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705 Commits

Author SHA1 Message Date
Randy Mackay 2a61053634 Copter: reduce default logging for SITL 2013-12-12 22:19:12 +09:00
Randy Mackay 58788d2934 Copter: increasd default logging for PX4, Pixhawk 2013-12-05 16:04:52 +09:00
Randy Mackay 2ba233942d Copter: pre arm mag offset limit to 600 for PX4 2013-12-03 23:23:26 +09:00
Randy Mackay 0cda3c9a71 Copter: reduce SONAR_GAIN to 0.8 (was 2.0) 2013-12-01 16:25:47 +09:00
Robert Lefebvre dbbe0f960a Copter: remove LED_ON/OFF defines 2013-11-30 18:20:58 +09:00
Randy Mackay 59cea4b88c Copter: remove CopterLED from main code 2013-11-30 18:20:55 +09:00
Randy Mackay 10d6a9a34e Copter: replace Log_Write_Motors with Log_Write_RCOU 2013-11-27 20:18:18 +09:00
Randy Mackay af657d58b9 Copter: RCIN dataflash logging 2013-11-27 16:46:25 +09:00
Andrew Tridgell 9c812d5028 Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:05:32 +11:00
Randy Mackay 87127f0ab8 Copter: allow battery failsafe to trigger RTL 2013-11-16 14:46:57 +09:00
Randy Mackay bc1e06757b Copter: allow GPS failsafe to trigger AltHold 
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO.  This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
 2013-11-16 13:55:59 +09:00
Randy Mackay 8c9ab50ba2 TradHeli: restore CC_COMP and PIRO_COMP 2013-11-15 22:58:43 +09:00
Randy Mackay 0f67e25d37 TradHeli: set throttle_min to zero by default 2013-11-15 22:58:38 +09:00
Randy Mackay c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay 633e91b7d4 Copter: initialise roll, pitch, yaw modes to stabilize 
This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
 2013-11-15 22:57:56 +09:00
Randy Mackay ae87759e6d TradHeli: add THROTTLE_MANUAL_HELI 
Move check_dynamic_flight to run as scheduled task
 2013-11-15 22:57:53 +09:00
Andrew Tridgell 6b1f59372c Copter: show git and firmware version in tlog 2013-11-09 10:09:20 +11:00
Randy Mackay 620109d894 Copter: formatting fix to config.h 2013-11-03 12:57:02 +09:00
Robert Lefebvre 8868af7c2f TradHeli: Change default Auto-Yaw to Yaw Look Ahead 
This leads to smoother flight in Auto modes, particularly with fast waypoints.
 2013-11-03 12:56:57 +09:00
Jason Short 520a535c21 Copter: TOY mode updates 2013-11-02 21:34:48 +09:00
Randy Mackay babc54ec60 Copter: default Ch7 to DO_NOTHING 
Ch7/Ch8 Save_WP feature triggers when switch is brought high (instead of
low) to be consistent with other aux features
 2013-11-01 11:42:33 +09:00
Randy Mackay 8386b658e9 Copter: add ANGLE_RATE_MAX param 
Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes
 2013-10-29 11:27:05 +09:00
Randy Mackay 9df7185075 Copter: remove unused #defines from config.h 2013-10-28 12:37:41 +09:00
Randy Mackay f52c6add89 Copter: reenable optical flow by default 
correct optflow test compile error
 2013-10-23 20:42:03 +09:00
Randy Mackay 6b9b5c5617 Copter: pre-arm check speed is less than 50cm/s 2013-10-20 21:56:00 +09:00
Randy Mackay d2bbc06502 Copter: allow throttle deadband to be redefined in APM_Config.h 2013-10-13 20:41:11 +09:00
Randy Mackay 0e740bd4e1 Copter: enable AUTOTUNE for mission planner build 2013-10-13 11:57:50 +09:00
Randy Mackay 6876107a15 Copter: autotune disables rate output from stab controller 2013-10-13 11:56:01 +09:00
Randy Mackay 8d1085feea Copter: pre-arm expects mag len of 330 for APM1 (was 530) 2013-10-09 14:10:16 +09:00
Andrew Tridgell 6145924481 Copter: switch Linux to L3G4200D ins driver 2013-10-08 11:50:54 +11:00
Randy Mackay ba92c4891a Copter: make AutoTune a compile-time option 2013-10-04 15:50:50 +09:00
Randy Mackay dab4f032f9 Copter: integrate BattMonitor 2013-10-03 11:16:28 +09:00
Andrew Tridgell 3665bec26d Copter: fixed build for Linux 2013-09-28 22:04:16 +10:00
Randy Mackay a53d28e018 Copter: remove support for dmp ahrs 2013-09-27 10:42:49 +09:00
Andrew Tridgell 566eaf7d41 Copter: fixed flymaple build with copterleds 2013-09-27 10:32:22 +10:00
Andrew Tridgell a0b6481dfd Copter: removed SMACCM support 2013-09-26 22:38:31 +10:00
Randy Mackay 2c96ed3f22 Copter: disable optical flow 
This at least allows ArduCopter to be compiled with arduino until we
find larger flash savings
