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1609 Commits

Author SHA1 Message Date
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
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
Jason Short 9c19138fb8 Log.pde : Updated Flash Logging to log Floats properly vs scaled integers. 2012-04-21 15:25:53 -07:00
Jason Short e22832a832 Added a union for casting floats to ints and back when storing Floats to the DataFlash 2012-04-21 15:17:09 -07:00
rmackay9 090f5aaa6f ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame 2012-04-21 23:46:36 +09:00
rmackay9 c993049c48 ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion 2012-04-21 23:24:57 +09:00
rmackay9 533772339e ArduCopter - Attitude.pde - added logging of optical flow pid controller 2012-04-21 20:17:12 +09:00
rmackay9 3e95ade004 ArduCopter - changed optflow object to be APM2 version if necessary 2012-04-21 20:15:55 +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 7d13371acf Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-20 11:45:38 -05:00
rmackay9 f0a9209935 ArduCopter - regressed version back to 2.5.4 2012-04-20 21:58:32 +09:00
James Goppert 5390467f3d Worked on ArduCopter cmake options. 2012-04-19 16:05:08 -04:00
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 1676e09f12 navigation.pde: Put the new calc_GPS_velocity method in a compiler if that checks the new RETRO_LOITER_MODE config value (saves space and ensures its not being used unless retro loiter mode is enabled) 2012-04-19 10:21:04 -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
Adam M Rivera a7bc3d2cc6 Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity. 2012-04-18 23:07:35 -05:00
Adam M Rivera d4a4641ae6 navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error. 2012-04-18 23:06:15 -05:00
James Goppert 53c143a575 Improved cmake options. 2012-04-18 23:15:29 -04:00
James Goppert 0e7e77760a Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
Adam M Rivera a3842734a9 Planner/defines.h: Updated the enumeration value for APPROACH so as not to disturb the order of the universe. 2012-04-18 10:32:01 -05:00
James Goppert a9f0bd24d7 Switched to project specific cmake lists. 
This is better since each project has very different options.
 2012-04-17 23:07:20 -04:00
Adam M Rivera f6d81a16c2 ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter. 2012-04-16 16:29:54 -05:00
Adam M Rivera 56a00fa1f7 ArduCopter: Changed millis compare to use new config value for approach delay. 2012-04-16 14:04:30 -05:00
Adam M Rivera 07e53fad18 commands_logic.pde: Added write to constrained value to EEPROM. 2012-04-16 14:03:33 -05:00
Adam M Rivera 7b277d7044 config.h: Added RTL_APPROACH_DELAY config value. 2012-04-16 14:00:08 -05:00
Adam M Rivera f9affb3295 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 
Conflicts:
	ArduCopter/Parameters.h
 2012-04-16 10:23:01 -05:00
Adam M Rivera 0c3d6614cd system.pde: Updated param name to loiter_timer. 2012-04-16 10:12:30 -05:00
Adam M Rivera 3d024ba2dd commands_logic: Allowed for an approach alt as low as 1m. Added a check to make sure we are currently above our target approach alt. 2012-04-16 10:11:50 -05:00
Adam M Rivera 41702aca94 ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s). 2012-04-16 10:07:57 -05:00
Adam M Rivera a366bb2f81 Parameters: Changed rtl_approach_alt to float to support more granular altitudes 2012-04-16 10:06:29 -05:00
rmackay9 870b5e5f75 ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM 2012-04-16 23:47:57 +09:00
Andrew Tridgell 95cb35c7bb AHRS: enable AHRS_ group in ArduCopter 2012-04-16 20:55:14 +10:00
Adam M Rivera 77d6f22864 ArduCopter, commands_logic: Updated logic to allow as low as 5m. 2012-04-15 19:50:05 -05:00
Adam M Rivera 2954bf6f76 ArduCopter: Added check to make sure user defined approach alt is at least 5. 2012-04-15 16:58:22 -05:00
Adam M Rivera cddcdb8be3 commands_logic: Added check to make sure the do_approach method is not being used to land. 2012-04-15 16:57:49 -05:00
Adam M Rivera a2b338c052 System: Added handler for the new APPROACH flight mode which will initiate an approach to a target alt as defined by the user. 2012-04-15 16:55:34 -05:00
Adam M Rivera a24b7bcf14 ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land. 2012-04-15 16:54:43 -05:00
Adam M Rivera cfe3b58248 commands_logic: Added do_approach() to set the new target alt based on the user defined value. 2012-04-15 16:53:25 -05:00
Adam M Rivera 83fe6733d4 Defines: Added new control mode (APPROACH). 2012-04-15 16:52:32 -05:00
Adam M Rivera 7ba8c291bd Parameters: Added new APPROACH_ALT params (g.rtl_approach_alt) which stored the users desired target altitude after RTL is complete. 2012-04-15 16:51:41 -05:00
rmackay9 a71ed6abec ArduCopter - updated firmware version to "2.6 Beta" 2012-04-14 14:26:44 +09:00
rmackay9 24b81db20e ArduCopter - LEDS - main code to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:44 +09:00
rmackay9 c337df11c8 ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:40 +09:00
rmackay9 d70f5da5e0 ArduCopter - LEDS - define pins to be used for COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:36 +09:00
rmackay9 84b07b5e6a ArduCopter - LEDS - added new COPTER_LEDS definition 
Code by Robert Lefebvre
 2012-04-12 22:55:32 +09:00
rmackay9 0a3bc9a66a ArduCopter - LEDS - two new parameters to support COPTER_LEDS. 
