fa8fb9 Adding second default PID sets for bigger motors 2011-10-21 10:38:36 +07:00
Jason Short
4be2776b17 Added Andrew's user hooks. 2011-10-15 15:29:33 -07:00
Andrew Tridgell
d89ae696ef 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
Jason Short
b0bd9d1c44 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
Jason Short
de61e87128 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
0ed9af1bf5 Turned off Rate_I for Arduino users. 2011-09-25 15:34:59 -07:00
Jason Short
236f665378 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
ba7abd62d8 Adjusted DCM Gains to normal levels. Added a check to stop navigating when landing and to land faster. 2011-09-23 13:52:10 -07:00
Jason Short
7177bcec77 removed old CH6 tuning defines 2011-09-22 18:51:41 -07:00
Jason Short
0fba3e6742 Added Auto_trim to CH7 option 2011-09-21 16:24:09 -07:00
Jason Short
020062498b Edited CH7 options to include Do Nothing and RTL. 2011-09-20 10:37:50 -07:00
Amilcar Lucas
227ce0a92d Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Jason Short
d29cfbcee3 Integration of optical flow 
bug fixes for new Simple mode
increased Baro filter by 2 fields
 2011-09-15 23:33:00 -07:00
Jason Short
1ce2308d11 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
Andrew Tridgell
1456a2a912 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00