 2013-09-24 21:59:19 +09:00
Andrew Tridgell 3378c7901a Copter: added support for the flymaple board 2013-09-24 13:51:28 +10:00
Andrew Tridgell 91315715fe Copter: removed CONFIG_PUSHBUTTON 
not used anywhere any more
 2013-09-23 18:10:22 +10:00
Andrew Tridgell 754bdbd25f Copter: use new usb_connected() HAL function 2013-09-19 16:24:23 +10:00
Randy Mackay 65adb78f31 Copter: increase default battery capacity to 3500mAh 2013-09-15 11:54:07 +09:00
Randy Mackay 653a5036ae Copter: #define for initial altitude jump during take-off 
Developers can add a line like to APM_Config.h to reduce the initial
jump when taking off in Loiter or AltHold flightmodes:
#define ALT_HOLD_TAKEOFF_JUMP 0
 2013-09-12 22:31:42 +09:00
Randy Mackay e985253f1a Copter: integrate notify 2013-08-30 13:01:35 +10:00
Randy Mackay 7c78936bc5 Copter: land by default at end of RTL 2013-08-30 10:34:23 +09:00
Randy Mackay 81074ebb3c Copter: update Y6 defaults 2013-08-28 13:05:01 +09:00
Randy Mackay d8eb7fb82f Copter: remove x100 from IMAX definitions 2013-08-19 22:38:34 +09:00
Randy Mackay 2696e160e6 Copter: surface tracking improvement 
Separate correction speeds for pilot input vs altitude-above-ground
errors to allow slower correction to sonar signals.
Change SONAR_GAIN parameter to be altitude error -> desired speed.  This
means it should be set 10x larger than before.
Replace hard-coded sonar cut-off percentage of 70% with
SONAR_RELIABLE_DISTANCE_PCT.
Reduce sonar cut-off percentage to 60%.
Add desired sonar altitude to dataflash log's CTUN message.
 2013-08-19 09:52:59 +09:00
Randy Mackay d000967a76 Copter: pre-arm check for gps hdop < 2 2013-08-15 13:06:36 +09:00
Randy Mackay 6969ab573d Copter: configurable max lean angle 
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
 2013-08-11 12:53:22 +09:00
Randy Mackay 5049595a2c Copter: SPORT mode to use alt hold 2013-08-10 15:42:02 +09:00
Randy Mackay d0dc5813cf Copter: move CIRCLE_RADIUS definition 2013-08-07 14:03:28 +09:00
Randy Mackay 74fb500efe Copter: integrate AC_Sprayer 2013-08-05 21:12:23 +09:00
Randy Mackay 49dbdce89c Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P 2013-08-05 21:05:00 +09:00
Randy Mackay 21e523b9ac Copter: Acro trainer separated into limited and leveled 2013-08-05 21:04:53 +09:00
Randy Mackay e32342163d Copter: rename ACRO variables 2013-08-05 21:04:50 +09:00
Randy Mackay 65276d360b Copter: SPORT to use YAW_HOLD 2013-08-05 21:04:44 +09:00
Randy Mackay 39ab4f62ef Copter: add SPORT mode 2013-08-05 21:04:41 +09:00
Randy Mackay 9672742b42 Copter: bug fix to look_ahead_yaw 
Fix received from David Dewey
Was incorrectly using the direction instead of heading when deciding
whether to point forward or not.  Reduced YAW_LOOK_AHEAD_MIN_SPEED to
1m/s because bug meant it was nearly always pointing forward and 10m/s
(the old value) seemed too high
 2013-08-01 14:12:55 +09:00
Leonard Hall 64ce9b017d Copter: Body frame ACRO upgrade 2013-07-11 17:53:25 +09:00
Randy Mackay ac5d925115 Copter: revert Loiter Pos P to 1.0 (was 0.8) 2013-07-11 12:20:31 +09:00
Randy Mackay 1590a5d58a Copter: increase Yaw Rate I 0.02 2013-07-11 12:20:29 +09:00
Randy Mackay d77f7bc803 Copter: default Loiter Pos P to 0.8 (was 0.2) 2013-07-11 08:13:17 +09:00
Andrew Tridgell c544a076ca Copter: enable camera logging by default 
these messages only happen on user defined camera triggering, so
should be low rate
 2013-07-10 12:24:02 +10:00
Randy Mackay 45f47de98d Copter: reduce default Loiter Pos P to 0.2 (was 1.0) 2013-07-07 16:00:09 -10:00
Randy Mackay 404cd5f3da Copter: rename g.pid_throttle to g.pid_throttle_rate 
Small code clean-up to make throttle rate controller's pid more obvious
 2013-06-30 00:04:21 -10:00
Robert Gayle 917edcab11 Copter: added FS_THR_ENABLED_ALWAYS_LAND (=3) option: don't attempt RTL, just land 2013-06-27 10:19:38 -10:00
Andrew Tridgell 76d1791073 Copter: CONFIG_RELAY is not used 2013-06-25 12:47:07 +10:00
Randy Mackay cd30103b76 Copter: increase default CIRCLE_RATE to 20deg/sec 2013-06-19 12:40:33 +09:00
Randy Mackay 069bd17928 Copter: reduce default AltHold P to 1.0 (was 2.0) 
This helps reduce jumpiness due to althold feed forward
