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2498 Commits

Author SHA1 Message Date
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
rmackay9 7cf60e61b4 ArduCopter: bug fix in earth-frame to body-frame conversion for roll 2012-10-07 19:14:40 +09:00
rmackay9 05fd04134a ArduCopter: fix heli build 2012-10-06 13:46:19 +09:00
rmackay9 61d0c8e35c ArduCopter: added AP_Semaphore to list of includes 2012-10-06 12:41:58 +09:00
rmackay9 af1d6a9b82 ArduCopter: reduce Stabilize Yaw P term to 4.5 2012-10-03 14:19:49 +09:00
rmackay9 e375a27058 ArduCopter: prioritise rate controllers, rate controller targets converted to body frame 2012-10-03 14:10:31 +09:00
rmackay9 ea4f256f8e ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements 
To save a parameter, the current sensor pin is assumed to always be 1 higher than the voltage pin.
 2012-10-02 22:16:19 +09:00
Michael Oborne a38fef65c7 AP,AC Add ability to override an altitude in any auto mode, on the current active target 2012-09-30 07:29:33 +08:00
rmackay9 95763e610b ArduCopter: allow DMP to run in parallel with DCM 
Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
 2012-09-30 00:25:40 +09:00
rmackay9 8c6fd340d7 AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
rmackay9 41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
rmackay9 bae53807b2 ArduCopter: tiny formatting change in defines.h 2012-09-27 17:40:54 +09:00
rmackay9 280488fa5e ArduCopter: bug fix to display ITERM enabled/disabled properly from cli 
Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
 2012-09-27 17:40:30 +09:00
rmackay9 ed881117e0 ArduCopter: updated version to 2.7.4-Beta 2012-09-25 23:39:15 +09:00
rmackay9 fff5d51694 ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08) 2012-09-25 19:08:31 +09:00
rmackay9 a71aa21514 ArduCopter: increase default Loiter Rate P to 5.0 2012-09-25 12:19:44 +09:00
rmackay9 b2f12c4854 ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5 2012-09-24 18:39:33 +09:00
rmackay9 889d1bb36c ArduCopter: alt hold bug fix - removed reset next_WP in init_home 2012-09-23 01:00:06 +09:00
rmackay9 b3ff368589 ArduCopter: position lead filters modified to use lag which varies by gps 2012-09-20 15:49:09 +09:00
rmackay9 361ff0c08f ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in. 2012-09-18 23:19:23 +09:00
rmackay9 93ae29a3e9 ArduCopter: added throttle curve (although disabled by default) for all multicopters 2012-09-18 23:05:08 +09:00
rmackay9 498cbb063b ArduCopter: set fast gains while auto trim is being executed 2012-09-18 09:03:29 +09:00
Andrew Tridgell 5fd39bb928 ACM: updates for new GPS detection 
a GPS can now be attached after startup
 2012-09-17 14:45:47 +10:00
rmackay9 6f32f52377 ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables. 2012-09-17 13:44:29 +09:00
rmackay9 303ca11c4c HIL: changes to fix HIL for ArduCopter after recent timing changes. 
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
 2012-09-15 18:42:56 +09:00
rmackay9 b6d2d4723f ArduCopter: print firmware version of code instead of zero. 2012-09-13 21:49:11 +09:00
rmackay9 9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
Jason Short 072085d2d8 ACM : better debugging text 2012-09-12 23:06:06 -07:00
Jason Short 6b6075ed30 ACM l Prevent pre-mature finish of mission 2012-09-12 23:06:06 -07:00
Jason Short 834f961409 ACM : Fix enduf 2012-09-10 21:25:53 -07:00
Jason Short 4c8e257ea2 ACM : forced setup_show to dump params during log dump for better analysis. 2012-09-10 20:52:30 -07:00
Jason Short 34e07c826f ACM : Added centralized Iterm logging at a lower rate. Logs all iterms. 2012-09-10 20:26:48 -07:00
Jason Short e8e8c27db4 ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t 2012-09-10 20:22:57 -07:00
Jason Short a73bc70553 ACM : Params - formatting cleanup 2012-09-10 20:22:11 -07:00
Andrew Tridgell 841d2700b6 ACM: use spare CPU cycles to read the magnetometer 2012-09-10 11:38:18 +09:00
rmackay9 fd110a2723 ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU. 
