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728 Commits

Author SHA1 Message Date
Pat Hickey 2cf935e2d2 ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot 
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
 2012-01-09 21:57:02 -08:00
Pat Hickey b8b6e3c25b ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Pat Hickey 87735fef24 ArduCopter test.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey 20b0e4cd33 ArduCopter setup.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey 38c2a052be ArduCopter radio.pde: translate CH_ to MOT_ outputs 2012-01-09 21:57:02 -08:00
Pat Hickey 8d4db05f50 Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey b22920c0ea ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey ccff9041f8 ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey 8d595d7c53 motors_quad: translate from CH_ to MOT_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey 7b056f208d ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Pat Hickey e969e0dc55 ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL 2012-01-09 21:57:01 -08:00
Pat Hickey eb345c009b ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8] 2012-01-09 21:57:01 -08:00
Pat Hickey bcb43ec9b5 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Pat Hickey a1cc77f41e ArduCopter: add config_motors.h with MOT_n to CH_m mapping 
* APM1 values are not valid, but hopefully APM2 will stay that way?
 2012-01-09 21:57:01 -08:00
Pat Hickey d015e0d6d9 APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
 2012-01-09 21:57:01 -08:00
Jason Short ba72a98345 Slowed Auto Descent 
Don't return true in Landing code to prevent flyways in Stabilize
 2012-01-08 23:01:22 -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
analoguedevices 8b68da3105 Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves 2012-01-09 01:59:55 +00:00
Jason Short fda12c8902 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Randy Mackay 598593e1fc ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short a8574e813d R8 2012-01-07 22:28:03 -08:00
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
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
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
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
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
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
Randy Mackay c39ebde9de ArduCopter - init_compass - fixed HIL build issue 2011-12-31 12:29:54 +09:00
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
Andrew Tridgell 1cc38b0701 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell c27277c7f1 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell 8df91ea885 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Andrew Tridgell ef1d8eaeac ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Jason Short a8070d86df Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Andrew Tridgell 0f39336801 ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Andrew Tridgell 7520315475 ACM: fixed HIL build again 2011-12-26 19:17:11 +11:00
Andrew Tridgell cb48bfd054 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay 85167be181 TradHeli - modified the default collective min/max values to restrict movement to about half the full range. 2011-12-26 16:59:01 +09:00
Jason Short a4e00f7459 Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Randy Mackay c3ea1ca5dc AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
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 9e6ea0b167 disabled some tests with warnings 2011-12-23 18:54:38 -08:00
Jason Short 359d186798 added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short bf29f09107 Getting rid of Simple Logging 2011-12-23 18:44:30 -08:00
Jason Short c9a30ccf1f Made WP radius 1 by default 2011-12-23 15:01:53 -08:00
Jason Short f2d6708058 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short a40a026220 added ability to enter Loiter with only optflow available 2011-12-23 14:46:32 -08:00
Jason Short da903d2c3e moved some defines around 2011-12-23 14:46:32 -08:00
Jason Short c8ca841bd7 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short ce11f48809 This is the test to deal with big props with lots of inertia. We use a low pass filter on positive acceleration. 2011-12-23 14:46:32 -08:00
Jason Short fa2fa37f3b initing z dampener at arming 2011-12-23 14:46:08 -08:00
Jason Short 8aa6429b1e Too complicated 2011-12-23 14:46:08 -08:00
Jason Short 778c9cd1db added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Jason Short 7963a73816 used for testing 2011-12-23 14:42:50 -08:00
Jason Short f892e0b00d increased crosstrack thanks to float math fix 
decreased loiter iterm, decreased throttle iterm based on simulator runs
 2011-12-23 14:42:50 -08:00
Jason Short 7820d96f4c No longer blocking before initing home 2011-12-23 14:42:50 -08:00
Jason Short dc2103d67f the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -08:00
Jason Short 6c5f41fe58 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short 885548e693 removed some unneeded HIL #defines 2011-12-23 14:42:49 -08:00
Pat Hickey 343228c8cc Log_simple uses identical implementation of do_erase_logs. 
* fix build1280.ArduCopter
 2011-12-22 13:31:28 -08:00
Pat Hickey 74530de4bb ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added 
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
 2011-12-19 21:04:51 -08:00
Randy Mackay 73ff5138c6 Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer 2011-12-19 22:57:00 +09:00
Jani Hirvinen 9d7eb9cd1a config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short a98a0b636a Hexa stability patch bug fix by borna.segulin 2011-12-18 16:38:07 -08:00
Jason Short 2f5da31a05 change Alpha name 2011-12-18 16:38:07 -08:00