Code by Robert Lefebvre.
 2012-04-12 22:55:28 +09:00
rmackay9 fad162989f ArduCopter - navigation.pde - added logging of Loiter PID controllers 2012-04-11 23:52:25 +09:00
rmackay9 f8210b164c ArduCopter - Parameters.h - changed initialisation order to remove compiler warning (have not changed enum values so shouldn't require eeprom format id update) 2012-04-09 17:37:06 +09:00
rmackay9 df85051574 ArduCopter - added dataflash logging of roll and pitch rate controllers 2012-04-08 10:19:20 +09:00
rmackay9 998058ec07 ArduCopter - removed unused motor pde files including heli.pde, motors_hexa.pde, motors_octa.pde, motors_octa_quad.pde, motors_tri.pde and motors_y6.pde 2012-04-04 23:06:12 +09:00
rmackay9 ad9a8acbab ArduCopter - test.pde - changed references "motor_armed" to "motors.armed()" as part of move to AP_Motors library. 
Change to ESC initialisation calls to use motors.throttle_pass_through method of AP_Motors class.
 2012-04-04 23:05:26 +09:00
rmackay9 1d086c83f0 ArduCopter - system.pde - changed references to "motor_armed" to "motors.armed()" as part of the move to use AP_Motors library. 2012-04-04 23:03:21 +09:00
rmackay9 4aa40bdf10 ArduCopter - setup.pde - changed cli for helicopter to call the new AP_Motors class's parameters instead of the global parameters. 
changed init_esc to call the AP_Motor's class's "throttle_pass_through" function.
 2012-04-04 23:02:29 +09:00
rmackay9 473126581d ArduCopter - radio.pde - changed motor initialisation to set update rate, frame orientation, min and max throttle to AP_Motors class. 
Note: perhaps the motors speed at least should be moved to a parameter within the motors class.
output_min function greatly simplified as this is handled by the AP_Motors class.
 2012-04-04 23:00:56 +09:00
rmackay9 905a445391 ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class. 
Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
 2012-04-04 22:58:42 +09:00
rmackay9 aa54458dcf ArduCopter - leds.pde - changed refrences to "motor_armed" to "motors.armed()" 2012-04-04 22:57:50 +09:00
rmackay9 7df17e9b3b ArduCopter - removed references to MOT_1 etc as these are now within the AP_Motors class (i.e. MOT_1 has become AP_MOTORS_MOT_1) 2012-04-04 22:56:07 +09:00
rmackay9 ee308ea06c ArduCopter - increased firmware version to 118. Removed nearly all heli parameters as these are all created by the AP_MotorHeli class now. 
Note: we cannot move the heli_servos to the AP_MotorHeli class yet because of a small issue in the parameters class.
 2012-04-04 22:55:07 +09:00
rmackay9 8402a3d837 ArduCopter - Log.pde - changed MOT output to dataflash to take values from AP_Motors class's motor_out array instead of the global motor_out array. 2012-04-04 22:53:21 +09:00
rmackay9 e5710958bc ArduCopter - GCS_Mavlink.pde - changed output to ground station to use new AP_Motor's class motors array inplace of the global "motor_out" array. 2012-04-04 22:52:26 +09:00
rmackay9 aa4085183c ArduCopter - Attitude.pde - moved heli_get_angle_boost from heli.pde (which will be removed) to Attitude.pde. In fact we should combine heli_get_angle_boost and the regular get_angle_boost. 2012-04-04 22:51:39 +09:00
rmackay9 54a0709759 ArduCopter - add includes for new AP_Motors classes. 
Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
 2012-04-04 22:50:43 +09:00
Andrew Tridgell c0a54762c6 MAVLink: port the new adaptive flow control to ArduCopter 
This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
 2012-04-02 11:18:53 +10:00
rmackay9 75d7308fb4 ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100. 
also changed heli_ext_gyro_gain to make it use the tuning range directly.
 2012-03-31 09:28:25 +09:00
Andrew Tridgell e0bb7e2777 MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information 
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.

