Jason Short
a2c8f5af15
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
de6325fb8a
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
cf9e744ed2
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
8ed2d96396
removed unused var
2012-01-04 09:28:37 -08:00
Jason Short
59f22f0ca0
removed airspeed
2012-01-04 09:28:37 -08:00
Jason Short
ecb3241489
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
4e0e783e7c
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
b8c0bdb66f
removed airspeed
2012-01-04 09:28:37 -08:00
Jason Short
92eece79a4
cleanup - removed unused functions, made pressure reading Float to avoid extra cast
2012-01-04 09:28:36 -08:00
Jason Short
e1232e7b80
cosmetic
2012-01-04 09:28:36 -08:00
Jason Short
e7b750074b
Added takeoff state and ground state variable
2012-01-04 09:28:36 -08:00
Jason Short
37cda3c364
Cosmetic
2012-01-04 09:28:36 -08:00
Jason Short
2fc6a645b4
removed unused Airspeed config
2012-01-04 09:28:36 -08:00
Jason Short
b28ae04e0d
Removed unused options
2012-01-04 09:28:36 -08:00
Jason Short
6513b12eb2
Cosmetic
2012-01-04 09:28:36 -08:00
Jason Short
67bf991598
removed unused Airspeed config
2012-01-04 09:28:36 -08:00
Jason Short
c7b5b747e8
change how Reset Nav params work - no longer clear I terms
2012-01-04 09:28:36 -08:00
Jason Short
580ad2c5ce
Added JLN's landing patch, moved some variables local such as Jump counter
2012-01-04 09:28:36 -08:00
Jason Short
c0c2ea4ebb
removed unused functions
2012-01-04 09:28:36 -08:00
Andrew Tridgell
ca39fc8b47
sitl: added build targets for different ACM frames
2012-01-04 21:45:46 +11:00
Andrew Tridgell
9d1c4ecfcd
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
cdd5589498
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
26d0bf93ff
Added more constraints around velocity
2011-12-31 10:59:59 -08:00
Jason Short
b3cea96970
Cosmetic
2011-12-31 10:54:31 -08:00
Jason Short
74b203c7f2
Lowered Yaw to prevent overshoot based on feedback
2011-12-31 10:10:45 -08:00
Jason Short
ea832c0818
upped to r5
2011-12-31 10:05:13 -08:00
Jason Short
1ef7f9fe62
Loiter I reset
2011-12-31 09:45:25 -08:00
Jason Short
0ace8474d7
R4
2011-12-30 23:54:02 -08:00
Jason Short
c6586810cf
New Style WP navigation for high wind
2011-12-30 23:48:05 -08:00
Jason Short
2cb09f46e9
no longer calling reset_nav
2011-12-30 23:48:04 -08:00
Jason Short
6a8391f0a7
removing I term clearance
2011-12-30 23:48:04 -08:00
Jason Short
28984a72e4
no longer calling reset_nav
2011-12-30 23:48:04 -08:00
Jason Short
26267f75b2
Reverted to Crosstrack like in Arduplane, requires Degrees * 100
2011-12-30 23:48:04 -08:00
Jason Short
dac29af7ab
Sync with Arduplane
2011-12-30 23:48:04 -08:00
Jason Short
c7f93f8718
Updated Configs based on field testing.
2011-12-30 23:48:04 -08:00
Jason Short
15a377d759
Added a default Yaw tracking setting
...