 2013-06-16 15:32:25 +09:00
Randy Mackay 13c41e74f2 Copter: reduce pre-arm board voltage check to 4.3V 2013-06-02 20:47:58 +09:00
Olivier-ADLER 735406fa77 Copter : POSITION_HOLD mode -> allow user position control 2013-06-02 11:49:18 +09:00
Randy Mackay 1722e438d8 Copter: pass alt hold gain to WP_Nav library 2013-05-31 21:04:10 +09:00
Randy Mackay 1807840d4f Copter: fixed comments re mag field pre-arm check 2013-05-31 12:28:04 +09:00
Randy Mackay 7b50ecc73c Copter: pre-arm check for mag field length 2013-05-31 12:23:19 +09:00
Randy Mackay a1821c89e7 Copter: pre-arm check for board voltage < 5.8V 2013-05-31 11:31:27 +09:00
Randy Mackay c3d21a457f Copter: add pre-arm board voltage check 
Copter will not arm unless board voltage is over 4.5V
 2013-05-28 21:50:31 +09:00
Randy Mackay cdcf442f55 Copter: enable GPS failsafe by default 2013-05-27 11:25:37 +09:00
Randy Mackay 9fdab5e8fe Copter: remove unused AUTO_SLEW_RATE parameter 2013-05-17 16:09:17 +09:00
Randy Mackay 38239c652a Copter: ch8 aux switch 
Ch8 can be used as an aux switch like ch7.  Has all the same options as
ch7 and there is a safety check to ensure both switches aren't set to
the same function so as to avoid interfering with each other
 2013-05-17 14:42:28 +09:00
Randy Mackay 566daf883a Copter: remove unused MODE bit from LOG_BITMASK 
We always log the mode so no need for this bit
 2013-05-17 12:26:42 +09:00
Randy Mackay 1426f40319 Copter: remove unused JDrones motor PID overrides 2013-05-17 12:05:20 +09:00
Randy Mackay e843bf3dfd Copter: bug fix for POSITION mode throttle 
Was using alt-hold throttle controller instead of manual throttle
controller
 2013-05-14 11:56:09 +09:00
Randy Mackay a2e298bbfc Copter: change to default RTL yaw behaviour 
We will not point the nose home for RTL but will point the nose for all
other waypoints
 2013-05-14 11:52:39 +09:00
Andrew Tridgell 0d027b7a23 Copter: updates for new compass API 2013-05-02 12:48:14 +10:00
Randy Mackay bab9fa25e5 Copter: add GCS failsafe 2013-04-29 21:30:22 +09:00
Randy Mackay 58d1da2d80 Copter: integrate AC_Fence in place of limits 
Lesser functionality than limits but saves more than 150 bytes and it
works
 2013-04-27 11:14:07 +09:00
Randy Mackay 94d4ecef11 Copter: reduce throttle rate D to zero 2013-04-21 16:28:07 +09:00
Bill Bonney 36041bb9ff Copter: Enable CURRENT logging by default to dataflash 2013-04-21 07:25:34 +10:00
Randy Mackay 745df9b13c Copter: add SONAR_GAIN to tune reaction to sonar 
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
 2013-04-20 15:58:36 +09:00
Randy Mackay a53e5f747b Copter: add fourth yaw behaviour, look-at-home 
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
 2013-04-20 15:36:24 +09:00
Randy Mackay 37abfdc65a Copter: make CIRCLE_RATE a tunable parameter 
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
 2013-04-20 12:03:55 +09:00
Randy Mackay 18c1373847 Copter: remove unused AUTO_VELZ defaults 
These have now moved to AC_WPNav
 2013-04-18 14:57:08 +09:00
Randy Mackay 82989d85f2 Copter: remove unused #defines 2013-04-16 22:34:12 +09:00
Randy Mackay 0663da7c9e Copter: loiter rate IMAX to 4m/s/s and D to zero 2013-04-16 22:28:18 +09:00
Randy Mackay 629d23b7e2 Copter: remove WP_SPEED and WP_RADIUS parameters 
AC_WPNav library has equivalent params with very similar names
 2013-04-14 13:27:37 +09:00
Randy Mackay 366616e32c Copter: reduce default loiter PIDs 2013-04-14 10:39:28 +09:00
Randy Mackay 1516972eaa Copter: add panorama to CIRCLE mode 
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
 2013-04-14 10:38:01 +09:00
Randy Mackay fc0c451b69 Copter: remove #ifdef checks for Atmega1280 2013-04-05 22:48:10 +09:00
Randy Mackay a9eb626cb8 Copter: update default Rate Yaw P to 0.20 (was 0.25) 2013-04-01 11:49:50 +09:00
Randy Mackay 36834e77b5 Copter: remove support for CLI Slider 2013-03-18 14:07:04 +09:00
Randy Mackay 597a4b912a Copter: fix to allow building HIL_MODE_SENSORS 2013-03-18 13:41:52 +09:00
Randy Mackay d1344e8c39 Copter: remove #define for CROSSTRACK_GAIN 
Note: the cross track is still calculated inside the inertial nav based
loiter and wp controls but it's no longer requires a tunable parameter
