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2498 Commits

Author SHA1 Message Date
Randy Mackay a7b32caf72 Copter: bug fix for loiter_time check 
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
 2013-04-15 23:57:22 +09:00
Randy Mackay a185fa950c Copter: Jason's fix to auto disarming 
Added check so that it only starts counting down when motors are armed.
This removes the issue in which the copter sometimes disarms shortly
aftering being armed.
 2013-04-15 23:36:45 +09:00
Randy Mackay 8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
Andrew Tridgell cf6ae4a746 Copter: remove ahrs.set_barometer() 2013-04-15 10:52:32 +10:00
Randy Mackay 8c7a1597dc Copter: remove debug comment from RTL 2013-04-14 18:28:13 +09:00
Randy Mackay 629d23b7e2 Copter: remove WP_SPEED and WP_RADIUS parameters 
AC_WPNav library has equivalent params with very similar names
 2013-04-14 13:27:37 +09:00
Randy Mackay b58c26bcd5 Copter: remove pid_nav_lat, pid_nav_lon 2013-04-14 12:12:51 +09:00
Randy Mackay bffe4fa412 Copter: remove NAV_LAT and NAV_LON 
Loiter and navigation controllers now combined
 2013-04-14 12:09:45 +09:00
Randy Mackay 700fb1b179 Copter: replace sin_yaw_y, cos_yaw_x in circle mode 2013-04-14 10:39:30 +09:00
Randy Mackay 366616e32c Copter: reduce default loiter PIDs 2013-04-14 10:39:28 +09:00
Randy Mackay 1ee825ee9a Copter: move alt and wp checking to AC_WPNAV 
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
 2013-04-14 10:39:23 +09:00
Randy Mackay 2db8365c90 Copter: add AC_WPNav to parameters list 2013-04-14 10:39:02 +09:00
Randy Mackay bc87118062 AC_WPNav: add get_target_alt method 2013-04-14 10:39:00 +09:00
Randy Mackay 6dbcbdcb43 AC_WPNav: limit max loiter position error 
move interpretation of pilot input to wpnav lib
 2013-04-14 10:38:58 +09:00
Randy Mackay 7c559333f5 Copter: get_throttle_rate's target_speed a float 2013-04-14 10:38:51 +09:00
Randy Mackay 926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +09:00
Randy Mackay ee7f40cfe9 Copter: Leonard's alt-hold feed forward 2013-04-14 10:38:37 +09:00
Randy Mackay f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay 553f40a99c Copter: bug fix to loiter delay 
change delay to seconds to allow delays longer than 65seconds
 2013-04-14 10:38:30 +09:00
Randy Mackay a65960a009 Copter: use velocity based set_loiter_target 2013-04-14 10:38:28 +09:00
Randy Mackay e592baae11 Copter: remove remnants of fast_corner 2013-04-14 10:38:20 +09:00
Randy Mackay 4de5f67a91 Copter: replace wp_nav.get_target_alt with get_destination_alt 2013-04-14 10:38:17 +09:00
Randy Mackay 5b93990e41 Copter: removed next_WP 
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
 2013-04-14 10:38:07 +09:00
Randy Mackay 1516972eaa Copter: add panorama to CIRCLE mode 
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
 2013-04-14 10:38:01 +09:00
Randy Mackay 58ed8cd544 Copter: replace set_next_WP with direct call to wp_nav 2013-04-14 10:37:55 +09:00
Randy Mackay 49828eba7d Copter: integrate AC_WPNav 2013-04-14 10:37:48 +09:00
Randy Mackay cdb532a594 Copter: bug fix for loiter target 2013-04-11 18:24:20 +09:00
Randy Mackay e637a8fb29 Copter: remove old commented out code from setup.pde 2013-04-11 10:12:21 +09:00
tobias 217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Randy Mackay 9036b97a16 Copter: fix build error 
Removed last print_test_disabled call
 2013-04-05 23:03:17 +09:00
Randy Mackay fc0c451b69 Copter: remove #ifdef checks for Atmega1280 2013-04-05 22:48:10 +09:00
Randy Mackay 1dcd46bffc Copter: reduce compiler warnings 2013-04-05 22:25:58 +09:00
Randy Mackay 95d944f610 Copter: Jason's bug fix for loiter's set_next_WP_latlon 2013-04-05 13:46:07 +09:00
Randy Mackay 777c6a308e AP_InertialNav: use shared GRAVITY_MSS constant 2013-04-05 11:48:41 +09:00
Randy Mackay d1afd2fb9b Copter: make guided mode start at current location 2013-04-03 23:06:46 +09:00
Randy Mackay 0be23c8090 Copter: fix THR_ALT_P documentation 2013-04-03 22:38:34 +09:00
Randy Mackay 3bf847f675 Copter: Jason's faster cos_yaw, sin_yaw 2013-04-02 15:50:29 +09:00
Randy Mackay 40f6416b3d Copter: update Log_Read_Compass comment 2013-04-02 11:02:14 +09:00
Randy Mackay 7cf2255822 Copter LEDs: replace bitRead with bitmask 
Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
 2013-04-01 13:10:12 +09:00
Randy Mackay a9eb626cb8 Copter: update default Rate Yaw P to 0.20 (was 0.25) 2013-04-01 11:49:50 +09:00
Randy Mackay 7ccb14344c Copter: update version to 2.9.1b-dev 2013-04-01 11:47:56 +09:00
Randy Mackay 7d4eea271f Copter: update Release notes again for 2.9.1b release 
Missed item re increasing max inav accel correction to 3 m/s
 2013-04-01 11:46:42 +09:00
Randy Mackay 49e3e040b6 Copter: update Release notes ahead of 2.9.1b release 2013-04-01 11:46:37 +09:00
Randy Mackay 24dd167607 Copter: ACRO bug fix from Jason 2013-04-01 11:44:28 +09:00
Michael Oborne 541fa13291 cleanup comments 2013-03-31 17:14:54 +08:00
Michael Oborne e80f2c094e HIL fix location, alt, mag from hil state message 2013-03-31 16:42:16 +08:00
Michael Oborne 59f80410d5 Add ability to compile sensor hil with sitl 2013-03-31 16:35:23 +08:00
Andrew Tridgell b280857025 Copter: use common angle wrap code 2013-03-29 13:14:31 +11:00
Randy Mackay f7d977fe37 Copter: add support for GPS fix type 2D 2013-03-27 11:41:47 +09:00
Andrew Tridgell b955aed976 Copter: fixed GPS test (detection of uBlox needs 10Hz poll) 2013-03-21 22:45:07 +11:00
Andrew Tridgell d22a7c64c9 Copter: only enter CLI is link is idle when 3 enters are hit 
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
 2013-03-21 21:56:02 +11:00
Andrew Tridgell ce8313e8fb Copter: only allow CLI within 20s of startup and when motors not armed 2013-03-21 17:34:11 +11:00
Randy Mackay 80bd593814 Copter: disarm motors when entering CLI 2013-03-21 12:07:00 +09:00
Randy Mackay dcf21eee8f Copter: only allow entering the CLI within 30 seconds of start-up 2013-03-21 11:54:04 +09:00
Andrew Tridgell ae96c77add Copter: added shell command in CLI test menu 2013-03-20 12:35:50 +11:00
Randy Mackay 38e81adae0 InertialNav: remove unnecessary "virtual" from function definitions 
This saves about 30bytes of RAM
 2013-03-19 17:51:16 +09:00
Randy Mackay a17421da27 Copter: scale HIL accels consistently with Plane code 2013-03-19 15:07:15 +09:00
Randy Mackay b4b9d80c2f Copter: bug fix to accept HIL accel values correctly 2013-03-19 11:33:58 +09:00
John Stäck 46a831fc03 Copter: add parameter "set" and "show" commands to setup menu. 
Squashed commit of the following:

commit 4243a0bb89de2f850606c623aac6a5b583c333ae
Author: John Stack <stack@spotify.com>
Date:   Thu Mar 7 09:28:16 2013 +0100

    Undo change to system.pde, not needed.

commit dae2dbbbd6e13621fccc1d0a221aae8d83240417
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 22:47:50 2013 +0100

    Remove leftover bits of old menu setup

commit ccefc8fe0d237364b06a1478348f8552720d7598
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 22:40:30 2013 +0100

    Roll the param menu into setup.

commit c61dad17bf32a3080d8eca2389c6e25f98767545
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 08:08:42 2013 +0100

    Make the param menu a compile-time option, by defining PARAM_MENU

commit 0f35c4e88ec7aba5035b4880e9994e4783da75a9
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 07:57:22 2013 +0100

    Use find(), which works well.

commit 3b81b29597fcee49193330d7b6d3f3aed99a476c
Author: John Stack <stack@spotify.com>
Date:   Tue Mar 5 07:57:33 2013 +0100

    Whitespace fixes

commit 6b9ccc5fe1de1e40a24eb9ff89006b9bd80e3662
Author: John Stack <stack@spotify.com>
Date:   Tue Mar 5 07:28:20 2013 +0100

