7e843ee679
Warning!!! The recent build 1919 was tagged as sparkfun.
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The trunk is unstable, so please be careful. I've made a lot of changes based on the Sparkfun challange. Most include how we handle things like altitude, but the mission scripting has also been updated as well.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1920 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-25 05:12:59 +00:00
7a9b290c7f
added a bit of kI term for Yaw hold.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1918 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-22 21:15:17 +00:00
9aaba3fd0f
Navigation bug fixes, tuning.
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better handling of sonar at angles and baro mixing. - optimized for flats.
Crosstrack test bug found and fixed.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1916 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-21 23:07:31 +00:00
0c61e9dd79
Lots of little things. Yaw control is updated based on Jani's logs. Thanks!
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Takeoff now works well.
better logging.
tuned down kD for Yaw - was causing some bad behavior.
Auto mission now resets when entering mode.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1914 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-21 05:15:45 +00:00
4cbbeb4860
Minor Yaw update, Log adjustment,
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Main loop slightly faster at 125 hz
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1912 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-20 06:44:49 +00:00
1b947f5d9e
Yaw fix,
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Logs updated to do better Yaw Debugging
Landing is now rate limited
updated command desctiption.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1911 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-20 05:37:05 +00:00
36e9e3e5a2
updated Logs to give me better Yaw information
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1910 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-20 04:58:43 +00:00
d858951e91
Added delay option for WP_NAV. The copter will LOITER in seconds based on p1 value.
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This turned out to be functionally identical to LOITER_TIME so I combined them.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1909 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-18 16:27:03 +00:00
f652c5ae91
Added float for CH6_Y6_SCALING value.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1903 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-17 23:12:27 +00:00
0063c8e60d
Added rudimentary tuning with CH6. Assign this to your Flaps knob on your radio. in APM_config.h set your desired option, then upload. The knob will adjust the value in real time. Enter the CLI and run test, tune to see the output value.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1902 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-17 23:08:16 +00:00
4a54292cc7
init dataflash before entering menu
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1900 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-17 06:45:18 +00:00
87812c9eec
Reworking Yaw some more. Yaw is testing really well with this version.
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I have moved Pitch_Max to a different part of the code. It was limiting SIMPLE mode which was bad. Now it only limits in Auto modes, RTL, LOITER, etc.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1899 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-17 05:17:42 +00:00
ffa33089b8
shortened Menu by a few bytes
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1898 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:44:44 +00:00
76815c3b2a
moved some math around for Loiter code. Added more notes
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1897 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:44:23 +00:00
125804e532
added false start fix for takeoff
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1896 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:43:47 +00:00
de87958db5
removed Sonar, now test Altitude
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1895 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:43:25 +00:00
ec5644b40f
lowered Pitch max for nav
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1894 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:42:59 +00:00
d248b2ea9c
Better CTUN Logging
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1893 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:42:31 +00:00
5fb1079952
Better CTUN Logging
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1892 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:42:00 +00:00
528e45cb78
Better CTUN Logging
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1891 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:40:12 +00:00
5c4a8496bb
Better CTUN Logging
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1890 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:39:56 +00:00
ede4dcd774
Log fix
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1889 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 08:27:25 +00:00
dc615e6320
Logging fix's
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1888 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 07:36:22 +00:00
51ada5987c
Fix ACM Logging was logging PM out of control.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1883 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 01:00:50 +00:00
d3983f12c3
Yaw offset for simple mode now recorded when Arming motors each time.
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Yaw behavior has been re-worked and seems to be fixed now. Works fine in my shop.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1882 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-15 16:45:47 +00:00
2f74adc24e
ACM mavlink update/log fix
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1881 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-15 13:24:05 +00:00
047d340e5b
disabled dampening on yaw for now. will fix tomorrow.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1880 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-15 05:08:13 +00:00
f6783454d7
Removed all calls to legacy trim_radio(). Handled by radio setup.
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Added AP_Var Fingerprint checker. Will not let users fly with OOD firmware.
Tweaked Yaw to give better response. Let me know how it goes. It looks fine, but I've not flown it.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1878 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-14 05:56:39 +00:00
21980216b9
Altitude control fix - trying to go higher would make alt hold reset to 0
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Yaw fix,
improved PID defaults
potential logging fix
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1877 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-13 16:33:06 +00:00
6769295058
temporary - forcing WP yaw tracking in Auto.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1876 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-12 02:32:24 +00:00
41e4b0a471
preparing for hexa-x and hexa-+ frames, code updates
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1875 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-12 01:58:46 +00:00
c909123bda
preparing for hexa-x and hexa-+ frames
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1874 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-12 01:52:16 +00:00
8ed49b89fe
fixes a yaw Rate issue.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1873 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-11 05:15:22 +00:00
16be234b70
commented out debugger code
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1872 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-10 23:20:22 +00:00
860adeb812
added a limit to throttle_input = 800 for stability insurance
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found an odd bug in SIMPLE mode that broke LOITER mode. Fixed
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1871 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-10 23:07:24 +00:00
985a4e7f61
removed the throttle min max settings for user config.
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turned off altitude interpolation for now.
removed the "Dampener" setting in config. Using less confusing kD instead.
removed throttle_cruise reset in events.pde for RTL - would cause a crash.
added I term for pitch/roll for when flying greater than 20°
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1868 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-10 20:31:33 +00:00
86383894fa
added minimum of 1 meter to alt hold
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1859 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-09 17:48:03 +00:00
b2f356d176
revved Params firmware version
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1858 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-08 19:15:49 +00:00
76cd645fff
fixed typo
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1857 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-08 19:15:27 +00:00
c3737db26c
added better value for Sonar minimal value for landing
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removed FBW mode - no longer needed
added set_throttle_cruise_flag to auto set the throttle value for alt hold
added altitude minimum option for waypoints
added support for relative WPs
added support for Yaw tracking per WP in options bitmask
lowered default sonar kD value
increased minimal value to set the throttle cruise value with CH7 switch
updated README.txt
added additional stock test missions available in CLI
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1856 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-08 19:13:31 +00:00
442f5168be
missing }
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1844 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-04 00:15:45 +00:00
7b26ec8463
updated test mission. It now passes the tests. Be sure to verify things are working well before flying.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1843 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-03 21:11:14 +00:00
f217a4e399
removed the on-the-ground limitation for setting simple mode bearing.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1841 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-03 05:16:45 +00:00
b36508eb7f
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1840 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-03 04:44:00 +00:00
f8903dea55
found the issue with stability - something to do with APVar.
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commenting out setup_show(NULL,NULL); in startup_ground() causes some values to misload???
Or maybe it's a delay thing.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1839 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-03 00:47:20 +00:00
3494e73f8b
minor change to GPS
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1834 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-02 19:56:35 +00:00
b84137ae42
Y6 frame, motors changed to All TOP CCW / BOTTOM CW
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1833 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-01 14:45:35 +00:00
defb811eaa
Added interactive control for altitude in Loiter (position hold) and Altitude hold (mostly just used for testing).
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Throttle down = descend, throttle high = ascend.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1831 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-30 05:27:13 +00:00
e34969066f
Hopefully this fixes the GPS init bug.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1830 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-30 04:24:20 +00:00
a2e02c4a02
RC_3 - the throttle channel dead zone upped to 60 to avoid noise issues
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1825 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-28 16:11:08 +00:00
jasonshort
mich146@hotmail.com
jphelirc
levinemax@gmail.com