9750c14325
ArduCopter: RTL clean-up and slightly improved landing sensor
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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
eb3ad15843
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
8a0faebb21
ArduCopter: pass linear altitude error to throttle rate controllers.
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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
dc0b35da30
ArduCopter: restored landing detector to landing throttle mode.
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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
b26f2861ff
ArduCopter: removed unused AUTO_THROTTLE_HOLD #define
2012-12-06 10:31:15 +09:00
c1ce0ae752
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
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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
45e62add9f
Copter: update ArduCopter for new ins interface
2012-11-30 07:15:18 +11:00
c78ecc4fd1
ACM: Creating Yaw_Look_Ahead yaw mode.
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This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
211f964553
Changes to get_throttle_rate()
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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
fc72b86304
SITL: disable optical flow on the desktop build
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it doesn't work yet, as no sensor emulator is available
2012-11-19 09:04:03 +11:00
38fdacd93b
ArduCopter: replaced digitalRead and digitalWrite with faster calls
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improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
3a4d122e32
ArduCopter: low baterry failsafe
2012-11-15 23:35:41 +09:00
a6bda80064
ACM: Allow for user defined roll and pitch input max
2012-11-11 18:00:10 -08:00
41c0cee292
ArduCopter: failsafe improvements
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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
f17c63062e
ACM crosstrack min distance
2012-11-09 22:15:16 -08:00
81b1ebd011
ACM: Added max RTL altitude
2012-11-09 22:15:15 -08:00
af40201b14
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
1e35d3d534
ACM: config.h cleanup
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Added LOG_ITERM default to enabled
2012-10-27 09:59:57 -07:00
ab86eae860
ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters
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Changes on behalf of Leonard Hall
2012-10-23 21:30:50 +09:00
7fb58fce87
ArduCopter: replace Serial.print with Serial.print_P to save memory.
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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
9a20fe32fa
Fixed that last commit
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#define Stupid_Mistake
2012-10-18 16:50:42 -04:00
5f8f53ec0a
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
3b631f1edd
ArduCopter: integrated Leonard Hall's improved ACRO mode
2012-10-18 23:24:34 +09:00
3a26606510
ArduCopter: reduced optical flow's I and IMAX terms
2012-10-17 17:47:43 +09:00
4203655646
New Yaw controller using rate feed forward and stabilize.
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Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
2012-10-15 11:37:49 +09:00
ee41f3be6c
ArduCopter: enable ACRO mode's AXIS_LOCK by default
2012-10-14 19:50:45 +09:00
254fff6acd
ArduCopter: fixed acro mode
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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
71c773801a
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
8e19e7d0b2
Added #define for Tilt_Compensation.
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Also added some detail to WP_Speed_Max parameter.
2012-10-12 14:51:31 -04:00
a5feda6b1f
ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015
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Updated after discussing with Marco
2012-10-11 17:25:01 +09:00
94d16d426f
ArduCopter: move I terms from stabilize to rate controllers
2012-10-11 17:20:05 +09:00
c2b9c695b4
ArduCopter: reduce Stabilize Yaw P term to 4.5
2012-10-03 14:19:49 +09:00
770aa0b56b
ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements
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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
fc4f4d76c9
ArduCopter: allow DMP to run in parallel with DCM
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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
4bca609b9f
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
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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
08f203a991
ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08)
2012-09-25 19:08:31 +09:00
15893e719a
ArduCopter: increase default Loiter Rate P to 5.0
2012-09-25 12:19:44 +09:00
54d07f6d04
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
4e85e545bf
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
c83d1402fb
Arducopter: Release 2.7.2
2012-08-31 19:18:10 -07:00
0b2cbbb677
ACM: added TELEM_DELAY to ArduCopter
2012-08-30 09:03:01 +10:00
3403e1b78d
Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
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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
4978e0c23f
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
ccc659e8a9
ArduCopter: reduced Rate Roll and Pitch PID values
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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
ad1f20924d
uncrustify ArduCopter/config.h
2012-08-21 19:19:50 -07:00
bd6581c523
AHRS: removed Quaternion build support from APM/ACM/rover
2012-08-22 10:42:21 +10:00
cdab521c7d
ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h.
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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
cd2cf2e431
ACM: Config.h - added default for toy mixer
2012-08-16 15:40:28 -07:00
31fdeab873
ACM increase the minimum speed at WP
2012-08-10 10:01:40 -07:00
168b755d0b
ACM: config.h = updated default gains
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More yaw rate control
2012-08-09 16:59:43 -07:00
rmackay9
Andrew Tridgell
Robert Lefebvre
Jason Short
LeonardTHall
Craig Elder
uncrustify