rmackay9
025cc05cab
ArduCopter: update version information ahead of testing
2012-10-15 18:15:38 +09:00
LeonardTHall
4203655646
New Yaw controller using rate feed forward and stabilize.
...
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
2012-10-15 11:37:49 +09:00
rmackay9
ee41f3be6c
ArduCopter: enable ACRO mode's AXIS_LOCK by default
2012-10-14 19:50:45 +09:00
rmackay9
254fff6acd
ArduCopter: fixed acro mode
...
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
2012-10-14 17:47:46 +09:00
rmackay9
c201b3c35e
ArduCopter: small comment fixes related to battery monitoring
2012-10-13 20:52:14 +09:00
rmackay9
71c773801a
ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor
2012-10-13 18:40:46 +09:00
Robert Lefebvre
8e19e7d0b2
Added #define for Tilt_Compensation.
...
Also added some detail to WP_Speed_Max parameter.
2012-10-12 14:51:31 -04:00
Robert Lefebvre
446d8ee934
Added comment detail for Tilt_Comp Parameter.
...
Reduced parameter default value for TradHeli.
2012-10-11 13:17:39 -04:00
rmackay9
9052b4152b
ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read
...
The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
2012-10-11 18:31:10 +09:00
rmackay9
b5c1e23549
ArduCopter: changed sin_pitch and sin_roll to faster equivalents
2012-10-11 17:54:42 +09:00
rmackay9
a5feda6b1f
ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015
...
Updated after discussing with Marco
2012-10-11 17:25:01 +09:00
rmackay9
94d16d426f
ArduCopter: move I terms from stabilize to rate controllers
2012-10-11 17:20:05 +09:00
rmackay9
be25e75d75
ArduCopter: freeze I terms if motor limits breached
2012-10-11 17:20:00 +09:00
Andrew Tridgell
2af5ff896d
ACM-HIL: fixed optflow declaration
2012-10-11 11:51:25 +11:00
Pat Hickey
24dcbe1b0e
ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors
...
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
mavelous <mavelous@googlegroups.com>
Michael,
Per our discussion today,
In a MAVLINK_MSG_ID_COMMAND_LONG
A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
uses param index 1 to specify an arm/disarm motors event: 1 to arm,
0 to disarm
Thanks for working this out with me. Sorry to get it so completely
wrong the first time around!
Best
Pat
2012-10-10 18:59:55 +08:00
Pat Hickey
74d5b1b841
ArduCopter: Provide AP_Semaphore instance for SPI3 bus on APM2.
2012-10-09 11:39:39 -07:00
rmackay9
04b50af6e1
ArduCopter: added message to console when entering ESC Calibration on startup
2012-10-09 12:31:05 +09:00
rmackay9
0050232ae2
ArduCopter: failsafe added to shutdown motors if mainloop fails
2012-10-09 12:30:17 +09:00
rmackay9
50e19dfd12
ArduCopter: APM_Config.h - make it ever so slightly easier to enable INERTIAL_NAV
2012-10-08 12:31:51 +09:00
rmackay9
9d5d9ce3fc
ArduCopter: bug fix to ROI when no camera mount is specific
2012-10-08 12:31:10 +09:00
rmackay9
f88ca4b7e4
ArduCopter: bug fix in earth-frame to body-frame conversion for roll
2012-10-07 19:14:40 +09:00
rmackay9
ae447ad6b6
ArduCopter: fix heli build
2012-10-06 13:46:19 +09:00
rmackay9
ae05bc62f6
ArduCopter: added AP_Semaphore to list of includes
2012-10-06 12:41:58 +09:00
rmackay9
c2b9c695b4
ArduCopter: reduce Stabilize Yaw P term to 4.5
2012-10-03 14:19:49 +09:00
rmackay9
a35543bf96
ArduCopter: prioritise rate controllers, rate controller targets converted to body frame
2012-10-03 14:10:31 +09:00
rmackay9
770aa0b56b
ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements
...
To save a parameter, the current sensor pin is assumed to always be 1 higher than the voltage pin.
2012-10-02 22:16:19 +09:00
Michael Oborne
939ee1f4a9
AP,AC Add ability to override an altitude in any auto mode, on the current active target
2012-09-30 07:29:33 +08:00
rmackay9
fc4f4d76c9
ArduCopter: allow DMP to run in parallel with DCM
...
Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
2012-09-30 00:25:40 +09:00
rmackay9
1cd4b08fac
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
4bca609b9f
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
rmackay9
04c92240c4
ArduCopter: tiny formatting change in defines.h
2012-09-27 17:40:54 +09:00
rmackay9
fec3f3260e
ArduCopter: bug fix to display ITERM enabled/disabled properly from cli
...
Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
2012-09-27 17:40:30 +09:00
rmackay9
ebbf8dc6be
ArduCopter: updated version to 2.7.4-Beta
2012-09-25 23:39:15 +09:00
rmackay9
08f203a991
ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08)
2012-09-25 19:08:31 +09:00
rmackay9
15893e719a
ArduCopter: increase default Loiter Rate P to 5.0
2012-09-25 12:19:44 +09:00
rmackay9
090a672636
ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5
2012-09-24 18:39:33 +09:00
rmackay9
12a1f3244b
ArduCopter: alt hold bug fix - removed reset next_WP in init_home
2012-09-23 01:00:06 +09:00
rmackay9
5e6951d3f4
ArduCopter: position lead filters modified to use lag which varies by gps
2012-09-20 15:49:09 +09:00
rmackay9
69c29f5196
ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.
2012-09-18 23:19:23 +09:00
rmackay9
aaab3c08aa
ArduCopter: added throttle curve (although disabled by default) for all multicopters
2012-09-18 23:05:08 +09:00
rmackay9
3b5b2eba6e
ArduCopter: set fast gains while auto trim is being executed
2012-09-18 09:03:29 +09:00
Andrew Tridgell
14d19ac33d
ACM: updates for new GPS detection
...
a GPS can now be attached after startup
2012-09-17 14:45:47 +10:00
rmackay9
d7a53e67ed
ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables.
2012-09-17 13:44:29 +09:00
rmackay9
9965dd8b1a
HIL: changes to fix HIL for ArduCopter after recent timing changes.
...
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
rmackay9
94d4305cf3
ArduCopter: print firmware version of code instead of zero.
2012-09-13 21:49:11 +09:00
rmackay9
54d07f6d04
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
Jason Short
e4ec96e12f
ACM : better debugging text
2012-09-12 23:06:06 -07:00
Jason Short
ecf7e0e8bf
ACM l Prevent pre-mature finish of mission
2012-09-12 23:06:06 -07:00
Jason Short
b56dc44e61
ACM : Fix enduf
2012-09-10 21:25:53 -07:00
Jason Short
24f80c632c
ACM : forced setup_show to dump params during log dump for better analysis.
2012-09-10 20:52:30 -07:00
Jason Short
65dc4ccc6d
ACM : Added centralized Iterm logging at a lower rate. Logs all iterms.
2012-09-10 20:26:48 -07:00
Jason Short
63aec7510e
ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t
2012-09-10 20:22:57 -07:00
Jason Short
2fcc7d3b22
ACM : Params - formatting cleanup
2012-09-10 20:22:11 -07:00
Andrew Tridgell
ea78121f1b
ACM: use spare CPU cycles to read the magnetometer
2012-09-10 11:38:18 +09:00
rmackay9
7a0189fb2c
ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU.
...
This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
2012-09-10 11:37:53 +09:00
rmackay9
4e85e545bf
ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU.
2012-09-10 11:37:48 +09:00
rmackay9
8f993cde2b
ArduCopter: bug fix for ROI not working if user did not have a camera mount
...
Changed verify_nav_roi command to attempt to point at the target if our camera mount type is not pan_tilt nor pan_tilt_roll
2012-09-10 02:03:32 +09:00
Andrew Tridgell
1fecd135ef
ACM: use compass.accumulate() in ArduCopter
...
this gives us a much less noisy magnetometer
2012-09-08 10:06:04 +10:00
Michael Oborne
1d0d45a95f
Fix Approach Altitude min
2012-09-06 17:43:58 +08:00
Pat Hickey
b52738662a
APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE
2012-09-05 15:36:57 -07:00
rmackay9
af2502c739
ArduCopter: upgraded firmware version to 2.7.3
2012-09-02 12:58:16 +09:00
rmackay9
3e6966c33d
ArduCopter: fixes to allow AP_Mount to work on APM1 with original default channels and fix to reenable support for 3-axis gimbals on APM2.
...
Channels 5 to 11 changed to RC_Channel_aux.
Removed channel 9 because APM_RC doesn't support it in any case.
Updated EEPROM format version to 119 because of the change to RC_Channel_aux and because k_param_rc_11 moved to be after k_param_rc_10.
2012-09-02 12:51:23 +09:00
rmackay9
6c1bd815c1
ArduCopter: remove unnecessary references to CH_CAM_PITCH, CH_CAM_ROLL, CH_CAM_YAW
2012-09-02 12:47:27 +09:00
Craig Elder
c83d1402fb
Arducopter: Release 2.7.2
2012-08-31 19:18:10 -07:00
Andrew Tridgell
0b2cbbb677
ACM: added TELEM_DELAY to ArduCopter
2012-08-30 09:03:01 +10:00
Jason Short
0ab8b85a78
ACM Log.pde : whitespace clean up
2012-08-28 21:22:07 -07:00
Jason Short
91bc3705c1
ACM : revert back to the 2.6 climb rate calc
...