    Add cli menu to change any parameter.
 2013-03-18 15:49:41 +09:00
Andrew Tridgell 952c56e990 Copter: fixed barometer init in HIL sensors mode 2013-03-18 16:20:25 +11:00
Andrew Tridgell ac06b5e62d Copter: remove unused function 2013-03-18 16:20:25 +11:00
Randy Mackay 36834e77b5 Copter: remove support for CLI Slider 2013-03-18 14:07:04 +09:00
Randy Mackay 597a4b912a Copter: fix to allow building HIL_MODE_SENSORS 2013-03-18 13:41:52 +09:00
Randy Mackay d1344e8c39 Copter: remove #define for CROSSTRACK_GAIN 
Note: the cross track is still calculated inside the inertial nav based
loiter and wp controls but it's no longer requires a tunable parameter
 2013-03-17 16:56:18 +09:00
Randy Mackay 1b6fcad90a Copter: remove tilt compensation parameter 
Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
 2013-03-17 16:53:32 +09:00
Randy Mackay 61e29173e3 Copter: remove unused crosstrack variables and parameters 
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
 2013-03-17 16:46:31 +09:00
Randy Mackay a1295c042b Copter: fix init of wp_verify_byte so wp alt is always required 2013-03-17 16:37:30 +09:00
Randy Mackay fdcb78ccf7 Copter: leonard's smoother alt-hold transition 
Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
 2013-03-17 13:24:49 +09:00
Randy Mackay 37040adfaa Copter: bug fix for auto missions over 320m 
get_throttle_althold_with_slew's target_alt parameter defined as int16_t
(instead of int32_t) meaning missions with altitudes >320m could wrap
around and become negative.
 2013-03-17 11:14:35 +09:00
Randy Mackay 150046f2b8 Copter: GPS Failsafe implemented 
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
 2013-03-16 17:27:46 +09:00
Randy Mackay f9539384a1 Copter: rename failsafe to failsafe_radio 
Makes way for separation of failsafes for throttle, gps and gcs
 2013-03-16 17:14:21 +09:00
Randy Mackay f263e81ed7 Copter: remove unused GPS and baro filters 
Saves 24bytes of RAM
Removing the baro filter leads to noisier Baro Alt appearing in the log
so we should make the inertial nav altitude appear in the CTUN message
 2013-03-16 00:20:15 +09:00
Randy Mackay 5380973225 Copter: only start delay timer after reaching wp location and altitude 2013-03-06 12:50:41 +09:00
Randy Mackay a73f50494c TradHeli: remove duplicate RC_FAST_SPEED definition 2013-03-04 23:45:23 +09:00
Randy Mackay cb6ffc7acf Copter: minor formatting fix for report_ins 2013-03-04 23:14:14 +09:00
Randy Mackay 998511f506 Copter: use unsigned long for dataflash log for gps time 
Updated some formatting of comments in the same file
 2013-03-04 23:13:06 +09:00
Randy Mackay 33bd984a91 Copter: remove unused input_voltage parameter 2013-03-03 23:23:54 +09:00
Randy Mackay cb84ec9d9b Copter: add current based compass compensation 2013-03-03 23:02:36 +09:00
Andrew Tridgell c2fd1512ff Copter: use voltage_average() so as to avoid INPUT_VOLTS 2013-03-03 16:16:01 +11:00
Randy Mackay 0d5e731a65 Copter: add compassmot to cli 
Allows user to setup compensation for motor's interference on the
compass
 2013-03-02 17:54:18 +09:00
Randy Mackay 476a6d0164 Copter: fix for acro throttle bug 2013-03-02 10:28:44 +09:00
Randy Mackay 6b2b69535f Copter: Compass log stores/retrieves motor offsets 2013-03-02 00:03:20 +09:00
Randy Mackay d8515ff85e Compass: basic compensation for motor interference 2013-03-02 00:03:16 +09:00
Andrew Tridgell 637ecd5279 Copter: updates for new dataflash API 2013-03-01 07:18:26 +11:00
Andrew Tridgell 9a3bd17cfb Copter: fixes for new DataFlash API 2013-03-01 07:18:25 +11:00
Randy Mackay e0506bd622 Copter: inav circle initial implementation 2013-02-26 11:35:35 +09:00
Randy Mackay c8f09ac219 Copter: fix compile error for PX4 re Compass logging 2013-02-25 13:26:58 +09:00
Randy Mackay d6ff5ae261 Copter: add roll-pitch slew for auto modes 
Added reporting of roll, pitch inputs for ACRO, AUTO
 2013-02-24 14:42:04 +09:00
Randy Mackay e297ba7d18 Copter: update default loiter gains for inertial nav 2013-02-24 14:42:00 +09:00
Randy Mackay 102b5da59d Copter: remove unnecessary #defines from APM_Config.h 2013-02-24 14:41:56 +09:00
Randy Mackay cbde042ec5 Copter: remove non-inav loiter and wp controllers 
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
 2013-02-24 14:41:52 +09:00
Randy Mackay 609676e26c Copter: add logging of compass values 
Removed rarely used ITERM because we didn't have enough bits in the log
mask
 2013-02-24 14:41:48 +09:00
Randy Mackay 6f27bc7ae5 Copter: remove filters from inav loiter 2013-02-24 14:41:44 +09:00
Randy Mackay 1410063a14 Copter: new ROLL_PITCH_WP_INAV roll-pitch mode 
small corrections to allow waypoints to work with new inertial nav wp
controller
 2013-02-24 14:41:40 +09:00
Randy Mackay 574756908d Copter: set wpinav controller targets in nav calls 
All navigation commands now properly set wpinav controller targets
except CIRCLE related commands.
 2013-02-24 14:41:36 +09:00
Randy Mackay 00bc28adcc Copter: take-off code cleanup 
remove redundant setting of loiter target.
explicitely set throttle mode to THROTTLE_AUTO
 2013-02-24 14:41:32 +09:00
Randy Mackay 67c69a19ee Copter: remove baro-only alt hold 
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
 2013-02-24 14:41:29 +09:00
Randy Mackay 37d3e1d7e4 Copter: add zero slope checks to wpinav 
also added RTL fix to set wpinav target explicitly
 2013-02-24 14:41:25 +09:00
Randy Mackay b74da54c98 Copter: enable inav xy by default 2013-02-24 14:41:21 +09:00
Randy Mackay 53ab1d5d9b Copter: add advance track call to actually move towards waypoint 
Also added unrelated check that waypoint is valid before updating
waypoint distance.
 2013-02-24 14:41:17 +09:00
Randy Mackay 766ccdf6f8 Copter: add selection of inertial nav wp controller to APM_Config.h 2013-02-24 14:41:13 +09:00
Randy Mackay fcf102b2cf Copter: inertial nav waypoint controller 
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
 2013-02-24 14:41:09 +09:00
Jason Short 4c3ee76900 AC: Moving flip speed back to 400°/s to prevent oscillation around change in speed. 
Would like to add a more gradual speed change in the finish. Might require a new state as the copter passes -90°
 2013-02-23 13:14:15 +09:00
Jason Short 7d5b975da2 AC: Flip code fix 
Flight tested it today and made some flips. Throttle adjusted in Manual throttle modes. Not tested in AP throttle modes such as alt hold.
 2013-02-23 13:14:11 +09:00
Randy Mackay 8e4c9518ea Copter: increase low voltage check to 10.5v 
Change requested by Rob Lefebvre and Richie Wilson
 2013-02-23 00:36:51 +09:00
Jason Short abd0fb9099 AC : global static variables should not be initialized to zero 2013-02-22 17:34:18 +09:00
Andrew Tridgell 4c7a1a1806 Copter: change PX4 main baud rate back to 115200 
we now use USB console
 2013-02-22 07:04:23 +11:00
Randy Mackay 2ecf34e509 Copter: update version to 2.9.1 ahead of release 2013-02-19 13:52:04 +09:00
Randy Mackay d48aebea8e Copter: updated release notes for 2.9.1-rc2 2013-02-19 13:49:53 +09:00
Randy Mackay 9904e9f4db Copter: update firmware version to 2.9.1-rc1 2013-02-19 13:43:36 +09:00
Randy Mackay 6601bd37cf Copter: integrate automatic roll and pitch trims 2013-02-19 12:51:24 +09:00
Michael Oborne 61e5b09f28 Send FS state to gcs for AC 2013-02-09 10:11:36 +08:00
Andrew Tridgell 19a282dad0 Copter: removed use of ins.temperature() 2013-02-07 15:05:47 +11:00
Pat Hickey d418197898 ArduCopter: fixed memory unsafe member access in GCS_MAVLINK 
* Smokey, this is not 'Nam. this is bowling. there are rules
 2013-02-02 22:43:56 -08:00
Randy Mackay 9d34ead486 Copter: fix up some casting issues for wp_distance 2013-02-01 22:42:50 +09:00
Randy Mackay df1c0d92bd Copter: manual throttle scaling fix 
Scaling of bottom half of throttle was changed from THR_MIN ~ 500.
Previously it was from 0 ~ 500.
 2013-02-01 22:37:33 +09:00
Randy Mackay a0b65a262b Copter: use scaled throttle for accel-throttle's I term 