 2013-03-17 16:56:18 +09:00
Randy Mackay 1b6fcad90a Copter: remove tilt compensation parameter 
Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
 2013-03-17 16:53:32 +09:00
Randy Mackay fdcb78ccf7 Copter: leonard's smoother alt-hold transition 
Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
 2013-03-17 13:24:49 +09:00
Randy Mackay 150046f2b8 Copter: GPS Failsafe implemented 
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
 2013-03-16 17:27:46 +09:00
Randy Mackay a73f50494c TradHeli: remove duplicate RC_FAST_SPEED definition 2013-03-04 23:45:23 +09:00
Randy Mackay 33bd984a91 Copter: remove unused input_voltage parameter 2013-03-03 23:23:54 +09:00
Randy Mackay d6ff5ae261 Copter: add roll-pitch slew for auto modes 
Added reporting of roll, pitch inputs for ACRO, AUTO
 2013-02-24 14:42:04 +09:00
Randy Mackay e297ba7d18 Copter: update default loiter gains for inertial nav 2013-02-24 14:42:00 +09:00
Randy Mackay cbde042ec5 Copter: remove non-inav loiter and wp controllers 
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
 2013-02-24 14:41:52 +09:00
Randy Mackay 609676e26c Copter: add logging of compass values 
Removed rarely used ITERM because we didn't have enough bits in the log
mask
 2013-02-24 14:41:48 +09:00
Randy Mackay 67c69a19ee Copter: remove baro-only alt hold 
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
 2013-02-24 14:41:29 +09:00
Randy Mackay fcf102b2cf Copter: inertial nav waypoint controller 
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
 2013-02-24 14:41:09 +09:00
Randy Mackay 8e4c9518ea Copter: increase low voltage check to 10.5v 
Change requested by Rob Lefebvre and Richie Wilson
 2013-02-23 00:36:51 +09:00
Andrew Tridgell 4c7a1a1806 Copter: change PX4 main baud rate back to 115200 
we now use USB console
 2013-02-22 07:04:23 +11:00
Randy Mackay 06a71af12f Copter: THR_MID used to scale manual throttle 2013-02-01 22:37:16 +09:00
Randy Mackay ce370bab0c Copter: rename CUR and CURR to CURRENT for logging 
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
 2013-01-26 17:20:41 +09:00
Randy Mackay b74fe10aa9 Copter: set each flight mode's nav_mode 
Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
 2013-01-25 15:57:55 +09:00
Andrew Tridgell f303554259 Copter: run serial0 at 57600 on PX4 2013-01-22 09:50:22 +11:00
Robert Lefebvre dde713aaa5 Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this. 2013-01-20 21:32:00 +09:00
Andrew Tridgell 580abf1106 Copter: fixed PX4 mag orientation 2013-01-17 17:23:34 +11:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Randy Mackay fef7569dee Copter: added experimental LOITER_REPOSITIONING #define to config.h 
APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
 2013-01-14 13:34:14 +09:00
Randy Mackay 9ad6f711f8 ArduCopter: replace FS_THR_RTL_MIN_DISTANCE with wp_radius 
This effectively means that an RTL kicked off by a failsafe will
immediately switch to LAND mode only if within 2 meters.  Previously the
radius was much wider (15m).
 2013-01-13 20:00:47 +11:00
Randy Mackay 12f885c33c ArduCopter: disable ITERM logging by default 
This message takes 1ms to write and we are running over our limits on
some loops.
 2013-01-13 20:00:39 +11:00
rmackay9 21b6c78d12 ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes 
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
 2013-01-13 19:51:47 +11:00
Randy Mackay 87627d883b ArduCopter: use new logging method for remaining packet types 
Additional changes include renaming RAW dataflash type to IMU
 2013-01-13 00:17:44 +09:00
James Bielman 7827a4a54a ArduCopter: Add AP_HAL_SMACCM support. 
- Added default configuration to "config.h".
- Added main function to run under FreeRTOS with HWF4.
 2013-01-09 11:19:51 -08:00
James Bielman ab37f833db MS5611: Fix CONFIG_MS5611_SERIAL definitions. 
- Make sure the values are defined as integers.  We were always using
  SPI rather than using I2C when desired.
 2013-01-09 11:19:51 -08:00
Andrew Tridgell c48714be16 Copter: enabled PX4 sensors 2013-01-05 20:39:31 +11:00
James Bielman 264db3670e AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C. 