The current filter is outputting wild oscillations.
2012-08-28 21:22:07 -07:00
Craig Elder
3403e1b78d
Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
...
Arduplane: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
2012-08-28 20:09:10 -07:00
rmackay9
4978e0c23f
ArduCopter: increased Stabilize Roll and Pitch I term to 0.05 (was 0.01) based on feedback from Jason
2012-08-29 11:34:53 +09:00
Craig Elder
94957b3529
Arducopter: Preparing for 2.7.2 Release
2012-08-28 18:30:41 -07:00
Jason Short
b757c7130d
ACM : Logging updates
2012-08-28 15:40:08 -07:00
Jason Short
52def45ba0
ACM: Altitude Adjust
2012-08-28 15:40:08 -07:00
Jason Short
24486c75b5
ACM : Log Timing
2012-08-28 15:40:08 -07:00
rmackay9
6f236f0c3b
ArduCopter: increase SPI bus speed to 2Mhz after IMU initialisation has completed (MPU6000 accepts maximum of 1Mhz for some registers but up to 20Mhz for main sensor and interrupt registers)
2012-08-28 17:29:48 +09:00
rmackay9
ccc659e8a9
ArduCopter: reduced Rate Roll and Pitch PID values
...
RATE_ROLL_P, RATE_PITCH_P reduced to 0.165 (was 0.185)
RATE_ROLL_D, RATE_PITCH_D reduced to 0.004 (was 0.008)
2012-08-26 10:45:45 +09:00
uncrustify
593f4bad21
uncrustify ArduCopter/APM_Config.h
2012-08-21 19:19:50 -07:00
uncrustify
ad1f20924d
uncrustify ArduCopter/config.h
2012-08-21 19:19:50 -07:00
uncrustify
06031868d8
uncrustify ArduCopter/system.pde
2012-08-21 19:19:50 -07:00
uncrustify
4ae0b9dc8a
uncrustify ArduCopter/test.pde
2012-08-21 19:19:50 -07:00
uncrustify
8bb14446e5
uncrustify ArduCopter/setup.pde
2012-08-21 19:19:50 -07:00
uncrustify
700e03920a
uncrustify ArduCopter/motors.pde
2012-08-21 19:19:50 -07:00
uncrustify
a3f6cdc0bd
uncrustify ArduCopter/navigation.pde
2012-08-21 19:19:50 -07:00
uncrustify
1d56079ba2
uncrustify ArduCopter/commands_logic.pde
2012-08-21 19:19:50 -07:00
uncrustify
f8b7fdf7bb
uncrustify ArduCopter/Attitude.pde
2012-08-21 19:19:50 -07:00
uncrustify
865deed57e
uncrustify ArduCopter/Parameters.pde
2012-08-21 19:19:50 -07:00
uncrustify
e4932136d9
uncrustify ArduCopter/ArduCopter.pde
2012-08-21 19:19:50 -07:00
uncrustify
dfc77d37ca
uncrustify ArduCopter/Log.pde
2012-08-21 19:19:50 -07:00
uncrustify
5dceeed7ce
uncrustify ArduCopter/Parameters.h
2012-08-21 18:57:21 -07:00
uncrustify
6d9b4ec785
uncrustify ArduCopter/defines.h
2012-08-21 18:57:21 -07:00
uncrustify
d662339d11
uncrustify ArduCopter/config_channels.h
2012-08-21 18:57:21 -07:00
uncrustify
11cf4a78eb
uncrustify ArduCopter/UserVariables.h
2012-08-21 18:56:57 -07:00
uncrustify
f3559747b0
uncrustify ArduCopter/GCS.h
2012-08-21 18:56:56 -07:00
uncrustify
66f63fe415
uncrustify ArduCopter/APM_Config_mavlink_hil.h
2012-08-21 18:56:56 -07:00
uncrustify
196fff3d55
uncrustify ArduCopter/planner.pde
2012-08-21 18:56:56 -07:00
uncrustify
ad743cba6c
uncrustify ArduCopter/sensors.pde
2012-08-21 18:56:50 -07:00
uncrustify
c7d32df65f
uncrustify ArduCopter/UserCode.pde
2012-08-21 18:56:01 -07:00
uncrustify
e8760bec78
uncrustify ArduCopter/GCS_Mavlink.pde
2012-08-21 18:56:01 -07:00
uncrustify
fef945e2cb
uncrustify ArduCopter/flip.pde
2012-08-21 18:56:01 -07:00
uncrustify
6088067ff3
uncrustify ArduCopter/GCS.pde
2012-08-21 18:56:00 -07:00
uncrustify
1fba78b594
uncrustify ArduCopter/toy.pde
2012-08-21 18:56:00 -07:00