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1178 Commits

Author SHA1 Message Date
Jason Short
207ffee856 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short
ac81ddef04 commented out control mode debug print 2012-02-21 21:48:07 -08:00
Jason Short
7bfda28cdc removed old comments 2012-02-19 14:21:27 -08:00
Jason Short
70d7a1f5d0 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short
434b059586 reset slow_WP option at mode switch 2012-02-19 13:13:42 -08:00
Jason Short
151e710668 Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short
4b52dde882 set Slow WP option for RTL in Auto mode 2012-02-19 13:12:23 -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
Jason Short
a4b8119c24 added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short
2a5a7fa245 Added SW test for Manual Boost 2012-02-19 12:39:40 -08:00
Randy Mackay
b4ee111c49 TradHeli - change throttle range back to 0~1000 (was temporarily changed to be 1250~850 which limited the range of the swash plate's vertical movements) 2012-02-20 00:27:12 +09:00
Randy Mackay
7c4ef140b9 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Andrew Tridgell
1fc24b506e AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell
b06f35eaa2 Heli: fixed some 'used before initialised' warnings 2012-02-19 16:34:43 +11:00
Jason Short
f86e1ed63f Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Jason Short
aeed144180 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short
5d658e5743 Change 800 to a define 2012-02-18 21:13:28 -08:00
Jason Short
83ad721b73 added Axis_Lock params 2012-02-18 21:13:06 -08:00
Jason Short
0517ed5199 updated throttle range 2012-02-18 21:11:06 -08:00
Jason Short
669e8e34ea added a limit to range output 2012-02-18 21:08:17 -08:00
Jason Short
aa57fce9f4 some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Randy Mackay
e3c24fbce8 ArduCopter - fix for yaw control on Octa Quad Plus frame. 2012-02-18 22:04:09 +09:00
Randy Mackay
b55db247ca TradHeli - fixed small parameter bug affecting helis. The servo parameters were declared as GSCALAR instead of GGROUP in Parameters.pde. 
also renamed heli parameters from _coll_ to the more descriptive _collective_
 2012-02-18 20:57:51 +09:00
Randy Mackay
cd89258294 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Andrew Tridgell
db4fef174b ACM: expanded EEPROM parameter area by 256 bytes 2012-02-18 10:51:57 +11:00
Andrew Tridgell
6b357fc66b AP_Param: fixed saving of sensor calibration 
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
 2012-02-18 10:51:57 +11:00
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
03aa28224b re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short
9c7b8586d5 Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short
75919436ac added extra gain logging 2012-02-16 22:09:22 -08:00
Jason Short
cbe297b634 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short
6732f0934a cast to float 2012-02-16 22:09:21 -08:00
Jason Short
6913400221 cast D term to float just in case 2012-02-16 22:09:21 -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
b070225366 CH 6 Range setup 2012-02-15 11:47:54 -08:00
Jason Short
bb4c02fbff Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short
f2b6b86265 allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short
efb451e475 Marco's updated Motor testing code 2012-02-15 10:49:35 -08:00
Jason Short
f9296796fd Added lengthy note about motor testing 2012-02-15 10:49:11 -08:00
Jason Short
0b011e3cd3 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short
101979ed7b AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short
f20952df49 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short
11d1973abd Added Acro_P 2012-02-15 09:10:14 -08:00
Jason Short
67892cd8df synced params 2012-02-15 09:10:14 -08:00
Jason Short
c916a87a78 added RTL_land_enabled 
added auto_pilot slew rate
 2012-02-15 09:10:14 -08:00
Jason Short
eee43608de Added new params for CH6 Tuning 
moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
 2012-02-15 09:10:14 -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
Jason Short
a69dc32020 Lowered for Jani 2012-02-13 15:25:23 -08:00
Andrew Tridgell
153575a01c token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell
16a5b5c3ee added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
781617cae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell
50f9d12ad5 go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f5f6e2d4ec added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell
d2a4091716 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
1bf832de2d the ACM parameters have a max size of 1114 bytes 
to ensure that all parameters can be saved, expand parameter area by
256 bytes
 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
Andrew Tridgell
da1526ced2 update ACM MAVLink code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f363d0542c fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell
55d0ad3255 update main parameter code for AP_Param in ACM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
2133b9fb08 log: fixed some integer size errors 
need to be careful with the types passed to printf()
 2012-02-12 20:38:37 +11:00
Pat Hickey
abd85f99a7 Makefile: extra convenience target for apm2hexa 2012-02-11 16:05:51 -08:00
Pat Hickey
0ad15e4fff ArduCopter Hexa output_motor_test: individually select all 6 motors 
* each of the 6 hexacopter motors can be selected individually
  by moving the joystick to extremes.