- Update ArduCopter and ArduPlane modules to pass the correct serial
  driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
 2013-01-03 13:48:06 -08:00
Andrew Tridgell 94e3322e24 Copter: fixed build on px4 2013-01-02 22:09:02 +11:00
rmackay9 9b2956b377 ArduCopter: increase throttle rate P to 6.0 (was 1.0) and alt hold P to 2.0 (was 1.0) 2013-01-02 09:55:37 +11:00
rmackay9 d400e5040b ArduCopter: turn on INERTIAL_NAV_Z in the config.h file so that it takes effect when built for the mission planner 2013-01-02 09:55:37 +11:00
rmackay9 e850ab7ccd ArduCopter: add AUTO_VELZ_MIN, AUTO_VELZ_MAX and PILOT_VELZ_MAX to allow better control of climb/descent rate in auto and manual throttle modes 2013-01-02 09:24:31 +11:00
rmackay9 5526ca204c ArduCopter: on throttle failsafe, only initiate RTL if we are at least 15m from home 2013-01-02 09:22:51 +11:00
Robert Lefebvre 6e64b1b357 ACM: Precision Loiter RePositioning code. 
Protected behind a #define
 2013-01-02 09:19:39 +11:00
rmackay9 e6519330f4 ArduCopter: remove unused rc_override variables to save 21 bytes 2013-01-02 09:19:17 +11:00
rmackay9 34e18ae12a ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle 2013-01-02 09:19:17 +11:00
Robert Lefebvre 9605bd8ee1 ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work. 2013-01-02 09:14:55 +11:00
rmackay9 d8e3d5c10c ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h 2013-01-02 09:12:40 +11:00
rmackay9 50d46898fb ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden 2013-01-02 09:12:17 +11:00
Andrew Tridgell 9e986801c9 Copter: fixed SITL for ArduCopter 2012-12-20 14:52:34 +11:00
Pat Hickey 5e63491994 ArduCopter: fix issues with HAL/HIL mixup and baro/compass instances 2012-12-20 14:52:29 +11:00
Pat Hickey d93d932831 ArduCopter: defines fixes 
Conflicts:

	libraries/AP_Common/Arduino.mk
 2012-12-20 14:52:28 +11:00
Pat Hickey 2aa4657315 ArduCopter: changes to use CONFIG_HIL_BOARD 2012-12-20 14:52:28 +11:00
rmackay9 2f748f8382 ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE 2012-12-10 23:47:14 +09:00
rmackay9 d31efebd44 ArduCopter: rename throttle failsafe parameters. 
Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
 2012-12-10 23:38:43 +09:00
rmackay9 2f1b2b70e6 ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees 2012-12-10 22:27:46 +09:00
rmackay9 dadad8677e ArduCopter: added descriptions for most parameters that did not have them 
Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
 2012-12-10 21:45:57 +09:00
rmackay9 cfe2507c0b ArduCopter: reduce Rate Roll/Pitch P to 0.150 (was 0.175) and increase I to 0.1 (was 0.01) 2012-12-09 18:08:45 +09:00
Robert Lefebvre aa4d4f8c24 ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode. 2012-12-08 20:41:05 -05:00
Robert Lefebvre 1b97a92098 ACM: Code Cleanup 2012-12-08 14:49:38 -05:00
rmackay9 f98a807d36 ArduCopter: remove debug related to yaw mode used for alt hold 2012-12-08 14:24:50 +09:00
rmackay9 9dd978576b ArduCopter: auto yaw changes to allow pilot override of yaw during missions 
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw).  We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
 2012-12-08 14:23:32 +09:00
rmackay9 68ca123224 ArduCopter: remove some unused #defines 2012-12-07 15:17:35 +09:00
rmackay9 3a90fc77f9 ArduCopter: add dataflash logging of camera events 2012-12-07 00:57:08 +09:00
rmackay9 a5bb54e36e ArduCopter: RTL clean-up and slightly improved landing sensor 
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
 2012-12-06 10:31:52 +09:00
rmackay9 072ffec493 ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position 2012-12-06 10:31:41 +09:00
rmackay9 bdb47c449a ArduCopter: pass linear altitude error to throttle rate controllers. 
Previously the requested rate used the square root of the altitude error.

Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
 2012-12-06 10:31:31 +09:00
rmackay9 7b4ed2d227 ArduCopter: restored landing detector to landing throttle mode. 
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
rmackay9 560bb1d738 ArduCopter: removed unused AUTO_THROTTLE_HOLD #define 2012-12-06 10:31:15 +09:00
rmackay9 3cbef57c64 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy 
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
Andrew Tridgell 6fbf5ec8f2 Copter: update ArduCopter for new ins interface 2012-11-30 07:15:18 +11:00
Robert Lefebvre 6b8c39dd10 ACM: Creating Yaw_Look_Ahead yaw mode. 
This function is not fully tested yet.
