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
rmackay9
c495a5f36e
ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move
2012-07-15 16:38:28 +09:00
rmackay9
761dad4e99
ArduCopter: restored set_range calls for RC_Channels 5 ~ 8.
2012-07-15 16:37:40 +09:00
rmackay9
29b6ec0b11
ArduCopter: reverted channel 5~8 to be regular RC_Channel objects, restored rc_camera_roll and rc_camera_pitch RC_Channels and created new rc_camera_yaw RC_Channel to control the camera mount servos.
...
Defined camera_mount (MNT_) in Parameters.h and Parameters.pde so that it appears in global parameters list.
Removed unused camera_*_gain and camaera_*_continuous parameters.
2012-07-15 16:36:05 +09:00
rmackay9
793fb7f059
ArduCopter: added definition for yaw channels.
...
APM1 uses channel 11 for camera's yaw servo, APM2 uses channel 8. This should allow all frame types except octacopters to potentially use a 3 axis camera mount.
2012-07-15 16:31:23 +09:00
Andreas M. Antonopoulos
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Jason Short
584e7dcda4
Arducopter: Removed Yaw Limit for Quads
2012-07-14 14:06:34 -07:00
Jason Short
44b16b7b61
Arducopter: Temp reversion to old Yaw controller.
2012-07-14 12:26:13 -07:00
Jason Short
e3af0c7920
Arducopter: Yaw stop fix
2012-07-14 12:23:10 -07:00
Robert Lefebvre
59e133235f
Implementing Yaw Fix. Tried to blend with Jason's changes.
2012-07-14 00:24:22 -04:00
Jason Short
4af392290b
Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance
2012-07-13 19:29:36 -07:00
Jason Short
7b746cf5e1
Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions
2012-07-13 12:51:38 -07:00
Jason Short
d34ca0e6ea
Arducopter - commands: Add home logging
2012-07-13 11:51:40 -07:00
Jason Short
d8ff5dcfab
Arducopter: Fix circle_WP
2012-07-12 09:22:20 -07:00
Jason Short
a28070e0e0
Arducopter: Loiter unlimited fix
2012-07-12 08:52:49 -07:00
Andreas M. Antonopoulos
d4a0cb5db1
Added Michael Pursifull's Maxsonar HRLV model support
2012-07-11 18:46:47 -07:00
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
6f9e2bf3a8
Arducopter: Toy mode update
...
Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
2012-07-11 17:46:06 -07:00
Jason Short
1feaaa4655
Arducopter: Toy mode refinements
2012-07-10 21:53:38 -07:00
Jason Short
293f17902b
Arducopter:Arducopter.pde
...
switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
2012-07-10 21:53:38 -07:00
Jason Short
c04bff67de
Arducopter: Config.h, default gain tweaks from flight tests.
2012-07-10 21:53:38 -07:00
Jason Short
f35b5ba13f
Arducopter:test.pde made a note for WP radius that shows m in the printout.
2012-07-10 21:53:38 -07:00
Jason Short
782ebf5176
Arducopter:Log.pde Logging the calculated Climbrate
2012-07-10 21:53:38 -07:00
Jason Short
3048d2f9b4
Arducopter: WP_radius
...
Switching to stored WP_radius in meters, just like Arduplane
2012-07-10 21:53:38 -07:00
Jason Short
0620d86bfd
Arducopter:Params
...
WP_RADIUS_DEFAULT is now stored the same as Arduplane
2012-07-10 21:53:37 -07:00
Jason Short
1dbde3f803
Arducopter: Added note
2012-07-10 21:53:37 -07:00
Jason Short
af5423b863
Toy Mode: High Yaw default
2012-07-10 21:53:37 -07:00
Jason Short
19d8c405fd
Arducopter : Force home alt to 0
2012-07-10 21:53:37 -07:00
Jason Short
89fec907e2
Arducopter: CH7 Waypoint saving
...
Saves the takeoff Waypoint as Home + new altitude rather than current location.