* previously, this was built from the quadcopter output_motor_test
  and some motors (left/right motors on +, front/back motors on X)
  were only selectable as pairs.
 2012-02-11 16:05:51 -08:00
Pat Hickey
81ce8d346e ArduCopter setup motors: print basic instructions. 2012-02-11 16:05:51 -08:00
Pat Hickey
2022c1bab0 ArduCopter APM_Config.h: add sample custom channel config 
* uses new config variables introduced in 8a19543fd1e09621ba
 2012-02-11 16:05:51 -08:00
Pat Hickey
db4195b7a0 ArduCopter Channel Config: config vars for user override of MOT_n mapping 
* config variable CONFIG_CHANNELS has possible values
  CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
  CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
 2012-02-11 16:05:51 -08:00
Jason Short
0315221bd1 Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short
f369a02aab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -08:00
Jason Short
c39cafc3c5 reset All for Auto takeoff 2012-02-10 22:54:29 -08:00
Jason Short
7c45d2bdc3 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short
8cc480f7e6 upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short
1851dd541b Made Yaw Hold universal for Acro 2012-02-10 22:32:55 -08:00
Jason Short
32e7b075d9 Moved to Rate_I by default for Jani to test 2012-02-10 22:32:55 -08:00
Jason Short
4f44ccc182 get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short
927fc25421 made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short
480be14eb0 Minimize the Yaw Deadzone 2012-02-10 22:32:55 -08:00
Jason Short
b29384581a Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short
7cb4711e8e reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00
Jason Short
8a1c2165b2 Fix for disabled CH7 value triggering WP saving 2012-02-09 22:32:04 -08:00
Jason Short
a27bd9db46 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short
fb003e9742 Enabled PWM test 2012-02-09 22:22:01 -08:00
Jason Short
e5a0959394 Found missing Break in Switch statement. 2012-02-09 22:22:01 -08:00
Jason Short
471bd12799 faster FS timer 2012-02-09 22:22:00 -08:00
Jason Short
0f3c3bb563 Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune. 2012-02-09 22:22:00 -08:00
Jason Short
d00d6b8c64 Added safety to prevent shutdown of motors during Auto-land 2012-02-09 22:22:00 -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
Randy Mackay
7745239c13 ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00
levinemax
0d3369af45 Motor mix update for X8 (octo quad), 
diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
 2012-02-09 03:57:40 +00:00
Randy Mackay
31ff9a9318 ArduCopter - Camera.pde - turn off camera pitch control (which uses channel 6) when channel 6 is being used for tuning. 2012-02-08 23:51:53 +09:00
Randy Mackay
e9ef79c42d Arducopter - reduced rate of decent when landing using sonar 2012-02-08 22:46:32 +09:00
Randy Mackay
54fe857236 ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments 2012-02-05 16:56:51 +09:00
Randy Mackay
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
Andrew Tridgell
c95a295fd6 allow for lower serial baud rates 
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
 2012-02-04 19:07:18 +11:00
Jason Short
d161c0451f fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
Michael Oborne
484b688700 fix issue 502 
to identify quad over mavlink
 2012-02-03 06:53:08 +08:00
Pat Hickey
b65eb110bd Revert all changes to ArduCopter Motors MOT mappings. 
Revert "Arducopter Motors Octa: Change V frame MOT_ output ordering."