 2012-11-26 21:37:13 -05:00
Robert Lefebvre 6ffc115236 Changes to get_throttle_rate() 
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
Andrew Tridgell dafaa2efc8 SITL: disable optical flow on the desktop build 
it doesn't work yet, as no sensor emulator is available
 2012-11-19 09:04:03 +11:00
rmackay9 07a7a1acd8 ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
rmackay9 e92b560df5 ArduCopter: low baterry failsafe 2012-11-15 23:35:41 +09:00
Jason Short 9735a0eff1 ACM: Allow for user defined roll and pitch input max 2012-11-11 18:00:10 -08:00
rmackay9 e212744f4c ArduCopter: failsafe improvements 
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
Jason Short 129ec35c35 ACM crosstrack min distance 2012-11-09 22:15:16 -08:00
Jason Short 4d7b9137fe ACM: Added max RTL altitude 2012-11-09 22:15:15 -08:00
rmackay9 1f801714e8 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
Jason Short 73bc90f9b8 ACM: config.h cleanup 
Added LOG_ITERM default to enabled
 2012-10-27 09:59:57 -07:00
rmackay9 5e8043fd9c ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters 
Changes on behalf of Leonard Hall
 2012-10-23 21:30:50 +09:00
rmackay9 78316adf75 ArduCopter: replace Serial.print with Serial.print_P to save memory. 
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
Robert Lefebvre bfade7d0ed Fixed that last commit 
#define Stupid_Mistake
 2012-10-18 16:50:42 -04:00
Robert Lefebvre 592f4040fd Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups. 2012-10-18 16:39:05 -04:00
rmackay9 583f2e49a3 ArduCopter: integrated Leonard Hall's improved ACRO mode 2012-10-18 23:24:34 +09:00
rmackay9 7d7de976c3 ArduCopter: reduced optical flow's I and IMAX terms 2012-10-17 17:47:43 +09:00
LeonardTHall d7b7e1cefa New Yaw controller using rate feed forward and stabilize. 
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
 2012-10-15 11:37:49 +09:00
rmackay9 ee5dab9647 ArduCopter: enable ACRO mode's AXIS_LOCK by default 2012-10-14 19:50:45 +09:00
rmackay9 997fe85880 ArduCopter: fixed acro mode 
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
rmackay9 4a41a3d210 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
Robert Lefebvre dae81d2068 Added #define for Tilt_Compensation. 
Also added some detail to WP_Speed_Max parameter.
 2012-10-12 14:51:31 -04:00
rmackay9 03933df5b7 ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015 
Updated after discussing with Marco
 2012-10-11 17:25:01 +09:00
rmackay9 35fa50234f ArduCopter: move I terms from stabilize to rate controllers 2012-10-11 17:20:05 +09:00
rmackay9 af1d6a9b82 ArduCopter: reduce Stabilize Yaw P term to 4.5 2012-10-03 14:19:49 +09:00
rmackay9 ea4f256f8e ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements 
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
rmackay9 95763e610b ArduCopter: allow DMP to run in parallel with DCM 
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
rmackay9 41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
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
rmackay9 fff5d51694 ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08) 2012-09-25 19:08:31 +09:00
rmackay9 a71aa21514 ArduCopter: increase default Loiter Rate P to 5.0 2012-09-25 12:19:44 +09:00
rmackay9 9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
rmackay9 42406c827a 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
Craig Elder 274b2e2143 Arducopter: Release 2.7.2 2012-08-31 19:18:10 -07:00
Andrew Tridgell e8d928cca4 ACM: added TELEM_DELAY to ArduCopter 2012-08-30 09:03:01 +10:00
Craig Elder 4ad516c445 Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking 
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
rmackay9 2ad6dcb7c4 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
rmackay9 b4b394e67e ArduCopter: reduced Rate Roll and Pitch PID values 
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
uncrustify 429c41155c uncrustify ArduCopter/config.h 2012-08-21 19:19:50 -07:00
Andrew Tridgell 6d11940ada AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
rmackay9 1d32e03f61 ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h. 
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
Jason Short 3ee2fd3fb6 ACM: Config.h - added default for toy mixer 2012-08-16 15:40:28 -07:00
Jason Short 9a568385b0 ACM increase the minimum speed at WP 2012-08-10 10:01:40 -07:00
Jason Short 3e57f8afd8 ACM: config.h = updated default gains 
More yaw rate control
 2012-08-09 16:59:43 -07:00
Amilcar Lucas d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Amilcar Lucas 9cc705939a Add a second mount instance 2012-08-08 23:07:25 +02:00
Amilcar Lucas aa3cc63b15 ArduCopter: Make the code fit in a 1280 chip again 
Even allows to control a camera/antenna mount, if the user explicitly wants to.
