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1602 Commits

Author SHA1 Message Date
Jason Short
9a568385b0 ACM increase the minimum speed at WP 2012-08-10 10:01:40 -07:00
Jason Short
be0559864c ACM : switched to get_bearing_cd 2012-08-09 17:04:30 -07:00
Jason Short
132ac7d412 ACM : attitude.pde - removed unused function 2012-08-09 17:04:12 -07:00
Jason Short
e73c0250ad ACM: Radio.pde - toy mode updates 2012-08-09 17:00:11 -07:00
Jason Short
f641c5d077 ACM system.pde - toy mode update, cleanup of throttle cruise code 2012-08-09 16:59:44 -07:00
Jason Short
35839070ad ACM - isolated Toy code 2012-08-09 16:59:44 -07:00
Jason Short
adf5939ba4 ACM: navigation - Alt cleanup, fast corner support 2012-08-09 16:59:44 -07:00
Jason Short
6037fabb5c ACM Motors.pde 
Added Toy mode options,
Added DCM kp set to .1(armed) and .8 (disarmed)
 2012-08-09 16:59:44 -07:00
Jason Short
88a94c88b5 ACM : more aggressive and flexible flip code. Will flip right or left, and while pitching hard. 
Increase in throttle is removed from init sequence to remove delay.
 2012-08-09 16:59:44 -07:00
Jason Short
d674baadd2 ACM : Events - renamed target alt 2012-08-09 16:59:44 -07:00
Jason Short
07bd1940e7 ACM Defines.h -added Toy mixer enums 2012-08-09 16:59:43 -07:00
Jason Short
26e3d6090e ACM control modes - renames CH_7 flag 2012-08-09 16:59:43 -07:00
Jason Short
3e57f8afd8 ACM: config.h = updated default gains 
More yaw rate control
 2012-08-09 16:59:43 -07:00
Jason Short
b5156185cc ACM Commands parser to look for future nav commands to inspect upcoming turn angle 2012-08-09 16:59:43 -07:00
Jason Short
d796814dfc ACM : Commands Logic 
Altitude cleanup
 2012-08-09 16:59:43 -07:00
Jason Short
98b8866215 ACM: Added fast corner support 2012-08-09 16:59:43 -07:00
Jason Short
5d756decd2 ACM : Attitude.pde 
yaw limit, moved toy code out of att to it's own pre
 2012-08-09 16:59:43 -07:00
Jason Short
02649f3f11 ACM : Arducopter.pde 
command_nav_index upped to in16t for negative number
renamed trim flag > CH7_flag
Added fast_corner var
removed unused alt vars
Alt hold I term update
 2012-08-09 16:59:43 -07:00
Jason Short
4a56e8ea2c ACM : Toy Mixer options 2012-08-09 16:59:43 -07:00
Andrew Tridgell
dc47074dbd MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00
Andrew Tridgell
2a7b298bbc MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Amilcar Lucas
d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Amilcar Lucas
0b0b9c29a2 Allow fully independent operation of two AP_Mount instances 2012-08-08 23:11:23 +02:00
Amilcar Lucas
9cc705939a Add a second mount instance 2012-08-08 23:07:25 +02:00
Andrew Tridgell
03714fc695 ACM: make it possible to set AHRS_GPS_GAIN on ArduCopter 
this was affected by the AP_Param change, in particular the
constructor ordering. To ensure a user can set AHRS_GPS_GAIN to 1.0 if
they want to, we need to do a set_and_save() if the value isn't in
EEPROM
 2012-08-08 17:36:01 +10:00
Andrew Tridgell
103b02fe94 ACM: removed pointless load() calls 2012-08-08 16:51:14 +10:00
Andrew Tridgell
fb26160d3b ACM: change to use get_bearing_cd() instead of get_bearing() 2012-08-08 12:12:30 +10:00
Andrew Tridgell
c2a4d59132 AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
rmackay9
f79b90725e ArduCopter: Dan Gray's fix for Condition_Yaw 
command_yaw_dir is an unsigned byte but was being set to a -ve number leading to very incorrect yaw target heading for counter clockwise turns.
command_yaw_end (i.e. turn's end target) was not being set if turn was of type "relative"
 2012-08-07 06:43:10 -07:00
Amilcar Lucas
d9f1140278 ArduCopter: Use generic channel names for AP_Mount servos. 
