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3,626 Commits 71 Branches 509 Tags 716 MiB
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237 Commits

Author SHA1 Message Date
Andrew Tridgell 1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell bc81d8e6ac ACM: only call the fast loop if the imu has new data 
this prevents us spinning waiting for the sensors to gather some data
 2012-03-10 10:34:29 +11:00
Jason Short 13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short 43b3e1ccd1 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
Jason Short fe5612d38b Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Jason Short a096292edb added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Robert Lefebvre b7ccfb0114 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9 8da8ce5b58 ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine) 2012-02-28 22:56:26 +09:00
rmackay9 701a21ff2f ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short 3ce1633157 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
rmackay9 41ea8e3eff ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9 add3133100 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short 68739f3cc4 Based on Jani's latest logs I've made two tweaks to alt hold. 
The first is to remove the filter on the throttle output for alt_hold.

The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
 2012-02-25 13:31:21 -08:00
Andrew Tridgell 6b265c5034 ACM: use a NULL gps pointer in DCM init 
current DCM API does need a GPS reference passed in, but it can be
NULL
 2012-02-25 15:08:49 +11:00
Andrew Tridgell ce5c7c2c85 ACM: don't pass a gps pointer to DCM 
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell 4edf311865 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Jason Short 92cfc8913a revved a version 2012-02-22 09:00:42 -08:00
Jason Short 207ffee856 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short 7bfda28cdc removed old comments 2012-02-19 14:21:27 -08:00
Jason Short 79a9665c9d Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short ba2cfee2fb Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Randy Mackay 7c4ef140b9 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Jason Short f86e1ed63f Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Randy Mackay cd89258294 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Jason Short 677df0fe1c added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short 0d5f7ca072 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short 43e695b1ac removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short f2b6b86265 allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short 101979ed7b AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short 4ecbb19dcd Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short ff627a8986 removed unused Vars 2012-02-13 15:25:23 -08:00
Andrew Tridgell d2a4091716 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell 1af6f08b1c adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Jason Short 0315221bd1 Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short 7c45d2bdc3 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short 927fc25421 made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short a27bd9db46 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short f3547a04a5 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Jason Short d161c0451f fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
analoguedevices 256893f385 credits 2012-02-01 04:44:36 +00:00
analoguedevices d86dbd1c6f Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Jason Short 3050c1d765 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short d93e259289 Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short af0b0d5a7f made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Jason Short 0213f4dd88 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short 8fcb2931d7 Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short a685510c38 changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay 2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay 2f84b54bbb OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Jason Short 8c4b955282 added Beta 4 tag 2012-01-21 22:15:23 -08:00