This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
 2012-09-10 11:37:53 +09:00
rmackay9 42406c827a ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU. 2012-09-10 11:37:48 +09:00
rmackay9 5d3ddf1fc9 ArduCopter: bug fix for ROI not working if user did not have a camera mount 
Changed verify_nav_roi command to attempt to point at the target if our camera mount type is not pan_tilt nor pan_tilt_roll
 2012-09-10 02:03:32 +09:00
Andrew Tridgell f97104b435 ACM: use compass.accumulate() in ArduCopter 
this gives us a much less noisy magnetometer
 2012-09-08 10:06:04 +10:00
Michael Oborne c1235c55d5 Fix Approach Altitude min 2012-09-06 17:43:58 +08:00
Pat Hickey b02340fe10 APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE 2012-09-05 15:36:57 -07:00
rmackay9 5073e56c06 ArduCopter: upgraded firmware version to 2.7.3 2012-09-02 12:58:16 +09:00
rmackay9 c9d34c1737 ArduCopter: fixes to allow AP_Mount to work on APM1 with original default channels and fix to reenable support for 3-axis gimbals on APM2. 
Channels 5 to 11 changed to RC_Channel_aux.
Removed channel 9 because APM_RC doesn't support it in any case.
Updated EEPROM format version to 119 because of the change to RC_Channel_aux and because k_param_rc_11 moved to be after k_param_rc_10.
 2012-09-02 12:51:23 +09:00
rmackay9 9013d9be43 ArduCopter: remove unnecessary references to CH_CAM_PITCH, CH_CAM_ROLL, CH_CAM_YAW 2012-09-02 12:47:27 +09:00
Craig Elder 274b2e2143 Arducopter: Release 2.7.2 2012-08-31 19:18:10 -07:00
Andrew Tridgell e8d928cca4 ACM: added TELEM_DELAY to ArduCopter 2012-08-30 09:03:01 +10:00
Jason Short 51969dca22 ACM Log.pde : whitespace clean up 2012-08-28 21:22:07 -07:00
Jason Short 082913efd4 ACM : revert back to the 2.6 climb rate calc 
The current filter is outputting wild oscillations.
 2012-08-28 21:22:07 -07:00
Craig Elder 4ad516c445 Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking 
Arduplane:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
 2012-08-28 20:09:10 -07:00
rmackay9 2ad6dcb7c4 ArduCopter: increased Stabilize Roll and Pitch I term to 0.05 (was 0.01) based on feedback from Jason 2012-08-29 11:34:53 +09:00
Craig Elder d8a2bfb9e8 Arducopter: Preparing for 2.7.2 Release 2012-08-28 18:30:41 -07:00
Jason Short fd4bc69d77 ACM : Logging updates 2012-08-28 15:40:08 -07:00
Jason Short 9d64bea2ef ACM: Altitude Adjust 2012-08-28 15:40:08 -07:00
Jason Short 98cc65862d ACM : Log Timing 2012-08-28 15:40:08 -07:00
rmackay9 2e9e3ce5a6 ArduCopter: increase SPI bus speed to 2Mhz after IMU initialisation has completed (MPU6000 accepts maximum of 1Mhz for some registers but up to 20Mhz for main sensor and interrupt registers) 2012-08-28 17:29:48 +09:00
rmackay9 b4b394e67e ArduCopter: reduced Rate Roll and Pitch PID values 
RATE_ROLL_P, RATE_PITCH_P reduced to 0.165 (was 0.185)
RATE_ROLL_D, RATE_PITCH_D reduced to 0.004 (was 0.008)
 2012-08-26 10:45:45 +09:00
uncrustify 09fbe8e29a uncrustify ArduCopter/APM_Config.h 2012-08-21 19:19:50 -07:00
uncrustify 429c41155c uncrustify ArduCopter/config.h 2012-08-21 19:19:50 -07:00
uncrustify 969166c4e3 uncrustify ArduCopter/system.pde 2012-08-21 19:19:50 -07:00