Accel throttle's I term is taken from scaled manual throttle
 2013-02-01 22:37:25 +09:00
Randy Mackay 06a71af12f Copter: THR_MID used to scale manual throttle 2013-02-01 22:37:16 +09:00
Randy Mackay 4813526725 Copter: bug fix for autotrim's roll axis backwards 2013-01-31 17:42:29 +09:00
rmackay9 9c3b9907dd Copter: bug fix to set sonar_alt_health to zero when disabled 2013-01-31 17:00:28 +09:00
Randy Mackay 70371be4a1 Copter: use AP_Math's longitude_scale 
bug fix to base scaling on home location instead of next_WP which may
not have been initialised
 2013-01-27 23:35:12 +09:00
Randy Mackay 6f5050a8b9 Copter: minor casting fixup for wp_distance 2013-01-27 11:27:43 +09:00
Randy Mackay ce370bab0c Copter: rename CUR and CURR to CURRENT for logging 
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
 2013-01-26 17:20:41 +09:00
Randy Mackay fb1358a629 Copter: make all message output csv 2013-01-26 17:05:38 +09:00
Randy Mackay d2767b911c AP_Math: switch get_distance_cm to return uint32_t 
Includes changes required on ArduCopter and ArduPlane side as well
 2013-01-26 17:04:12 +09:00
Randy Mackay 0056bfadd7 Copter: rename ROLL_PITCH_LOITER 
new name ROLL_PITCH_LOITER_INAV makes it more clear that it should only
be used with the new inertial nav loiter controllers
 2013-01-25 23:27:31 +09:00
Randy Mackay b74fe10aa9 Copter: set each flight mode's nav_mode 
Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
 2013-01-25 15:57:55 +09:00
Randy Mackay aaecc25ac7 Copter: leonard's inav2 
Moved loiter controller to navigation.pde
 2013-01-25 15:16:35 +09:00
Randy Mackay fd02cfe706 Copter: added set_nav_mode to control initialisation of nav controllers 
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
 2013-01-25 15:16:29 +09:00
Randy Mackay 8af605cafc Copter: set update rate to 50hz during esc calibration 
Also modified some comments in the code re the esc calibration
 2013-01-25 11:34:48 +09:00
Randy Mackay deafbf1f56 Copter: inav loiter comment changes 
removed unused get_loiter_vel function
 2013-01-24 11:14:38 +09:00
Randy Mackay 68fc9ac1d8 Copter: add "f" to end of float constants 
This is a small performance improvement for the px4
 2013-01-23 14:51:37 +09:00
Randy Mackay 911e090e07 Copter: typo fixed for trad heli config 2013-01-23 12:35:10 +09:00
Randy Mackay 9a09f086d2 Copter: Leonard Hall's inertial nav ver 2 2013-01-23 12:34:49 +09:00
Andrew Tridgell 47cc247046 Copter: limit number of bytes read per GCS check 2013-01-23 09:34:54 +11:00
rmackay9 ab1978ad50 Copter: Leonard Hall's inertial nav based loiter 2013-01-22 18:38:00 +09:00
Jonathan Challinger 6565d83e73 InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz. 2013-01-22 18:37:45 +09:00
Andrew Tridgell f303554259 Copter: run serial0 at 57600 on PX4 2013-01-22 09:50:22 +11:00
Andrew Tridgell ae5f46abc9 Copter: fixed mavlink fetch of 16 character parameter 2013-01-21 16:52:01 +11:00
Robert Lefebvre dde713aaa5 Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this. 2013-01-20 21:32:00 +09:00
Andrew Tridgell a341d59ed0 Copter: fixed test code warnings 2013-01-20 22:13:20 +11:00
Michael Oborne 74e3d64e62 AC Fix BATT_CURR_PIN number 2013-01-20 06:33:29 +08:00
Andrew Tridgell 580abf1106 Copter: fixed PX4 mag orientation 2013-01-17 17:23:34 +11:00
Randy Mackay 577bf865b3 Copter: update firmware version to 2.9-dev 
The -dev extension indicates that we are post 2.9 release
 2013-01-17 13:03:33 +09:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Randy Mackay ccaa7a52ef Copter: RTL bug fix to initial step is always a climb and not a descent 
Also bug fix to hold yaw on take-off
 2013-01-15 12:17:52 +09:00
Randy Mackay 2dab40abeb Copter: bug fix to altitude check of verify takeoff 
set_next_WP function was not setting the alt_change_flag properly
 2013-01-15 12:17:45 +09:00
Randy Mackay 148c227d73 Copter: update firmware version to rc5 2013-01-15 12:17:41 +09:00
Randy Mackay 04677bfb95 Copter: constrain auto roll and pitch to 45 degrees 2013-01-15 12:17:32 +09:00
Andrew Tridgell 56f22f9226 Copter: use common log reading function 2013-01-15 14:03:51 +11:00
jschall d6b3d370c3 Correct spelling of run_navigation_contollers 2013-01-14 16:45:15 -08:00
Randy Mackay 5418827f22 Copter: update parameter descriptions for FRAME and CH7_OPT 2013-01-14 15:49:26 +09:00
Randy Mackay 98f5e27dc3 Copter: small correction to RTL_ALT_FINAL param description 2013-01-14 15:21:19 +09:00
Randy Mackay 8bbc93bb04 Copter: added CH7 switch to enabling/disable the sonar in flight 
This indirectly switches surface tracking on/off which is useful to
avoid tracking the tops of uneven objects when far above the ground
 2013-01-14 14:00:08 +09:00
Randy Mackay df2137ed72 Copter: constrain loiter so that it never commands more than 45 degrees of lean in lat or lon directions 2013-01-14 13:34:19 +09:00
Randy Mackay fef7569dee Copter: added experimental LOITER_REPOSITIONING #define to config.h 
APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
 2013-01-14 13:34:14 +09:00
Randy Mackay 76f032160c Copter: relax altitude check in verify_takeoff 
Previously we checked if the alt > target_alt but because there is
little to no overshoot with the new accel based alt controller this
check was failing for some users.
 2013-01-14 13:34:06 +09:00
Randy Mackay 8ac95d6034 ArduCopter: updated release notes for 2.9-rc4 2013-01-13 20:01:13 +11:00
Randy Mackay c1fa850d10 ArduCopter: update firmware version to 2.9-rc4 2013-01-13 20:01:09 +11:00
Randy Mackay c447b4b79b ArduCopter: move setting of land's yaw mode to the do_land function 2013-01-13 20:01:06 +11:00
Randy Mackay 08dc730d40 ArduCopter: bug fix to LAND flight mode not actually landing if initiated from failsafe 
An hidden bit of failsafe functionality in the set_mode function was
switching the throttle mode back to THROTTLE_AUTO instead of
THROTTLE_LAND
 2013-01-13 20:01:03 +11:00
Randy Mackay 175f69a64f ArduCopter: smooth throttle when switching from manual throttle to alt hold 
new set_accel_throttle_I_from_pilot_throttle function copies the
difference between the pilot's throttle and hover throttle to the
accelerometer based throttle controller's I term.
 2013-01-13 20:00:59 +11:00
Randy Mackay 9ad6f711f8 ArduCopter: replace FS_THR_RTL_MIN_DISTANCE with wp_radius 
This effectively means that an RTL kicked off by a failsafe will
immediately switch to LAND mode only if within 2 meters.  Previously the
radius was much wider (15m).
 2013-01-13 20:00:47 +11:00
Randy Mackay 19abdc3cd3 ArduCopter: update release notes for rc3 2013-01-13 20:00:43 +11:00
Randy Mackay 12f885c33c ArduCopter: disable ITERM logging by default 
This message takes 1ms to write and we are running over our limits on
some loops.
 2013-01-13 20:00:39 +11:00
Randy Mackay fbed8b8861 ArduCopter: alphabetized the contributors list 
Jonathan Challinger added
 2013-01-13 20:00:28 +11:00
Randy Mackay 5965914039 ArduCopter: increase firmware version to 2.9-rc3 2013-01-13 20:00:25 +11:00
Andrew Tridgell b0c710b67f Copter: move read_AHRS() before run_rate_controllers() 
this ensures the rate controllers use the latest data
 2013-01-13 20:00:14 +11:00
rmackay9 f25f1cb3bf ArduCopter: changed alt hold to use the sonar if enabled and healthy 2013-01-13 19:56:19 +11:00
rmackay9 21b6c78d12 ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes 
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
 2013-01-13 19:51:47 +11:00
Pat Hickey 164246c7d8 ArduCopter: better instructons for setup_motors cli test 
* i just spent hours confused about this
 2013-01-13 00:17:17 -08:00
Andrew Tridgell 72c8a14e76 Copter: fix trad heli log build 2013-01-13 17:57:47 +11:00
Andrew Tridgell 78fd5bb23f Copter: get rid of remaining Log.pde warnings 2013-01-13 17:53:39 +11:00
Andrew Tridgell 36e38eeef7 Copter: ensure ahrs.init() is called 2013-01-13 17:32:48 +11:00
