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1187 Commits

Author SHA1 Message Date
Jason Short
0ce883b96a Removed unused variable 2012-05-29 12:43:23 -07:00
Jason Short
9310d613e1 Lowered I term - causes oscillations in SIM 2012-05-29 12:43:01 -07:00
Jason Short
2311d52d37 Renamed some variables to clarify functionality. 2012-05-29 12:42:37 -07:00
Jason Short
7c6f766251 Speed up automatic disarming to 25 seconds for safety. 
renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
 2012-05-29 12:41:35 -07:00
Jason Short
f491f5e9ca Removed references to a takeoff timer 2012-05-29 11:28:40 -07:00
Jason Short
15774366ba Failsafe: Looking for takeoff_complete now vs unreliable GPS 2012-05-29 11:25:04 -07:00
Jason Short
08bf04dd08 pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle. 2012-05-29 11:25:04 -07:00
Jason Short
09f4a16bfb changed the way takeoff complete is figured. Looking for high throttle. 2012-05-29 11:25:04 -07:00
Jason Short
b8349f5486 Added note to functionality 2012-05-29 11:25:04 -07:00
Jason Short
9d92602188 changed WP radius to AP_Int16 2012-05-28 22:39:29 -07:00
Jason Short
5754f97433 reversed circle_WP calculation so the next_WP refers to the destination around the circle and circle_WP refers to the center. The intent is to make it easier to see via ground station. 2012-05-27 09:21:20 -07:00
Jason Short
7df1aa2914 Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled. 2012-05-23 22:00:56 -07:00
Andrew Tridgell
d9457ecc38 MAVLink: send time of GPS fix accurately 
when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
 2012-05-23 17:33:33 +10:00
Andrew Tridgell
66544a5db2 Log: don't print '+' while erasing logs 
we no longer do page based erase, so printing a + every 128 pages
makes no sense
 2012-05-22 20:10:29 -07:00
Robert Lefebvre
4e4ff84cf1 Updates to CopterLEDS 
Creation of Nav Blink Function.
 2012-05-22 09:58:37 -04:00
Andrew Tridgell
422dc82f32 MAVLink: allow parameter fetch during mavlink_delay() 
this allows the planner to fully connect to the APM with MAVLink while
doing a DataFlash erase
 2012-05-22 16:13:35 +10:00
Jason Short
1b9f34e4e0 Flip.pde: renamed dcm to ahrs 2012-05-21 12:58:51 -07:00
Jason Short
5407acdb4c Some bug fixes to Auto-flip. I ran this code through the sim and found these flaws. 2012-05-21 11:07:41 -07:00
Jason Short
f6d8a18182 Added note 2012-05-21 09:58:23 -07:00
Jason Short
1a5e2f4e37 Attitude.pde - Removed rate limit based on SIM flights. These should never have been in place and seriously detriment Acro flight. 2012-05-21 09:58:23 -07:00
Jason Short
8d075015e1 added check for duplicate time-stamped GPS messages. 2012-05-18 09:54:18 -07:00
Jason Short
9732b7d2dc navigation.pde: 
removed unneeded WP_Distance check
remove unneeded return for Navigate
removed unneeded rate_D calcs
removed unused functions
 2012-05-17 11:05:05 -07:00
Jason Short
7e190c6f5c Arducopter.pde : 
removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
 2012-05-17 11:05:05 -07:00
Jason Short
d1cd04486a removed retro loiter code since Angel has a branch now. 
shrank speed filter to avoid latency
removed unused forward estimator code