uncrustify 841b4ce9c8 uncrustify ArduCopter/test.pde 2012-08-21 19:19:50 -07:00
uncrustify bb6e4ac969 uncrustify ArduCopter/setup.pde 2012-08-21 19:19:50 -07:00
uncrustify 7f89e6c677 uncrustify ArduCopter/motors.pde 2012-08-21 19:19:50 -07:00
uncrustify d49df965f3 uncrustify ArduCopter/navigation.pde 2012-08-21 19:19:50 -07:00
uncrustify 6791da4ee7 uncrustify ArduCopter/commands_logic.pde 2012-08-21 19:19:50 -07:00
uncrustify f783ace0de uncrustify ArduCopter/Attitude.pde 2012-08-21 19:19:50 -07:00
uncrustify 2438cd32fc uncrustify ArduCopter/Parameters.pde 2012-08-21 19:19:50 -07:00
uncrustify 4021a64747 uncrustify ArduCopter/ArduCopter.pde 2012-08-21 19:19:50 -07:00
uncrustify c1ce689e38 uncrustify ArduCopter/Log.pde 2012-08-21 19:19:50 -07:00
uncrustify 6a893c11c7 uncrustify ArduCopter/Parameters.h 2012-08-21 18:57:21 -07:00
uncrustify b9ba41c12a uncrustify ArduCopter/defines.h 2012-08-21 18:57:21 -07:00
uncrustify d0e48755ab uncrustify ArduCopter/config_channels.h 2012-08-21 18:57:21 -07:00
uncrustify 4311b15005 uncrustify ArduCopter/UserVariables.h 2012-08-21 18:56:57 -07:00
uncrustify 3d4ca7aa30 uncrustify ArduCopter/GCS.h 2012-08-21 18:56:56 -07:00
uncrustify 37e00fae80 uncrustify ArduCopter/APM_Config_mavlink_hil.h 2012-08-21 18:56:56 -07:00
uncrustify 42f107706e uncrustify ArduCopter/planner.pde 2012-08-21 18:56:56 -07:00
uncrustify 8dccd9d6b0 uncrustify ArduCopter/sensors.pde 2012-08-21 18:56:50 -07:00
uncrustify df6bdfbd5a uncrustify ArduCopter/UserCode.pde 2012-08-21 18:56:01 -07:00
uncrustify f7a748d43b uncrustify ArduCopter/GCS_Mavlink.pde 2012-08-21 18:56:01 -07:00
uncrustify 30c0328d0c uncrustify ArduCopter/flip.pde 2012-08-21 18:56:01 -07:00
uncrustify 58b5f4e271 uncrustify ArduCopter/GCS.pde 2012-08-21 18:56:00 -07:00
uncrustify c7ff6a6335 uncrustify ArduCopter/toy.pde 2012-08-21 18:56:00 -07:00
uncrustify 1e2c01d8f6 uncrustify ArduCopter/commands_process.pde 2012-08-21 18:56:00 -07:00
uncrustify b6dd8aa592 uncrustify ArduCopter/leds.pde 2012-08-21 18:55:44 -07:00
uncrustify 2d398aa663 uncrustify ArduCopter/commands.pde 2012-08-21 18:55:43 -07:00
uncrustify a75d477071 uncrustify ArduCopter/radio.pde 2012-08-21 18:55:43 -07:00
uncrustify ff0e2e537e uncrustify ArduCopter/events.pde 2012-08-21 18:55:43 -07:00
uncrustify 4303e0bcae uncrustify ArduCopter/limits.pde 2012-08-21 18:55:16 -07:00
uncrustify a20f75e12c uncrustify ArduCopter/inertia.pde 2012-08-21 18:54:57 -07:00
uncrustify 7c8f4421a3 uncrustify ArduCopter/control_modes.pde 2012-08-21 18:54:57 -07:00
Andrew Tridgell 6d11940ada AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
Andrew Tridgell e9928e78de ACM: fixed TradHeli build 2012-08-22 09:55:31 +10:00
Robert Lefebvre 575b99b4be TradHeli: Creating Flybar Acro mode. 2012-08-21 16:54:01 -04:00
Andrew Tridgell 16e06ea1f4 ACM: build DMP version in autotest 
this gives it a chance of keeping working
 2012-08-21 15:58:59 +10:00
Andrew Tridgell bf2319a0fc AHRS: fixed reference to AHRS var_info for APM and ACM 2012-08-21 15:58:32 +10:00
Andrew Tridgell 1b0f5ac84f ACM: use ahrs.set_fast_gains() on arm/disarm 2012-08-21 15:38:31 +10:00
rmackay9 1d32e03f61 ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h. 
