91e101f47e
GPS: added delay hook for GPS detection
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this allows for MAVLink to be up during GPS detection
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2987 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 22:34:37 +00:00
b6397c089d
IMU: added delay callback hooks to IMU initialisation
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this allows the imu init() call to use a custom replacement for
delay(), which will allow for the processing of MAVLink packets during
IMU initialisation
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2986 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 22:34:25 +00:00
5152d23650
2.0.39
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mistake on the defaults for kP - not symmetrical.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2985 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 20:09:27 +00:00
8e02e89534
2.0.39
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mistake on the defaults for kP - not symmetrical.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2984 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 20:06:36 +00:00
4223dff94e
2.0.39
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limit RTL to 35°
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2983 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 19:57:35 +00:00
a6bad6b73e
2.0.39
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small change to RTL to prevent negative effects from flying backwards.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2982 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 19:42:07 +00:00
c637bf0947
small change to RTL to prevent negative effects from flying backwards.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2981 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 19:41:11 +00:00
e81aa43f1c
OpticalFlow - add check to see if sensor has initialised correctly.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2974 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 04:31:36 +00:00
69bd507d5a
fix hil build
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2970 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 01:24:20 +00:00
150f58a4bd
removed scaling on control in because it might cause rounding issues.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2969 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 23:48:38 +00:00
4339ebb310
Reworked the filtering algorithm based on Maxbotics recommendations to use a Mode filter
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2968 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 23:34:25 +00:00
73be185414
Big update 2.0.38
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moved ground start to first arming
added ground start flag
moved throttle_integrator to 50hz loop
CAMERA_STABILIZER deprecated - now always on
renamed current logging bit mask to match APM
added MA filter to PID - D term
Adjusted PIDs based on continued testing and new PID filter
added MASK_LOG_SET_DEFAULTS to match APM
moved some stuff out of ground start into system start where it belonged
Added slower Yaw gains for DCM when the copter is in the air
changed camera output to be none scaled PWM
fixed bug where ground_temperature was unfiltered
shortened Baro startup time
fixed issue with Nav_WP integrator not being reset
RTL no longer yaws towards home
Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 20:42:54 +00:00
e1b677a25d
Reworked the filtering algorithm based on Maxbotics recommendations to use a Mode filter
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2965 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 20:35:36 +00:00
61dc79f65b
Added some missing functions needed to get HIL to compile
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2964 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 20:34:23 +00:00
eb39d2d53a
Added ability to grab an unfiltered value from the ADC
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2963 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 20:33:45 +00:00
da2a1d72e2
GPS: fixed the GPS specific test programs
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This fixes the build
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2962 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 08:48:17 +00:00
358fd56d57
Fix Hil build on 2560
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2961 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 01:39:12 +00:00
915a564b8f
Changed the PID derivative filter to a moving average with 4 samples. Having great luck with it and High kD when using noisy sensors.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2957 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-29 21:52:37 +00:00
6061ee4b81
HIL: fixed radio_status in setHIL() for APM_RC
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thanks to Michael Oborne for noticing this!
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2952 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-28 12:11:25 +00:00
48b2f0bd9e
TradHeli - updated gps mount design files
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2949 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-26 14:13:48 +00:00
84a6fc4834
TradHeli - mounting plate and gps mount design files
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2946 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-26 12:42:36 +00:00
8907ee5b0a
fixed defaults
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2944 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-26 03:44:16 +00:00
2d094da38e
added relay control to CH6
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2943 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-26 03:37:41 +00:00
586acf4342
fixed quad PWM clipping
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this adopts the simpler approach suggested by Jason.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2936 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-22 21:25:59 +00:00
7210d6decb
fix float issues - crosstrack & target alt
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2935 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-21 23:36:22 +00:00
f5d17f756a
ACM - partial integration of optical flow sensor
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2934 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-21 23:14:53 +00:00
e80ed6d687
quad: fixed the clipping of PWM outputs
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when we clip a motor output we need to decrease the opposite motor by
the same amount, otherwise we lose the ability to control the quad
when the servo outputs are extreme
Found using the quad HIL test. Thanks to Jani for testing this on a
real quad!
