7b277d7044
config.h: Added RTL_APPROACH_DELAY config value.
2012-04-16 14:00:08 -05:00
f9affb3295
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
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Conflicts:
ArduCopter/Parameters.h
2012-04-16 10:23:01 -05:00
0c3d6614cd
system.pde: Updated param name to loiter_timer.
2012-04-16 10:12:30 -05:00
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
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
a366bb2f81
Parameters: Changed rtl_approach_alt to float to support more granular altitudes
2012-04-16 10:06:29 -05:00
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
95cb35c7bb
AHRS: enable AHRS_ group in ArduCopter
2012-04-16 20:55:14 +10:00
77d6f22864
ArduCopter, commands_logic: Updated logic to allow as low as 5m.
2012-04-15 19:50:05 -05:00
2954bf6f76
ArduCopter: Added check to make sure user defined approach alt is at least 5.
2012-04-15 16:58:22 -05:00
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
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
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
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
83fe6733d4
Defines: Added new control mode (APPROACH).
2012-04-15 16:52:32 -05:00
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
a71ed6abec
ArduCopter - updated firmware version to "2.6 Beta"
2012-04-14 14:26:44 +09:00
24b81db20e
ArduCopter - LEDS - main code to support COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:44 +09:00
c337df11c8
ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:40 +09:00
d70f5da5e0
ArduCopter - LEDS - define pins to be used for COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:36 +09:00
84b07b5e6a
ArduCopter - LEDS - added new COPTER_LEDS definition
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Code by Robert Lefebvre
2012-04-12 22:55:32 +09:00
0a3bc9a66a
ArduCopter - LEDS - two new parameters to support COPTER_LEDS.
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Code by Robert Lefebvre.
2012-04-12 22:55:28 +09:00
fad162989f
ArduCopter - navigation.pde - added logging of Loiter PID controllers
2012-04-11 23:52:25 +09:00
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
df85051574
ArduCopter - added dataflash logging of roll and pitch rate controllers
2012-04-08 10:19:20 +09:00
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
ad9a8acbab
ArduCopter - test.pde - changed references "motor_armed" to "motors.armed()" as part of move to AP_Motors library.
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Change to ESC initialisation calls to use motors.throttle_pass_through method of AP_Motors class.
2012-04-04 23:05:26 +09:00
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
4aa40bdf10
ArduCopter - setup.pde - changed cli for helicopter to call the new AP_Motors class's parameters instead of the global parameters.
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changed init_esc to call the AP_Motor's class's "throttle_pass_through" function.
2012-04-04 23:02:29 +09:00
473126581d
ArduCopter - radio.pde - changed motor initialisation to set update rate, frame orientation, min and max throttle to AP_Motors class.
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Note: perhaps the motors speed at least should be moved to a parameter within the motors class.
output_min function greatly simplified as this is handled by the AP_Motors class.
2012-04-04 23:00:56 +09:00
905a445391
ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class.
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Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
2012-04-04 22:58:42 +09:00
aa54458dcf
ArduCopter - leds.pde - changed refrences to "motor_armed" to "motors.armed()"
2012-04-04 22:57:50 +09:00
7df17e9b3b
ArduCopter - removed references to MOT_1 etc as these are now within the AP_Motors class (i.e. MOT_1 has become AP_MOTORS_MOT_1)
2012-04-04 22:56:07 +09:00
ee308ea06c
ArduCopter - increased firmware version to 118. Removed nearly all heli parameters as these are all created by the AP_MotorHeli class now.
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Note: we cannot move the heli_servos to the AP_MotorHeli class yet because of a small issue in the parameters class.
2012-04-04 22:55:07 +09:00
8402a3d837
ArduCopter - Log.pde - changed MOT output to dataflash to take values from AP_Motors class's motor_out array instead of the global motor_out array.
2012-04-04 22:53:21 +09:00
e5710958bc
ArduCopter - GCS_Mavlink.pde - changed output to ground station to use new AP_Motor's class motors array inplace of the global "motor_out" array.
2012-04-04 22:52:26 +09:00
aa4085183c
ArduCopter - Attitude.pde - moved heli_get_angle_boost from heli.pde (which will be removed) to Attitude.pde. In fact we should combine heli_get_angle_boost and the regular get_angle_boost.
2012-04-04 22:51:39 +09:00
54a0709759
ArduCopter - add includes for new AP_Motors classes.
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Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
2012-04-04 22:50:43 +09:00
c0a54762c6
MAVLink: port the new adaptive flow control to ArduCopter
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This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
2012-04-02 11:18:53 +10:00
75d7308fb4
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
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also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
e0bb7e2777
MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
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the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.
