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4,238 Commits 71 Branches 510 Tags 754 MiB
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298 Commits

Author SHA1 Message Date
Jason Short
7953808d14 ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short
0ab6b6e592 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short
77fe7de55d ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time. 2012-03-11 23:21:49 -07:00
Andrew Tridgell
2a03a0584f AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
 2012-03-11 21:46:41 +11:00
Adam M Rivera
d3667faef4 AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Jason Short
62c2aa4924 ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short
0671bb9168 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short
29d6085bab added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short
4ba600c0c5 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
Andrew Tridgell
ef771fecdc ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell
69c29d35ce ACM: change DCM loop to 100Hz 
On my APM2 quad this seems to give better results
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
7e4c8592ff ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell
9bff4e2c4c ACM: only call the fast loop if the imu has new data 
this prevents us spinning waiting for the sensors to gather some data
 2012-03-10 10:34:29 +11:00
Jason Short
486c56ce41 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short
730476fdfd ACM - 
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
 2012-03-06 22:22:14 -08:00
Jason Short
46d7da4d14 Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Jason Short
ceef8070ac added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Robert Lefebvre
76c3cd88f0 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9
744e5b8c60 ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine) 2012-02-28 22:56:26 +09:00
rmackay9
17d94b61ed ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short
517172ba20 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
rmackay9
8193c786ef ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9
69132e0fe7 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short
a924c3685e Based on Jani's latest logs I've made two tweaks to alt hold. 
The first is to remove the filter on the throttle output for alt_hold.

The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
 2012-02-25 13:31:21 -08:00
Andrew Tridgell
e2bbc795ad ACM: use a NULL gps pointer in DCM init 
current DCM API does need a GPS reference passed in, but it can be
NULL
 2012-02-25 15:08:49 +11:00
Andrew Tridgell
698749dd92 ACM: don't pass a gps pointer to DCM 
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell
1cd3172954 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Jason Short
242f54793c revved a version 2012-02-22 09:00:42 -08:00
Jason Short
729c824809 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short
30efbae0e9 removed old comments 2012-02-19 14:21:27 -08:00
Jason Short
cae49b3543 Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short
b54d08f410 Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Randy Mackay
e146f225b1 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Jason Short
028de5d2c5 Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Randy Mackay
b64c0da003 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Jason Short
b532cb91b1 added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short
0075901f77 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short
36a120d8df removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short
e8b6f5ecee allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short
e249c8466d AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short
05abe44f32 Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short
c9b432955d removed unused Vars 2012-02-13 15:25:23 -08:00
Andrew Tridgell
d4305e0ae2 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
3b4cae3cc3 adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Jason Short
2c65fc9ddf Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short
b1d52da431 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short
19ab0f481e made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short
4313d19bc5 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short
f40d40b0f9 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Jason Short
ef9418c2de fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
analoguedevices
3288b518c0 credits 2012-02-01 04:44:36 +00:00
analoguedevices
6dbcac855a Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Jason Short
5934b503b8 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short
46e08fb46a Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short
650c0ed3f1 made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Jason Short
7833cea9d4 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short
d1fcebb5ca Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short
326a663c6b changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay
122623f64b OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay
2c906b7b27 OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Jason Short
1d9783652a added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short
9003b95499 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short
ab5716c42d Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short
7fb641ab77 added note 2012-01-20 22:52:31 -08:00
Jason Short
127544b833 Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short
5141534ea9 B3 2012-01-20 22:52:29 -08:00
Jason Short
db6db1ab91 set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units. 
added the ability to force nav_throttle so we  don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
 2012-01-20 22:52:29 -08:00
Jason Short
6e94b21d67 Altitude no longer resets when moving loiter WP 2012-01-20 22:52:29 -08:00
Jason Short
017364fc5b Lowered range to more sensible values 2012-01-20 22:52:29 -08:00
Michael Oborne
52a9bb3cd1 fix SITL attitude hil AC 2012-01-20 16:32:25 +08:00
Doug Weibel
ed9f7cb1b6 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Doug Weibel
0306bf97a0 Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Jason Short
3ebed0b278 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Jason Short
46ef246e67 b2 2012-01-14 11:37:00 -08:00
Jason Short
0ae82da0fd Fix for SIMPLE mode 2012-01-14 11:32:48 -08:00
Jason Short
89343ae306 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short
ec9880f725 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short
8d909f6eed fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short
b0810e054e moved GPS routines to 50hz loop to avoid delay. 2012-01-12 22:59:47 -08:00
Jason Short
648a404ee1 Version 2.2 2012-01-12 22:37:33 -08:00
Jason Short
91e05834c8 removed wind comp code, 
Added Landing boost code
 2012-01-12 22:28:58 -08:00
Jason Short
a7bce15365 R10 2012-01-11 22:41:51 -08:00
Jason Short
f35411ac45 R9 2012-01-10 23:46:08 -08:00
Jason Short
5a91396f63 Added climb rate control 
removed unused vars
 2012-01-10 23:42:26 -08:00
Jason Short
351be7c305 Made timer unsigned 2012-01-10 23:42:26 -08:00
Pat Hickey
2f63c636ad Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey
f5b6746ad7 ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey
0b40f55334 ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Randy Mackay
f68d23d91e ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
Jason Short
d45c0ce9f2 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Jason Short
f4b530ebb1 R8 2012-01-07 22:28:03 -08:00
Jason Short
76dd79e7b5 Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short
ee0551037e Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short
17873eb09c Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short
e116636fe9 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short
e3c16fc1b1 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short
20661e5020 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell
596a1f43f4 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short
ed1ff0b171 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short
76cfdca6cc Cleaned up and documented each global vavriable 
Added Wind compensation for Stability
Acro mode fixes
 2012-01-04 09:28:37 -08:00