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Author SHA1 Message Date
jasonshort
c7f731502b Added experimental rate based Loiter and revised RTL. You need to compile with the loiter option set to 1 in APM_Config to try. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3099 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-14 18:18:32 +00:00
jasonshort
f2a4b181bf cleared out APM_Config 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3098 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-14 18:15:42 +00:00
jasonshort
9336fa9bd1 upped D filter to 6 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3096 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-14 05:44:29 +00:00
jasonshort
a25b0afb67 removed throttle_slew - Just wasn't working well enough and added too much complexity 
moved reading sonar to the 50hz loop so the Mode filter could do it's thing without causing so much latency

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3094 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-14 02:30:37 +00:00
jasonshort
2bfaf2744f lowered error limit to try and reduce RTL dropping from sky. 
removed minimum for RTL nav speed to see it's Loiter potential (rate based Loiter)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3093 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 22:51:35 +00:00
jasonshort
66af7cd216 commented out home.alt since it's always 0 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3092 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 22:49:20 +00:00
jasonshort
0d21177aa7 fixed missing %d in CTUN 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3091 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 22:45:00 +00:00
tridge60@gmail.com
eb8de79be4 Compass: added a gain multiplier 
this adjusts the calibration based on the change in gain between
calibration and runtime

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3090 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 10:39:11 +00:00
rmackay9@yahoo.com
b1d47ef135 TradHeli - fixes to use single PI controller for roll, pitch and yaw (when using an external tail gyro) 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3089 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 09:37:01 +00:00
tridge60@gmail.com
69b6e5225a added SET_MAG_OFFSETS magnetometer message 
this allows reset of the mag offsets without wiping your EEPROM

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3088 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 09:00:21 +00:00
tridge60@gmail.com
32c576f28c Compass: several fixes to compass calibration code 
this changes the calibration code to require at least 5 good reads
from the compass during initialisation. The calibration is taken as
the average of the 5 values.

This also fixes the expected values for the 3 axes for the 5883 to
match reality.

We also save a bit of code space by adding a common rotate_for_5883L()
routine.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3087 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 08:17:25 +00:00
tridge60@gmail.com
5ffd66bc83 MAVLink: added missing files from recent update 
thanks to Randy for spotting this

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3086 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 06:30:29 +00:00
tridge60@gmail.com
1989497ae9 we don't have a separate 5883L driver any more 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3085 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 06:30:13 +00:00
tridge60@gmail.com
b9486cebad Compass: we don't need MAG_PROTOCOL any more 
we only have one mag driver now

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3084 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 05:10:19 +00:00
tridge60@gmail.com
9232a0f652 Compass: removed the old 5883L driver 
we now use a single driver for both mags

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3083 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 05:09:58 +00:00
tridge60@gmail.com
1dcd7a358e PID: fixed an uninitialised variable 
we did not initialise derivative to zero

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3082 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 04:46:21 +00:00
tridge60@gmail.com
92822dbd6b ModeFilter: fixed a shadowed variable 
mode is a member of the class already, so call the local variable
fmode

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3081 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 04:46:10 +00:00
tridge60@gmail.com
6205752740 MAVLink: pull in latest changes from upstream MAVLink 
this gives us the new SENSOR_OFFSETS message for debugging sensor
calibration

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3080 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 04:45:48 +00:00
jasonshort
1d9bc92d41 Added a generic Sin and Cos look table. Not sure if it works yet as a library. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3075 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-11 22:31:15 +00:00
tridge60@gmail.com
4f099ae158 cope with double initialisation of the compass 
if we've already initialised, then the orientation matrix will already
be right

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3072 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-10 14:07:15 +00:00
tridge60@gmail.com
19d2195ea3 compass: set the orientation of compass before compass.init() 
the compass.init() code uses the orientation when calculating the
calibration. We need to use the right orientation.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3071 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-10 12:52:53 +00:00
tridge60@gmail.com
2995878e99 compass: add a small delay in compass init 
this adds a 50ms delay after setting the compass gains before reading
the compass. Added as paranoia after some strange results on a 5843