This simplifies mission planner, the same code can be used for plane and copter now.
 2012-08-06 23:33:51 +02:00
Amilcar Lucas
e93daca17e Fix heli compilation 2012-08-06 23:30:02 +02:00
Amilcar Lucas
f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas
aa3cc63b15 ArduCopter: Make the code fit in a 1280 chip again 
Even allows to control a camera/antenna mount, if the user explicitly wants to.
 2012-08-06 00:23:48 +02:00
Amilcar Lucas
0106c133cf Default CLI_SLIDER_ENABLED to DISABLED 
Chris asked for this on the mailing list
 2012-08-06 00:22:33 +02:00
Amilcar Lucas
af08b630cd Spellcheck in comments 2012-08-06 00:21:14 +02:00
Amilcar Lucas
107155fa1a AP_Mount: Allow using any RC channel to control any of the mount axes. 
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
 2012-08-05 23:48:57 +02:00
Amilcar Lucas
b8c7b8a786 RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas
afd96025a7 ArduCopter: Save more space in APM1280 2012-08-05 23:05:52 +02:00
Amilcar Lucas
9c1ac2d9e6 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas
4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas
bbc4bdb729 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas
d29f7023cc Merge from ArduPlane 2012-08-04 18:38:50 +02:00
rmackay9
c091c8e0e6 ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode. 2012-08-01 12:15:02 +09:00
rmackay9
a5b5f6a619 ArduCopter: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:27 +09:00
Andreas M. Antonopoulos
7262b0429a AP_Limits: experimental "bounce" mode. 2012-07-31 18:39:58 -07:00
Andreas M. Antonopoulos
de85442c36 AC2.7.1: Updated version and tag 2012-07-31 13:11:17 -07:00
Jason Short
8c47b0c087 ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling. 2012-07-30 15:43:05 -07:00
rmackay9
77b1785bc6 ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values 2012-07-30 11:01:45 +09:00
Michael Oborne
e577b51e17 AC remove attitude hil unused extra (gps jump issue.) 2012-07-29 08:18:41 +08:00
rmackay9
5cb4a88292 ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered) 2012-07-28 23:05:05 +09:00
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
rmackay9
670a66667f ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing) 2012-07-28 16:22:35 +09:00
Michael Oborne
ef870e3ca1 AC remove some attitude HIL limitations 2012-07-28 13:59:30 +08:00
rmackay9
94cb325184 ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP 2012-07-28 14:21:45 +09:00
rmackay9
014f5aae99 ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP 2012-07-28 14:21:07 +09:00
rmackay9
f97257830b ArduCopter: changes in arducopter to support moving AHRS var_info from AP_AHRS to AP_AHRS_DCM 2012-07-28 14:18:31 +09:00
rmackay9
8e5312a759 ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command 
do_nav_roi and verify_nav_roi functions added to turn the copter and/or mount in response to a MAV_CMD_NAV_ROI way point
 2012-07-25 11:02:54 +09:00
Michael Oborne
f4705577c8 AC fix sitl attitude hil build 2012-07-24 21:18:36 +08:00
Jason Short
8188058404 ACM: Failsafe Fix for Mission planner initiated AUTO mode 
Keeps the failsafe from exiting Auto mode when returning from failsafe. Added arming ability for Toy mode.