This reverts commit bdab02f408ddc5451fcb4c6390b2475d31ac657f.

Revert "hexa frame FRAME_CONFIG fixup"

This reverts commit d15e692df613cb728ec671a54dce166f6f1940a0.

Revert "Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME"

This reverts commit cb0a8c62fbd07a8ae9dcb8d4fffce337ace1aa1c.

Revert "Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame"

This reverts commit 120d7f9050d5ec9f8fbe02c0ed4f38621949f4ee.

Revert "Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME"

This reverts commit 7d65ec311fd2e1222a36d0b34c366e21f3869fcc.

Revert "Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines."

This reverts commit 47c6e8662f4d5e8fb920f2049338541343d8d18e.

Revert "Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types."

This reverts commit 8259c90ec7cb29dedac19890cd9a4449b7399e36.
 2012-02-01 10:14:46 -08:00
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
Pat Hickey
48b152d642 ArduCopter Octa: fix yaw motors for Octa V. 
* I based this off the APM1 Octa V diagram at
  http://code.google.com/p/arducopter/wiki/AC2_Multi
 2012-01-31 19:37:49 -08:00
Pat Hickey
ca18eb3f8f Arducopter Motors Octa: Change V frame MOT_ output ordering. 
* I backed this out from Max's changes, but I'm not sure whether its correct.
 2012-01-31 18:19:41 -08:00
Pat Hickey
417d75eb50 hexa frame FRAME_CONFIG fixup 2012-01-31 18:19:41 -08:00
Pat Hickey
41ea9079be Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME 2012-01-31 18:19:41 -08:00
Pat Hickey
7d264d1150 Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame 
* This will change the output order for APM2, but not APM1.
 2012-01-31 18:18:13 -08:00
Pat Hickey
5cee2b674b Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME 2012-01-31 18:18:13 -08:00
Pat Hickey
8463acc978 Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines. 
* HEXA_X_FRAME and HEXA_PLUS_FRAME merged back into HEXA_FRAME
* OCTA_V_FRAME merged back into OCTA_FRAME
 2012-01-31 18:18:13 -08:00
Pat Hickey
f32d089f33 Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. 
* HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and
  HEXA_PLUS_FRAME
* OCTA_FRAME stays the same name for X and +, but the V frame
  configuration requires new OCTA_V_FRAME name.
 2012-01-31 18:18:13 -08:00
Randy Mackay
1a1f6cac5d OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short
4402a92e85 Loiter PIDs 2012-01-30 21:13:03 -08:00
Jason Short
5de459a160 tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short
06d54bf0e8 ATT tuning update 2012-01-30 21:13:03 -08:00
Jason Short
c181186690 tuning 2012-01-30 21:13:03 -08:00
Jason Short
90ee552bd1 cosmetic 2012-01-30 21:13:03 -08:00
Jason Short
3050c1d765 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short
f2afa39bbd Cosmetic 2012-01-30 21:13:03 -08:00
Jani Hirvinen
b3dd07038b Minor changes for PID for jDrones motors due latest changes on control laws. 2012-01-31 09:00:31 +07:00
Jason Short
ba81e2aa69 pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short
cc45bd47fe cosmetic 2012-01-29 21:55:17 -08:00
Jason Short
d93e259289 Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short
25c2c9b437 removed filter. Don't need it. 2012-01-29 17:10:52 -08:00
Jason Short
c855c81d2a limiting alt hold rate error to 1m/s 2012-01-29 17:08:34 -08:00
Jason Short
370d633f51 Lowering the throttle_P values by default 2012-01-29 16:27:13 -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
Randy Mackay
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
Randy Mackay
1cbbe7bc7d Optflow - minor fix to D term defaulting 2012-01-29 21:06:41 +09:00
Jason Short
2a8044c666 Landing update for better baro landing 2012-01-28 22:35:57 -08:00
Jason Short
9dd1730cce reduce test.pde size for 1280 users 2012-01-28 22:16:24 -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
e94ac68e4d formatting 2012-01-28 21:19:46 -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