placed code for switchover to gps.groundspeed at 1.5m/s

added clamp for D term when below .5m/s to eliminate noise

added hybrid I-term based on speed error and position

changes Loiter D term to use position rather than acceleration to avoid noise
 2012-05-15 22:14:23 -07:00
Jason Short
7f3e142fa8 Loiter Gains based on new SIM 2012-05-15 22:01:01 -07:00
Robert Lefebvre
c5f7b2fff2 Fixed Syntax error. 2012-05-15 12:35:35 -04:00
Robert Lefebvre
c8fb9a6635 More CopterLEDS changes. 
Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2.  Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2.  Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code.  Legacy users should see no difference.
 2012-05-15 12:00:21 -04:00
Robert Lefebvre
a285e2779f CopterLEDS changes for APM2 2012-05-15 10:07:03 -04:00
rmackay9
357d6c2d9b ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
rmackay9
2f74004fcb ArduCopter: updated version to 2.5.5 2012-05-13 08:47:43 +09:00
rmackay9
af86ae8cbf ArduCopter: fixed compile error by declaring extern print_latlon 2012-04-30 21:44:27 +09:00
Andrew Tridgell
435a64b97e ACM: fixed HIL build 2012-04-30 22:42:17 +10:00
rmackay9
a1f5661161 ArduCopter: restored gps test in CLI 
Added check so not enabled when using 1280.  Also fixed comments in other tests to explain the check for the 1280.
 2012-04-30 17:29:50 +09:00
Adam M Rivera
56d3fa1601 Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases 2012-04-28 20:50:41 -05:00
Adam M Rivera
40fdba441b Parameters.pde: Added value aliases to comments 2012-04-28 20:35:22 -05:00
Adam M Rivera
941cf6fa69 Parameters.pde: Added more parameter comments. 2012-04-28 12:14:17 -05:00
Andrew Tridgell
67afdc7485 autotest: fixes for MAVLink 1.0 in autotest 2012-04-27 15:15:53 +10:00
Adam M Rivera
239323eaa4 Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone. 2012-04-26 18:26:14 -05:00
Adam M Rivera
cb6f97fc7f Changed the marker for Group parameters to @Group. 2012-04-25 12:27:51 -05:00
Adam M Rivera
51bcc73c77 Parameters.pde: Added lib comments. 2012-04-25 11:23:46 -05:00
Adam M Rivera
9fb9231ec4 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into param-suffix 2012-04-24 14:11:54 -05:00
Adam M Rivera
29fec278eb Parameters.pde: Updated comment schema to include the parameter name which becomes the XML node that contains the meta data. 2012-04-24 13:11:16 -05:00
Adam M Rivera
acab9b7c2c Parameters.pde: Added new comment structure to a few parameters for testing. 2012-04-24 11:37:33 -05:00
Andrew Tridgell
4fee26437b MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI 2012-04-24 22:24:58 +10:00
Andrew Tridgell
fe970221e2 ACM: added support for MAVLink 1.0 to ArduCopter 
most operations should now work
 2012-04-24 19:54:20 +10:00
Adam M Rivera
b2a7227ae7 ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define. 2012-04-23 00:19:18 -05:00
Adam M Rivera
60c347e23b Parameters: Added g.retro_loiter which is configurable by the user via the MP. 2012-04-23 00:17:52 -05:00
Adam M Rivera
8e580729b7 config.h: Removed comment. 2012-04-23 00:16:41 -05:00
Adam M Rivera
97040a7b3a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
Jason Short
9c19138fb8 Log.pde : Updated Flash Logging to log Floats properly vs scaled integers. 2012-04-21 15:25:53 -07:00
Jason Short
e22832a832 Added a union for casting floats to ints and back when storing Floats to the DataFlash 2012-04-21 15:17:09 -07:00
rmackay9
090f5aaa6f ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame 2012-04-21 23:46:36 +09:00
rmackay9
c993049c48 ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion 2012-04-21 23:24:57 +09:00
rmackay9
533772339e ArduCopter - Attitude.pde - added logging of optical flow pid controller 2012-04-21 20:17:12 +09:00
rmackay9
3e95ade004 ArduCopter - changed optflow object to be APM2 version if necessary 2012-04-21 20:15:55 +09:00
rmackay9
919f004b27 ArduCopter - changed Optical Flow for APM2 to use A3 pin 2012-04-21 20:15:16 +09:00
Adam M Rivera
7d13371acf Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-20 11:45:38 -05:00
rmackay9
f0a9209935 ArduCopter - regressed version back to 2.5.4 2012-04-20 21:58:32 +09:00
James Goppert
5390467f3d Worked on ArduCopter cmake options. 2012-04-19 16:05:08 -04:00
Adam M Rivera
c233defbe6 Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera
1676e09f12 navigation.pde: Put the new calc_GPS_velocity method in a compiler if that checks the new RETRO_LOITER_MODE config value (saves space and ensures its not being used unless retro loiter mode is enabled) 2012-04-19 10:21:04 -05:00
Adam M Rivera
24363ccb83 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera
d29f1ef331 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
Adam M Rivera
a7bc3d2cc6 Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity. 2012-04-18 23:07:35 -05:00
