bde1ebb56e
TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction.
2012-02-05 11:04:38 +09:00
cff6799d18
TradHeli - fix to servo limits. They had been unnecessarily limited to the collective pitch's min and max but actually there are cases (for example when the swash is leaning over 45degrees) where one servo goes well beyond the collective pitch's min or max.
2012-01-29 21:14:37 +09:00
70825e0e1c
ArduCopter Heli: add motors_output_enable function
2012-01-25 22:41:09 -08:00
d015e0d6d9
APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
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* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
c629795050
Cosmetic
2012-01-04 09:28:36 -08:00
ee8986c463
TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled
2011-12-08 21:30:47 +09:00
5c13aa33be
Arducopter: each motors_ pde uses APM_RC.SetFastOutputChannels
2011-11-25 20:00:18 -08:00
7ac04af03d
ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up
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Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
2011-11-20 22:30:42 +09:00
4baa2fd133
TradHeli - automatically reinitialise swash plate if HSV_MAN is switched from 1 to 0.
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Turn-off feed forward correction to yaw based on collect when in HIL mode.
2011-11-17 20:43:07 +09:00
d804b28638
TradHeli - reversed the direction of "phase angle" to make it more intuitive. This parameter is used to correct for a heli's tendency to lean left or right when the pilot gives it a pitch forward command.
2011-11-13 22:40:46 +09:00
2acc1fbd9d
TradHeli - added two parameters to improve heli control.
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heli_phase_angle allows pilot roll/pitch command to be translated into mixed roll and pitch.
heli_coll_yaw_effect mixes some collective into the yaw so tail can counter act collective movements more easily.
2011-11-13 22:20:57 +09:00
4fcf11cf6e
TradHeli - new parameter HSV_MAN to allow better set-up from APMissionPlanner. Also changed swash movement to use radio_out which fixes some setup bugs
2011-11-12 23:23:07 +09:00
3df9a03e02
TradHeli - fix to allow tail servo to be reversed. Also increase max movement of tail servo to 45 degrees.
2011-11-05 12:31:30 +08:00
8dc5683dff
TradHeli - added throttle scaling and heli specific angle_boost function that takes into account that heli's main blades can have -ve pitch.
2011-10-29 17:27:43 +09:00
23c0bb9814
Updates to guided mode from Michael O.
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removed or commented unused static vars
2011-10-15 13:09:04 -07:00
0e8a648043
TradHeli - added servo averaging to allow support of analog servos
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- moved heli parameters to 80 because they were causing flight modes to overlap with waypoints
2011-09-25 16:51:25 +09:00
3e19c219e3
TradHeli - fix to set motor_auto_armed = true if throttle > 0. Required to let ALT_HOLD work!
2011-09-25 12:30:37 +09:00
be8864f424
renamed top level directories
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ArduCopterMega -> ArduCopter
added archives directory for old code
2011-09-09 11:27:41 +10:00
Randy Mackay
Pat Hickey
Jason Short
unknown
Jason Short
Andrew Tridgell