2012-07-10 21:53:37 -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
Andrew Tridgell
be763a6ead
ACM: use get_distance_cm() not get_distance()
...
this fixes a bug introduced in 28f2eb6b9
2012-07-11 07:50:07 +10:00
Andrew Tridgell
0f9fb2c64b
AHRS: added AHRS_GPS_GAIN parameter
...
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
2012-07-10 16:22:48 +10:00
Jason Short
f019d41729
arducopter.pde
...
Timer was set =0 at initialization.
2012-07-09 13:13:32 -07:00
Jason Short
226bba48a6
Toy Mode Yaw Rate fix
2012-07-09 13:13:32 -07:00
Jason Short
cf6d73ec88
commands.pde RTL Alt
...
fix to maintain current altitude of we are above our RTL alt for safety.
2012-07-09 13:13:32 -07:00
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
Andreas M. Antonopoulos
384365832a
ArduCopter: Copied parameter documentation from ArduPlane, where appropriate
2012-07-04 23:33:55 -07:00
Andrew Tridgell
8220ae8096
MAVLink: climb_rate is in m/s
2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos
fdbb1ebd42
parameter documentation to test auto build
2012-07-04 20:06:12 -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
857ad6c706
Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals.
2012-07-04 21:08:03 -05:00
Adam M Rivera
6e93ab6af6
Parameters: Added flag for camera pitch/roll servos (continuous or regular)
2012-07-04 21:06:21 -05:00
Andrew Tridgell
5ed345fe94
ACM: removed some Location functions which are now in AP_Math
2012-07-04 13:44:36 +10:00
Jason Short
fd97eb5a8d
commands
...
fixed logic bug to make a copter loiter after the mission is ended.
2012-07-03 17:38:50 -07:00
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
c29a0bc3f8
Navigation
...
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
2012-07-03 17:34:50 -07:00
Jason Short
3a3966736c
Params
...
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
2012-07-03 17:33:03 -07:00
Jason Short
8ccda519fa
Arducopter.pde:
...
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
2012-07-03 17:21:46 -07:00
Jason Short
b076b571eb
commands_logic: Removed some old unused code
2012-07-03 17:19:19 -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
1070eea70b
Log.pde: formatting
2012-07-03 17:16:26 -07:00
Jason Short
1a6549fef7
removed GPS ground speed calc - was causing some funny business during the transition.
2012-07-03 17:16:14 -07:00
Jason Short
c62706ad06
Toy Mode: Yaw performance update.
2012-07-03 17:14:54 -07:00
Jason Short
8a08a74cc6
Config.h : shortening the landing time to 10s
2012-07-02 17:52:38 -07:00
Jason Short
16b25a26c2
Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks.
2012-07-02 17:52:38 -07:00
Jason Short
e0b3309500
Yaw mode:
...
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
2012-07-01 13:40:12 -07:00
Jason Short
9a30270879
System.pde - RTL
...
removed Approach mode, fixed RTL to loiter until desired altitude is reached
2012-07-01 13:40:12 -07:00
Jason Short
e35fb9ecd7
Parameters
...
removed unused parameters for retro loiter
2012-07-01 13:40:12 -07:00
Jason Short
3cf16c1424
GCS_Mavlink.pde
...
removed Approach define
2012-07-01 13:40:11 -07:00
Jason Short
ab564b8a86
defines.h
...
removed Approach mode enumeration
2012-07-01 13:40:11 -07:00
Jason Short
3646d69faf
read_control_switch
...
Removed Prev_WP reference. unneeded.
2012-07-01 13:40:11 -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
Jason Short
2ad08fdd98
RTL: Commands.pde
...
When we are out of commands we land or Loiter at the RTL_Approach_altitude.
2012-07-01 13:40:11 -07:00
Jason Short
d58ceb2b09
RTL: Commands.pde
...