 2012-07-23 19:34:25 -07:00
Andreas M. Antonopoulos
80cf794c86 AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant. 2012-07-21 17:52:06 -07:00
Jason Short
b17eb7f768 ACM: Fixed Baro rate patch to work with Sonar and added simple filter 2012-07-21 16:45:00 -07:00
Jason Short
96aabb7712 ACM: Lowered default Alt hold P 2012-07-21 16:45:00 -07:00
Jason Short
55c342c858 ACM: Safety patch for CH7 flip toggle. Prevents flipping while on the ground. ouch. 2012-07-20 16:47:05 -07:00
Jason Short
1d085c8cf4 Added minimum speed for RTL 2012-07-20 13:27:35 -07:00
Jason Short
fcd0e12a1e ACM: Flip code revision to fix bad orientation bug. 2012-07-20 13:27:35 -07:00
Jason Short
ca70acbf64 Arducopter: Added safety check for inadvertent triggering of flip code. 2012-07-20 13:27:35 -07:00
Jason Short
9f6e1347b6 Ardcucopter: RTL distance check update, reset I terms fixed. 2012-07-20 13:27:35 -07:00
Jason Short
613849a8df Arducopter: Force nav_yaw to match auto_yaw when starting a mission 2012-07-19 22:59:03 -07:00
Jason Short
2b20c85279 Arducopter: cleanup, skip out of throttle control when flipping. 2012-07-19 22:35:21 -07:00
Jason Short
fbe898a6db Arducopter: motors.pde formatting 2012-07-19 22:35:21 -07:00
Jason Short
3b496ff229 Arducopter: Upped D rate to .005 by default 2012-07-19 22:35:21 -07:00
Andrew Tridgell
0a12b6ad6f ACM: fixed HIL build with new accel setup code 2012-07-20 12:46:16 +10:00
Andrew Tridgell
85465c9126 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jason Short
f46e8468c4 Arducopter: Adjusted speed of climb to not stall out before hitting peak 2012-07-19 17:53:49 -07:00
Jason Short
da6d981479 Arducopter: Testing toy mode - commented out by default 2012-07-19 17:50:42 -07:00
Jason Short
ad45012739 Arducopter: Renamed Config define (RTL_HOLD_ALT) 2012-07-19 17:50:15 -07:00
Jason Short
351b503fb6 Arducopter: Flip Check 2012-07-19 17:49:17 -07:00
Jason Short
49c7579079 Arducopter: Config.h defaults adjustments 2012-07-19 17:48:48 -07:00
Jason Short
610d1d1795 Arducopter: deprecated the get_nav_yaw_offset function. 
Small Toy mode updates
 2012-07-19 17:41:52 -07:00
Jason Short
91062b56af Arducopter.pde: Increased the throttle Hold altitude control 
simplified Yaw reset
 2012-07-19 17:38:25 -07:00
Jason Short
6506ebf69f Arducopter: Fix compile issue 2012-07-19 10:09:16 -07:00
Jason Short
5a73a2b9cd Arducopters parameter: Adjusted RTL_ALTITUDE units so they reflect comments in config.h 2012-07-19 09:50:57 -07:00
Jason Short
2df487ab7b Arducopter: Slower WP deceleration for RTL and WP navigation 
Slower descent and slightly faster ascent
 2012-07-19 09:50:18 -07:00
Jason Short
3401bd3583 Arducopter: Clarified units in comment 2012-07-19 09:49:13 -07:00
Jason Short
3a62608355 Arducopter: Added Slow_WP setting to regular wp navigation 2012-07-19 09:48:54 -07:00
Jason Short
1efc9eac58 Arducopter: Adjust landing speed 
removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.
 2012-07-19 09:48:31 -07:00
Jason Short
c9d3ab5413 Oilpan ADC parameters added 
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
 2012-07-18 22:57:11 -07:00
Jason Short
e09d6ad7a8 Arducopter 
Simplified the inertial calcs for now
 2012-07-18 22:57:11 -07:00
Jason Short
a7b1252b51 arducopter 
alt hold state reset
 2012-07-18 22:57:11 -07:00
Jason Short
c995749aaa Arducopter 
upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.