000acac9f8 Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup 2012-01-28 10:13:58 +09:00
Randy Mackay
2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Pat Hickey
38d83d6cf0 ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2 2012-01-27 07:39:01 -08:00
Randy Mackay
f27b41179b Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Pat Hickey
70825e0e1c ArduCopter Heli: add motors_output_enable function 2012-01-25 22:41:09 -08:00
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
Randy Mackay
cd21c5905b Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi 2012-01-25 21:53:20 +09:00
Jason Short
86c7742dc0 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
Jason Short
32241319c1 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short
04a2eee410 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Pat Hickey
05246bf3b4 ArduCopter: Call APM_RC.enable_out for camera channels in init_camera() 2012-01-22 12:03:11 -08:00
Pat Hickey
368e736a61 ArduCopter: Call motors_output_enable at correct spot during init 2012-01-22 12:03:11 -08:00
Pat Hickey
2bd2e9c774 ArduCopter: Add implementation of motors_output_enable to each motors_ frame type 2012-01-22 12:03:11 -08:00
Jason Short
acf43341da Causes Aero_SIM to fail 2012-01-22 09:34:43 -08:00
Jason Short
8c4b955282 added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short
a213e05eb9 converted to cm 
Signed-off-by: Jason Short <jasonshort@mac.com>
 2012-01-21 22:14:08 -08:00
Jason Short
7616c3b5a1 Converted distance gains to CM 
added loiter_d for rate control, equal to old Nav_P gain
 2012-01-21 22:13:57 -08:00
Jason Short
e1f7fa34ea Fixed speed governor which was letting speed get to 0. 
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
 2012-01-21 22:12:57 -08:00
Jason Short
8bd6cabdf1 recording nav_bearing rather than target bearing 
recording x and y speed rather than Iterms for nav since they are always 0 now
 2012-01-21 22:10:28 -08:00
Jason Short
14a8d8a471 added conversions of CM to M 2012-01-21 22:09:39 -08:00
Jason Short
a3daae1530 Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning. 
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
 2012-01-21 22:09:13 -08:00
Jason Short
9ecd091f79 convert command into CM from M 
Making Landing boost be one at minimum to trigger better navthrottle output
 2012-01-21 22:06:35 -08:00
Jason Short
6377cf8549 better default for speed governer 2012-01-21 22:05:48 -08:00
Jason Short
02d6adb21f slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short
275815a7c9 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short
ab8bf0b560 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short
8f86caa3ff limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short
fa06d4a2e3 Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short
d444051eb3 Enabled auto throttle hold 2012-01-20 22:52:31 -08:00
Jason Short
e9a4253cd1 added note 2012-01-20 22:52:31 -08:00
Jason Short
3921fb7880 formatting 2012-01-20 22:52:31 -08:00
Jason Short
2fa8a343ac Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short
525f7cd40f cleanup 2012-01-20 22:52:30 -08:00
Jason Short
a087d84734 error on comparison operator 2012-01-20 22:52:30 -08:00
Jason Short
84937b4f69 Added Auto_land_timeout to params 2012-01-20 22:52:30 -08:00
Jason Short
bf8774c2f8 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short
c5dd970026 Max throttle output was to high 2012-01-20 22:52:30 -08:00
Jason Short
99b71434da Updated Firmware version 2012-01-20 22:52:30 -08:00
Jason Short
9c912b2573 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short
63a1cf75df enabled Mavlink Land command 2012-01-20 22:52:30 -08:00
Jason Short
0475dbf8ae relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short
f504c79fb0 Stab_D changes units with the new dampening controller updates 
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
 2012-01-20 22:52:30 -08:00
Jason Short
