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667 Commits

Author SHA1 Message Date
Jason Short 0a7378856d Added finish to missions - auto-land or stabilize 2012-01-07 22:27:26 -08:00
Jason Short cf5e0b3a1b converted auto land to use the mission planner version 
Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
 2012-01-07 22:27:26 -08:00
Jason Short 12493d6431 Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short 7e96e0f7fa Quad frame - X is default 
added wind comp stability option to config - off by default
 2012-01-07 22:27:26 -08:00
Jason Short 250545f31d Auto-land updates - removed sonar option - not needed 
updates from JLN
 2012-01-07 22:27:26 -08:00
Jason Short ca80dc549c Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short b8bcd81b39 Cleanup 2012-01-07 22:27:26 -08:00
Jason Short 048532ae98 scaled to 0-1023 2012-01-06 21:43:37 -08:00
Chris Anderson 5aab7d583c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2012-01-06 12:32:39 -08:00
Jason Short 058a3275c3 Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short 056a08d838 Forced Faildafe throttle mode to throttle Auto 2012-01-06 10:21:50 -08:00
Jason Short 57c3405658 Added check for armed motors in failsafe 2012-01-06 10:21:23 -08:00
Jason Short a640311f58 Added Note 2012-01-06 10:20:59 -08:00
Jason Short e908390c64 Made RTL go up 10m for failsafe 2012-01-06 10:20:48 -08:00
Jason Short d430c847fa Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short de912b5054 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short beac2930c9 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short 9d9bef37a8 Clears Auto_land timer 2012-01-05 21:15:12 -08:00
Chris Anderson d94562986f Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2012-01-05 09:48:32 -08:00
Jason Short a8af509517 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell 600a5680f8 ACM: reset all I terms on gyro calibration 2012-01-05 10:15:14 +11:00
Andrew Tridgell a6808162d6 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Andrew Tridgell 734b0a02be ACM: fixed a alt hold bug 
== instead of =
 2012-01-05 10:14:30 +11:00
Andrew Tridgell 3c965ff1a2 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Andrew Tridgell 9ee3431928 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short 8341a080ce Disabled stable mode wind comp by default for release 2012-01-04 09:28:38 -08:00
Jason Short 5aa0861ec2 Added Xplane output option 2012-01-04 09:28:38 -08:00
Jason Short 6b9d35cc34 Added home offset for altitude 2012-01-04 09:28:38 -08:00
Jason Short f74e265bb9 Made landing disarm the motors 2012-01-04 09:28:38 -08:00
Jason Short 3ac37c09a9 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short a70fdc58a1 Cleaned up and documented each global vavriable 
Added Wind compensation for Stability
Acro mode fixes
 2012-01-04 09:28:37 -08:00
Jason Short 123ce533bb Added precalc for wind compensation when entering Stabilze mode 2012-01-04 09:28:37 -08:00
Jason Short bf8e3975ec Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short 6b3094e053 removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short 7858976407 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short 22c3853020 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short e5994c578a removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short 3d7f3f6b77 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short 8d63af2a89 removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short a1c3ce88a0 calc_wind_compensation called when exiting AP modes 
Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
 2012-01-04 09:28:37 -08:00
Jason Short e6887aa3ec added Reset_Rate_I function 
Removed I term from Throttle rate calc
Added some basic constrains to Acro
 2012-01-04 09:28:37 -08:00
Jason Short dd4b4c723a removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short 7bef298a46 cleanup - removed unused functions, made pressure reading Float to avoid extra cast 2012-01-04 09:28:36 -08:00
Jason Short d7f4328441 cosmetic 2012-01-04 09:28:36 -08:00
Jason Short 1883d0c1a8 Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Jason Short c629795050 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short 801b3a8e8f removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short fcd18d5538 Removed unused options 2012-01-04 09:28:36 -08:00
Jason Short 525ac4df88 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short c450cc4e92 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short 4a50e08ac1 change how Reset Nav params work - no longer clear I terms 2012-01-04 09:28:36 -08:00