 2012-07-18 22:57:11 -07:00
Jason Short
66ac438b9e Arducopter 
Better logging for Raw Inertial values
 2012-07-18 22:57:11 -07:00
Jason Short
dcf9f9dab1 Arducopter 
for rate altitude changes
 2012-07-18 22:57:10 -07:00
Jason Short
71248fe114 Arducopter 
increased landing authority
 2012-07-18 22:57:10 -07:00
Jason Short
c9851344e7 Arducopter 
removed old Var
 2012-07-18 22:57:10 -07:00
Jason Short
a88d69e40e Arducopter: 
Loiter unlimited can now travel to a WP and then loiter.
set_altitude for landing now set to 0
 2012-07-18 22:57:10 -07:00
Jason Short
aa645afe2b Arducopter: Altitude change nav 
Split altitude hold into two controls to parallel navigation.
 2012-07-18 22:57:10 -07:00
Jason Short
cb1cdcd4a7 Arducopter: New Alt control code 
Uses a new method to manage altitude changes. Alt hold controller was split into a hold and a rate controller just like navigation. Changing alt is done by specifying a climb rate.
Interactive alt hold is now simplified and is an 80cm climb or descent.
 2012-07-18 22:57:10 -07:00
Jason Short
3f5e787fe8 Arducopter: Flip mode 2012-07-18 22:57:10 -07:00
Jason Short
9dad38e91d Arducopter: Flip mode 
Flip mode graduates
 2012-07-18 22:57:10 -07:00
Jason Short
5965632888 Arducopter: Flip mode 
Flip mode graduates to pre-compiled option
 2012-07-18 22:57:10 -07:00
Jason Short
f73a2004be Arducopter: INS 
updated Nav control to use INS
 2012-07-18 22:57:10 -07:00
Jason Short
98725be0ec Arducopter: INS 
removed calibrate accels for now
 2012-07-18 22:57:10 -07:00
Jason Short
97845cace1 Arducopter: INS 
Updated INS gains
 2012-07-18 22:57:10 -07:00
Jason Short
0d8e8e0a04 Arducopter: INS 
removed IMU test, updated INS test to include normalized gravity accel vector.
 2012-07-18 22:57:10 -07:00
Jason Short
bb99bd4626 Arducopter: INS 
removed zero accells call
 2012-07-18 22:57:10 -07:00
rmackay9
33d8cbfd51 ArduCopter: small bug fix to radio.pde to allow code to compile when MOUNT == DISABLED 2012-07-18 23:49:41 +09:00
rmackay9
b691c3f658 ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch. 
This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
 2012-07-18 23:49:09 +09:00
Michael Oborne
636fcadde4 fix rc libray param gen 2012-07-18 07:03:39 +08:00
Andreas M. Antonopoulos
0e5345d17b AP_Limits: documentation bug (which uncovered a param_parser bug - the irony burns) 2012-07-16 23:35:11 -07:00
Jonathan Challinger
fc4f111d15 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
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
Michael Oborne
e632ad6aa4 AC fix limits param gen header 2012-07-15 18:23:06 +08:00
rmackay9
36ecdff593 ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library) 2012-07-15 16:38:52 +09:00
rmackay9
c495a5f36e ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move 2012-07-15 16:38:28 +09:00
rmackay9
761dad4e99 ArduCopter: restored set_range calls for RC_Channels 5 ~ 8. 2012-07-15 16:37:40 +09:00
rmackay9
29b6ec0b11 ArduCopter: reverted channel 5~8 to be regular RC_Channel objects, restored rc_camera_roll and rc_camera_pitch RC_Channels and created new rc_camera_yaw RC_Channel to control the camera mount servos. 
Defined camera_mount (MNT_) in Parameters.h and Parameters.pde so that it appears in global parameters list.
Removed unused camera_*_gain and camaera_*_continuous parameters.
 2012-07-15 16:36:05 +09:00
rmackay9
793fb7f059 ArduCopter: added definition for yaw channels. 
APM1 uses channel 11 for camera's yaw servo, APM2 uses channel 8.  This should allow all frame types except octacopters to potentially use a 3 axis camera mount.