3a4a80c650 renamed function 2012-01-20 22:52:30 -08:00
Jason Short
c2496948fb Verify land updates from JLN 
Effectively a throttle control for landing that mimics a person lowering the throttle.
 2012-01-20 22:52:29 -08:00
Jason Short
d991a22453 Refined the D term for stabilize 
moved all the rest_I terms from code into 1 central place
 2012-01-20 22:52:29 -08:00
Jason Short
ba535ed956 B3 2012-01-20 22:52:29 -08:00
Jason Short
556d646cad set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units. 
added the ability to force nav_throttle so we  don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
 2012-01-20 22:52:29 -08:00
Jason Short
0f24860552 Altitude no longer resets when moving loiter WP 2012-01-20 22:52:29 -08:00
Jason Short
7468889bb7 slowed down slightly 2012-01-20 22:52:29 -08:00
Jason Short
aa1f09af83 Lowered range to more sensible values 2012-01-20 22:52:29 -08:00
Jason Short
3797c25867 Off by default 2012-01-20 22:52:29 -08:00
Michael Oborne
c2f3cf0cf5 AC fix attitude level hil 2012-01-21 07:52:52 +08:00
Michael Oborne
b94c80059b fix scale error 2012-01-21 06:33:18 +08:00
Michael Oborne
3b93418d67 AC sync battery code with arduplane 2012-01-21 06:29:09 +08:00
Michael Oborne
7f272b4c4b fix SITL attitude hil AC 2012-01-20 16:32:25 +08:00
Doug Weibel
2ea9db84e0 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Doug Weibel
17b3e514dc Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Jason Short
f326a5a9ea APM2 Channel assignments 2012-01-15 10:24:16 -08:00
Jason Short
7e411f5fb6 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Jason Short
3879e79898 b2 2012-01-14 11:37:00 -08:00
Jason Short
cf51967bbb Fix for SIMPLE mode 2012-01-14 11:32:48 -08:00
Jason Short
6714ab49ad Tweak to make circle mode scripting more accurate 2012-01-14 11:21:50 -08:00
Jason Short
e7ad08e209 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short
11e1df497d lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short
f25d741f62 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short
e6ec80bb21 Clarified the Increment for WP total 2012-01-14 11:20:40 -08:00
Jason Short
6d0329b08c added notes, removed redundant save wp_total 2012-01-14 11:20:40 -08:00
Jason Short
24b760d48f added update throttle cruise function 2012-01-13 16:48:05 -08:00
Jason Short
414a2581a0 Made RTL always the current Altitude 2012-01-13 16:47:38 -08:00
Jason Short
c970ba4f93 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short
589f8bc557 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short
05dce91c24 fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short
8de6e0e223 made landing shoot for below home by 2 meters to avoid bounce up. 2012-01-13 12:46:40 -08:00
Jason Short
9a0539f39e tuned down Alt hold D gain 2012-01-13 09:36:51 -08:00
Jason Short
81413d2a76 re-enabled relay test 2012-01-13 08:55:02 -08:00
Jason Short
09c4bbe46e Added simple constrain for Alt d term 2012-01-13 08:49:55 -08:00
Jason Short
b9419e0123 moved GPS routines to 50hz loop to avoid delay. 2012-01-12 22:59:47 -08:00
Jason Short
b81f9a5d77 Version 2.2 2012-01-12 22:37:33 -08:00
Jason Short
b884462ce3 removed wind comp code, 
Added Landing boost code
 2012-01-12 22:28:58 -08:00
Jason Short
5418d330f6 Added a small D term on alt hold 2012-01-12 22:28:58 -08:00
Jason Short
6d0f078fdd Added Landing throttle control to force down the copter 2012-01-12 22:28:58 -08:00
Jason Short
b493cb1e55 removed unused defines 
lowered default Loiter gain
 2012-01-12 22:28:58 -08:00
Jason Short
8416de7e9c Added Ryan's GPS lag filter 
Removed unused code
refined alt change
 2012-01-12 22:28:58 -08:00
Jason Short
400d080d12 added notes 2012-01-12 22:28:58 -08:00
Doug Weibel
622217357c Bug fix for compass. 
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
analoguedevices
c00bcc58d9 Eliminated second instance of APM2 #defines 2012-01-12 20:38:41 +00:00
Jason Short
33fe4db3fc R10 2012-01-11 22:41:51 -08:00