Andrew Tridgell 3039c37f95 Copter: use macros from common header 2013-01-13 17:31:42 +11:00
Pat Hickey d7eeeab79e ArduCopter: fix new style Log.pde build for PX4. 
randy - you should please review these changes to make sure you wanted
to have the int16_t type in all of these structs, or how you want to
convert all these other integer types to int16_t if you do need it that
way.
 2013-01-12 13:11:25 -08:00
Randy Mackay 87627d883b ArduCopter: use new logging method for remaining packet types 
Additional changes include renaming RAW dataflash type to IMU
 2013-01-13 00:17:44 +09:00
Randy Mackay 177da0ca74 ArduCopter: fixed minor bug in logging of parameter changes to dataflash 
It is questionable whether we should even bother writing these to the
dataflash as there is no way to recognise which parameter has been
affectded
 2013-01-13 00:15:34 +09:00
Randy Mackay b4bbae56c6 ArduCopter: reduce redundant event logging 
We now only write state changes to the dataflash log when they have
changed.
Also replaced <tab> with <space> in AP_State.pde
 2013-01-13 00:13:10 +09:00
Andrew Tridgell af478d52bc Copter: use the new logging methods for 2 packet types 
the rest still need to be converted
 2013-01-12 18:15:23 +11:00
Andrew Tridgell 0fe7901422 Copter: only print perf data when SCHED_DEBUG is non-zero 2013-01-12 12:06:40 +11:00
Andrew Tridgell dcb181d2d8 Copter: use new AP_Scheduler library 2013-01-12 12:02:57 +11:00
Andrew Tridgell 585459ece9 Copter: tweak the serial buffer sizes 
we only need the large buffers for HIL
 2013-01-11 10:31:55 +11:00
Andrew Tridgell 2e57720444 Copter: move memcheck_init() earlier in setup 2013-01-11 10:24:21 +11:00
Andrew Tridgell 21e979910f Copter: improved 'FRAME' docs 2013-01-10 15:44:13 +11:00
Pat Hickey 0ff6ed12b1 ArduCopter Makefile: Don't include targets.mk directly (included by apm.mk) 2013-01-09 13:15:38 -08:00
James Bielman 7374e5d84e ArduCopter: Use 16-bit arithmetic when comparing event tick counters. 
- On the ARM, once the tick counter wrapped, we stopped running events
  because the wraparound case wasn't being handled correctly.  Make
  sure the comparison is 16 bits to prevent this.
 2013-01-09 11:19:52 -08:00
James Bielman 7827a4a54a ArduCopter: Add AP_HAL_SMACCM support. 
- Added default configuration to "config.h".
- Added main function to run under FreeRTOS with HWF4.
 2013-01-09 11:19:51 -08:00
James Bielman ab37f833db MS5611: Fix CONFIG_MS5611_SERIAL definitions. 
- Make sure the values are defined as integers.  We were always using
  SPI rather than using I2C when desired.
 2013-01-09 11:19:51 -08:00
Andrew Tridgell e575c5eba0 Copter: read baro at 50Hz 2013-01-09 23:46:05 +11:00
Andrew Tridgell 269804e866 Copter: use barometer.accumulate() 
this gives us more consistent timing and faster baro reads on APM1
 2013-01-09 23:08:19 +11:00
Andrew Tridgell 91ad870f11 Copter: check bitmask in more logging functions 2013-01-09 23:06:40 +11:00
Andrew Tridgell a237b6cc7b Copter: update for new AP_Param API 2013-01-09 13:30:58 +11:00
Andrew Tridgell 860f4b2605 Copter: merge the latest 2.9 changes into master 2013-01-08 14:37:40 -08:00
Andrew Tridgell d11dde578f Copter: a useful bit of timing debug code 
enable when looking at main loop timing
 2013-01-07 11:07:44 +11:00
Andrew Tridgell 647b3b09b6 Copter: ensure we process deferred mavlink messages 2013-01-07 11:07:39 +11:00
Andrew Tridgell d952ccf968 Copter: added main_loop_ready() function 
this tells us when the main loop is ready to run. MAVLink won't send a
message if the main loop could run.
 2013-01-07 11:07:34 +11:00
Andrew Tridgell b079a96eaf Copter: removed GPS_STATUS message 
this message is huge, and completely pointless now that we have
num_satellites in GPS_RAW_INT
 2013-01-05 20:39:31 +11:00
Andrew Tridgell c48714be16 Copter: enabled PX4 sensors 2013-01-05 20:39:31 +11:00
James Bielman 264db3670e AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C. 
- Update ArduCopter and ArduPlane modules to pass the correct serial
  driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
 2013-01-03 13:48:06 -08:00
rmackay9 ed79e8c954 ArduCopter: correct TRIM_THROTTLE parameter comments 2013-01-03 00:39:18 +09:00
rmackay9 861a66e26e ArduCopter: remove @brief from GCS_MAVLINK class's comments because they mess up the mission planner's parsing of parameter descriptions 2013-01-03 00:34:10 +09:00
rmackay9 ba8e9c8f9e ArduCopter: revert path for reading gcs parameter descriptions 2013-01-02 23:51:27 +09:00
rmackay9 d56e9cc701 ArduCopter: change path for GCS_Mavlink parameter descriptions 2013-01-02 23:42:05 +09:00
rmackay9 4ef7e7b1c6 ArduCopter: add parameter descriptions for GCS_Mavlink objects 2013-01-02 23:36:48 +09:00
Andrew Tridgell 94e3322e24 Copter: fixed build on px4 2013-01-02 22:09:02 +11:00
rmackay9 886329898c ArduCopter: minor fixup to a few parameter descriptions 2013-01-02 18:50:25 +09:00
rmackay9 ac028cca74 ArduCopter: remove spaces to allow MP to parse RC Channel parameter descriptions 2013-01-02 18:40:59 +09:00
rmackay9 42a5d183da ArduCopter: added parameter descriptions for optflow, throttle and loiter pid controllers 2013-01-02 18:32:11 +09:00
rmackay9 ffa923981c ArduCopter: added parameter description for navigation and some throttle controllers 2013-01-02 17:44:21 +09:00
rmackay9 4a975d35ce ArduCopter: add parameter descriptions for loiter's lat and lon rate controllers 2013-01-02 17:20:58 +09:00
rmackay9 c595a1e9a2 ArduCopter: updated parameters for roll, pitch and yaw rate controllers. 
Also added reference to AP_Motors_Class.cpp so that parameter descriptions can be seen in mission planner.
 2013-01-02 17:05:57 +09:00
Andrew Tridgell 374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell e56a7eacec Copter: don't pass board version to motors 2013-01-02 15:28:34 +11:00
Andrew Tridgell 394dccf9a8 Copter: make config defaults match 2.9 2013-01-02 15:27:42 +11:00
Andrew Tridgell ead38f917f Copter: use GRAVITY_MSS 2013-01-02 14:45:08 +11:00
Robert Lefebvre b9594e7123 Parameters: Fixing a typo 2013-01-01 20:13:00 -05:00
Andrew Tridgell 4236b10edc Copter: fixed board ID string 2013-01-02 10:18:05 +11:00
Andrew Tridgell 17a63dc76a Copter: fixes for AP_HAL merge 2013-01-02 09:55:55 +11:00
Andrew Tridgell 51d987a890 Copter: removed unusued variable 2013-01-02 09:55:55 +11:00
rmackay9 9b2956b377 ArduCopter: increase throttle rate P to 6.0 (was 1.0) and alt hold P to 2.0 (was 1.0) 2013-01-02 09:55:37 +11:00
rmackay9 228ad2198f ArduCopter: update firmware version to 2.9-rc2 2013-01-02 09:55:37 +11:00
rmackay9 2181ec2ab0 ArduCopter: log watchdog event to dataflash 2013-01-02 09:55:37 +11:00
rmackay9 16f99ebcab ArduCopter: fix to sub system used to record failsafe in dataflash ERR message 2013-01-02 09:55:37 +11:00
rmackay9 672fdfbf71 ArduCopter: added ERR dataflash message 
Failsafe events changed to errors so they are more obvious.
Errors recorded to dataflash for failure to init compass and optical flow sensor.
Errors recorded for pwm failure.
Resolved a compile error when dataflash logging is disabled.
 2013-01-02 09:55:37 +11:00
rmackay9 677b38a48e ArduCopter: first implementation of surface tracking using sonar 
Note: not yet enabled as part of any flight mode
 2013-01-02 09:55:37 +11:00
rmackay9 92e271e517 AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1 2013-01-02 09:55:37 +11:00
rmackay9 d400e5040b ArduCopter: turn on INERTIAL_NAV_Z in the config.h file so that it takes effect when built for the mission planner 2013-01-02 09:55:37 +11:00
rmackay9 daac540e08 ArduCopter: get_throttle_althold - add check to avoid divide by zero 2013-01-02 09:55:37 +11:00
rmackay9 0decd870dc ArduCopter: inertial nav - only initialise horizontal position when home is initialised 2013-01-02 09:55:37 +11:00
rmackay9 4c14010029 ArduCopter: update release notes for 2.9-rc1 2013-01-02 09:55:37 +11:00
