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709 Commits

Author SHA1 Message Date
Jason Short
e8e126a636 removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Randy Mackay
67855b207d Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Randy Mackay
0b24914066 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay
fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Pat Hickey
cc38189f71 ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280 
Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
 2011-12-09 15:06:10 -08:00
Jason Short
e8a14c8d93 simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short
5ed300db7e disabled Flash logs in 1280 by default 
Added stability patch I values and limits
 2011-12-03 15:38:46 -08:00
Andrew Tridgell
38c85c44ae ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell
3a542b3ef3 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell
6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -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
3f2692d1da purple: added configuration logic for APM1 versus purple hardware 
This abstracts the names for LED on/off (due to the different wiring
of LEDs on APM1 and purple), and adds the needed config defines for
the two hardware types
 2011-11-25 20:00:16 -08:00
Jason Short
89e014c06a Added alternate alt hold, 
New ESC Calibration Routine
 2011-11-21 22:12:19 -08:00
Jason Short
2600f19172 RTL Yaw hold as default 2011-11-20 12:50:13 -08:00
Jason Short
fbf09dbf2d Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Jason Short
9bc4328724 Added crosstrack gain and lowered alt hold rate gain 2011-11-19 13:59:15 -08:00
Jason Short
937a364dce Made RTL Altitude hold current by default 2011-11-16 00:22:23 -08:00
Jason Short
930ee51bbe added scale note 2011-11-13 00:25:04 -08:00
Jason Short
fafa6e52e9 back to original config for testing 2011-11-09 13:53:26 -08:00
Jason Short
f994d16a48 Lowered Nav_P based on SIM data 2011-11-09 12:46:34 -08:00
Jason Short
a8d622d8e6 Lowered Nav_P I term to ramp slower base on SIM 2011-11-09 11:30:50 -08:00
Jason Short
2dc2a2114a restoring throttle i term for SIM 2011-11-08 11:51:49 -08:00
Jason Short
10bbfdbe11 PID test for alt hold to narrow down on a bug 2011-11-08 10:13:16 -08:00
Jason Short
3153257d37 default top_bottom ratio 1.0 2011-11-06 22:43:49 -08:00
Jason Short
1df9f8488d updated Alt hold PIDs 2011-11-01 09:30:34 -07:00
Jason Short
07daf34ccc Added a slew rate to the alt change rate. 
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
 2011-10-28 21:29:10 -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
0b4a3ccadb Acro PI defaults 2011-10-27 11:55:13 -07:00
Andrew Tridgell
5a44298d57 CLI: enable "hit enter 3 times" support for CLI 
if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode
 2011-10-27 21:54:07 +11:00
Jani Hirvinen
a503d9a7a7 adding missing config parameters 2011-10-21 10:41:52 +07:00
Jason Short
42d0b5cdb3 tweaked Alt hold PIDs, loiter PIDs based on SIM testing and feedback. 
Increased distance error for loiter for faster return to center.
 2011-10-16 15:41:54 -07:00
Jason Short
6a5aefd0ec Added gains to adjust travel of camera. 2011-10-15 16:34:57 -07:00
Jason Short
4052fd4f73 Made wpspeed governor run per second so 1hz gps doesn't fail. Gave a 1m/s minimum. Increased WPspeed max to 4.0m/s 2011-10-15 15:35:18 -07:00
Jason Short
43b3015963 lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -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
167df79b49 Better Loiter PIDs 
Fixed RTL overshoot bug
 2011-10-06 17:42:09 -07:00
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
758d0e1aec Attempting to mimic loiter values for 4.0.42 
lowered Rate Error max in loiter
 2011-09-28 23:11:19 -07:00
Jason Short
c209d6e6dd 2.0.46 -Not flight tested! 
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
 2011-09-27 09:35:05 -07:00
Jason Short
b2a2221474 Fixed issue with Simple mode changes. 
Reverted to simpler, safer timer code for throttle hold
 2011-09-25 14:16:35 -07:00
Jason Short
d495e6a9c4 turned off Stabilize_I by default because it was hurting loiter 
tweaked speed control of rate_nav
 2011-09-24 21:49:45 -07:00
Jason Short
e961d3f3d4 Removed default Rate_I for pitch and roll 
added change speed control for missions
 2011-09-24 09:49:11 -07:00
Jason Short
25b0a3c43b Added a default, but low throttle cruise value 
Added a clear integrator for Rate I to prevent tip ups at launch.
 2011-09-22 23:10:55 -07:00
Jason Short
7177bcec77 removed old CH6 tuning defines 2011-09-22 18:51:41 -07:00
Jason Short
cfd2c31fb2 Better Tuning for default Quad 2011-09-22 18:30:29 -07:00
Jason Short
991279851a Refined Throttle Timer reset 
Reduced Loiter I gain to decrease overshoot.
 2011-09-22 17:38:39 -07:00
Jason Short
078f64e276 Fixed Throttle integrator bug. Time was not being reset causing a big drop in throttle control. 2011-09-22 12:28:46 -07:00
Jason Short
73fd0084be Added Piezo Support, code from Oliver. 2011-09-18 17:12:28 -07:00
Jason Short
f79b8de5e8 removed DCM reference from OPT FLOW 2011-09-16 19:17:50 -07:00
Jason Short
b948e0f02b Lowered Loiter_I - higher value didn't test well. 2011-09-16 18:24:42 -07:00
Jason Short
129c13e065 Fixed CIRCLE mode trig error 
made loiter_radius * 100 in Params
updated gains
 2011-09-16 16:54:45 -07:00
Jason Short
8d0a2fae9b cleanup 
added more ifdef for optflow
 2011-09-15 23:41:15 -07:00
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
Jason Short
c15b6be83f increased imax 2011-09-11 20:28:43 -07:00
Jason Short
d733868fea Fixed Yaw mode for CIRCLE 2011-09-11 11:48:11 -07:00
Jason Short
02bfd43390 Fixes Alt hold mistake 
Moves tuning into runtime definable param
Added more IMax to throttle

Signed-off-by: Jason Short <jasonshort@gmail.com>
 2011-09-10 15:16:51 -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