Commit Graph

406 Commits

Author SHA1 Message Date
jasonshort 7d6d9ba285 2.0.36
Added Yaw control when descending in Alt hold
lowered kP & kD for Alt hold a tad
Adjusted RTL behavior to do speed control up to 4m to home, then go into Loiter
Fixed issue with AUTO not getting proper input.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2873 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-16 22:32:54 +00:00
jasonshort 291f31eb0c 2.0.36
Added Yaw control when descending in Alt hold
lowered kP & kD for Alt hold a tad
Adjusted RTL behavior to do speed control up to 4m to home, then go into Loiter


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2872 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-16 22:12:52 +00:00
jasonshort 01a8cec348 tweaked WP speed so long distances wont blow up equation.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2871 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-16 22:02:47 +00:00
jasonshort b8f1fbe2fc Added in limit for alt hold to prevent I term run up.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2870 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-16 21:53:47 +00:00
jphelirc 7e4a416012 ESC setup notes
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2847 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-14 02:52:08 +00:00
jasonshort 9eb9f12fb0 minor cosmetics
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2846 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-14 02:01:51 +00:00
jasonshort 6d3bccf85a 2.0.35
Added camera reversing parameters in AP_Var
Added RTL Throttle Hold set/check
Added dynamic speed control to slow down as you reach waypoints and RTL Home
upped Yaw Dead zone slightly.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2841 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-12 20:04:15 +00:00
jasonshort 0412dbac79 Added Scaling to yaw response on Auto, RTL, and Guided modes
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2837 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-11 00:54:00 +00:00
jasonshort ed5c7d01b1 New PIDs - I rewrote the control laws from scratch to add a PI Rate function. The end result should fly nearly identically to the current version. The nice detail is that we can use NG PID values for easy transition!
Before: ->  After
Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value)
Stabilize I –> Stabilize I (Stays same value)
Stabilize D –> Rate P (Stays same value)
–> Rate I (new)
 
Added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs.
Added framework for using DCM corrected Accelerometer rates. Code is commented out for now.
Added set home at Arming.
Crosstrack is now a full PID loop, rather than just a P gain for more control. 
Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions
Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written.
Added Octa_Quad support - Max



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2836 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-11 00:47:08 +00:00
jasonshort 877e965e31 AC 2.0.33 Beta
Slighted tuned down D term in Loiter PIDs after testing, tuned up P slightly
fixed alt hold bug cause when gaining 3D lock in alt hold.
Mavlink now reports correct throttle scaling value in mavlink


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2746 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-04 06:40:37 +00:00
jasonshort d9e54f8b67 AC 2.0.33 Beta
Slighted tuned down D term in Loiter PIDs after testing, tuned up P slightly
fixed alt hold bug cause when gaining 3D lock in alt hold.
Mavlink now reports correct throttle scaling value in mavlink


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2745 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-04 06:37:29 +00:00
deweibel@gmail.com a61ac47050 Correct bug in CLI log "enable all" command.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2733 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-03 01:58:41 +00:00
jasonshort 66798352c7 AC 2.0.32 Beta
new Loiter PIDs
tuned down control on standard frame
shunk the mixing range for sonar from 3 meters to 2 meters
added framework for Guided mode - not tested!
removed pitch and roll deadzone
decoupled SIMPLE mode from LOITER PIDs
Synced Mavlink with APM
Logs report correct WP number now.
disabled Sonar spike filter.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2722 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-02 22:44:59 +00:00
jasonshort 1158e35945 Fixed bug in alt hold caused by false Sonar readings.
Reverted to prior Rangefinderlib in case that was causing bad sonar readings.
reduced crosstrack gains and max angle to avoid overshoots and oscillations.
added additional D gain to Loiter hold to prevent overshoots
added D gain to WP_nav to avoid speed oscillations
upped navigation speed to 6m/s from 4.5m/s


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2710 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-01 00:19:10 +00:00
jasonshort 88d258f804 clean up to work better with the Mission planner and enable Camera control.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2697 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-28 06:31:18 +00:00
jasonshort 0efd0fa1f3 changed camera stabilization to 1 instead of ENABLED
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2696 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-27 19:57:40 +00:00
jasonshort 7f3719086f 2.0.29
Fixed Mavlink issue
Added look at home option for SIMPLE mode. Off be default. Untested.
Upped performance of Yaw.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2695 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-27 17:01:53 +00:00
jasonshort 33362a86c2 2.0.28
Fixed a mode switch issue. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2685 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-26 17:02:47 +00:00
analoguedevices@gmail.com cbb4f3da76 commented out line 833 in main pde that was causing compile error, as per this report:
http://diydrones.com/forum/topics/2027-prolems-compiling-solved?xg_source=activity