Reduces possibility of difference between arduino ide compiled code and script built code (i.e. autotester, mission planner)
 2012-08-19 12:31:02 +09:00
rmackay9 75459b09be ArduCopter: changed reset_throttle_counter to uint8_t to get rid of overflow bug that was preventing target altitude from being locked in after pilot input down throttle. 2012-08-19 11:50:35 +09:00
Jason Short c81064279a ACM : removed 2-level DCM gain change - .1 will still be the default. 2012-08-18 15:43:34 -07:00
Jason Short 575a9c4fd1 ACM : Fix for reloading the user DCM gains upon arming 2012-08-18 13:17:43 -07:00
Jason Short 0a25a189eb ACM | Attitude.pde - removed next_wp.alt reset. 2012-08-18 12:25:48 -07:00
Jason Short 988d0c98fc ACM : Alt hold adjustment - made angle boost work during alt hold changes. 
increased length of delay when reverting to automatic hold to deal with latency of baro sensor
 2012-08-18 09:30:46 -07:00
Jason Short 77f47a45d0 ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency. 2012-08-18 09:04:22 -07:00
Jason Short 522fa58ea5 ACM : temp fix for throttle output limit 
I had a bad crash when I lost authority. The logs showed the throttle pegged at 1000 which killed my control. We went round and round on this and somehow settled on no limit. That wasn't a good idea. This should really be hard coded into the Motors Library, but for now I'm just sticking it here.
 2012-08-18 09:04:22 -07:00
Jason Short bc631b656e ACM: Added a more sane limit to Angle boost 2012-08-18 09:04:21 -07:00
rmackay9 64cfaf74b7 ArduCopter: renamed "_new_alt" parameter to just "new_alt" in force_new_altitude and set_new_altitude functions 2012-08-18 21:46:48 +09:00
rmackay9 5b6f7f0012 ArduCopter: modified altitude hold so that 1 second slow down period is executed after pilot moves throttle back into deadzone 2012-08-18 21:45:49 +09:00
rmackay9 11e946eb54 ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +09:00
rmackay9 2e4e8bbf1a ArduCopter: changed "unsigned long" to "uint32_t" 2012-08-18 19:05:55 +09:00
rmackay9 99859ae42f ArduCopter: added cast to (int) in printf statments. 
Also modified dump_log function's last_log_num to be int16_t to match return type from DataFlash's find_last_log method.
