rmackay9
2fc3b740c4
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
Andrew Tridgell
36e741b078
MAVLink: raise the serial transmit buffer size to 256 bytes
...
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
Andrew Tridgell
690ad58a64
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
Jason Short
e42c64f94e
ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset.
2012-03-18 22:31:21 -07:00
Jason Short
a9e7194e3d
ACM: disabled auto_calibration until more testing can be done
2012-03-10 12:44:49 -08:00
Jason Short
3c1f4b1ad7
ACM: changed alt hold initialization of altitude to be immediate
2012-03-10 12:44:18 -08:00
Andrew Tridgell
a874f920d5
ACM: removed the ADC filtering code
2012-03-10 10:34:32 +11:00
Andrew Tridgell
e870e7bd82
ACM: removed the DCM tuning overrides
...
not needed now that DCM scales with deltat
2012-03-10 10:34:31 +11:00
Andrew Tridgell
1591d41b33
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a54d6f744e
HWSTATUS: if we don't know the voltage, report it as zero
...
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
9393b21a8d
ACM: adjust yaw drift correction constants
...
this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Jason Short
43b3e1ccd1
ACM -
...
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
2012-03-06 22:22:14 -08:00
Andrew Tridgell
fcb1b9ba95
ACM: added board_voltage()
2012-03-02 15:48:28 +11:00
Jason Short
00d5ad9343
Added more Logging for PIDs.
2012-02-26 11:33:36 -08:00
Jason Short
e4e8189448
added a simple rest of nav_throttle just in case
2012-02-25 13:31:21 -08:00
Jason Short
ac81ddef04
commented out control mode debug print
2012-02-21 21:48:07 -08:00
Jason Short
434b059586
reset slow_WP option at mode switch
2012-02-19 13:13:42 -08:00
Jason Short
75919436ac
added extra gain logging
2012-02-16 22:09:22 -08:00
Andrew Tridgell
1af6f08b1c
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00
Jason Short
1851dd541b
Made Yaw Hold universal for Acro
2012-02-10 22:32:55 -08:00
Andrew Tridgell
c95a295fd6
allow for lower serial baud rates
...
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
2012-02-04 19:07:18 +11:00
Michael Oborne
484b688700
fix issue 502
...
to identify quad over mavlink
2012-02-03 06:53:08 +08:00
Jason Short
0213f4dd88
2.2B6 - Please verify Heli still functions properly.
...
Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Randy Mackay
2db4d2bfe6
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Jason Short
0475dbf8ae
relocated reset_I term functions to central location
2012-01-20 22:52:30 -08:00
Jason Short
7e411f5fb6
This allows users to test the Auto_throttle hold or cruise value
2012-01-14 11:43:52 -08:00
Jason Short
24b760d48f
added update throttle cruise function
2012-01-13 16:48:05 -08:00
Jason Short
400d080d12
added notes
2012-01-12 22:28:58 -08:00
Jason Short
7933492fec
Switched to set_next_WP for mode switches
2012-01-10 23:43:44 -08:00
Jason Short
f240888b49
added #if to wind compensation code
2012-01-10 23:42:26 -08:00
Randy Mackay
7b9701fdd5
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
...
Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
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
056a08d838
Forced Faildafe throttle mode to throttle Auto
2012-01-06 10:21:50 -08:00
Jason Short
9d9bef37a8
Clears Auto_land timer
2012-01-05 21:15:12 -08:00
Andrew Tridgell
600a5680f8
ACM: reset all I terms on gyro calibration
2012-01-05 10:15:14 +11:00
Jason Short
123ce533bb
Added precalc for wind compensation when entering Stabilze mode
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
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
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
Andrew Tridgell
c27277c7f1
ACM: use new I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
ef1d8eaeac
ACM: update for DataFlash changes
2011-12-28 16:00:49 +11:00
Andrew Tridgell
da87622a5f
removed "Please run setup" loop from ArduCopter
...
Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
2011-12-24 18:12:51 +11:00
Jason Short
a40a026220
added ability to enter Loiter with only optflow available
2011-12-23 14:46:32 -08:00
Andrew Tridgell
1807585b98
ACM: run mavlink loop while erasing logs
2011-12-18 10:19:41 +11:00
Jason Short
66c974a949
Added failsafe check
2011-12-14 22:08:41 -08:00
Andrew Tridgell
c007fb49b8
IMU: update ACM and APM for flash_leds change in IMU init
2011-12-13 18:19:41 +11:00
Andrew Tridgell
dd4498d113
desktop: fixed Wire.begin() build problem
2011-12-12 15:14:55 +11:00
Pat Hickey
067724b4f1
ArduCopter: update AP_Baro constructors & initializers
2011-12-11 15:21:10 -08:00
Pat Hickey
6710cf5c5a
Wire and SPI Init: move to sketch system.pde from libraries
...
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin removed from AP_Baro_MS5611::init()
* SPI.begin removed from AP_InertialSensor_MPU6000::hardware_init()
* Both Wire.begin and SPI.begin added very early in init_ardupilot in
ArduCopter/system.pde and ArduPlane/system.pde
2011-12-11 15:21:10 -08:00
Pat Hickey
bd00b629e7
ArduCopter Init: different call to barometer.init based on CONFIG_BARO
...
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
2011-12-11 15:21:10 -08:00