Added Nav_Bearing
2011-12-30 23:48:04 -08:00
Jason Short
84d3e3135f
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
cf48091d00
removed old loiter method option
2011-12-30 23:48:04 -08:00
Randy Mackay
3cb74cb459
ArduCopter - init_compass - fixed HIL build issue
2011-12-31 12:29:54 +09:00
Jason Short
3ea49e1415
updated rev
2011-12-29 23:02:41 -08:00
Jason Short
21460a57ae
Yaw Performance tweaks
2011-12-29 23:02:03 -08:00
Jason Short
95a70cf32e
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
10abb7871e
removed loiter I from Reset Nav
2011-12-29 23:02:03 -08:00
Jason Short
17acbc4572
updated Loiter gains
2011-12-29 23:02:03 -08:00
Jason Short
53c09774e5
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
2c1fe93856
cosmetic
2011-12-29 23:02:03 -08:00
Jason Short
6f42442e57
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
f41835d546
Added Stabilize_D parameter
2011-12-29 23:02:02 -08:00
Jason Short
bb954bc479
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
d055763947
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
fa49aa5eec
Fixes for Smooth Loiter
2011-12-29 23:02:02 -08:00
Jason Short
4f60fa412c
Set Define for Max throttle
2011-12-29 23:02:02 -08:00
Jason Short
8a921e869c
Fixed a 1280 only test
2011-12-29 23:02:02 -08:00
Jason Short
db96b9ec7a
added define for Max throttle
2011-12-29 23:02:02 -08:00
Jason Short
244ca98264
Added Dampening term for tuning
2011-12-29 23:02:02 -08:00
Jason Short
7e1e1f84b3
updated Loiter PIDs
2011-12-29 23:02:02 -08:00
Jason Short
4b5437afe8
Enable Magnetometer by default
2011-12-29 23:02:02 -08:00
Jason Short
51e6170ecb
Missing ;
2011-12-29 23:02:01 -08:00
Jason Short
4353f60f60
removed takeoff complete flag from missions, not used and would be useful elsewhere.
2011-12-29 23:02:01 -08:00
Jason Short
fbb35928fe
removed unused function
...
Simplified the baro init filter
2011-12-29 23:02:01 -08:00
Randy Mackay
bbe6dea980
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
955dfe0226
ACM: check compass health before using it
2011-12-28 20:41:53 +11:00
Andrew Tridgell
03a16c6e45
ACM: use new I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
433df08cb3
ACM: enable compass by default on APM2
2011-12-28 20:30:35 +11:00
Andrew Tridgell
73e6d5ee11
ACM: update for DataFlash changes
2011-12-28 16:00:49 +11:00
Jason Short
234121f3c3
Fix for 11 channels of motors.
2011-12-26 14:39:01 -08:00
Andrew Tridgell
4fe527aefa
ACM: use LED_OFF/LED_ON instead of LOW/HIGH
2011-12-26 19:32:53 +11:00
Andrew Tridgell
111d156a99
ACM: fixed HIL build again
2011-12-26 19:17:11 +11:00
Andrew Tridgell
ab64a689c8
ACM-log: use DataFlash.df_NumLogs
...
this fixes the flash size on APM2
2011-12-26 19:17:11 +11:00
Randy Mackay
07041c2149
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
1afa25d9ef
Tweaks to fix Loiter
...
Changed save location to int32
added some filtering and smoothing
2011-12-25 15:44:49 -08:00
Randy Mackay
c24b5229e1
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
0dadbf932a
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
cc4f5e7c74
disabled some tests with warnings
2011-12-23 18:54:38 -08:00
Jason Short
0491d4feca
added define for optflow
2011-12-23 18:45:01 -08:00
Jason Short
d7af42c925
Getting rid of Simple Logging
2011-12-23 18:44:30 -08:00
Jason Short
0f91fbcee5
Made WP radius 1 by default
2011-12-23 15:01:53 -08:00
Jason Short
d9590a44d6
Fixed merge issues
2011-12-23 14:51:40 -08:00
Jason Short
e5a3899b7f
added ability to enter Loiter with only optflow available
2011-12-23 14:46:32 -08:00
Jason Short
73a73fbf35
moved some defines around
2011-12-23 14:46:32 -08:00
Jason Short
5518882c69
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
2d46022a2b
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
58ad9faf6d
initing z dampener at arming
2011-12-23 14:46:08 -08:00
Jason Short
5f03c62bd9
Too complicated
2011-12-23 14:46:08 -08:00
Jason Short
be4b031c7d
added back in the Disabled log - gave up on Log Simple idea
2011-12-23 14:45:56 -08:00
Jason Short
ca8f71a705
used for testing
2011-12-23 14:42:50 -08:00
Jason Short
a966a178f8
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
a284fc222c
No longer blocking before initing home
2011-12-23 14:42:50 -08:00
Jason Short
79fff0f096
the second accel test is just for fun.