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2929 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-20 00:33:04 +00:00
09256e12da
DataFlash library - changed to use standard arduino SPI library
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2928 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-19 23:00:18 +00:00
6e179db689
HIL: fixed build with HIL and logging
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thanks to Jani for noticing this
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2925 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-19 10:51:07 +00:00
efae9dddd5
HIL: we only need 50Hz attitude for HIL
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putting it in the fastest loop clogged up mavlink too much
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2923 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-19 09:49:57 +00:00
3d641a3b45
AP_OpticalFlow - fixes to position calculations (lat was reversed and would calculate position even with surface quality was very low)
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2913 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-18 21:51:27 +00:00
c79ff4f583
doubled Slew rate limiter to 2 m/s max @ 10 hz.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2912 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-18 18:18:47 +00:00
98980d6f61
HIL: fixed altitude calculation
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ACM uses a zero home altitude, so we need an offset when using GPS for
altitude
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2910 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-18 12:44:02 +00:00
60bf2182e4
GPS-HIL: set new_data on setHIL()
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this fixes navigation for ACM in HIL
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2909 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-18 12:42:36 +00:00
b3e629cfbf
2.0.37
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Added rate of change limit for noisy Sonars.
converted to static functions - Tridge
New Throttle PIDs from Jack
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2904 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 19:14:23 +00:00
e07c0aab7a
2.0.37
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Added rate of change limit for noisy Sonars.
converted to static functions - Tridge
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2902 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 19:08:29 +00:00
d04d32c40c
2.0.37
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Added rate of change limit for noisy Sonars.
converted to static functions - Tridge
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2901 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 19:08:17 +00:00
a1733ee901
Added a slew rate limit
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reworked filter, same results, just wanted to get rid of modulus.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2900 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 19:05:18 +00:00
6b0c938176
CLI: make it possible to completely disable the CLI
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set CLI_ENABLED to DISABLED for no CLI. This saves a lot of memory
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2895 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:34:05 +00:00
e6d9a6921a
HIL: don't access dcm functions in HIL mode
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the dcm is not valid in HIL_MODE_ATTITUDE
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2894 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:33:53 +00:00
863e77677e
HIL: enable reception of GPS and ATTITUDE via MAVLink
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this allows us to get GPS position and ATTITUDE in HIL_MODE_ATTITUDE
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2893 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:33:42 +00:00
93a8deac7d
HIL: send location information
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we don't send MSG_LOCATION in HIL mode during GPS updates, as we don't
call the GPS update routines, so we need to send MSG_LOCATION as part
of the Position stream
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2892 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:33:33 +00:00
aff9e9a831
HIL: when in HIL_MODE_ATTITUDE, we get altitude from gps setHIL
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we need to skip the barometer and sonar calls
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2891 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:33:17 +00:00
eb2a6403e0
don't force config in default APM_Config.h
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defaults for these are already in config.h, but protected with #ifndef
wrappers. The #ifndef wrappers are useful to allow users to have
makefile targets for different configs, so you can (for example), do
"make heli" with a local makefile
This makes it easier for developers to ensure that all configs build
correctly
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2890 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:33:09 +00:00
df6a1b51f3
make a lot more functions and variables static
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this saves about 1k of code space through better compiler optimisation
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2889 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:32:00 +00:00
0b1262a685
make main variables and functions static
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this makes most of the variables and functions in the main
ArduCopterMega.pde code static, which allows the compiler to optimise
better, and exposes unused variables as compiler warnings
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2888 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:31:46 +00:00
f9105a056e
logging: moved the default log_bitmask calculation to compile time
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this saves a little bit of code by moving the calculation of the
default log bitmask to compile time from runtime
(merge from APM)
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2887 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:31:17 +00:00
8a7466d1a2
make it possible to completely disable logging
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set LOGGING_ENABLED to DISABLED to disable all logging. This saves
about 10k of flash when disabled.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2886 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:31:07 +00:00
fdf090b471
allow flight modes to be setup over MAVLink
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this adopts the same method of setting up flight modes over MAVLink as
APM now has
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2885 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:30:53 +00:00
855b88852e
fixed a bunch of compiler warnings
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mostly signed/unsigned warnings
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2884 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 10:30:21 +00:00
tridge60@gmail.com
jasonshort
rmackay9@yahoo.com
mich146@hotmail.com
jphelirc