 2012-07-15 16:31:23 +09:00
Andreas M. Antonopoulos
c73f7ef3ab AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Jason Short
584e7dcda4 Arducopter: Removed Yaw Limit for Quads 2012-07-14 14:06:34 -07:00
Jason Short
44b16b7b61 Arducopter: Temp reversion to old Yaw controller. 2012-07-14 12:26:13 -07:00
Jason Short
e3af0c7920 Arducopter: Yaw stop fix 2012-07-14 12:23:10 -07:00
Robert Lefebvre
59e133235f Implementing Yaw Fix. Tried to blend with Jason's changes. 2012-07-14 00:24:22 -04:00
Jason Short
4af392290b Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance 2012-07-13 19:29:36 -07:00
Jason Short
7b746cf5e1 Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions 2012-07-13 12:51:38 -07:00
Jason Short
d34ca0e6ea Arducopter - commands: Add home logging 2012-07-13 11:51:40 -07:00
Jason Short
d8ff5dcfab Arducopter: Fix circle_WP 2012-07-12 09:22:20 -07:00
Jason Short
a28070e0e0 Arducopter: Loiter unlimited fix 2012-07-12 08:52:49 -07:00
Andreas M. Antonopoulos
d4a0cb5db1 Added Michael Pursifull's Maxsonar HRLV model support 2012-07-11 18:46:47 -07:00
Jason Short
7a5544051d Arducopter 
Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
 2012-07-11 17:46:07 -07:00
Jason Short
6f9e2bf3a8 Arducopter: Toy mode update 
Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
 2012-07-11 17:46:06 -07:00
Jason Short
1feaaa4655 Arducopter: Toy mode refinements 2012-07-10 21:53:38 -07:00
Jason Short
293f17902b Arducopter:Arducopter.pde 
switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
 2012-07-10 21:53:38 -07:00
Jason Short
c04bff67de Arducopter: Config.h, default gain tweaks from flight tests. 2012-07-10 21:53:38 -07:00
Jason Short
f35b5ba13f Arducopter:test.pde made a note for WP radius that shows m in the printout. 2012-07-10 21:53:38 -07:00
Jason Short
782ebf5176 Arducopter:Log.pde Logging the calculated Climbrate 2012-07-10 21:53:38 -07:00
Jason Short
3048d2f9b4 Arducopter: WP_radius 
Switching to stored WP_radius in meters, just like Arduplane
 2012-07-10 21:53:38 -07:00
Jason Short
0620d86bfd Arducopter:Params 
WP_RADIUS_DEFAULT is now stored the same as Arduplane
 2012-07-10 21:53:37 -07:00
Jason Short
1dbde3f803 Arducopter: Added note 2012-07-10 21:53:37 -07:00
Jason Short
af5423b863 Toy Mode: High Yaw default 2012-07-10 21:53:37 -07:00
Jason Short
19d8c405fd Arducopter : Force home alt to 0 2012-07-10 21:53:37 -07:00
Jason Short
89fec907e2 Arducopter: CH7 Waypoint saving 
Saves the takeoff Waypoint as Home + new altitude rather than current location.
 2012-07-10 21:53:37 -07:00
Amilcar Lucas
dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Andrew Tridgell
be763a6ead ACM: use get_distance_cm() not get_distance() 
this fixes a bug introduced in 28f2eb6b9
 2012-07-11 07:50:07 +10:00
Andrew Tridgell
0f9fb2c64b AHRS: added AHRS_GPS_GAIN parameter 
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
 2012-07-10 16:22:48 +10:00
Jason Short
f019d41729 arducopter.pde 
Timer was set =0 at initialization.
 2012-07-09 13:13:32 -07:00
Jason Short
226bba48a6 Toy Mode Yaw Rate fix 2012-07-09 13:13:32 -07:00
Jason Short
cf6d73ec88 commands.pde RTL Alt 
fix to maintain current altitude of we are above our RTL alt for safety.