...
Filtered output for Nav_throttle
2011-12-23 14:42:50 -08:00
Jason Short
62cb407558
Begin to better integrate OptFlow, added necessary globals for Loiter estimation
2011-12-23 14:42:50 -08:00
Jason Short
85b564c5eb
removed some unneeded HIL #defines
2011-12-23 14:42:49 -08:00
Pat Hickey
c40fccbc26
Log_simple uses identical implementation of do_erase_logs.
...
* fix build1280.ArduCopter
2011-12-22 13:31:28 -08:00
Pat Hickey
f1624621b3
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
310f072d50
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
106801a59c
config settings for jD motors
2011-12-19 09:29:05 +07:00
Jason Short
b53a6bd4b4
Hexa stability patch bug fix by borna.segulin
2011-12-18 16:38:07 -08:00
Jason Short
239eb53983
change Alpha name
2011-12-18 16:38:07 -08:00
Andrew Tridgell
ad9c0533d8
ACM: run mavlink loop while erasing logs
2011-12-18 10:19:41 +11:00
Jason Short
8970948804
Sync logging
2011-12-16 22:02:41 -08:00
Jason Short
47e4c875e1
Cleanup
...
removed Iterm experiment - no noticeable effect in actual flight
2011-12-16 20:47:23 -08:00
Andrew Tridgell
f6f808357c
removed AperiodicProcess code
...
this code was never being used, and was more complex than it was
worth.
2011-12-17 07:29:09 +11:00
Jason Short
2fc25d963d
renamed super simple, added framework for auto calc of throttle cruise
2011-12-15 20:51:41 -08:00
Jason Short
3019c35364
turned off iterm for traverse
2011-12-15 20:51:41 -08:00
Jason Short
f11f2c6d97
added some more throttle imax range
...
renamed Super Simple
2011-12-15 20:51:41 -08:00
Jason Short
72605f846c
renamed super simple
2011-12-15 20:51:41 -08:00
Jason Short
88b3708dcf
added altitude to circle mission
2011-12-15 20:51:40 -08:00
Jason Short
0ba8a9f30b
Allows user to specify just an altitude for Circle Mode
2011-12-15 20:51:40 -08:00
Jason Short
4e280bb0dc
More power to descend
2011-12-15 20:51:40 -08:00
Jason Short
3446744ae9
Addition of nav mode that tries to maintain level
2011-12-14 22:08:42 -08:00
Jason Short
4d90058c90
dupe of landing logic for scripting
2011-12-14 22:08:41 -08:00
Jason Short
f48e394511
made the last step of landing stop navigating so we can drop straight down.
2011-12-14 22:08:41 -08:00
Jason Short
1251e8105d
Added failsafe check
2011-12-14 22:08:41 -08:00
Jason Short
c6657f4a93
updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing
2011-12-14 22:08:41 -08:00
Jason Short
d2fd6c5ee5
added loiter control to reset nav
2011-12-14 22:08:41 -08:00
Jason Short
8691b10ee9
added failsafe check,
...
enable loiter repositioning
2011-12-14 22:08:41 -08:00
Doug Weibel
5d197ae337
Change logging to default on for 2560
2011-12-13 20:53:44 -07:00
Doug Weibel
8b78c4a4c5
Changes to logging file system to avoid problems with 0 and 1 page logs
2011-12-13 20:09:07 -07:00
Michael Oborne
e20d3a3676
add method of detecting if motors are armed
2011-12-14 06:18:29 +08:00
Randy Mackay
7f64080877
Arducopter - Attitude.pde - fixed small bug in pitch stabilise
2011-12-13 22:10:51 +09:00
Andrew Tridgell
483bef35e5
IMU: update ACM and APM for flash_leds change in IMU init
2011-12-13 18:19:41 +11:00
Andrew Tridgell
888d6226b2
fixed two more CONFIG_HARDWARE #ifdef bugs
2011-12-13 17:05:48 +11:00
Jason Short
edc3a731d4
Adjustments for High Wind enviroments
2011-12-12 17:47:45 -08:00
Jason Short
ba8fc57bd8
Stability patch2 - Jose style.