 2012-08-18 18:58:15 +09:00
rmackay9 7a6732fb4b ArduCopter: removed unused icount variable from commands_logic.pde to reduce compiler warnings. 2012-08-18 16:04:23 +09:00
rmackay9 87d5b5944d ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings 2012-08-18 16:03:49 +09:00
rmackay9 8a6085a3ba ArduCopter: removed unused maggy variable from test.pde to reduce compiler warnings. 2012-08-18 16:03:26 +09:00
rmackay9 07c7c3945d ArduCopter: fixed small bug re arming_counter for TOY mode 2012-08-18 13:21:41 +09:00
rmackay9 92688a793a ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch. 2012-08-18 11:48:12 +09:00
rmackay9 8c636ca263 ArduCopter: fix compiler error related to printing boarding type in dataflash logs. 2012-08-18 11:47:10 +09:00
Michael Oborne b2b73cc6cb AC fix some Parameter units 2012-08-18 08:30:16 +08:00
Jason Short 1b7e27658b ACM : removed old note 2012-08-17 17:03:40 -07:00
Jason Short 0ac1373591 ACM Logging - added APM version #, stab_I term logging 2012-08-17 17:03:40 -07:00
Jason Short 387a021c30 ACM : APM_Config.h : default removed for toy mixer. 2012-08-16 15:41:35 -07:00
Jason Short 3ee2fd3fb6 ACM: Config.h - added default for toy mixer 2012-08-16 15:40:28 -07:00
Jason Short 770956a3fd ACM : Made control_roll and pitch global for logging; made yaw towards waypoint use initial angle and not a recalculated angle to deal with wiggles as we approach WP 2012-08-16 15:39:50 -07:00
Jason Short 9cee1b2fa0 ACM : Upped Yaw Limit to 2200 2012-08-16 15:38:46 -07:00
Jason Short bdc1c41e62 ACM: made target bearing the lead filtered location 
Had some major nav trouble from crosstrack if I used the laggy position.
 2012-08-16 15:38:25 -07:00
Jason Short 0f9f72e8ab ACM: added nav_yaw to att logging 
Removed unnecessary casting
 2012-08-16 12:43:55 -07:00
rmackay9 36f947acb9 ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t". 
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
 2012-08-16 20:04:46 +09:00
rmackay9 a72bf6ef57 ArduCopter: replaced abs with labs as required in a few places. 
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
 2012-08-16 17:51:09 +09:00
Jason Short 4d5d16720b ACM Test: Added a return statement 2012-08-15 21:37:23 -07:00
Jason Short 31f31eec75 ACM : Test for bearing calc 2012-08-15 21:04:24 -07:00
Jason Short 99dcbd039d ACM Log : fixed formatting 2012-08-15 21:04:24 -07:00
Andrew Tridgell ed064b2506 MAVLink: enable fetching of single parameters 
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
 2012-08-16 10:14:46 +10:00
Jason Short f1af837543 ACM: Switched to filtered loc 2012-08-14 14:11:52 -07:00
Jason Short cdd2093a4c ACM: Switched to filtered_loc for distance calcs 2012-08-14 14:11:52 -07:00
Jason Short a4bc5950cf ACM: Added a filtered version of Location for GPS lag. 
I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
 2012-08-14 14:11:51 -07:00
Jason Short 993c89c4f8 ACM: Revved the version 2012-08-14 14:11:51 -07:00
rmackay9 2a83f1eef2 ArduCopter: remove RTL_LAND parameter as it's been deprecated in favour of APPROACH_ALT. 
Updated comments on ALT_HOLD_RTL and APPROACH_ALT to make it a little easier to understand.