 2012-08-06 00:23:48 +02:00
Amilcar Lucas 0106c133cf Default CLI_SLIDER_ENABLED to DISABLED 
Chris asked for this on the mailing list
 2012-08-06 00:22:33 +02:00
Amilcar Lucas afd96025a7 ArduCopter: Save more space in APM1280 2012-08-05 23:05:52 +02:00
Amilcar Lucas d29f7023cc Merge from ArduPlane 2012-08-04 18:38:50 +02:00
rmackay9 77b1785bc6 ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values 2012-07-30 11:01:45 +09:00
rmackay9 014f5aae99 ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP 2012-07-28 14:21:07 +09:00
Jason Short 96aabb7712 ACM: Lowered default Alt hold P 2012-07-21 16:45:00 -07:00
Jason Short 3b496ff229 Arducopter: Upped D rate to .005 by default 2012-07-19 22:35:21 -07:00
Jason Short 49c7579079 Arducopter: Config.h defaults adjustments 2012-07-19 17:48:48 -07:00
Jason Short 3401bd3583 Arducopter: Clarified units in comment 2012-07-19 09:49:13 -07:00
Jason Short dcf9f9dab1 Arducopter 
for rate altitude changes
 2012-07-18 22:57:10 -07:00
Andreas M. Antonopoulos a976a59c88 AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling. 2012-07-16 11:46:43 -07:00
rmackay9 36ecdff593 ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library) 2012-07-15 16:38:52 +09:00
Jason Short 7a5544051d Arducopter 
Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
 2012-07-11 17:46:07 -07:00
Jason Short c04bff67de Arducopter: Config.h, default gain tweaks from flight tests. 2012-07-10 21:53:38 -07:00
Amilcar Lucas dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Jason Short 038116f521 Airspeed patch: 
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
 2012-07-09 13:13:32 -07:00
Andrew Tridgell 60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Adam M Rivera 6e93ab6af6 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Jason Short 37685756df Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short 2d572461ec Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short 8a08a74cc6 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short 8ab1acfb92 Config.h 
Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
 2012-07-01 13:40:11 -07:00
rmackay9 78fa903e17 ArduCopter: updated STABILIZE_ROLL_I to 0.01 (was 0.1) as instructed by Marco 2012-06-30 19:26:14 +09:00
Jason Short 4450d80ea3 Config.h: Optimizing Nav gains 2012-06-29 21:20:28 -07:00
Jason Short c76ac4543b Added user editable define for Super simple radius 2012-06-26 10:38:46 -07:00
Jason Short a0dc1f7ab1 Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm 2012-06-25 23:06:28 -07:00
Jason Short 7e0708ca36 Config.h - returned low to original 120 2012-06-20 15:22:35 -07:00
Jason Short 4f18e7f80b lowered minimum throttle 2012-06-20 08:47:47 -07:00
Jason Short 39a253a273 decreased I term based on the tests last weekend in high winds 2012-06-20 08:47:47 -07:00
rmackay9 65050775e1 ArduCopter: made Robert's new yaw method optional (off by default). 
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
 2012-06-13 21:50:16 +09:00
Jason Short ff0659535e Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch. 2012-06-12 13:58:49 -07:00
rmackay9 c6f1d93849 ArduCopter: updated standard loiter pids. 
Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
 2012-06-12 20:56:31 +09:00
Jason Short a9610a0761 Stabilization patches 
removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
 2012-06-05 16:41:44 -07:00
Michael Oborne a71ed6c5ce enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Jason Short 9310d613e1 Lowered I term - causes oscillations in SIM 2012-05-29 12:43:01 -07:00
Jason Short 7f3e142fa8 Loiter Gains based on new SIM 2012-05-15 22:01:01 -07:00
Robert Lefebvre c8fb9a6635 More CopterLEDS changes. 
Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2.  Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2.  Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code.  Legacy users should see no difference.
 2012-05-15 12:00:21 -04:00
Robert Lefebvre a285e2779f CopterLEDS changes for APM2 2012-05-15 10:07:03 -04:00
Adam M Rivera 8e580729b7 config.h: Removed comment. 2012-04-23 00:16:41 -05:00
Adam M Rivera 97040a7b3a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
rmackay9 090f5aaa6f ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame 2012-04-21 23:46:36 +09:00
rmackay9 919f004b27 ArduCopter - changed Optical Flow for APM2 to use A3 pin 2012-04-21 20:15:16 +09:00
Adam M Rivera c233defbe6 Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera 24363ccb83 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera d29f1ef331 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
James Goppert 0e7e77760a Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
Adam M Rivera 7b277d7044 config.h: Added RTL_APPROACH_DELAY config value. 2012-04-16 14:00:08 -05:00
rmackay9 84b07b5e6a ArduCopter - LEDS - added new COPTER_LEDS definition 
Code by Robert Lefebvre
 2012-04-12 22:55:32 +09:00
Andrew Tridgell 0bc604f030 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE 
we now have the EEPROM option COMPASS_AUTODEC instead
 2012-03-30 14:25:27 +11:00
Adam M Rivera 51b70e4d36 ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM. 2012-03-30 14:25:06 +11:00
rmackay9 1f4cfb9333 ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers. 2012-03-25 16:09:08 +09:00
Jason Short e2560c5865 Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator 2012-03-22 10:01:24 -07:00
rmackay9 0773a25b5d ArduCopter - increased default THROTTLE_CRUISE to 450 2012-03-20 16:34:07 +09:00
rmackay9 dc92da818c ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore 2012-03-18 14:53:19 +09:00
Jason Short 491af02d8a ACM: Lowered gains from flight tests today with 3DR Quad 2012-03-17 11:04:01 -07:00
Jason Short 3038da1dc3 ACM: Softer Loiter Gains 2012-03-16 14:10:19 -07:00
Jason Short a52a14bf12 Tune down Loiter_P a hair 2012-03-15 19:17:27 -07:00
Jason Short 48ba24a810 ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned. 2012-03-13 10:23:31 -07:00
Jason Short 7034b709d1 ACM: removing old define 2012-03-12 13:11:30 -07:00