2011-12-12 17:47:45 -08:00
Jason Short
c9b317fc27
Gain updates
2011-12-12 17:47:45 -08:00
Jason Short
f3e408e7e0
Added a simplified Log that is just GPS for my 1280 board
2011-12-12 17:47:45 -08:00
Jason Short
e4559bbf5c
Added param option for Simple mode reset
2011-12-12 17:47:45 -08:00
Jason Short
d83ad1acd4
Upped the max pitch to deal with wind - based on T3 testing
2011-12-12 10:10:33 -08:00
Jason Short
6bc90d6289
Just upped the nav_imax value
2011-12-12 10:10:33 -08:00
Andrew Tridgell
a22893124d
fixed LOGGING_ENABLED default on ArduCopter
2011-12-12 23:40:43 +11:00
Andrew Tridgell
5760239670
quad: fixed the comments on the + motors
2011-12-12 21:01:58 +11:00
Andrew Tridgell
d076fb54b5
fixed barometer detection on APM2
2011-12-12 15:45:36 +11:00
Andrew Tridgell
f5e439554d
fixed == that should be =
2011-12-12 15:19:50 +11:00
Andrew Tridgell
358dc91d41
fixed hil ArduCopter build
2011-12-12 15:14:55 +11:00
Andrew Tridgell
07dba4eff7
desktop: fixed Wire.begin() build problem
2011-12-12 15:14:55 +11:00
Andrew Tridgell
1b1c629167
added sitl build target
2011-12-12 15:14:55 +11:00
Andrew Tridgell
011110e1dd
airspeed: use floating point values and better averaging in zero_airspeed()
...
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
2011-12-12 15:14:55 +11:00
Pat Hickey
a48c65b5b5
ArduCopter: update AP_Baro constructors & initializers
2011-12-11 15:21:10 -08:00
Pat Hickey
f3ad7f3af8
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
6dbd6b4181
ArduCopter: Get barometer data in terms of AP_Baro interface
...
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
2011-12-11 15:21:10 -08:00
Pat Hickey
39fe9075d9
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
Pat Hickey
b055aa6f81
ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO
2011-12-11 15:21:09 -08:00
Pat Hickey
d7f77aec93
ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define
...
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
config.h takes care of this default.
2011-12-11 15:21:09 -08:00
Pat Hickey
62844d8ddc
ArduCopter: added config.h and defines.h to support CONFIG_BARO
2011-12-11 15:21:09 -08:00
Pat Hickey
de6507a47d
ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes.
2011-12-11 15:21:09 -08:00
Pat Hickey
8d878a2cae
ArduCopter CLI: Add imu.init before imu.init_accel for "level"
...
* Depending on when you entered the CLI, the imu might not be
initialized yet, and init_accel would hang.
2011-12-11 15:19:46 -08:00
Pat Hickey
2e200834e1
ArduCopter: Revert "Switched to Gyro only startup"
...
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.
I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.
It is no longer valid to call IMU::init_gyro() before IMU::init().
2011-12-11 14:50:02 -08:00
Jason Short
5d0e3664ad
Hack to prevent fly aways
...
Cleanup to remove SIMPLE mode switch note
2011-12-11 12:01:06 -08:00
Jason Short
e8e126a636
removed CLI switch by default, decreased Nav I
2011-12-11 09:53:44 -08:00
Jason Short
c1aa015ef1
added debug prints, broke out Angle val to debug
2011-12-11 09:53:44 -08:00
Jason Short
a685e5b575
fix for navigation scaleLongUp
2011-12-11 09:53:44 -08:00