Jason Short
464038b3ea New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short
2566f1fb95 New Loiter Gains for new Loiter methods 2012-01-11 22:41:51 -08:00
Jason Short
55cb0ad476 moved to verify_land 2012-01-11 22:41:51 -08:00
Jason Short
7978a2a21a attempting to force down without using Manual boost. 2012-01-11 22:41:51 -08:00
Jason Short
db1fafaaec R9 2012-01-10 23:46:08 -08:00
Jason Short
22ebe00773 comma 2012-01-10 23:45:33 -08:00
Jason Short
7933492fec Switched to set_next_WP for mode switches 2012-01-10 23:43:44 -08:00
Jason Short
30f5ecda54 Fixed Type Error 2012-01-10 23:43:44 -08:00
Jason Short
ed903c6cd3 Fixed type error 2012-01-10 23:43:44 -08:00
Jason Short
36516161b5 Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short
78925d57c2 added set_new_altitude call() 2012-01-10 23:43:44 -08:00
Jason Short
0c9dc11ac1 Added ending for auto landing 2012-01-10 23:42:27 -08:00
Jason Short
7d4067a6ed updated climb rate control 
Land detector
 2012-01-10 23:42:27 -08:00
Jason Short
f683371508 added set_new_altitude call 2012-01-10 23:42:27 -08:00
Jason Short
581657ab7a climb rate control 2012-01-10 23:42:26 -08:00
Jason Short
439c15f3fc Added climb rate control 
removed unused vars
 2012-01-10 23:42:26 -08:00
Jason Short
c385db412e Added altitude change flags 2012-01-10 23:42:26 -08:00
Jason Short
9cbfcac802 Made timer unsigned 2012-01-10 23:42:26 -08:00
Jason Short
9d1b1dba77 Added comments 2012-01-10 23:42:26 -08:00
Jason Short
5b00928b15 added location error calc to get better data. Otherwise we'll be 1 GPS read off. 2012-01-10 23:42:26 -08:00
Jason Short
0744179970 Added comments 
moved out failsafe check. otherwise the reporting was erroneous.
 2012-01-10 23:42:26 -08:00
Jason Short
5d28e97339 Moved failsafe check to more logical place 2012-01-10 23:42:26 -08:00
Jason Short
f240888b49 added #if to wind compensation code 2012-01-10 23:42:26 -08:00
Pat Hickey
7961021895 ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros 2012-01-09 22:06:49 -08:00
Pat Hickey
397aef9c2a ArduCopter motors_y6: rewrite loop in terms of motors 2012-01-09 22:06:49 -08:00
Pat Hickey
2f11c3f17a ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros 
* Third Tricopter motor was on CH_4, so it is called MOT_4. This
  will be changed in a subsequent commit.
 2012-01-09 22:06:49 -08:00
Pat Hickey
757471c3a3 ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 22:06:48 -08:00
Pat Hickey
ee7356c1a7 ArduCopter motors_octa_quad: rewrite loop in terms of motors 2012-01-09 22:05:01 -08:00
Pat Hickey
f8aa1456cc ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 21:57:02 -08:00
Pat Hickey
ad5c31cd38 ArduCopter motors_octa: rewrite janky loops to use ch_of_mot 
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
 2012-01-09 21:57:02 -08:00
Pat Hickey
f055cbc720 ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros. 2012-01-09 21:57:02 -08:00
Pat Hickey
2cf935e2d2 ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot 
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
 2012-01-09 21:57:02 -08:00
Pat Hickey
b8b6e3c25b ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Pat Hickey
87735fef24 ArduCopter test.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
20b0e4cd33 ArduCopter setup.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
38c2a052be ArduCopter radio.pde: translate CH_ to MOT_ outputs 2012-01-09 21:57:02 -08:00
Pat Hickey
8d4db05f50 Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey
b22920c0ea ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey
ccff9041f8 ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
8d595d7c53 motors_quad: translate from CH_ to MOT_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
7b056f208d ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Pat Hickey
e969e0dc55 ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL 2012-01-09 21:57:01 -08:00
Pat Hickey