Jason Short 0b51d9b8b0 ACM: Made Loiter_D 0 by default. Accidentally left it on by default. 2012-03-12 10:37:15 -07:00
Jason Short a989b88680 ACM: made same as Loiter I 2012-03-11 23:21:49 -07:00
Jason Short 0d434ca92c ACM: Tuning based on flights today 2012-03-11 23:21:49 -07:00
Adam M Rivera 2524f9c8df AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Jason Short 83729d0f75 ACM: decreased rate P for alt hold to remove bumpy repsonse 2012-03-10 12:41:06 -08:00
Jason Short 220d5a1c6e ACM: Increased the altitude error P for smoother alt hold response 2012-03-10 12:40:44 -08:00
Jason Short 4b703e8842 decreased the loiter rate P for overshoot 2012-03-10 12:40:07 -08:00
Andrew Tridgell 7e4c8592ff ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Jason Short 730476fdfd 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
Jason Short c26eb6afcc ACM: Updated config values 2012-03-06 22:12:24 -08:00
Andrew Tridgell 0fc646d666 ACM: set default RC fast speed to 400Hz 2012-03-02 17:57:08 +11:00
Jason Short 7c09e4a5e6 added stab_d gain scheduling - off by default 2012-02-28 20:16:40 -08:00
Jason Short ba68d6d8a1 Set loiter rate enabled by default 2012-02-26 12:29:28 -08:00
Jason Short e06d8142c1 Added OPtion for non-rate based loiter 2012-02-26 11:33:37 -08:00
Jason Short cc5ab4aebf increased speed of alt hold I term based on Jani's Logs 2012-02-25 13:31:21 -08:00
Jason Short 385828824d updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short 885710fce6 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short 1b46daa12e some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Jason Short b052dab80d Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short 3d63bb6cd4 Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short 21856e7696 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short 4faba2048c Lowered for Jani 2012-02-13 15:25:23 -08:00
Pat Hickey 470fd8788e ArduCopter Channel Config: config vars for user override of MOT_n mapping 
* config variable CONFIG_CHANNELS has possible values
  CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
  CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
 2012-02-11 16:05:51 -08:00
Jason Short 0a63f104ab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -08:00
Jason Short dc15fe4c5d Moved to Rate_I by default for Jani to test 2012-02-10 22:32:55 -08:00
Jason Short 50aaa09348 Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short 62627e9b57 reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00
Jason Short c35ad2d493 Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune. 2012-02-09 22:22:00 -08:00
Randy Mackay fe7a0a97ab ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00
Randy Mackay b851d39eaa OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short 21bd48b6c3 Loiter PIDs 2012-01-30 21:13:03 -08:00
Jani Hirvinen 009e87105f Minor changes for PID for jDrones motors due latest changes on control laws. 2012-01-31 09:00:31 +07:00
Jason Short a3862ced62 cosmetic 2012-01-29 21:55:17 -08:00
Jason Short 02aacc454b Lowering the throttle_P values by default 2012-01-29 16:27:13 -08:00
Jason Short 7833cea9d4 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 122623f64b OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay 8dee001657 Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Randy Mackay 2c906b7b27 OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Jason Short 74daadb252 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short 6476ba22f2 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Jason Short 7edd16e5fe Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning. 
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
 2012-01-21 22:09:13 -08:00
Jason Short c190f83bb0 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short d2c78d2b75 Stab_D changes units with the new dampening controller updates 
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
 2012-01-20 22:52:30 -08:00
Jason Short 85f10589b2 slowed down slightly 2012-01-20 22:52:29 -08:00
Doug Weibel ed9f7cb1b6 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Jason Short 95ac9d163e lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short 154411c96c removed unused defines 
lowered default Loiter gain
 2012-01-12 22:28:58 -08:00
Jason Short 257890d5be New Loiter Gains for new Loiter methods 2012-01-11 22:41:51 -08:00
Pat Hickey a30558e9b2 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Randy Mackay f68d23d91e 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
Randy Mackay 3dfa26920f ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short 06e032db68 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 67bf991598 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short 74b203c7f2 Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short c7f93f8718 Updated Configs based on field testing. 2011-12-30 23:48:04 -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 17acbc4572 updated Loiter gains 2011-12-29 23:02:03 -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 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
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 433df08cb3 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
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 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
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
Jani Hirvinen 106801a59c config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short f11f2c6d97 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Doug Weibel 5d197ae337 Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Jason Short c9b317fc27 Gain updates 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 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 358dc91d41 fixed hil ArduCopter build 2011-12-12 15:14:55 +11:00
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
Jason Short e8e126a636 removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Randy Mackay 67855b207d Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Randy Mackay 0b24914066 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00