 2012-08-14 12:14:35 +09:00
Jason Short b01a71c4b9 ACM: Toy mode updates - added second toy mode 2012-08-11 22:37:27 -07:00
Jason Short 8160aa6103 ACM : Toy mode updates 2012-08-11 22:37:27 -07:00
Jason Short 1e0ab8768e ACM: Toy mode updates 2012-08-11 22:37:26 -07:00
Jason Short b27c1ce396 ACM : Added check for second Toy mode 2012-08-11 22:37:26 -07:00
Jason Short 11b7475ff9 ACM : Added CH7 multimode triggers, split Toy mode into two 2012-08-11 22:37:26 -07:00
Jason Short 45574c0b1a ACM : CH_7 multimode option added 2012-08-11 22:37:26 -07:00
Jason Short c305237e3a ACM : Added CH_7 Multimode 2012-08-11 22:37:26 -07:00
Andrew Tridgell 3bdc7d41be INS: disable INS AP_Param table when not on APM1 hardware 
this could cause overwriting of memory with default values
 2012-08-11 22:06:03 +10:00
Amilcar Lucas 780b469b11 ArduCopter: Enable the aux servos later, only in the slow periodic loop 
This might solve some of the boot issues some users are having
 2012-08-11 12:58:13 +02:00
Andrew Tridgell 81440a1b09 AHRS: fixed build 
AP_Airspeed.h is now needed to build AHRS
 2012-08-11 12:22:55 +10:00
Andrew Tridgell c2dc920d02 ACM: allow users to set the AHRS_YAW_P and AHRS_RP_P 
the forced set left users with parameters they couldn't use
 2012-08-11 08:35:10 +10:00
Jason Short 3ad08b7ffc ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second. 2012-08-10 10:02:32 -07:00
Jason Short 9a568385b0 ACM increase the minimum speed at WP 2012-08-10 10:01:40 -07:00
Jason Short be0559864c ACM : switched to get_bearing_cd 2012-08-09 17:04:30 -07:00
Jason Short 132ac7d412 ACM : attitude.pde - removed unused function 2012-08-09 17:04:12 -07:00
Jason Short e73c0250ad ACM: Radio.pde - toy mode updates 2012-08-09 17:00:11 -07:00
Jason Short f641c5d077 ACM system.pde - toy mode update, cleanup of throttle cruise code 2012-08-09 16:59:44 -07:00
Jason Short 35839070ad ACM - isolated Toy code 2012-08-09 16:59:44 -07:00
Jason Short adf5939ba4 ACM: navigation - Alt cleanup, fast corner support 2012-08-09 16:59:44 -07:00
Jason Short 6037fabb5c ACM Motors.pde 
Added Toy mode options,
Added DCM kp set to .1(armed) and .8 (disarmed)
 2012-08-09 16:59:44 -07:00
Jason Short 88a94c88b5 ACM : more aggressive and flexible flip code. Will flip right or left, and while pitching hard. 
Increase in throttle is removed from init sequence to remove delay.
 2012-08-09 16:59:44 -07:00
Jason Short d674baadd2 ACM : Events - renamed target alt 2012-08-09 16:59:44 -07:00
Jason Short 07bd1940e7 ACM Defines.h -added Toy mixer enums 2012-08-09 16:59:43 -07:00
Jason Short 26e3d6090e ACM control modes - renames CH_7 flag 2012-08-09 16:59:43 -07:00
Jason Short 3e57f8afd8 ACM: config.h = updated default gains 
More yaw rate control
 2012-08-09 16:59:43 -07:00
Jason Short b5156185cc ACM Commands parser to look for future nav commands to inspect upcoming turn angle 2012-08-09 16:59:43 -07:00
Jason Short d796814dfc ACM : Commands Logic 
Altitude cleanup
 2012-08-09 16:59:43 -07:00
Jason Short 98b8866215 ACM: Added fast corner support 2012-08-09 16:59:43 -07:00
Jason Short 5d756decd2 ACM : Attitude.pde 
yaw limit, moved toy code out of att to it's own pre
 2012-08-09 16:59:43 -07:00
Jason Short 02649f3f11 ACM : Arducopter.pde 
command_nav_index upped to in16t for negative number
renamed trim flag > CH7_flag
Added fast_corner var
removed unused alt vars
Alt hold I term update
 2012-08-09 16:59:43 -07:00
Jason Short 4a56e8ea2c ACM : Toy Mixer options 2012-08-09 16:59:43 -07:00
Andrew Tridgell dc47074dbd MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00
Andrew Tridgell 2a7b298bbc MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Amilcar Lucas d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Amilcar Lucas 0b0b9c29a2 Allow fully independent operation of two AP_Mount instances 2012-08-08 23:11:23 +02:00
Amilcar Lucas 9cc705939a Add a second mount instance 2012-08-08 23:07:25 +02:00
Andrew Tridgell 03714fc695 ACM: make it possible to set AHRS_GPS_GAIN on ArduCopter 
this was affected by the AP_Param change, in particular the
constructor ordering. To ensure a user can set AHRS_GPS_GAIN to 1.0 if
they want to, we need to do a set_and_save() if the value isn't in
EEPROM
 2012-08-08 17:36:01 +10:00
Andrew Tridgell 103b02fe94 ACM: removed pointless load() calls 2012-08-08 16:51:14 +10:00
Andrew Tridgell fb26160d3b ACM: change to use get_bearing_cd() instead of get_bearing() 2012-08-08 12:12:30 +10:00
Andrew Tridgell c2a4d59132 AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
rmackay9 f79b90725e ArduCopter: Dan Gray's fix for Condition_Yaw 
command_yaw_dir is an unsigned byte but was being set to a -ve number leading to very incorrect yaw target heading for counter clockwise turns.