eb345c009b ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8] 2012-01-09 21:57:01 -08:00
Pat Hickey
bcb43ec9b5 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Pat Hickey
a1cc77f41e ArduCopter: add config_motors.h with MOT_n to CH_m mapping 
* APM1 values are not valid, but hopefully APM2 will stay that way?
 2012-01-09 21:57:01 -08:00
Pat Hickey
d015e0d6d9 APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 
* 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
Jason Short
ba72a98345 Slowed Auto Descent 
Don't return true in Landing code to prevent flyways in Stabilize
 2012-01-08 23:01:22 -08:00
Randy Mackay
7b9701fdd5 ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
analoguedevices
8b68da3105 Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves 2012-01-09 01:59:55 +00:00
Jason Short
fda12c8902 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Randy Mackay
598593e1fc ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short
a8574e813d R8 2012-01-07 22:28:03 -08:00
Jason Short
0a7378856d Added finish to missions - auto-land or stabilize 2012-01-07 22:27:26 -08:00
Jason Short
cf5e0b3a1b converted auto land to use the mission planner version 
Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
 2012-01-07 22:27:26 -08:00
Jason Short
12493d6431 Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short
7e96e0f7fa Quad frame - X is default 
added wind comp stability option to config - off by default
 2012-01-07 22:27:26 -08:00
Jason Short
250545f31d Auto-land updates - removed sonar option - not needed 
updates from JLN
 2012-01-07 22:27:26 -08:00
Jason Short
ca80dc549c Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short
b8bcd81b39 Cleanup 2012-01-07 22:27:26 -08:00
Jason Short
048532ae98 scaled to 0-1023 2012-01-06 21:43:37 -08:00
Jason Short
058a3275c3 Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short
056a08d838 Forced Faildafe throttle mode to throttle Auto 2012-01-06 10:21:50 -08:00
Jason Short
57c3405658 Added check for armed motors in failsafe 2012-01-06 10:21:23 -08:00
Jason Short
a640311f58 Added Note 2012-01-06 10:20:59 -08:00
Jason Short
e908390c64 Made RTL go up 10m for failsafe 2012-01-06 10:20:48 -08:00
Jason Short
d430c847fa Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short
de912b5054 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short
beac2930c9 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short
9d9bef37a8 Clears Auto_land timer 2012-01-05 21:15:12 -08:00
Jason Short
a8af509517 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell
600a5680f8 ACM: reset all I terms on gyro calibration 2012-01-05 10:15:14 +11:00
Andrew Tridgell
a6808162d6 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Andrew Tridgell
734b0a02be ACM: fixed a alt hold bug 
== instead of =
 2012-01-05 10:14:30 +11:00
Andrew Tridgell
3c965ff1a2 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Andrew Tridgell
9ee3431928 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short
8341a080ce Disabled stable mode wind comp by default for release 2012-01-04 09:28:38 -08:00
Jason Short
5aa0861ec2 Added Xplane output option 2012-01-04 09:28:38 -08:00
Jason Short
6b9d35cc34 Added home offset for altitude 2012-01-04 09:28:38 -08:00
Jason Short
f74e265bb9 Made landing disarm the motors 2012-01-04 09:28:38 -08:00
Jason Short
3ac37c09a9 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short
a70fdc58a1 Cleaned up and documented each global vavriable 
Added Wind compensation for Stability
Acro mode fixes
 2012-01-04 09:28:37 -08:00
Jason Short
123ce533bb Added precalc for wind compensation when entering Stabilze mode 2012-01-04 09:28:37 -08:00
Jason Short
bf8e3975ec Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short
6b3094e053 removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short
7858976407 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
22c3853020 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
