dc0b35da30
ArduCopter: restored landing detector to landing throttle mode.
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Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
2012-12-06 10:31:20 +09:00
b26f2861ff
ArduCopter: removed unused AUTO_THROTTLE_HOLD #define
2012-12-06 10:31:15 +09:00
c1ce0ae752
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
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Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
45e62add9f
Copter: update ArduCopter for new ins interface
2012-11-30 07:15:18 +11:00
c78ecc4fd1
ACM: Creating Yaw_Look_Ahead yaw mode.
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This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
211f964553
Changes to get_throttle_rate()
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Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
2012-11-21 17:11:38 -05:00
fc72b86304
SITL: disable optical flow on the desktop build
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it doesn't work yet, as no sensor emulator is available
2012-11-19 09:04:03 +11:00
38fdacd93b
ArduCopter: replaced digitalRead and digitalWrite with faster calls
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improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
3a4d122e32
ArduCopter: low baterry failsafe
2012-11-15 23:35:41 +09:00
a6bda80064
ACM: Allow for user defined roll and pitch input max
2012-11-11 18:00:10 -08:00
41c0cee292
ArduCopter: failsafe improvements
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resolves momentary throttle drop to zero before failsafe engages
resolves motor cut after 30seconds if flying in stabilize without GPS (now switches to ALT_HOLD with target altitude zero)
disables motors if throttle was zero before failsafe event
2012-11-11 22:11:12 +09:00
f17c63062e
ACM crosstrack min distance
2012-11-09 22:15:16 -08:00
81b1ebd011
ACM: Added max RTL altitude
2012-11-09 22:15:15 -08:00
af40201b14
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
1e35d3d534
ACM: config.h cleanup
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Added LOG_ITERM default to enabled
2012-10-27 09:59:57 -07:00
ab86eae860
ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters
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Changes on behalf of Leonard Hall
2012-10-23 21:30:50 +09:00
7fb58fce87
ArduCopter: replace Serial.print with Serial.print_P to save memory.
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Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
2012-10-22 16:45:24 +09:00
9a20fe32fa
Fixed that last commit
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#define Stupid_Mistake
2012-10-18 16:50:42 -04:00
5f8f53ec0a
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
3b631f1edd
ArduCopter: integrated Leonard Hall's improved ACRO mode
2012-10-18 23:24:34 +09:00
3a26606510
ArduCopter: reduced optical flow's I and IMAX terms
2012-10-17 17:47:43 +09:00
4203655646
New Yaw controller using rate feed forward and stabilize.
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Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
2012-10-15 11:37:49 +09:00
ee41f3be6c
ArduCopter: enable ACRO mode's AXIS_LOCK by default
2012-10-14 19:50:45 +09:00
254fff6acd
ArduCopter: fixed acro mode
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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
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
8e19e7d0b2
Added #define for Tilt_Compensation.
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Also added some detail to WP_Speed_Max parameter.
2012-10-12 14:51:31 -04:00
a5feda6b1f
ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015
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Updated after discussing with Marco
2012-10-11 17:25:01 +09:00
94d16d426f
ArduCopter: move I terms from stabilize to rate controllers
2012-10-11 17:20:05 +09:00
c2b9c695b4
ArduCopter: reduce Stabilize Yaw P term to 4.5
2012-10-03 14:19:49 +09:00
770aa0b56b
ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements
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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
fc4f4d76c9
ArduCopter: allow DMP to run in parallel with DCM
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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
4bca609b9f
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
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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
08f203a991
ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08)
2012-09-25 19:08:31 +09:00
15893e719a
ArduCopter: increase default Loiter Rate P to 5.0
2012-09-25 12:19:44 +09:00
54d07f6d04
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
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
c83d1402fb
Arducopter: Release 2.7.2
2012-08-31 19:18:10 -07:00
0b2cbbb677
ACM: added TELEM_DELAY to ArduCopter
2012-08-30 09:03:01 +10:00
3403e1b78d
Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
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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
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
ccc659e8a9
ArduCopter: reduced Rate Roll and Pitch PID values
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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
ad1f20924d
uncrustify ArduCopter/config.h
2012-08-21 19:19:50 -07:00
bd6581c523
AHRS: removed Quaternion build support from APM/ACM/rover
2012-08-22 10:42:21 +10:00
cdab521c7d
ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h.
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Reduces possibility of difference between arduino ide compiled code and script built code (i.e. autotester, mission planner)
2012-08-19 12:31:02 +09:00
cd2cf2e431
ACM: Config.h - added default for toy mixer
2012-08-16 15:40:28 -07:00
31fdeab873
ACM increase the minimum speed at WP
2012-08-10 10:01:40 -07:00
168b755d0b
ACM: config.h = updated default gains
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More yaw rate control
2012-08-09 16:59:43 -07:00
9a8fd4738e
Add an optional second mount to ArduPlane and ArduCopter
2012-08-08 23:22:24 +02:00
f321f5d9c5
Add a second mount instance
2012-08-08 23:07:25 +02:00
a961988bba
ArduCopter: Make the code fit in a 1280 chip again
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Even allows to control a camera/antenna mount, if the user explicitly wants to.
2012-08-06 00:23:48 +02:00
rmackay9
Andrew Tridgell
Robert Lefebvre
Jason Short
LeonardTHall
Craig Elder
uncrustify
Amilcar Lucas