rmackay9 576af6d487 ArduCopter: bug fix to althold desired rate calculation. Fix from Jonathan. 2013-01-02 09:55:37 +11:00
rmackay9 02bf3ea027 ArduCopter: Battery failsafe triggers RTL only if we are more than 15m from home, otherwise it performs a LAND 2013-01-02 09:55:37 +11:00
rmackay9 ff40fa6aab ArduCopter: alt hold bug fix - should use 2x linear distance when calculating the desired rate 
Bug fix from Leonard.
 2013-01-02 09:55:37 +11:00
rmackay9 68b62abd38 ArduCopter with the new Camera and Relay classes for APM1 and APM2. 
All changes by Sandro Benigno
 2013-01-02 09:55:37 +11:00
rmackay9 393c893cdb ArduCopter: bug fix (attempt #2) for accel based throttle controller 
Thanks to Jonathan for this.
 2013-01-02 09:25:58 +11:00
rmackay9 e583ade62d ArduCopter: bug fix to accel based throttle controller (was using m/s instead of cm/s) 2013-01-02 09:24:31 +11:00
rmackay9 e77b54c7dc ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete. 2013-01-02 09:24:31 +11:00
rmackay9 e850ab7ccd ArduCopter: add AUTO_VELZ_MIN, AUTO_VELZ_MAX and PILOT_VELZ_MAX to allow better control of climb/descent rate in auto and manual throttle modes 2013-01-02 09:24:31 +11:00
Craig@3DR 0ed25cf719 Global change all references from 
GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
 2013-01-02 09:24:31 +11:00
rmackay9 5526ca204c ArduCopter: on throttle failsafe, only initiate RTL if we are at least 15m from home 2013-01-02 09:22:51 +11:00
rmackay9 466097b383 ArduCopter: use inertial nav for current altitude and climb rate 2013-01-02 09:22:51 +11:00
rmackay9 5ba363b007 ArduCopter: move gcs_check function (which sends to ground station) to run when 50hz loop is not running 
Also removed redundant heartbeat message
 2013-01-02 09:21:35 +11:00
rmackay9 331a73c4ac ArduCopter: remove duplicate (?) send of MSG_EXTENDED_STATUS1 2013-01-02 09:20:08 +11:00
rmackay9 6baddf4aee ArduCopter: remove unused variable last_5hz 2013-01-02 09:20:08 +11:00
rmackay9 1f5fdcdaa8 ArduCopter: remove unnecessary "Initialising APM message..." 2013-01-02 09:20:08 +11:00
Jason Short 8b62c4630b ACM: Restore Multi-mode support 2013-01-02 09:20:08 +11:00
rmackay9 bd0e018ca0 ArduCopter: restore auto-trim method but now use AHRS.add_trim 2013-01-02 09:20:08 +11:00
Craig@3DR e350bfbba8 Removed 2 more degree symbols from comments 2013-01-02 09:20:08 +11:00
rmackay9 b786cf40f7 ArduCopter: change GPS dataflash message to output unfiltered gps lat and lon 2013-01-02 09:19:39 +11:00
rmackay9 d3cbf733ba ArduCopter: ensure RTL performs a land if a failsafe has been triggered 2013-01-02 09:19:39 +11:00
Robert Lefebvre 6e64b1b357 ACM: Precision Loiter RePositioning code. 
Protected behind a #define
 2013-01-02 09:19:39 +11:00
rmackay9 0fa6fdf407 ArduCopter: remove unused wait_for_yes function 2013-01-02 09:19:39 +11:00
rmackay9 e6519330f4 ArduCopter: remove unused rc_override variables to save 21 bytes 2013-01-02 09:19:17 +11:00
rmackay9 396024e802 ArduCopter: move scaleLongUp and scaleLongDown initialisation to init_home 2013-01-02 09:19:17 +11:00
rmackay9 7a5e4b8549 ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log 2013-01-02 09:19:17 +11:00
rmackay9 1b5ff6aac6 ArduCopter: restore initial climb to RTL 2013-01-02 09:19:17 +11:00
rmackay9 52802cb29e ArduCopter: limit output throttle to 800 only for TRI which does not have the new stability patch 2013-01-02 09:19:17 +11:00
rmackay9 34e18ae12a ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle 2013-01-02 09:19:17 +11:00
rmackay9 ac8af9a53f ArduCopter: Leonard Hall's changes to alt hold including adding low pass filter to climb rate 
get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
 2013-01-02 09:19:17 +11:00
rmackay9 f4c50353b9 ArduCopter: allow tuning of the Throttle Rate D term 2013-01-02 09:16:48 +11:00
Robert Lefebvre 9605bd8ee1 ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work. 2013-01-02 09:14:55 +11:00
rmackay9 d926360e81 ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts 2013-01-02 09:14:31 +11:00
rmackay9 881dae1e27 ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters 
Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
 2013-01-02 09:13:42 +11:00
rmackay9 6da68c53a5 ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled 2013-01-02 09:13:42 +11:00
rmackay9 d8e3d5c10c ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h 2013-01-02 09:12:40 +11:00
rmackay9 5633164fa0 ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue) 2013-01-02 09:12:40 +11:00
rmackay9 50d46898fb ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden 2013-01-02 09:12:17 +11:00
rmackay9 ddc578fd18 ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode 2013-01-02 09:12:17 +11:00
rmackay9 0ab82f8c4e ArduCopter: clear ahrs roll and pitch trims after an accel level command 2013-01-02 09:12:17 +11:00
rmackay9 7ea34d4fb7 ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method 
Also removed slow low pass filter meant to correct for accelerometer calibration.  This is no longer required now that we have the improved calibration method.
 2013-01-02 09:11:25 +11:00
rmackay9 4dfe3a2d73 ArduCopter: remove weird character from navigation.pde 2013-01-02 09:11:25 +11:00
Robert Lefebvre ab95f04a91 ACM: TradHeli 
Change name of attitude rate feed-forward parameters.
 2013-01-02 09:10:40 +11:00
rmackay9 8e032b89ee ArduCopter: create 2.9 branch and update firmware version 2013-01-02 09:10:40 +11:00
Andrew Tridgell cf8e648558 CLI: fixed accel setup 
disable mavlink callback in CLI
 2012-12-24 08:51:33 +11:00
Andrew Tridgell 9931009db2 Math: use pythagorous2() in some more places 2012-12-20 15:16:18 +11:00
Andrew Tridgell 78d98023f4 Copter: remove use of 'byte' 2012-12-20 14:58:07 +11:00
Pat Hickey 1878290510 ArduCopter: fixes for AP_InertialSenor_UserInteract 2012-12-20 14:53:23 +11:00
Andrew Tridgell 3c0440b0b4 Math: use common degrees() and radians() functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell 06357c40f2 Copter: use new functions 2012-12-20 14:53:22 +11:00
Pat Hickey 2ad4fed8cd Rover/Copter/Plane: change from vsnprintf to vsnprintf_P 2012-12-20 14:52:38 +11:00
Pat Hickey 54b98c0a7c ArduPlane: use hal's vsnprintf 2012-12-20 14:52:37 +11:00
Andrew Tridgell a02f723f3a Copter: fixed HIL builds 2012-12-20 14:52:37 +11:00
Andrew Tridgell 2e8e84ba8b Copter: switch to using targets.mk 2012-12-20 14:52:36 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 9e986801c9 Copter: fixed SITL for ArduCopter 2012-12-20 14:52:34 +11:00
Andrew Tridgell 08b1c2d590 Copter: fixed GPS init 2012-12-20 14:52:33 +11:00
Pat Hickey 9a28ed2df6 ArduCopter: refactor Makefile targets in terms of Arduino.mk targets 2012-12-20 14:52:31 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Pat Hickey 22ac39a4ef ArduCopter: disable and remove InertialNav defines from APM_Config 
* We're not going to have the RAM available to support those in general release
 2012-12-20 14:52:29 +11:00
Pat Hickey d5d97be837 ArduCopter: add param loader properly implement parameters 
* thanks tridge!
 2012-12-20 14:52:29 +11:00
Pat Hickey 5e63491994 ArduCopter: fix issues with HAL/HIL mixup and baro/compass instances 2012-12-20 14:52:29 +11:00
Pat Hickey 21d0da84a6 ArduCopter: temporarily disable AP_Param::setup_sketch_results 
* rebased away tridge's AP_Param changes as they seemed possibly buggy?
 2012-12-20 14:52:29 +11:00
Pat Hickey a0151aa66c ArduCopter: fix cliSerial null ptr, do AP_Param::setup_sketch_defaults 
* plus make SITL DataFlash available.
 2012-12-20 14:52:29 +11:00
Pat Hickey 1e48d0fc69 Makefile Targets rewritten to use per-target extension style 2012-12-20 14:52:29 +11:00
Pat Hickey 524e52f449 ArduCopter: changed makefile to inherit environments properly 2012-12-20 14:52:29 +11:00
Pat Hickey d93d932831 ArduCopter: defines fixes 
Conflicts:

	libraries/AP_Common/Arduino.mk
 2012-12-20 14:52:28 +11:00
Pat Hickey 2aa4657315 ArduCopter: changes to use CONFIG_HIL_BOARD 2012-12-20 14:52:28 +11:00
Pat Hickey ade7099d75 ArduCopter: add AP_HAL_MAIN 2012-12-20 14:52:28 +11:00
Pat Hickey 5bd7046a95 ArduCopter: sketch cpp builds! 2012-12-20 14:52:28 +11:00
Pat Hickey 8b49208771 ArduCopter: some fixes 2012-12-20 14:52:28 +11:00
Pat Hickey 13c044ab3e ArduCopter: fixes to radio.pde 2012-12-20 14:52:28 +11:00
Pat Hickey 7af03127f6 ArduCopter: more work 2012-12-20 14:52:28 +11:00
Pat Hickey b90889dd11 ArduCopter: add ArduPlane's compat.h & compat.pde 2012-12-20 14:52:28 +11:00
Pat Hickey 70f4739522 ArduCopter: more fixes 2012-12-20 14:52:28 +11:00
Pat Hickey 4b84e99f85 remove dumb user hooks comments 2012-12-20 14:52:28 +11:00
Pat Hickey 901c692ee3 arducopter: type fix 2012-12-20 14:52:28 +11:00
Pat Hickey f281d9265e ArduCopter: reworked sonar analog source creation 2012-12-20 14:52:28 +11:00
Pat Hickey d9e0bbbbab ArduCopter: first pass at AP_HAL porting 
* changed all the byte types to uint8_t
* fixed up much of the serial stuff
 2012-12-20 14:52:27 +11:00
Pat Hickey b7a7eceef8 ArduCopter: add nocore.inoflag and Arduino.h 2012-12-20 14:51:40 +11:00
Pat Hickey ada10f6eb2 ArduCopter: change comment references to AP_Var to AP_Param 
* jsut to clean up the grep for "AP_Var"
 2012-12-20 14:51:31 +11:00
Pat Hickey a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Jason Short 0419dc8dfd ACM: Simplified control mode code 2012-12-14 13:30:48 -08:00
Jason Short 19ae5c30eb ACM : Formatting 2012-12-13 20:12:39 -08:00
rmackay9 52177c63f7 ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised 2012-12-11 00:14:29 +09:00
rmackay9 af77425636 ArduCopter: fix Failed to Init Optflow message at startup 2012-12-11 00:09:45 +09:00
rmackay9 2f748f8382 ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE 2012-12-10 23:47:14 +09:00
rmackay9 d31efebd44 ArduCopter: rename throttle failsafe parameters. 
Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
 2012-12-10 23:38:43 +09:00
rmackay9 2f1b2b70e6 ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees 2012-12-10 22:27:46 +09:00
rmackay9 dadad8677e ArduCopter: added descriptions for most parameters that did not have them 
Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
 2012-12-10 21:45:57 +09:00
rmackay9 f522ef078e ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude 2012-12-10 17:30:50 +09:00
rmackay9 047f848cc7 ArduCopter: remove ThirdOrderCompFilter from list of includes 2012-12-10 09:14:44 +09:00
rmackay9 154e3c33f7 ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 cfe2507c0b ArduCopter: reduce Rate Roll/Pitch P to 0.150 (was 0.175) and increase I to 0.1 (was 0.01) 2012-12-09 18:08:45 +09:00
rmackay9 56ceb230cb ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission 2012-12-09 18:04:31 +09:00
rmackay9 0f7bb79d89 ArduCopter: add comments to tuning parameters. 
Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
 2012-12-09 16:44:42 +09:00
rmackay9 9a05d3bd36 ArduCopter: add comments at the top of many navigation functions 2012-12-09 15:50:50 +09:00
rmackay9 8c2423f618 ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde 2012-12-09 15:24:19 +09:00
rmackay9 b36eb406d4 ArduCopter: allow alt hold to be engaged with alt < 1m because sometimes we get baro drift. 
Also initialisation of target altitude is done in set_throttle_mode function.
 2012-12-09 14:48:01 +09:00
rmackay9 b4e5176e2a ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz. 2012-12-09 14:27:33 +09:00
Robert Lefebvre aa4d4f8c24 ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode. 2012-12-08 20:41:05 -05:00
Robert Lefebvre 0eb57bf93d ACM: TradHeli 
Fix to make update_throttle_cruise work with stab_throttle scaling.
 2012-12-08 15:12:39 -05:00
Robert Lefebvre 1b97a92098 ACM: Code Cleanup 2012-12-08 14:49:38 -05:00
rmackay9 f98a807d36 ArduCopter: remove debug related to yaw mode used for alt hold 2012-12-08 14:24:50 +09:00
rmackay9 9dd978576b ArduCopter: auto yaw changes to allow pilot override of yaw during missions 
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw).  We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
 2012-12-08 14:23:32 +09:00
rmackay9 85c8bdce15 ArduCopter: removed unused and out-of-date #defines from APM_Config.h 2012-12-08 13:38:39 +09:00
rmackay9 68ca123224 ArduCopter: remove some unused #defines 2012-12-07 15:17:35 +09:00
rmackay9 99b32a39c4 ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis 2012-12-07 13:01:40 +09:00
rmackay9 cca9f9dbce ArduCopter: do_set_servo fix to resolve -1 being assigned to uint8_t 2012-12-07 12:58:44 +09:00
rmackay9 3a90fc77f9 ArduCopter: add dataflash logging of camera events 2012-12-07 00:57:08 +09:00
rmackay9 d74cf54b5d ArduCopter: allow triggering of camera from a mission 2012-12-06 23:48:30 +09:00
rmackay9 d3de77f74c ArduCopter: fix do_set_servo so that it works again 2012-12-06 20:18:33 +09:00
rmackay9 653535b9a1 ArduCopter: added CH7 option to trigger camera 
Restructured reading of channel 7 into a switch statement.
 2012-12-06 17:47:01 +09:00
rmackay9 4ca27defb3 ArduCopter: update comments related to CH7 switch options 2012-12-06 17:40:36 +09:00
rmackay9 75401756f2 ArduCopter: maintain loiter control even below 1m while landing 2012-12-06 12:40:53 +09:00
rmackay9 2dd4694eef ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz) 2012-12-06 10:32:12 +09:00
rmackay9 269e02ee93 ArduCopter: bug fix - initialise inertial nav 2012-12-06 10:32:07 +09:00
rmackay9 8d682b9812 ArduCopter: disable INERTIAL_NAV_XY by default 2012-12-06 10:32:02 +09:00
rmackay9 39d524212f ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter. 
When disabled the original velocity based throttle controller is used.
 2012-12-06 10:31:57 +09:00
rmackay9 a5bb54e36e ArduCopter: RTL clean-up and slightly improved landing sensor 
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
 2012-12-06 10:31:52 +09:00
rmackay9 6da07ef1d2 ArduCopter: increase CONTROL_SWITCH_COUNTER so that flight mode switch must be changed for at least 1/10th of a second 2012-12-06 10:31:46 +09:00
rmackay9 072ffec493 ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position 2012-12-06 10:31:41 +09:00
rmackay9 aa5e7e63a0 ArduCopter: switch on INS in APM_Config.h (i.e. on by default for users uploading through Arduino IDE) 2012-12-06 10:31:36 +09:00
rmackay9 bdb47c449a ArduCopter: pass linear altitude error to throttle rate controllers. 
Previously the requested rate used the square root of the altitude error.

Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
 2012-12-06 10:31:31 +09:00
rmackay9 d7f76ebd87 ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI) 2012-12-06 10:31:25 +09:00
rmackay9 7b4ed2d227 ArduCopter: restored landing detector to landing throttle mode. 
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
 2012-12-06 10:31:20 +09:00
rmackay9 560bb1d738 ArduCopter: removed unused AUTO_THROTTLE_HOLD #define 2012-12-06 10:31:15 +09:00
rmackay9 7035529953 ArduCopter: remove unused get_desired_climb_rate function 2012-12-06 10:31:09 +09:00
rmackay9 a94826f182 ArduCopter: add set_throttle_mode to better control initialisation of variables 2012-12-06 10:31:04 +09:00
rmackay9 1036b35128 ArduCopter: added back in angle boost and recombined for heli and multicopter 2012-12-06 10:30:55 +09:00
rmackay9 3cbef57c64 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy 
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
 2012-12-06 10:30:49 +09:00
Robert Lefebvre 8c18a60766 ACM: Small fix to Yaw Look Ahead 2012-12-04 14:50:14 -05:00
Robert Lefebvre 1d589c0b7d ACM: TradHeli 
Fixes for Attitude rate controllers.
 2012-12-04 14:42:04 -05:00
Robert Lefebvre 5723021be1 ACM: TradHeli 
Creating Rate Feed-Forward Parameters
 2012-12-04 13:47:38 -05:00
Robert Lefebvre 3e65dd3ded ACM: TradHeli APM_Config.h changes 2012-12-04 13:32:40 -05:00
Robert Lefebvre 315a7e8000 ACM: Yaw Look Ahead Changes 2012-12-04 13:26:41 -05:00
Robert Lefebvre 9130045298 ACM: Code Cleanup 2012-11-30 17:05:12 -05:00
rmackay9 8141f0b600 ArduCopter: bug fix - increase mpu6k sample rate to 100hz 2012-11-30 23:49:18 +09:00
Andrew Tridgell 6fbf5ec8f2 Copter: update ArduCopter for new ins interface 2012-11-30 07:15:18 +11:00
Michael Oborne 68aa5e4682 AC add ability to start new accel_scale via mavlink 2012-11-28 21:38:58 +08:00
Andrew Tridgell 2949d58b71 Copter: re-enable sending of GLOBAL_POSITION_INT message 
this gives important raw GPS velocity information, plus relative and
absolute height
 2012-11-28 11:26:19 +11:00
Robert Lefebvre 07d7d90882 ACM: TradHeli 
Bringing in Low Pass Filter for Rate Controllers
 2012-11-26 21:51:23 -05:00
Robert Lefebvre 6b8c39dd10 ACM: Creating Yaw_Look_Ahead yaw mode. 
This function is not fully tested yet.
 2012-11-26 21:37:13 -05:00
Robert Lefebvre 3f0e8dd358 ACM: TradHeli 
Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
 2012-11-26 21:21:12 -05:00
Robert Lefebvre e8d619acad ACM: Begin creation of TradHeli rate control. 
May affect Multi-Rotors.
 2012-11-26 21:02:41 -05:00
Robert Lefebvre 6b1fee767a ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Robert Lefebvre 9e45e906fb ACM: TradHeli 
Move some TradHeli #defines into one place in APM_Config to clean up config.h and defines.h
 2012-11-26 19:09:55 -05:00
Robert Lefebvre b32d7c8b63 ACM: TradHeli 
Prevent helis from arming while RSC control is switched on.
 2012-11-26 19:03:28 -05:00
Robert Lefebvre 95eeda7cf7 ACM: TradHeli 
Removing Angle Boost function.
Does not make sense for helis due to aerodynamics.  Can cause more problems than it solves.
 2012-11-26 18:58:21 -05:00
Robert Lefebvre 8056b78c55 ACM: TradHeli 
Remove Rate I-term reset when throttle stick is on the bottom.  This could be very bad for helis since it's plausible to use full downstick while flying.
There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway.
Also removed what appears to be some deadwood.
 2012-11-26 18:49:24 -05:00
Robert Lefebvre 637c9a1a72 ACM: TradHeli 
Removing this "throttle" output restriction for TradHelis.
 2012-11-26 18:44:03 -05:00
Andrew Tridgell 5818aaad42 Copter: fixed build error 
thanks to Marco for pointing this out
 2012-11-24 20:39:35 +11:00
Andrew Tridgell f6ec932d63 Copter: added reboot in CLI and over MAVLink 
useful for getting out of CLI
 2012-11-24 18:20:37 +11:00
Andrew Tridgell cd07d965a7 Copter: ported RSSI_PIN option from ArduPlane 
this is useful for OSD users
 2012-11-22 20:59:33 +11:00
rmackay9 3372355e07 ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d 2012-11-22 12:50:39 +09:00
rmackay9 eb6d8fca57 ArduCopter: added ReleaseNotes.txt 2012-11-22 09:51:04 +09:00
Robert Lefebvre 6ffc115236 Changes to get_throttle_rate() 
Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
 2012-11-21 17:11:38 -05:00
Andrew Tridgell dbdb3e1194 ACM: allow fetch of parameters by index 
this makes it more efficient to re-fetch parameters that are missing
 2012-11-22 00:16:57 +11:00
Andrew Tridgell bcae83c4f6 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
Andrew Tridgell 704da2a5d9 MAVLink: make it possible to enter the CLI over the radio 
this only works on the APM2, where UART0 is also the radio port
 2012-11-21 14:11:05 +11:00
Michael Oborne a5e3ce4655 remove cli planner mode - no longer used 2012-11-21 07:45:45 +08:00
Michael Oborne 0c84b8abf1 fix unit max. and unit type 2012-11-21 07:42:53 +08:00
Andrew Tridgell bcf740a82f ACM: support 16 character parameter names 2012-11-20 21:38:58 +11:00
Andrew Tridgell c008ca7560 ACM: fixed documentation of disabling voltage/current pins for ArduCopter 2012-11-20 20:26:14 +11:00
Andrew Tridgell 69fbcc8683 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
rmackay9 810da878e7 ArduCopter: performance monitoring - changed loop counters to uint16_t. 
Removed an unused items from dataflash logging of Performance.
 2012-11-19 11:55:47 +09:00
Andrew Tridgell dafaa2efc8 SITL: disable optical flow on the desktop build 
it doesn't work yet, as no sensor emulator is available
 2012-11-19 09:04:03 +11:00
Andrew Tridgell a3c3c59b82 ACM: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
rmackay9 07a7a1acd8 ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
Andrew Tridgell 531e62d3b5 MAVLink: improve usefulness of logged GPS velocities 
we need them to align with time to use them for accelerations
 2012-11-17 17:45:30 +11:00
Jason Short 5f57678a9c ACM Nav_throttle- removed sign inversion 2012-11-16 17:38:57 -08:00
Robert Lefebvre 9c6e914bf8 Added Leonard to Contributor List. 2012-11-16 15:43:03 -05:00
rmackay9 e92b560df5 ArduCopter: low baterry failsafe 2012-11-15 23:35:41 +09:00
rmackay9 73ed6c9dbf ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
rmackay9 258442770d ArduCopter: flight mode changes ignored while in throttle failsafe 
reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
 2012-11-13 12:50:51 +09:00
rmackay9 cdfd3f9ccc ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap' 
Changed ArduPlane to keep function consistent with ArduCopter
 2012-11-12 13:30:04 +09:00
rmackay9 dcd98eee78 ArduCopter: remove some variables no longer required with introduction of AP_state 2012-11-12 12:41:25 +09:00
rmackay9 ac5dcc8d49 ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables 2012-11-12 12:35:58 +09:00
Jason Short ea7f639ebf ACM: Added fast descent with Bill P's equation for managed accerlation 2012-11-11 18:23:45 -08:00
Jason Short 69db678252 ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller. 2012-11-11 18:22:54 -08:00
Jason Short c1b759d5d8 ACM: Added a speed filter for throttle cruise, increased alt change rate for alt hold, increased the max climb_rate reporting 2012-11-11 18:17:33 -08:00
Jason Short f344eb875a ACM: Allow greater than 45° pitch and roll in Stab 2012-11-11 18:07:58 -08:00
Jason Short be63481a8c ACM : Logging.pde formatting 2012-11-11 18:06:50 -08:00
Jason Short 9e0b0b9fcd ACM : loging ApState at faster rate 2012-11-11 18:00:10 -08:00
Jason Short 9735a0eff1 ACM: Allow for user defined roll and pitch input max 2012-11-11 18:00:10 -08:00
Andrew Tridgell fddfb0b1a3 MAVLink: update compass health in SYS_STATUS 
this will make it easier to tell if a I2C error occurred in flight
 2012-11-12 11:26:54 +11:00
rmackay9 bcb9519fd7 ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues 2012-11-11 22:42:10 +09:00
rmackay9 e212744f4c ArduCopter: failsafe improvements 
resolves momentary throttle drop to zero before failsafe engages
resolves motor cut after 30seconds if flying in stabilize without GPS (now switches to ALT_HOLD with target altitude zero)
disables motors if throttle was zero before failsafe event
 2012-11-11 22:11:12 +09:00
rmackay9 96872493ae ArduCopter: remove unnecessary debug print mesage from save_trim function 2012-11-10 23:10:29 +09:00
rmackay9 95f6357d35 ArduCopter: fix APM2 build 2012-11-10 22:06:23 +09:00
Jason Short 883bb7cfc0 ACM formatting 2012-11-09 22:15:16 -08:00
Jason Short fb2180ddcd ACM : climb rate option using Bill P's equation 2012-11-09 22:15:16 -08:00
Jason Short 129ec35c35 ACM crosstrack min distance 2012-11-09 22:15:16 -08:00
Jason Short 4b5e0a5046 ACM Logging Events 2012-11-09 22:15:16 -08:00
Jason Short 6dba79e3a7 ACM Log, formatting 2012-11-09 22:15:16 -08:00
Jason Short 549489ddbb ACM : Setup, format 2012-11-09 22:15:16 -08:00
Jason Short ecdc281315 ACM | removing old files 2012-11-09 22:15:16 -08:00
Jason Short d2a5928c06 Ap state updates 2012-11-09 22:15:15 -08:00
Jason Short 4d7b9137fe ACM: Added max RTL altitude 2012-11-09 22:15:15 -08:00
Jason Short bfca0ff9bc ACM: added ap_state.pde 2012-11-09 22:15:15 -08:00
Jason Short 5ad38a32bf ACM : Attitude : added nav param reset 2012-11-09 22:15:15 -08:00
Jason Short 3c78c4a7a3 ACM : Attitude.pde added ap bitfield for failsafe bit 2012-11-09 22:15:15 -08:00
Jason Short a42c6bb609 ACM : Attitude.pde removed stabilize D 2012-11-09 22:15:15 -08:00
Jason Short e4cec91e59 ACM : Arducopter Added ap state bitfield, system bitfield 2012-11-09 22:15:15 -08:00
Jason Short cdabc3878b ACM: Arducopter - remove the stabilize D scheduling 2012-11-09 22:15:15 -08:00
Jason Short d2a0913b2d ACM : formatting 2012-11-09 22:15:15 -08:00
rmackay9 2b714ff7b0 ArduCopter: remove unused functions wrap_360f, wrap_180f and wrap_PI 2012-11-08 15:20:08 +09:00
rmackay9 14cbe37d3e ArduCopter: remove unused get_stabilize_rate_yaw 2012-11-07 23:28:25 +09:00
rmackay9 b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 ad431d2f25 ArduCopter: fixed HIL build caused by optical flow semaphore changes 2012-11-07 21:13:34 +09:00
rmackay9 cec96a76d7 ArduCopter: comment out InertialNav related Alt Hold and Loiter PID changes from APM_Config.h 2012-11-07 19:21:36 +09:00
rmackay9 1f801714e8 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 a1b4ec6d0e ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Andrew Tridgell e8ab62f6e5 ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT 
these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
 2012-11-05 15:23:41 +11:00
Jason Short 8a8ed7a711 ACM : Formatting 2012-10-28 12:12:38 -07:00
Jason Short 36040461df ACM : Formatting 2012-10-28 12:12:38 -07:00
Jason Short e138b0a1d7 ACM: Added simple mode bearing logging for bug hunting 2012-10-28 12:12:38 -07:00
Jason Short 1713279ace ACM: Formatting 2012-10-27 14:13:46 -07:00
Jason Short 5149a8c723 ACM: Added notes, credit to decel code. added speed_min to calc. 2012-10-27 14:13:24 -07:00
Jason Short 73bc90f9b8 ACM: config.h cleanup 
Added LOG_ITERM default to enabled
 2012-10-27 09:59:57 -07:00
rmackay9 cebcc226ee ArduCopter: change TOY_M throttle mode to THROTTLE_HOLD 2012-10-26 10:56:06 +09:00
rmackay9 4877348c49 ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon. 
Increase other constraints from 3200 to 32000.  These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
 2012-10-24 22:04:35 +09:00
rmackay9 5e8043fd9c ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters 
Changes on behalf of Leonard Hall
 2012-10-23 21:30:50 +09:00
Andrew Tridgell 406a5dc328 ACM: save another 20 bytes 2012-10-22 18:59:51 +11:00
Andrew Tridgell 9592be5af7 ACM: saved some more memory for strings 2012-10-22 18:57:08 +11:00
rmackay9 78316adf75 ArduCopter: replace Serial.print with Serial.print_P to save memory. 
Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
 2012-10-22 16:45:24 +09:00
Jason Short 6a40fcd56a ACM : fix compiler warning on non returning function 2012-10-21 14:37:42 -07:00
Jason Short 8842a7dc1b ACM : Cast to int32_T 
Don't think it really needs it, but I feel better with the cast.
 2012-10-21 14:36:05 -07:00
Jason Short a0752dc7dc ACM Acceleration management 
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
 2012-10-21 14:32:39 -07:00
rmackay9 a37a9b5b67 ArduCopter: updated firmware version to 2.8 2012-10-20 09:50:53 +09:00
rmackay9 4395fad6e9 ArduCopter: incremented eeprom format version to force users to accept the new defaults. 
Particularly important is the roll-pitch I term move from the stabilize to rate controllers.
 2012-10-19 16:14:51 +09:00
Pat Hickey d4bb8a10d7 Update ArduCopter and ArduPlane dependencies on AP_Menu 2012-10-18 20:53:39 -07:00
Robert Lefebvre bfade7d0ed Fixed that last commit 
#define Stupid_Mistake
 2012-10-18 16:50:42 -04:00
Robert Lefebvre 592f4040fd Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups. 2012-10-18 16:39:05 -04:00
rmackay9 1c08e48b4b ArduCopter: updated firmware version to 2.7.4-Zeta 2012-10-18 23:30:28 +09:00
rmackay9 583f2e49a3 ArduCopter: integrated Leonard Hall's improved ACRO mode 2012-10-18 23:24:34 +09:00
rmackay9 a2a3eed063 ArduCopter: bug fix for telemetry not working on APM1. 
SPI3 is also UART3.  On APM1 we use UART3 for telemetry and don't need SPI3.
 2012-10-18 19:15:21 +09:00
rmackay9 d2912e4e01 ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1 2012-10-18 17:04:44 +09:00
rmackay9 401fb4101c ArduCopter: removed deprecated mag offset routine. 
Also removed commented-out block of code from navigation.pde.
 2012-10-17 19:47:21 +09:00
rmackay9 9e3c2dd105 ArduCopter: updated firmware version to 2.7.4-Epsilon 2012-10-17 19:27:11 +09:00
rmackay9 8519fe55d3 ArduCopter: more out-of-date commented out code removed 2012-10-17 19:25:14 +09:00
rmackay9 b944d9df26 ArduCopter: bug fix in earthframe->body frame translation. 
Provided by Leonard Hall.