 2012-07-09 13:13:32 -07:00
Jason Short
038116f521 Airspeed patch: 
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
 2012-07-09 13:13:32 -07:00
Andreas M. Antonopoulos
384365832a ArduCopter: Copied parameter documentation from ArduPlane, where appropriate 2012-07-04 23:33:55 -07:00
Andrew Tridgell
8220ae8096 MAVLink: climb_rate is in m/s 2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos
fdbb1ebd42 parameter documentation to test auto build 2012-07-04 20:06:12 -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
Adam M Rivera
857ad6c706 Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals. 2012-07-04 21:08:03 -05:00
Adam M Rivera
6e93ab6af6 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Andrew Tridgell
5ed345fe94 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Jason Short
fd97eb5a8d commands 
fixed logic bug to make a copter loiter after the mission is ended.
 2012-07-03 17:38:50 -07:00
Jason Short
37685756df Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short
c29a0bc3f8 Navigation 
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
 2012-07-03 17:34:50 -07:00
Jason Short
3a3966736c Params 
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
 2012-07-03 17:33:03 -07:00
Jason Short
8ccda519fa Arducopter.pde: 
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
 2012-07-03 17:21:46 -07:00
Jason Short
b076b571eb commands_logic: Removed some old unused code 2012-07-03 17:19:19 -07:00
Jason Short
2d572461ec Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short
1070eea70b Log.pde: formatting 2012-07-03 17:16:26 -07:00
Jason Short
1a6549fef7 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short
c62706ad06 Toy Mode: Yaw performance update. 2012-07-03 17:14:54 -07:00
Jason Short
8a08a74cc6 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short
16b25a26c2 Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks. 2012-07-02 17:52:38 -07:00
Jason Short
e0b3309500 Yaw mode: 
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
 2012-07-01 13:40:12 -07:00
Jason Short
9a30270879 System.pde - RTL 
removed Approach mode, fixed RTL to loiter until desired altitude is reached
 2012-07-01 13:40:12 -07:00
Jason Short
e35fb9ecd7 Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short
3cf16c1424 GCS_Mavlink.pde 
removed Approach define
 2012-07-01 13:40:11 -07:00
Jason Short
ab564b8a86 defines.h 
removed Approach mode enumeration
 2012-07-01 13:40:11 -07:00
Jason Short
3646d69faf read_control_switch 
Removed Prev_WP reference. unneeded.
 2012-07-01 13:40:11 -07:00
Jason Short
8ab1acfb92 Config.h 
Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
 2012-07-01 13:40:11 -07:00
Jason Short
2ad08fdd98 RTL: Commands.pde 
When we are out of commands we land or Loiter at the RTL_Approach_altitude.
 2012-07-01 13:40:11 -07:00
Jason Short
d58ceb2b09 RTL: Commands.pde 
Removed do_approach function - now redundant
 2012-07-01 13:40:11 -07:00
Jason Short
c5617eeeac Arducopter.pde_RTL: 
added a new RTL function that goes into Loiter, first, checks if we have reached RTL_Altitude, then enters WP mode to come home.