Jason Short fe265b3040 Added JLN's landing patch, moved some variables local such as Jump counter 2012-01-04 09:28:36 -08:00
Jason Short 5de709ceea removed unused functions 2012-01-04 09:28:36 -08:00
Andrew Tridgell 54b91ce2f4 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell d6ccffc71b ACM: don't set defaults in APM_Config.h 
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
 2012-01-04 19:35:05 +11:00
Chris Anderson 33f4cde5c3 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2012-01-03 22:11:22 -08:00
Andrew Tridgell 645eac6f38 I2c: default to 5ms timeout, and faster bus speed 
we will slow down the speed when we get a failure
 2012-01-04 16:36:47 +11:00
Chris Anderson 1cfb7ecf7c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-31 20:09:26 -08:00
Jason Short 24bddb1c47 Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short 86e01fce17 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short bfd7608f4d Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short e8db2225dd upped to r5 2011-12-31 10:05:13 -08:00
Chris Anderson 31765310ac Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-31 09:50:33 -08:00
Jason Short e17c8705ba Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short e9d41897df R4 2011-12-30 23:54:02 -08:00
Jason Short 1d636219f9 New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short fc93a73ad7 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short 170a646ecf removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short 4b2979743f no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short 62ca68cdbb Reverted to Crosstrack like in Arduplane, requires Degrees * 100 2011-12-30 23:48:04 -08:00
Jason Short 27d3564eab Sync with Arduplane 2011-12-30 23:48:04 -08:00
Jason Short f5ffa7bd7e Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short e08b550f44 Added a default Yaw tracking setting 
Added Nav_Bearing
 2011-12-30 23:48:04 -08:00
Jason Short 09db32ee02 Added Nav_bearing, just like APlane 
added fix for LOITER in missions so we don't Yaw in circles
 2011-12-30 23:48:04 -08:00
Jason Short 758a5240f2 removed old loiter method option 2011-12-30 23:48:04 -08:00
Chris Anderson 47eedcdfa1 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-30 22:53:23 -08:00
Randy Mackay c39ebde9de ArduCopter - init_compass - fixed HIL build issue 2011-12-31 12:29:54 +09:00
Chris Anderson 4e1b140c57 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-30 09:31:05 -08:00
Jason Short 57b2d17d8a updated rev 2011-12-29 23:02:41 -08:00
Jason Short 8fc73844ee Yaw Performance tweaks 2011-12-29 23:02:03 -08:00
Jason Short 4535bc4fd9 lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short 89c705c8b9 removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short 723adffc48 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short 4bfa5def76 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short 2f657ebdbf cosmetic 2011-12-29 23:02:03 -08:00
Jason Short aa2e474b80 Added 5 sec Takeoff Timer to clear i terms when lifting 
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
 2011-12-29 23:02:03 -08:00
Jason Short 8a1b9df325 Added Stabilize_D parameter 2011-12-29 23:02:02 -08:00
Jason Short ce990f3050 Upped Yaw speed to deal with performance complaints 
Added new Stabilize D term default of .25
 2011-12-29 23:02:02 -08:00
Jason Short 83d52899b0 Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have. 2011-12-29 23:02:02 -08:00
Jason Short e42d5cb4f9 Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Jason Short c4ad864ed0 Set Define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short 737feabc6c Fixed a 1280 only test 2011-12-29 23:02:02 -08:00
Jason Short f94727ed02 added define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short 200f7da103 Added Dampening term for tuning 2011-12-29 23:02:02 -08:00
Jason Short 80e1715b12 updated Loiter PIDs 2011-12-29 23:02:02 -08:00
Jason Short db0a7be233 Enable Magnetometer by default 2011-12-29 23:02:02 -08:00
Jason Short 3202f1cf64 Missing ; 2011-12-29 23:02:01 -08:00
Jason Short 9832d8eccb removed takeoff complete flag from missions, not used and would be useful elsewhere. 2011-12-29 23:02:01 -08:00
Jason Short 9f7aae5945 removed unused function 
Simplified the baro init filter
 2011-12-29 23:02:01 -08:00
Randy Mackay ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00