Adam M Rivera
d4a4641ae6 navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error. 2012-04-18 23:06:15 -05:00
James Goppert
53c143a575 Improved cmake options. 2012-04-18 23:15:29 -04:00
James Goppert
0e7e77760a Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
Adam M Rivera
a3842734a9 Planner/defines.h: Updated the enumeration value for APPROACH so as not to disturb the order of the universe. 2012-04-18 10:32:01 -05:00
James Goppert
a9f0bd24d7 Switched to project specific cmake lists. 
This is better since each project has very different options.
 2012-04-17 23:07:20 -04:00
Adam M Rivera
f6d81a16c2 ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter. 2012-04-16 16:29:54 -05:00
Adam M Rivera
56a00fa1f7 ArduCopter: Changed millis compare to use new config value for approach delay. 2012-04-16 14:04:30 -05:00
Adam M Rivera
07e53fad18 commands_logic.pde: Added write to constrained value to EEPROM. 2012-04-16 14:03:33 -05:00
Adam M Rivera
7b277d7044 config.h: Added RTL_APPROACH_DELAY config value. 2012-04-16 14:00:08 -05:00
Adam M Rivera
f9affb3295 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 
Conflicts:
	ArduCopter/Parameters.h
 2012-04-16 10:23:01 -05:00
Adam M Rivera
0c3d6614cd system.pde: Updated param name to loiter_timer. 2012-04-16 10:12:30 -05:00
Adam M Rivera
3d024ba2dd commands_logic: Allowed for an approach alt as low as 1m. Added a check to make sure we are currently above our target approach alt. 2012-04-16 10:11:50 -05:00
Adam M Rivera
41702aca94 ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s). 2012-04-16 10:07:57 -05:00
Adam M Rivera
a366bb2f81 Parameters: Changed rtl_approach_alt to float to support more granular altitudes 2012-04-16 10:06:29 -05:00
rmackay9
870b5e5f75 ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM 2012-04-16 23:47:57 +09:00
Andrew Tridgell
95cb35c7bb AHRS: enable AHRS_ group in ArduCopter 2012-04-16 20:55:14 +10:00
Adam M Rivera
77d6f22864 ArduCopter, commands_logic: Updated logic to allow as low as 5m. 2012-04-15 19:50:05 -05:00
Adam M Rivera
2954bf6f76 ArduCopter: Added check to make sure user defined approach alt is at least 5. 2012-04-15 16:58:22 -05:00
Adam M Rivera
cddcdb8be3 commands_logic: Added check to make sure the do_approach method is not being used to land. 2012-04-15 16:57:49 -05:00
Adam M Rivera
a2b338c052 System: Added handler for the new APPROACH flight mode which will initiate an approach to a target alt as defined by the user. 2012-04-15 16:55:34 -05:00
Adam M Rivera
a24b7bcf14 ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land. 2012-04-15 16:54:43 -05:00
Adam M Rivera
cfe3b58248 commands_logic: Added do_approach() to set the new target alt based on the user defined value. 2012-04-15 16:53:25 -05:00
Adam M Rivera
83fe6733d4 Defines: Added new control mode (APPROACH). 2012-04-15 16:52:32 -05:00
Adam M Rivera
7ba8c291bd Parameters: Added new APPROACH_ALT params (g.rtl_approach_alt) which stored the users desired target altitude after RTL is complete. 2012-04-15 16:51:41 -05:00
rmackay9
a71ed6abec ArduCopter - updated firmware version to "2.6 Beta" 2012-04-14 14:26:44 +09:00
rmackay9
24b81db20e ArduCopter - LEDS - main code to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:44 +09:00
rmackay9
c337df11c8 ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:40 +09:00
rmackay9
d70f5da5e0 ArduCopter - LEDS - define pins to be used for COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:36 +09:00
rmackay9
84b07b5e6a ArduCopter - LEDS - added new COPTER_LEDS definition 
Code by Robert Lefebvre
 2012-04-12 22:55:32 +09:00
rmackay9
0a3bc9a66a ArduCopter - LEDS - two new parameters to support COPTER_LEDS. 
Code by Robert Lefebvre.
 2012-04-12 22:55:28 +09:00
rmackay9
fad162989f ArduCopter - navigation.pde - added logging of Loiter PID controllers 2012-04-11 23:52:25 +09:00
rmackay9
f8210b164c ArduCopter - Parameters.h - changed initialisation order to remove compiler warning (have not changed enum values so shouldn't require eeprom format id update) 2012-04-09 17:37:06 +09:00
rmackay9
df85051574 ArduCopter - added dataflash logging of roll and pitch rate controllers 2012-04-08 10:19:20 +09:00
rmackay9
998058ec07 ArduCopter - removed unused motor pde files including heli.pde, motors_hexa.pde, motors_octa.pde, motors_octa_quad.pde, motors_tri.pde and motors_y6.pde 2012-04-04 23:06:12 +09:00
rmackay9
ad9a8acbab ArduCopter - test.pde - changed references "motor_armed" to "motors.armed()" as part of move to AP_Motors library. 
Change to ESC initialisation calls to use motors.throttle_pass_through method of AP_Motors class.
 2012-04-04 23:05:26 +09:00
rmackay9
1d086c83f0 ArduCopter - system.pde - changed references to "motor_armed" to "motors.armed()" as part of the move to use AP_Motors library. 2012-04-04 23:03:21 +09:00