Also removed large unnecessary comments.
 2012-10-17 19:15:25 +09:00
rmackay9 7d7de976c3 ArduCopter: reduced optical flow's I and IMAX terms 2012-10-17 17:47:43 +09:00
rmackay9 956b347d68 ArduCopter: updated firmware version to 2.7.4-Delta 2012-10-17 10:20:41 +09:00
rmackay9 5fbe53a84d ArduCopter: bug fix for get_yaw_rate_stabilized_ef 
Provided by Leonard Hall
 2012-10-17 10:18:24 +09:00
Andrew Tridgell f828956cb8 battery: use set_pin() to allow pins to be changed at runtime 2012-10-16 17:20:49 +11:00
Robert Lefebvre 063cb41a11 Adding some comments to parameters. 2012-10-15 09:37:02 -04:00
rmackay9 4016f3ba85 ArduCopter: update version information ahead of testing 2012-10-15 18:15:38 +09:00
LeonardTHall d7b7e1cefa New Yaw controller using rate feed forward and stabilize. 
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
 2012-10-15 11:37:49 +09:00
rmackay9 ee5dab9647 ArduCopter: enable ACRO mode's AXIS_LOCK by default 2012-10-14 19:50:45 +09:00
rmackay9 997fe85880 ArduCopter: fixed acro mode 
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
 2012-10-14 17:47:46 +09:00
rmackay9 240b0b43fd ArduCopter: small comment fixes related to battery monitoring 2012-10-13 20:52:14 +09:00
rmackay9 4a41a3d210 ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor 2012-10-13 18:40:46 +09:00
Robert Lefebvre dae81d2068 Added #define for Tilt_Compensation. 
Also added some detail to WP_Speed_Max parameter.
 2012-10-12 14:51:31 -04:00
Robert Lefebvre 4e649a381c Added comment detail for Tilt_Comp Parameter. 
Reduced parameter default value for TradHeli.
 2012-10-11 13:17:39 -04:00
rmackay9 1e79d265a1 ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read 
The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
 2012-10-11 18:31:10 +09:00
rmackay9 cf3e49eea2 ArduCopter: changed sin_pitch and sin_roll to faster equivalents 2012-10-11 17:54:42 +09:00
rmackay9 03933df5b7 ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015 
Updated after discussing with Marco
 2012-10-11 17:25:01 +09:00
rmackay9 35fa50234f ArduCopter: move I terms from stabilize to rate controllers 2012-10-11 17:20:05 +09:00
rmackay9 2848bb8ee6 ArduCopter: freeze I terms if motor limits breached 2012-10-11 17:20:00 +09:00
Andrew Tridgell 601fe89baa ACM-HIL: fixed optflow declaration 2012-10-11 11:51:25 +11:00
Pat Hickey bbc7f050e5 ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors 
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
    mavelous <mavelous@googlegroups.com>

    Michael,

    Per our discussion today,

    In a MAVLINK_MSG_ID_COMMAND_LONG
    A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
    with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
    uses param index 1 to specify an arm/disarm motors event: 1 to arm,
    0 to disarm

    Thanks for working this out with me. Sorry to get it so completely
    wrong the first time around!

    Best
    Pat
 2012-10-10 18:59:55 +08:00
Pat Hickey da374f9043 ArduCopter: Provide AP_Semaphore instance for SPI3 bus on APM2. 2012-10-09 11:39:39 -07:00
rmackay9 b876733c0d ArduCopter: added message to console when entering ESC Calibration on startup 2012-10-09 12:31:05 +09:00
rmackay9 c0ad98be31 ArduCopter: failsafe added to shutdown motors if mainloop fails 2012-10-09 12:30:17 +09:00
rmackay9 fa0963d592 ArduCopter: APM_Config.h - make it ever so slightly easier to enable INERTIAL_NAV 2012-10-08 12:31:51 +09:00
rmackay9 3c9ba94f42 ArduCopter: bug fix to ROI when no camera mount is specific 2012-10-08 12:31:10 +09:00