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2679 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-26 14:15:26 +00:00
jasonshort 4f75842cbc 2.0.27
Fixed GCS updates, 
Clear GCS Streamrates by default.
moved fast PWM functions to run all the time (for quads, experiment)
cleaned up Mavlink a bit.




git-svn-id: https://arducopter.googlecode.com/svn/trunk@2678 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-26 06:38:11 +00:00
jasonshort a08cd5a6dc minor formatting, enabled sonar spike filter.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2670 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-25 05:59:06 +00:00
jasonshort 451f7e5339 extra \ removed
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2669 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-25 00:42:57 +00:00
jasonshort 15ea3ac0b4 Forgot to add setup for V Octo support from Dani Saez
Added start of contributors list into code comments.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2668 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-24 17:09:59 +00:00
jasonshort 619a0837ce formatting
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2658 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-24 04:41:48 +00:00
jasonshort 1e8572f7c6 2.0.26
minor updates, 
Arming motors now for only Stabilize, Simple, and Acro Modes.
V Octo Support


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2657 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-24 04:37:54 +00:00
dhcorley@msn.com d3d68ea4c7 re-sync rawgps cli test with APM2 (r2501)
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2601 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-20 17:11:54 +00:00
dhcorley@msn.com d52d441607 Add planner menu item on main menu . (issue tracker 194)
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2599 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-20 15:17:08 +00:00
dhcorley@msn.com 315fb055b5 syncing planner.pde with APM2. For planner menu item on main menu . (issue tracker 194)
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2598 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-20 15:12:55 +00:00
jasonshort 645d2fa333 2.0.25
changed Yaw to be offset from current angle to avoid the kick back.
Made minimum motor speed user settable, upped to 13% (130)
tweaked alt hold D to be higher and P to be slightly lower.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2579 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-19 05:31:33 +00:00
jasonshort 0008f268af log merge with APM
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2568 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-16 17:12:10 +00:00
jasonshort 39b08decf3 AC2.0.24b
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2567 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-16 17:03:26 +00:00
jasonshort 07b09447a1 git-svn-id: https://arducopter.googlecode.com/svn/trunk@2555 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-06-14 06:05:18 +00:00
rmackay9@yahoo.com 8261ea0807 Traditional Heli - merged heli code into ACM trunk code!
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2548 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-12 12:14:10 +00:00
rmackay9@yahoo.com 7f095c8952 ArduCopterMega - Parameters.h - updated eeprom format_version to 9 to force refresh of eeprom because of RC_Channel change to store reverse setting.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2529 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-10 03:36:34 +00:00
dhcorley@msn.com 0779971bea sync rawgps test with APM 2x rawgps test
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2501 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-06 13:35:46 +00:00
dhcorley@msn.com 718b5c5e3b add mag 5883L part3
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2476 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-04 03:20:44 +00:00
dhcorley@msn.com 470d497fa6 add mag 5883 support part 2
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2474 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-04 01:23:40 +00:00
dhcorley@msn.com 69cf45781e adding 5883 mag support part 1
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2473 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-04 01:22:04 +00:00
jasonshort a83bc90759 2.0.23, Hexa Fix, Baro and Sonar tests now separated.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2464 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-03 18:49:13 +00:00
jasonshort 84ef135856 2.0.12, minor fixes.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2463 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-03 05:36:39 +00:00
jasonshort a643149bdc Updates for 2.0.21
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2459 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-01 05:50:17 +00:00
rmackay9@yahoo.com 00685ba377 ACM - small bug fix to remove extra bracket
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2451 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-31 12:56:58 +00:00
jasonshort e6d081704d 2.0.20
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2449 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-31 05:39:58 +00:00
jasonshort d3c1f5c307 Big update from Field testing.
Includes updated motor tests. These need to be verified.
Nav loiter D was added (.03) - verify this helps.
Nav_lat is now filtered for Rate control. This is to keep jerky pitching to a minimum.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2448 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-31 05:29:06 +00:00
jasonshort 80729c0423 minor formatting
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2441 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-30 04:24:07 +00:00
jasonshort 66d76a273f moved mode logging to end of function for better throttlehold recording
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2435 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-29 20:27:14 +00:00
jasonshort 77966c4c6a Better sonar hold ++
added mag calibration - still not sure if needed.
better sonar spike filter
2.0.19

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2434 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-29 19:32:55 +00:00
jasonshort c67601dacb 2.0.18
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2433 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-29 04:02:01 +00:00
jasonshort 28f91400e4 Better Yaw P values, better Sonar hold values.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2429 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-28 06:52:56 +00:00
jasonshort d613f36e9c missed saving a file.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2424 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-27 23:35:08 +00:00