Removed do_approach function - now redundant
2012-07-01 13:40:11 -07:00
Jason Short
c5617eeeac
Arducopter.pde_RTL:
...
added a new RTL function that goes into Loiter, first, checks if we have reached RTL_Altitude, then enters WP mode to come home.
Removes Approach mode. Uses Auto_Approach value to decide if we should land or descend to a certain altitude
2012-07-01 13:40:11 -07:00
Jason Short
2450c25544
Arducopter: enabled RTL_altitude, renamed function to be more accurate
2012-07-01 13:40:11 -07:00
Jason Short
2e8eee9306
Added code for self centering throttle - disabled by default.
2012-07-01 13:40:11 -07:00
Andrew Tridgell
82ede937e7
AnalogSource: convert analogRead() calls to the new API
...
this should give us much better analog values, plus save a bunch of
CPU time
2012-07-01 15:01:05 +10:00
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
4d6ccccef5
Circle_WP distance check fix
2012-06-29 21:20:28 -07:00
Jason Short
59d16f5fe0
Commands.pde: increased bad WP distance check
2012-06-29 21:20:28 -07:00
Jason Short
eea788b63f
navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction.
2012-06-29 21:20:28 -07:00
Jason Short
031830b5fe
System.pde: Toy mode details for set_mode()
2012-06-29 21:20:28 -07:00
Jason Short
c276fe8fa0
GCS_Mavlink: added notes to #if malink10
2012-06-29 21:20:28 -07:00
Jason Short
0011190880
defines.h: Toy Mode defines for flight modes
2012-06-29 21:20:28 -07:00
Jason Short
4450d80ea3
Config.h: Optimizing Nav gains
2012-06-29 21:20:28 -07:00
Jason Short
3ce867508b
Attitude.pde: Toy mode logic
2012-06-29 21:20:27 -07:00
Jason Short
668135ea8b
Arducopter.pde: Added Toy mode refinements
2012-06-29 21:20:27 -07:00
Jason Short
49401bffae
Params: Added toy_yate_rate
2012-06-29 21:20:27 -07:00
Jason Short
5e4d28baf0
Added Toy mode to navigation
2012-06-29 21:20:27 -07:00
Jason Short
e036bee424
Aeducopter.pde: Toy mode updates
2012-06-29 21:20:27 -07:00
Adam M Rivera
61baa666c4
commands_process.pde: Bug fix 427. By default, the copter would land after an AUTO mission. Updated to check for valid approach altitude at end of mission.
2012-06-29 21:41:56 -05:00
Andrew Tridgell
55092c25a6
SITL: enable the SIM_* parameters in ArduCopter and ArduPlane
2012-06-29 15:10:52 +10:00
Adam M Rivera
dadc7d5a7d
ArduCopter: Loiter Timer should have been set when the approach altitude was set. Previously, land had to be enabled before auto approach would work.
2012-06-28 20:34:53 -05:00
Andrew Tridgell
33440567e6
ACM: ArduCopter updates for new compass interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
dae1a57dc5
ACM: adapt the ArduCopter code for new barometer interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
b676caa626
ACM: enable GPS in AHRS for ArduCopter
...
this is an experiment in centripetal correction for multicopters
2012-06-27 16:01:49 +10:00
Jason Short
eeab4c5363
Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco.
2012-06-26 10:39:42 -07:00
Jason Short
c76ac4543b
Added user editable define for Super simple radius
2012-06-26 10:38:46 -07:00
rmackay9
068fe64b9b
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
2012-06-26 22:50:17 +09:00
Jason Short
812bf7d874
Attitude.pde - Added small boost to alt hold for takeoff.
2012-06-25 23:12:19 -07:00
Jason Short
46fb3b783a
GCS_Mavlink.pde : mav_nav only used in legacy Mavlink.
2012-06-25 23:08:25 -07:00
Jason Short
cd93c40f09
Added Toy Mode control
2012-06-25 23:08:25 -07:00
Jason Short
807c4ced34
Added Toy Mode defines
2012-06-25 23:08:25 -07:00
Jason Short
80d15368bc
Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with.