Removes Approach mode. Uses Auto_Approach value to decide if we should land or descend to a certain altitude
 2012-07-01 13:40:11 -07:00
Jason Short
2450c25544 Arducopter: enabled RTL_altitude, renamed function to be more accurate 2012-07-01 13:40:11 -07:00
Jason Short
2e8eee9306 Added code for self centering throttle - disabled by default. 2012-07-01 13:40:11 -07:00
Andrew Tridgell
82ede937e7 AnalogSource: convert analogRead() calls to the new API 
this should give us much better analog values, plus save a bunch of
CPU time
 2012-07-01 15:01:05 +10:00
rmackay9
78fa903e17 ArduCopter: updated STABILIZE_ROLL_I to 0.01 (was 0.1) as instructed by Marco 2012-06-30 19:26:14 +09:00
Jason Short
4d6ccccef5 Circle_WP distance check fix 2012-06-29 21:20:28 -07:00
Jason Short
59d16f5fe0 Commands.pde: increased bad WP distance check 2012-06-29 21:20:28 -07:00
Jason Short
eea788b63f navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction. 2012-06-29 21:20:28 -07:00
Jason Short
031830b5fe System.pde: Toy mode details for set_mode() 2012-06-29 21:20:28 -07:00
Jason Short
c276fe8fa0 GCS_Mavlink: added notes to #if malink10 2012-06-29 21:20:28 -07:00
Jason Short
0011190880 defines.h: Toy Mode defines for flight modes 2012-06-29 21:20:28 -07:00
Jason Short
4450d80ea3 Config.h: Optimizing Nav gains 2012-06-29 21:20:28 -07:00
Jason Short
3ce867508b Attitude.pde: Toy mode logic 2012-06-29 21:20:27 -07:00
Jason Short
668135ea8b Arducopter.pde: Added Toy mode refinements 2012-06-29 21:20:27 -07:00
Jason Short
49401bffae Params: Added toy_yate_rate 2012-06-29 21:20:27 -07:00
Jason Short
5e4d28baf0 Added Toy mode to navigation 2012-06-29 21:20:27 -07:00
Jason Short
e036bee424 Aeducopter.pde: Toy mode updates 2012-06-29 21:20:27 -07:00
Adam M Rivera
61baa666c4 commands_process.pde: Bug fix 427. By default, the copter would land after an AUTO mission. Updated to check for valid approach altitude at end of mission. 2012-06-29 21:41:56 -05:00
Andrew Tridgell
55092c25a6 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Adam M Rivera
dadc7d5a7d ArduCopter: Loiter Timer should have been set when the approach altitude was set. Previously, land had to be enabled before auto approach would work. 2012-06-28 20:34:53 -05:00
Andrew Tridgell
33440567e6 ACM: ArduCopter updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell
dae1a57dc5 ACM: adapt the ArduCopter code for new barometer interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell
b676caa626 ACM: enable GPS in AHRS for ArduCopter 
this is an experiment in centripetal correction for multicopters
 2012-06-27 16:01:49 +10:00
Jason Short
eeab4c5363 Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco. 2012-06-26 10:39:42 -07:00
Jason Short
c76ac4543b Added user editable define for Super simple radius 2012-06-26 10:38:46 -07:00
rmackay9
068fe64b9b ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float) 2012-06-26 22:50:17 +09:00
Jason Short
812bf7d874 Attitude.pde - Added small boost to alt hold for takeoff. 2012-06-25 23:12:19 -07:00
Jason Short
46fb3b783a GCS_Mavlink.pde : mav_nav only used in legacy Mavlink. 2012-06-25 23:08:25 -07:00
Jason Short
cd93c40f09 Added Toy Mode control 2012-06-25 23:08:25 -07:00
Jason Short
807c4ced34 Added Toy Mode defines 2012-06-25 23:08:25 -07:00
Jason Short
80d15368bc Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with. 
Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
 2012-06-25 23:08:25 -07:00
Jason Short
7f92d702ab commands.pde: fixed unit error for distance check 2012-06-25 23:06:28 -07:00
Jason Short
a0dc1f7ab1 Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm 2012-06-25 23:06:28 -07:00
Jason Short
c71c503c84 GCS Mavlink.pde: change reference to nav_bearing to target_bearing. 2012-06-25 23:06:28 -07:00
Jason Short
53d2a46cd6 Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s 2012-06-25 23:06:28 -07:00
Jason Short
92d481c08c inertia.pde: WIP don't fly with inertia enabled until FN. 2012-06-25 23:06:28 -07:00
Jason Short
28829b0d60 Log.pde: removed nav_bearing reference and replaced with target_bearing ref 2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos
bef005b5f2 AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane 
http://code.google.com/p/arducopter/issues/detail?id=430
 2012-06-24 17:01:25 -07:00
Robert Lefebvre
1064dcbd34 Open up constraint on Rate Yaw Output for all copters. 2012-06-22 10:06:01 -04:00
Jason Short
7e0708ca36 Config.h - returned low to original 120 2012-06-20 15:22:35 -07:00
Jason Short
839b8865aa Parameters.h: throttle_min and throttle_max now have defaults from Config.h 2012-06-20 15:02:00 -07:00
Jason Short
efdf0a7fc8 changed define to a param for throttle_min and throttle_max 2012-06-20 15:00:53 -07:00
Jason Short
e8510faf5d changed define to param for throttle_min 2012-06-20 15:00:05 -07:00
Jason Short
6020f6d9fa Added throttle_min as a user definable param 2012-06-20 14:58:34 -07:00
Jason Short
4f18e7f80b lowered minimum throttle 2012-06-20 08:47:47 -07:00
Jason Short
27e0aee03f Small fix to angle boost - increases by about 20% to deal with inefficiencies of non-downward thrust 2012-06-20 08:47:47 -07:00
Jason Short
39a253a273 decreased I term based on the tests last weekend in high winds 2012-06-20 08:47:47 -07:00
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
Andrew Tridgell
58379b928f MAVLink: make usage of MAVLink defines more consistent 2012-06-15 16:27:11 +10:00
rmackay9
c62cc4844e ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release 2012-06-15 00:42:59 +09:00
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
rmackay9
65050775e1 ArduCopter: made Robert's new yaw method optional (off by default). 
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
 2012-06-13 21:50:16 +09:00
Jason Short
ff0659535e Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch. 2012-06-12 13:58:49 -07:00
rmackay9
e1acf21381 ArduCopter: updated firmware version to 2.6 Epsilon 2012-06-12 23:22:57 +09:00
rmackay9
c6f1d93849 ArduCopter: updated standard loiter pids. 
Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
 2012-06-12 20:56:31 +09:00
Jason Short
f5a85d48a0 Added Angel's name to contrib list 2012-06-10 12:38:22 -07:00
Andrew Tridgell
940d994efb GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover 2012-06-10 16:36:18 +10:00
rmackay9
aeaebb21d5 ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release) 2012-06-08 21:54:09 +09:00
Andrew Tridgell
a684bddbda GPS: open the GPS serial port with a 256 byte buffer 
the UBLOX needs more than 128 bytes for reliable parsing
 2012-06-08 16:42:03 +10:00
Robert Lefebvre
c5916a8b4d Opening up the Yaw Rate constraint for Trad Heli. 2012-06-07 22:40:25 -04:00
Robert Lefebvre
e2496181ff Yaw Fix 
Modified Nav_Yaw controller to better track intended heading changes.
 2012-06-07 17:15:33 -04:00
Jason Short
a9610a0761 Stabilization patches 
removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
 2012-06-05 16:41:44 -07:00
rmackay9
70b04d9427 ArduCopter: updated firmware description to 2.6 Gamma 2012-06-05 21:28:13 +09:00
Andrew Tridgell
8b258e23e7 ACM: prevent link flood with "Low Battery" warnings 
thanks to Marco for noticing this
 2012-06-05 11:31:40 +10:00
Michael Oborne
14be88dd55 AC: add hilstate message 2012-06-04 16:24:08 +08:00
Jason Short
71f80f3a77 Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false. 2012-06-03 22:25:27 -07:00
Jason Short
1b9f75c844 Updates to Flip: 
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
 2012-06-03 22:15:19 -07:00
Andrew Tridgell
7c63d2c17b ACM: MAVLINK10 uses HIL_STATE 
thanks to Michael for noticing this
 2012-06-04 13:31:07 +10:00
Andrew Tridgell
e7cf643386 added mavlink09 targets 
allows easier building with mavlink0.9
 2012-06-04 13:14:52 +10:00
Andrew Tridgell
3f4e87cccc ACM: fixed HIL build for MAVLINK10 2012-06-04 13:14:52 +10:00
Michael Oborne
9303a89573 fix AC hil build 2012-06-04 11:12:52 +08:00
Michael Oborne
a71ed6c5ce enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Jason Short
15aea320cb Added note to remove this unused param 2012-06-03 11:13:50 -07:00