1591d41b33
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
bc81d8e6ac
ACM: only call the fast loop if the imu has new data
...
this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
a54d6f744e
HWSTATUS: if we don't know the voltage, report it as zero
...
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
9393b21a8d
ACM: adjust yaw drift correction constants
...
this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
b07a3eb966
ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM
2012-03-10 10:34:27 +11:00
13e9608fb8
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
df812dd78a
temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest.
2012-03-06 22:23:06 -08:00
43b3e1ccd1
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
5117ddff26
ACM: Updated config values
2012-03-06 22:12:24 -08:00
8717d7dd7c
ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down
2012-03-06 23:20:30 +09:00
8af43c4a19
ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down.
2012-03-06 22:19:19 +09:00
29aea35eae
ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino
2012-03-06 22:15:02 +09:00
fe5612d38b
Added define for throttle range for altitude changes, updated it to 250
2012-03-05 22:12:53 -08:00
a7e0fc7774
Added support for TradHeli H1 swashplate type. Added new param heli_h1_swash_enabled.
...
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-03-03 08:14:14 -05:00
3745dfd59f
ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls
2012-03-02 17:57:08 +11:00
91c3f993b4
ACM: set default RC fast speed to 400Hz
2012-03-02 17:57:08 +11:00
bfca928211
ACM: added RC_SPEED MAVLink parameter
...
this will set the speed for APM_RC.SetFastOutputChannels()
2012-03-02 17:57:08 +11:00
1e2b57410c
ACM: fixed Parameters.h to avoid duplicate keys
...
unfortunately everyone needs to reload
2012-03-02 15:48:28 +11:00
fcb1b9ba95
ACM: added board_voltage()
2012-03-02 15:48:28 +11:00
c84d864cd6
Rescale TradHeli roll_out and pitch_out into the min and max ranges to provide linear motion across the input range instead of stopping when the input hits the constrain value. These calculations are based on an assumption of the user specified roll_max and pitch_max coming into this equation at 4500 or less, and based on the original assumption of the total g.heli_servo_x.servo_out range being -4500 to 4500.
...
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-03-01 22:04:50 -05:00
4e2a54566b
added stab_d gain scheduling - off by default
2012-02-28 20:16:40 -08:00
27f6afd178
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
a096292edb
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
6ca8aeecf3
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
4b1d847a3a
added option for stab_d gain scheduling
2012-02-28 20:16:40 -08:00
4ef4a19f8e
Added test for stab_d gain scheduling.
2012-02-28 20:16:40 -08:00
ccb8c31966
Cleanup: rm ArduCopter/GCS_Mavlink\ copy.txt
...
* Not needed, but we can always checkout an old version if it is.
Hi Pat,
This may have been my WIP for the Mavlink 1.0 conversion. I tried to
give Tridge a head start on it. I've made small updates to it in
parallel to the current Mavlink. You can delete it as he would have used
it by now if he felt it was helpful.
Jason
On Feb 28, 2012, at 4:08 PM, Pat Hickey wrote:
It looks like this file was checked in by accident, possibly, but you've
made a few small changes to it since creating it.
Is it important? Should we get rid of it?
Git log of file below.
Thanks
Pat
...
2012-02-28 16:28:27 -08:00
00180e7084
Cleanup: rename files with spaces in their names, replace with underscores
...
* Skipped /Tools/ArdupilotMegaPlanner/Resources/new...
and /archive/Configurator/Source/Utilities/TDMS/G...
because I don't want to mess with that.
2012-02-28 16:14:31 -08:00
b7ccfb0114
Added heli_collectiveFactor array
...
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-02-28 10:49:28 -05:00
8da8ce5b58
ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine)
2012-02-28 22:56:26 +09:00
082cc70f1c
ArduCopter - Attitude.pde - updated get_rate_roll and get_rate_pitch to use new average filter.
...
modified all int to int16_t in Attitude.pde
2012-02-28 21:26:37 +09:00
701a21ff2f
ArduCopter - modified to work with new Filter library
2012-02-28 21:02:44 +09:00
f8e9fa8b61
Set loiter rate enabled by default
2012-02-26 12:29:28 -08:00
bab1faf644
Added OPtion for non-rate based loiter
2012-02-26 11:33:37 -08:00
9a2be4701f
removed Constraint that caused JLN's horizontal drift.
2012-02-26 11:33:37 -08:00
3ce1633157
Added Loiter Rate Tuning
2012-02-26 11:33:37 -08:00
1b7a038043
Added Loiter_rate_tuning
2012-02-26 11:33:36 -08:00
00d5ad9343
Added more Logging for PIDs.
2012-02-26 11:33:36 -08:00
41ea8e3eff
ArduCopter - added #include <Filter.h> to unbreak the build!
2012-02-26 17:05:41 +09:00
add3133100
ArduCopter - change sonar to use new mode filter from Filter library
2012-02-26 15:35:14 +09:00
e4e8189448
added a simple rest of nav_throttle just in case
2012-02-25 13:31:21 -08:00
cd55498a5c
increased speed of alt hold I term based on Jani's Logs
2012-02-25 13:31:21 -08:00
a3f65b4a23
increased the rate error for more responsive alt hold
2012-02-25 13:31:21 -08:00
68739f3cc4
Based on Jani's latest logs I've made two tweaks to alt hold.
...
The first is to remove the filter on the throttle output for alt_hold.
The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
2012-02-25 13:31:21 -08:00
6b265c5034
ACM: use a NULL gps pointer in DCM init
...
current DCM API does need a GPS reference passed in, but it can be
NULL
2012-02-25 15:08:49 +11:00
3fe5b3151b
allow MAG_ENABLE to be changed in flight
...
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled
This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
2012-02-25 14:51:09 +11:00
d1f655beee
ACM: check the return of compass.init()
...
if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
2012-02-25 14:51:08 +11:00
ce5c7c2c85
ACM: don't pass a gps pointer to DCM
...
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
2012-02-25 14:51:08 +11:00
17718720b1
GCS: force scalar type in copy_name()
...
this enables access to compass offsets over MAVLink
2012-02-25 11:37:20 +11:00
007a6b8958
AP_Param: added special handling for Vector3f
...
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
Andrew Tridgell
Jason Short
rmackay9
Robert Lefebvre
Pat Hickey