...
Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
2012-06-25 23:08:25 -07:00
Jason Short
7f92d702ab
commands.pde: fixed unit error for distance check
2012-06-25 23:06:28 -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
c71c503c84
GCS Mavlink.pde: change reference to nav_bearing to target_bearing.
2012-06-25 23:06:28 -07:00
Jason Short
53d2a46cd6
Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s
2012-06-25 23:06:28 -07:00
Jason Short
92d481c08c
inertia.pde: WIP don't fly with inertia enabled until FN.
2012-06-25 23:06:28 -07:00
Jason Short
28829b0d60
Log.pde: removed nav_bearing reference and replaced with target_bearing ref
2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos
bef005b5f2
AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane
...
http://code.google.com/p/arducopter/issues/detail?id=430
2012-06-24 17:01:25 -07:00
Robert Lefebvre
1064dcbd34
Open up constraint on Rate Yaw Output for all copters.
2012-06-22 10:06:01 -04:00
Jason Short
7e0708ca36
Config.h - returned low to original 120
2012-06-20 15:22:35 -07:00
Jason Short
839b8865aa
Parameters.h: throttle_min and throttle_max now have defaults from Config.h
2012-06-20 15:02:00 -07:00
Jason Short
efdf0a7fc8
changed define to a param for throttle_min and throttle_max
2012-06-20 15:00:53 -07:00
Jason Short
e8510faf5d
changed define to param for throttle_min
2012-06-20 15:00:05 -07:00
Jason Short
6020f6d9fa
Added throttle_min as a user definable param
2012-06-20 14:58:34 -07:00
Jason Short
4f18e7f80b
lowered minimum throttle
2012-06-20 08:47:47 -07:00
Jason Short
27e0aee03f
Small fix to angle boost - increases by about 20% to deal with inefficiencies of non-downward thrust
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
Jason Short
8b212d8baa
Adjustments to the Inertial_nav
...
lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
2012-06-20 08:47:47 -07:00
Andrew Tridgell
58379b928f
MAVLink: make usage of MAVLink defines more consistent
2012-06-15 16:27:11 +10:00
rmackay9
c62cc4844e
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
e31a1d969f
Inertial Nav disabled by default
2012-06-13 22:37:52 -07:00
Jason Short
c42f9ece43
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
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
e1acf21381
ArduCopter: updated firmware version to 2.6 Epsilon
2012-06-12 23:22:57 +09:00
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
f5a85d48a0
Added Angel's name to contrib list
2012-06-10 12:38:22 -07:00
Andrew Tridgell
940d994efb
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
2012-06-10 16:36:18 +10:00
rmackay9
aeaebb21d5
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
a684bddbda
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
c5916a8b4d
Opening up the Yaw Rate constraint for Trad Heli.
2012-06-07 22:40:25 -04:00
Robert Lefebvre
e2496181ff
Yaw Fix
...
Modified Nav_Yaw controller to better track intended heading changes.
2012-06-07 17:15:33 -04:00
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
rmackay9
70b04d9427
ArduCopter: updated firmware description to 2.6 Gamma
2012-06-05 21:28:13 +09:00
Andrew Tridgell
8b258e23e7
ACM: prevent link flood with "Low Battery" warnings
...
thanks to Marco for noticing this
2012-06-05 11:31:40 +10:00
Michael Oborne
14be88dd55
AC: add hilstate message
2012-06-04 16:24:08 +08:00
Jason Short
71f80f3a77
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
1b9f75c844
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
7c63d2c17b
ACM: MAVLINK10 uses HIL_STATE
...
thanks to Michael for noticing this
2012-06-04 13:31:07 +10:00
Andrew Tridgell
e7cf643386
added mavlink09 targets
...
allows easier building with mavlink0.9
2012-06-04 13:14:52 +10:00
Andrew Tridgell
3f4e87cccc
ACM: fixed HIL build for MAVLINK10
2012-06-04 13:14:52 +10:00
Michael Oborne
9303a89573
fix AC hil build
2012-06-04 11:12:52 +08:00
Michael Oborne
a71ed6c5ce
enable mavlink10 by default
2012-06-04 08:02:08 +08:00
Jason Short
15aea320cb
Added note to remove this unused param
2012-06-03 11:13:50 -07:00
Jason Short
12ab875d58
using current PWM rather than a re-read of the PWM.