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3070 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-10 12:47:25 +00:00
jasonshort
3a222a9fa2 2.0.39 
added callback to the test functions… not sure if this is the correct thing to do.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@3050 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-08 22:20:50 +00:00
jasonshort
509447904e 2.0.39 
Change the way Rate nav works. we now take into account both forward *and lateral* rates. The signs may be backward so be careful! Let me know if the quad shoots off to one side and I'll flip the signs.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3049 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-08 16:54:56 +00:00
rmackay9@yahoo.com
998b00693c AP_OpticalFlow - small but important fixes for position calcs 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3040 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-07 13:19:18 +00:00
rmackay9@yahoo.com
9b9402a264 ACM - changed default lens for optical flow 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3039 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-07 13:15:19 +00:00
mich146@hotmail.com
22d6499ef7 perl version of eedump 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3037 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-07 10:36:31 +00:00
jasonshort
1e48fd8952 2.0.39 
added a define to make compilation optional

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3031 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 17:09:27 +00:00
jasonshort
2129194338 2.0.39 
Cleanup and removed some old tests to save data flash.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3030 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:47:44 +00:00
jasonshort
7c8b0ea9bf 2.0.39 
Moved the motors based on feedback from Max Levine. See Wiki for details.
Simplified the CUT_MOTORS section of the code.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@3029 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:46:46 +00:00
jasonshort
f27929bf78 2.0.39 
Simplified the CUT_MOTORS section of the code.
Added Stability patch

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3028 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:45:51 +00:00
jasonshort
edc35b2cee 2.0.39 
Simplified the CUT_MOTORS section of the code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3027 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:44:42 +00:00
jasonshort
25e129fb05 2.0.39 
New order for motors!! Based on Hein's testing. See Wiki for updated layouts
Simplified the CUT_MOTORS section of the code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3026 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:44:22 +00:00
jasonshort
1cda03037c 2.0.39 
Simplified the CUT_MOTORS section of the code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3025 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:43:44 +00:00
jasonshort
254674aedd 2.0.39 
New hex a motors_out with Tridge's stability patch.
Simplified the CUT_MOTORS section of the code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3024 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:43:16 +00:00
jasonshort
1316b58ef0 2.0.39 
added defines for CH7 behavior - DO_FLIP 1,  DO_SET_HOVER 0 (Default)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3023 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:22:43 +00:00
jasonshort
834de9f6c7 2.0.39 
added defines for CH7 behavior

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3022 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:21:55 +00:00
jasonshort
6748ffd112 2.0.39 
added defines for CH7 behavior, Tweaked Loiter config based on testing by Jack.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3021 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:21:21 +00:00
jasonshort
10e2eb3571 Added Jose Julio's Flip code, edited to work with AC2. Never flown or tested! 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3020 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:19:06 +00:00
jasonshort
a78b057cec Added Jose Julio's Flip code, edited to work with AC2. Never flown or tested! 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3019 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 16:17:26 +00:00
james.goppert
1e4f463298 Updated GCS_MAVLink to match mavlink master. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3017 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 08:18:08 +00:00
rmackay9@yahoo.com
43fd56ec46 TradHeli - mounting plate correction to remove duplicate line in design file 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3006 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-03 11:40:46 +00:00
tridge60@gmail.com
b062e8e6f8 fixed PSTR() on motor arm messages 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3004 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-02 13:34:27 +00:00
tridge60@gmail.com
4dc9de81a3 re-added ARMING messages in HIL mode 
this is useful as in HIL mode you don't always have blinking lights

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3003 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-02 13:25:58 +00:00
jasonshort
07b8d0dfe5 2.0.39 
Returned to previous log version for sonar messages to fix the cosmetic bug in the planner

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3000 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 22:01:25 +00:00
jasonshort
6c75a03230 2.0.39 
Made the Yaw on RTL always on for Helis

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2999 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 22:00:26 +00:00
jasonshort
10d769a1d2 2.0.39 
Defaulted all values

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2998 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 21:56:22 +00:00
tridge60@gmail.com
12785f6682 added SERIAL3_BAUD parameter 
this is the real baud rate divided by 1000. So 57600 is set as 57

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2997 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 11:39:17 +00:00
tridge60@gmail.com
261c7edec9 MAVLink: send streams on both mavlink interfaces 
when doing init the user may be on the Xbee port

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2996 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 10:08:59 +00:00
tridge60@gmail.com
5f9c03ca77 re-apply DEFAULT_LOG_BITMASK patch 
Jason, I assume you removed this patch accidentially

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2995 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-01 10:06:15 +00:00