e5994c578a removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
3d7f3f6b77 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short
8d63af2a89 removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
a1c3ce88a0 calc_wind_compensation called when exiting AP modes 
Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
 2012-01-04 09:28:37 -08:00
Jason Short
e6887aa3ec added Reset_Rate_I function 
Removed I term from Throttle rate calc
Added some basic constrains to Acro
 2012-01-04 09:28:37 -08:00
Jason Short
dd4b4c723a removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
7bef298a46 cleanup - removed unused functions, made pressure reading Float to avoid extra cast 2012-01-04 09:28:36 -08:00
Jason Short
d7f4328441 cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
1883d0c1a8 Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Jason Short
c629795050 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
801b3a8e8f removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
fcd18d5538 Removed unused options 2012-01-04 09:28:36 -08:00
Jason Short
525ac4df88 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
c450cc4e92 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
4a50e08ac1 change how Reset Nav params work - no longer clear I terms 2012-01-04 09:28:36 -08:00
Jason Short
fe265b3040 Added JLN's landing patch, moved some variables local such as Jump counter 2012-01-04 09:28:36 -08:00
Jason Short
5de709ceea removed unused functions 2012-01-04 09:28:36 -08:00
Andrew Tridgell
54b91ce2f4 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell
d6ccffc71b ACM: don't set defaults in APM_Config.h 
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
 2012-01-04 19:35:05 +11:00
Andrew Tridgell
645eac6f38 I2c: default to 5ms timeout, and faster bus speed 
we will slow down the speed when we get a failure
 2012-01-04 16:36:47 +11:00
Jason Short
24bddb1c47 Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short
86e01fce17 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short
bfd7608f4d Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short
e8db2225dd upped to r5 2011-12-31 10:05:13 -08:00
Jason Short
e17c8705ba Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short
e9d41897df R4 2011-12-30 23:54:02 -08:00
Jason Short
1d636219f9 New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short
fc93a73ad7 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
170a646ecf removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short
4b2979743f no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
62ca68cdbb Reverted to Crosstrack like in Arduplane, requires Degrees * 100 2011-12-30 23:48:04 -08:00
Jason Short
27d3564eab Sync with Arduplane 2011-12-30 23:48:04 -08:00
Jason Short
f5ffa7bd7e Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short
e08b550f44 Added a default Yaw tracking setting 
Added Nav_Bearing
 2011-12-30 23:48:04 -08:00
Jason Short
09db32ee02 Added Nav_bearing, just like APlane 
added fix for LOITER in missions so we don't Yaw in circles
 2011-12-30 23:48:04 -08:00
Jason Short
758a5240f2 removed old loiter method option 2011-12-30 23:48:04 -08:00
Randy Mackay
c39ebde9de ArduCopter - init_compass - fixed HIL build issue 2011-12-31 12:29:54 +09:00
Jason Short
57b2d17d8a updated rev 2011-12-29 23:02:41 -08:00
Jason Short
8fc73844ee Yaw Performance tweaks 2011-12-29 23:02:03 -08:00
Jason Short
4535bc4fd9 lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short
89c705c8b9 removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short
723adffc48 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short
4bfa5def76 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short
2f657ebdbf cosmetic 2011-12-29 23:02:03 -08:00
Jason Short
aa2e474b80 Added 5 sec Takeoff Timer to clear i terms when lifting 
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
 2011-12-29 23:02:03 -08:00