2012-06-03 11:13:50 -07:00
Jason Short
9ab06c5542
Moved PID logging counter into define
2012-06-03 11:13:50 -07:00
rmackay9
72d76558a7
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
fd6b21d0c7
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 17:02:35 +09:00
rmackay9
4544b37fec
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 16:59:23 +09:00
rmackay9
dcdeae412e
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
2a216ce900
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
c2d14a5cad
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
5f058fb9b2
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
Robert Lefebvre
30e55533dc
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
dec6f0ca62
When RTLing, force home as the final location for loiter.
2012-05-30 11:06:41 -07:00
Jason Short
bc578172a5
moved detector to run until the throttle is low, then stop running.
2012-05-30 09:44:59 -07:00
Jason Short
f0456dc947
Missed a Semicolon
2012-05-30 09:36:16 -07:00
Jason Short
302c632205
Altered the ground detector logic to no continuously run when landed
2012-05-30 09:34:31 -07:00
Jason Short
22065e3f3f
Broken timer - removed
2012-05-29 12:56:38 -07:00
Jason Short
0ce883b96a
Removed unused variable
2012-05-29 12:43:23 -07:00
Jason Short
9310d613e1
Lowered I term - causes oscillations in SIM
2012-05-29 12:43:01 -07:00
Jason Short
2311d52d37
Renamed some variables to clarify functionality.
2012-05-29 12:42:37 -07:00
Jason Short
7c6f766251
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
f491f5e9ca
Removed references to a takeoff timer
2012-05-29 11:28:40 -07:00
Jason Short
15774366ba
Failsafe: Looking for takeoff_complete now vs unreliable GPS
2012-05-29 11:25:04 -07:00
Jason Short
08bf04dd08
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
09f4a16bfb
changed the way takeoff complete is figured. Looking for high throttle.
2012-05-29 11:25:04 -07:00
Jason Short
b8349f5486
Added note to functionality
2012-05-29 11:25:04 -07:00
Jason Short
9d92602188
changed WP radius to AP_Int16
2012-05-28 22:39:29 -07:00
Jason Short
5754f97433
reversed circle_WP calculation so the next_WP refers to the destination around the circle and circle_WP refers to the center. The intent is to make it easier to see via ground station.
2012-05-27 09:21:20 -07:00
Jason Short
7df1aa2914
Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled.
2012-05-23 22:00:56 -07:00
Andrew Tridgell
d9457ecc38
MAVLink: send time of GPS fix accurately
...
when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
2012-05-23 17:33:33 +10:00
Andrew Tridgell
66544a5db2
Log: don't print '+' while erasing logs
...
we no longer do page based erase, so printing a + every 128 pages
makes no sense
2012-05-22 20:10:29 -07:00
Robert Lefebvre
4e4ff84cf1
Updates to CopterLEDS
...
Creation of Nav Blink Function.
2012-05-22 09:58:37 -04:00
Andrew Tridgell
422dc82f32
MAVLink: allow parameter fetch during mavlink_delay()
...
this allows the planner to fully connect to the APM with MAVLink while
doing a DataFlash erase
2012-05-22 16:13:35 +10:00
Jason Short
1b9f34e4e0
Flip.pde: renamed dcm to ahrs
2012-05-21 12:58:51 -07:00
Jason Short
5407acdb4c
Some bug fixes to Auto-flip. I ran this code through the sim and found these flaws.