command_yaw_end (i.e. turn's end target) was not being set if turn was of type "relative"
 2012-08-07 06:43:10 -07:00
Amilcar Lucas d9f1140278 ArduCopter: Use generic channel names for AP_Mount servos. 
This simplifies mission planner, the same code can be used for plane and copter now.
 2012-08-06 23:33:51 +02:00
Amilcar Lucas e93daca17e Fix heli compilation 2012-08-06 23:30:02 +02:00
Amilcar Lucas f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas aa3cc63b15 ArduCopter: Make the code fit in a 1280 chip again 
Even allows to control a camera/antenna mount, if the user explicitly wants to.
 2012-08-06 00:23:48 +02:00
Amilcar Lucas 0106c133cf Default CLI_SLIDER_ENABLED to DISABLED 
Chris asked for this on the mailing list
 2012-08-06 00:22:33 +02:00
Amilcar Lucas af08b630cd Spellcheck in comments 2012-08-06 00:21:14 +02:00
Amilcar Lucas 107155fa1a AP_Mount: Allow using any RC channel to control any of the mount axes. 
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
 2012-08-05 23:48:57 +02:00
Amilcar Lucas b8c7b8a786 RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas afd96025a7 ArduCopter: Save more space in APM1280 2012-08-05 23:05:52 +02:00
Amilcar Lucas 9c1ac2d9e6 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas 4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas bbc4bdb729 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas d29f7023cc Merge from ArduPlane 2012-08-04 18:38:50 +02:00
rmackay9 c091c8e0e6 ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode. 2012-08-01 12:15:02 +09:00
rmackay9 a5b5f6a619 ArduCopter: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:27 +09:00
Andreas M. Antonopoulos 7262b0429a AP_Limits: experimental "bounce" mode. 2012-07-31 18:39:58 -07:00
Andreas M. Antonopoulos de85442c36 AC2.7.1: Updated version and tag 2012-07-31 13:11:17 -07:00
Jason Short 8c47b0c087 ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling. 2012-07-30 15:43:05 -07:00
rmackay9 77b1785bc6 ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values 2012-07-30 11:01:45 +09:00
Michael Oborne e577b51e17 AC remove attitude hil unused extra (gps jump issue.) 2012-07-29 08:18:41 +08:00
rmackay9 5cb4a88292 ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered) 2012-07-28 23:05:05 +09:00
rmackay9 3047084ed3 ArduCopter: added DMP_ENABLED to APM_Config.h to make it easier for people to enable it. 2012-07-28 16:31:38 +09:00
rmackay9 670a66667f ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing) 2012-07-28 16:22:35 +09:00
Michael Oborne ef870e3ca1 AC remove some attitude HIL limitations 2012-07-28 13:59:30 +08:00
rmackay9 94cb325184 ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP 2012-07-28 14:21:45 +09:00