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1177 Commits

Author SHA1 Message Date
rmackay9 6b16ca190f ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release 2012-06-15 00:42:59 +09:00
Jason Short e261c62e6b Inertial Nav disabled by default 2012-06-13 22:37:52 -07:00
Jason Short 6dc1e02f76 Inertial Control 
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.
 2012-06-13 22:34:45 -07:00
rmackay9 3618ac62e0 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 ee78818f5a 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 c9093a1609 ArduCopter: updated firmware version to 2.6 Epsilon 2012-06-12 23:22:57 +09:00
rmackay9 1b9ed1444e 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 ebff84d41e Added Angel's name to contrib list 2012-06-10 12:38:22 -07:00
Andrew Tridgell 8f1121c980 GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover 2012-06-10 16:36:18 +10:00
rmackay9 df72f70aba ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release) 2012-06-08 21:54:09 +09:00
Andrew Tridgell bfb2c1ee87 GPS: open the GPS serial port with a 256 byte buffer 
the UBLOX needs more than 128 bytes for reliable parsing
 2012-06-08 16:42:03 +10:00
Robert Lefebvre 3e6f37d540 Opening up the Yaw Rate constraint for Trad Heli. 2012-06-07 22:40:25 -04:00
Robert Lefebvre 1b789b7928 Yaw Fix 
Modified Nav_Yaw controller to better track intended heading changes.
 2012-06-07 17:15:33 -04:00
Jason Short 71111a5816 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
rmackay9 cad76d4e0f ArduCopter: updated firmware description to 2.6 Gamma 2012-06-05 21:28:13 +09:00
Andrew Tridgell af1573ad30 ACM: prevent link flood with "Low Battery" warnings 
thanks to Marco for noticing this
 2012-06-05 11:31:40 +10:00
Michael Oborne 1423810247 AC: add hilstate message 2012-06-04 16:24:08 +08:00
Jason Short 9cadd8c1db Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false. 2012-06-03 22:25:27 -07:00
Jason Short 60c89ee117 Updates to Flip: 
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
 2012-06-03 22:15:19 -07:00
Andrew Tridgell 13ae16e0c5 ACM: MAVLINK10 uses HIL_STATE 
thanks to Michael for noticing this
 2012-06-04 13:31:07 +10:00
Andrew Tridgell 8d28cb51fc added mavlink09 targets 
allows easier building with mavlink0.9
 2012-06-04 13:14:52 +10:00
Andrew Tridgell 0721089acd ACM: fixed HIL build for MAVLINK10 2012-06-04 13:14:52 +10:00
Michael Oborne 45c3c101fe fix AC hil build 2012-06-04 11:12:52 +08:00
Michael Oborne 7d2532450a enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Jason Short f2edc87797 Added note to remove this unused param 2012-06-03 11:13:50 -07:00
Jason Short 9723e52a01 using current PWM rather than a re-read of the PWM. 2012-06-03 11:13:50 -07:00
Jason Short 5ce93faf51 Moved PID logging counter into define 2012-06-03 11:13:50 -07:00
rmackay9 826cffe688 ArduCopter: Ensure update_GPS does nothing when gps is disabled. 
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
 2012-06-03 23:48:45 +09:00
rmackay9 68de4e0259 ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 17:02:35 +09:00
rmackay9 09695602d2 ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 16:59:23 +09:00
rmackay9 8f8e91a620 ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
 2012-06-03 16:58:19 +09:00
rmackay9 df3fb5c041 ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx). 2012-06-02 12:51:12 +09:00
Jason Short 477aa6e47a RC_Channel fix for throttle output. 
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
 2012-05-31 14:59:03 -07:00
Robert Lefebvre bafb478924 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
Robert Lefebvre 3df1aac936 Change to increase Parameter space as we have run out. 
This will decrease the max number of waypoints from 186
to 169.
 2012-05-30 20:41:53 -04:00
Jason Short abb426aec3 When RTLing, force home as the final location for loiter. 2012-05-30 11:06:41 -07:00
Jason Short 5b31f3ba27 moved detector to run until the throttle is low, then stop running. 2012-05-30 09:44:59 -07:00
Jason Short 42032f9845 Missed a Semicolon 2012-05-30 09:36:16 -07:00
Jason Short e6ee50f53d Altered the ground detector logic to no continuously run when landed 2012-05-30 09:34:31 -07:00
Jason Short c45209eaff Broken timer - removed 2012-05-29 12:56:38 -07:00
Jason Short 93d7712c9a Removed unused variable 2012-05-29 12:43:23 -07:00
Jason Short 9ea54b3171 Lowered I term - causes oscillations in SIM 2012-05-29 12:43:01 -07:00
Jason Short 2ae5d50261 Renamed some variables to clarify functionality. 2012-05-29 12:42:37 -07:00
Jason Short 33d1b5a137 Speed up automatic disarming to 25 seconds for safety. 
renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
 2012-05-29 12:41:35 -07:00
Jason Short 3ba6e1db7a Removed references to a takeoff timer 2012-05-29 11:28:40 -07:00
Jason Short c523a9822b Failsafe: Looking for takeoff_complete now vs unreliable GPS 2012-05-29 11:25:04 -07:00
Jason Short 394f8c6eb0 pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle. 2012-05-29 11:25:04 -07:00
Jason Short a3a90287f4 changed the way takeoff complete is figured. Looking for high throttle. 2012-05-29 11:25:04 -07:00
Jason Short 72758ff3ab Added note to functionality 2012-05-29 11:25:04 -07:00
Jason Short 996cfc5c96 changed WP radius to AP_Int16 2012-05-28 22:39:29 -07:00