2012-05-21 11:07:41 -07:00
Jason Short
f6d8a18182
Added note
2012-05-21 09:58:23 -07:00
Jason Short
1a5e2f4e37
Attitude.pde - Removed rate limit based on SIM flights. These should never have been in place and seriously detriment Acro flight.
2012-05-21 09:58:23 -07:00
Jason Short
8d075015e1
added check for duplicate time-stamped GPS messages.
2012-05-18 09:54:18 -07:00
Jason Short
9732b7d2dc
navigation.pde:
...
removed unneeded WP_Distance check
remove unneeded return for Navigate
removed unneeded rate_D calcs
removed unused functions
2012-05-17 11:05:05 -07:00
Jason Short
7e190c6f5c
Arducopter.pde :
...
removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
2012-05-17 11:05:05 -07:00
Jason Short
d1cd04486a
removed retro loiter code since Angel has a branch now.
...
shrank speed filter to avoid latency
removed unused forward estimator code
placed code for switchover to gps.groundspeed at 1.5m/s
added clamp for D term when below .5m/s to eliminate noise
added hybrid I-term based on speed error and position
changes Loiter D term to use position rather than acceleration to avoid noise
2012-05-15 22:14:23 -07:00
Jason Short
7f3e142fa8
Loiter Gains based on new SIM
2012-05-15 22:01:01 -07:00
Robert Lefebvre
c5f7b2fff2
Fixed Syntax error.
2012-05-15 12:35:35 -04:00
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
rmackay9
357d6c2d9b
ArduCopter: bug fix for reversing tri servo
...
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
2012-05-13 12:36:46 +09:00
rmackay9
2f74004fcb
ArduCopter: updated version to 2.5.5
2012-05-13 08:47:43 +09:00
rmackay9
af86ae8cbf
ArduCopter: fixed compile error by declaring extern print_latlon
2012-04-30 21:44:27 +09:00
Andrew Tridgell
435a64b97e
ACM: fixed HIL build
2012-04-30 22:42:17 +10:00
rmackay9
a1f5661161
ArduCopter: restored gps test in CLI
...
Added check so not enabled when using 1280. Also fixed comments in other tests to explain the check for the 1280.
2012-04-30 17:29:50 +09:00
Adam M Rivera
56d3fa1601
Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases
2012-04-28 20:50:41 -05:00
Adam M Rivera
40fdba441b
Parameters.pde: Added value aliases to comments
2012-04-28 20:35:22 -05:00
Adam M Rivera
941cf6fa69
Parameters.pde: Added more parameter comments.
2012-04-28 12:14:17 -05:00
Andrew Tridgell
67afdc7485
autotest: fixes for MAVLink 1.0 in autotest
2012-04-27 15:15:53 +10:00
Adam M Rivera
239323eaa4
Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone.
2012-04-26 18:26:14 -05:00
Adam M Rivera
cb6f97fc7f
Changed the marker for Group parameters to @Group.
2012-04-25 12:27:51 -05:00
Adam M Rivera
51bcc73c77
Parameters.pde: Added lib comments.
2012-04-25 11:23:46 -05:00
Adam M Rivera
9fb9231ec4
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into param-suffix
2012-04-24 14:11:54 -05:00
Adam M Rivera
29fec278eb
Parameters.pde: Updated comment schema to include the parameter name which becomes the XML node that contains the meta data.
2012-04-24 13:11:16 -05:00
Adam M Rivera
acab9b7c2c
Parameters.pde: Added new comment structure to a few parameters for testing.
2012-04-24 11:37:33 -05:00
Andrew Tridgell
4fee26437b
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
2012-04-24 22:24:58 +10:00
Andrew Tridgell
fe970221e2
ACM: added support for MAVLink 1.0 to ArduCopter
...
most operations should now work
2012-04-24 19:54:20 +10:00
Adam M Rivera
b2a7227ae7
ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define.
2012-04-23 00:19:18 -05:00
Adam M Rivera
60c347e23b
Parameters: Added g.retro_loiter which is configurable by the user via the MP.
2012-04-23 00:17:52 -05:00