This makes MAVLink work better at low baud rates
2012-03-30 17:46:20 +11:00
7634f541b9
ACM: use set_blocking_writes(false) when we arm motors
2012-03-30 17:46:20 +11:00
b4107d35e8
MAVLink: raise the serial transmit buffer size to 256 bytes
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the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
0bc604f030
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
51b70e4d36
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
2012-03-30 14:25:06 +11:00
0efb0e5b4d
ArduCopter - added CH6_STABILIZE_KD tuning value
2012-03-29 21:09:41 +09:00
599cea21bb
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
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#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
34506b170f
Mavlink: fixed warnings about limits on int32 values
2012-03-27 15:37:25 +11:00
e0c9ab5a29
ACM: fixed heli build
2012-03-27 15:37:25 +11:00
47f9dfd125
ACM: fixed the build on the 1280
2012-03-27 15:37:24 +11:00
e956e21e7d
ACM: enable the new compass offset nulling in ACM
2012-03-27 15:37:24 +11:00
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
67cf7b9eed
ArduCopter - updated firmware version to 2.5.3
2012-03-25 09:13:51 +09:00
63b96c0153
ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter
2012-03-23 23:48:24 +09:00
89576a281a
ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area
2012-03-23 23:12:49 +09:00
84d8414a2e
Fix Auto_Trim to allow it to actually be called when setup on Ch7 pulldown menu in MP.
2012-03-23 09:17:58 -04:00
e2560c5865
Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator
2012-03-22 10:01:24 -07:00
ad4a2aa9f3
ArduCopter - motors_quad.pde - corrected test sequence for + configuration
2012-03-21 22:04:50 +09:00
66c4f752e3
ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint
2012-03-20 17:11:22 +09:00
1dd554c333
ArduCopter - updated version to 2.5.1
2012-03-20 17:08:18 +09:00
0773a25b5d
ArduCopter - increased default THROTTLE_CRUISE to 450
2012-03-20 16:34:07 +09:00
22315cd41a
ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!)
2012-03-20 16:13:38 +09:00
458d55e5bc
MAVLink: constrain variable changes to the datatype range
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if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
2012-03-19 17:29:02 +11:00
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
c5344a2a85
ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes.
2012-03-18 22:31:22 -07:00
a0717f082e
ACM: Attitude.pde - consolidated wind I term resets
2012-03-18 22:31:21 -07:00
fe7ca98701
ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset.
2012-03-18 22:31:21 -07:00
9841cb0335
ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero)
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- remove incorrect comments about when loiter target position is reset.
2012-03-18 15:16:04 +09:00
dc92da818c
ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore
2012-03-18 14:53:19 +09:00
91b2b48fd8
ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations)
2012-03-18 12:11:12 +09:00
491af02d8a
ACM: Lowered gains from flight tests today with 3DR Quad
2012-03-17 11:04:01 -07:00
427dacba70
ACM: Smoother Speed calcs
2012-03-16 14:10:19 -07:00
3038da1dc3
ACM: Softer Loiter Gains
2012-03-16 14:10:19 -07:00
48a0c9a818
ACM: Small fix to nav_throttle to prevent too fast of a landing.
2012-03-16 14:10:19 -07:00
6201bdb8a7
ACM: Fixed comment
2012-03-16 14:10:19 -07:00
1c0b28c956
Fixed Scaling bug in Sonar mixing
2012-03-16 14:10:19 -07:00
7153b94ade
ACM: Disabled D term experiment for Loiter until more testing
2012-03-15 19:20:03 -07:00
a52a14bf12
Tune down Loiter_P a hair
2012-03-15 19:17:27 -07:00
be3fe36c52
Small fix on the Traditional Helicopter Collective-Yaw compensation calculation.
2012-03-15 20:14:18 -04:00
68e37774a6
ArduCopter - removed #define AUTOMATIC_DECLINATION ENABLED line to ensure users don't try and enable it because it needs a bit more work before it's ready for general use
2012-03-15 21:58:42 +09:00
86eff20d5d
Rev'ed version number to 2.5. Added more credits
2012-03-15 02:38:54 +00:00
6f8b97bf6a
ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system.
2012-03-13 21:31:16 -07:00
4315c06f34
Lowering the D filter for less latency and less oscillation.
2012-03-13 12:58:46 -07:00
48ba24a810
ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.
2012-03-13 10:23:31 -07:00
468d9c4b4f
ACM: Loiter D performance updates
2012-03-13 10:23:31 -07:00
7953808d14
ACM: Larger filter for Loiter D
2012-03-13 10:23:30 -07:00
7034b709d1
ACM: removing old define
2012-03-12 13:11:30 -07:00
73e2bd6cd8
ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed.
2012-03-12 13:11:05 -07:00
0b51d9b8b0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
2012-03-12 10:37:15 -07:00
deed802d1a
ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter.
2012-03-11 23:21:49 -07:00
b3795f1c00
ACM: removed Filtering code for motors in Quad for testing
2012-03-11 23:21:49 -07:00
a989b88680
ACM: made same as Loiter I
2012-03-11 23:21:49 -07:00
0d434ca92c
ACM: Tuning based on flights today
2012-03-11 23:21:49 -07:00
0ab6b6e592
ACM: Rate_d filter for PID loop of Loiter.
2012-03-11 23:21:49 -07:00
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
a869a01294
ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees
2012-03-12 12:09:04 +09:00
2a03a0584f
AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED
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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
d3667faef4
AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
2524f9c8df
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
62c2aa4924
ACM: Added Loiter D tuning
2012-03-10 14:17:57 -08:00
Adam M Rivera
rmackay9
Andrew Tridgell
Robert Lefebvre
Jason Short
analoguedevices