This makes MAVLink work better at low baud rates
 2012-03-30 17:46:20 +11:00
Andrew Tridgell 7634f541b9 ACM: use set_blocking_writes(false) when we arm motors 2012-03-30 17:46:20 +11:00
Andrew Tridgell b4107d35e8 MAVLink: raise the serial transmit buffer size to 256 bytes 
the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient

As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
 2012-03-30 17:46:20 +11:00
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 0efb0e5b4d ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9 599cea21bb Added multiple new tuning parameters to the inflight channel 6 tuning feature: 
#define CH6_YAW_KI 24
        #define CH6_ACRO_KP 25
        #define CH6_YAW_RATE_KD 26
        #define CH6_LOITER_KI 27
        #define CH6_LOITER_RATE_KI 28
 2012-03-28 23:58:58 +09:00
Andrew Tridgell 34506b170f Mavlink: fixed warnings about limits on int32 values 2012-03-27 15:37:25 +11:00
Andrew Tridgell e0c9ab5a29 ACM: fixed heli build 2012-03-27 15:37:25 +11:00
Andrew Tridgell 47f9dfd125 ACM: fixed the build on the 1280 2012-03-27 15:37:24 +11:00
Andrew Tridgell e956e21e7d ACM: enable the new compass offset nulling in ACM 2012-03-27 15:37:24 +11:00
rmackay9 1f4cfb9333 ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers. 2012-03-25 16:09:08 +09:00
rmackay9 67cf7b9eed ArduCopter - updated firmware version to 2.5.3 2012-03-25 09:13:51 +09:00
rmackay9 63b96c0153 ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter 2012-03-23 23:48:24 +09:00
rmackay9 89576a281a ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area 2012-03-23 23:12:49 +09:00
Robert Lefebvre 84d8414a2e Fix Auto_Trim to allow it to actually be called when setup on Ch7 pulldown menu in MP. 2012-03-23 09:17:58 -04:00
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 ad4a2aa9f3 ArduCopter - motors_quad.pde - corrected test sequence for + configuration 2012-03-21 22:04:50 +09:00
rmackay9 66c4f752e3 ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint 2012-03-20 17:11:22 +09:00
rmackay9 1dd554c333 ArduCopter - updated version to 2.5.1 2012-03-20 17:08:18 +09:00
rmackay9 0773a25b5d ArduCopter - increased default THROTTLE_CRUISE to 450 2012-03-20 16:34:07 +09:00
rmackay9 22315cd41a ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!) 2012-03-20 16:13:38 +09:00
Andrew Tridgell 458d55e5bc MAVLink: constrain variable changes to the datatype range 
if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 547b4ed55b AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short c5344a2a85 ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes. 2012-03-18 22:31:22 -07:00
Jason Short a0717f082e ACM: Attitude.pde - consolidated wind I term resets 2012-03-18 22:31:21 -07:00
Jason Short fe7ca98701 ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset. 2012-03-18 22:31:21 -07:00
rmackay9 9841cb0335 ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero) 
- remove incorrect comments about when loiter target position is reset.
 2012-03-18 15:16:04 +09:00
rmackay9 dc92da818c ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore 2012-03-18 14:53:19 +09:00
rmackay9 91b2b48fd8 ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations) 2012-03-18 12:11:12 +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 427dacba70 ACM: Smoother Speed calcs 2012-03-16 14:10:19 -07:00
Jason Short 3038da1dc3 ACM: Softer Loiter Gains 2012-03-16 14:10:19 -07:00
Jason Short 48a0c9a818 ACM: Small fix to nav_throttle to prevent too fast of a landing. 2012-03-16 14:10:19 -07:00
Jason Short 6201bdb8a7 ACM: Fixed comment 2012-03-16 14:10:19 -07:00
Jason Short 1c0b28c956 Fixed Scaling bug in Sonar mixing 2012-03-16 14:10:19 -07:00
Jason Short 7153b94ade ACM: Disabled D term experiment for Loiter until more testing 2012-03-15 19:20:03 -07:00
Jason Short a52a14bf12 Tune down Loiter_P a hair 2012-03-15 19:17:27 -07:00
Robert Lefebvre be3fe36c52 Small fix on the Traditional Helicopter Collective-Yaw compensation calculation. 2012-03-15 20:14:18 -04:00
rmackay9 68e37774a6 ArduCopter - removed #define AUTOMATIC_DECLINATION ENABLED line to ensure users don't try and enable it because it needs a bit more work before it's ready for general use 2012-03-15 21:58:42 +09:00
analoguedevices 86eff20d5d Rev'ed version number to 2.5. Added more credits 2012-03-15 02:38:54 +00:00
Jason Short 6f8b97bf6a ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system. 2012-03-13 21:31:16 -07:00
Jason Short 4315c06f34 Lowering the D filter for less latency and less oscillation. 2012-03-13 12:58:46 -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 468d9c4b4f ACM: Loiter D performance updates 2012-03-13 10:23:31 -07:00
Jason Short 7953808d14 ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short 7034b709d1 ACM: removing old define 2012-03-12 13:11:30 -07:00
Jason Short 73e2bd6cd8 ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed. 2012-03-12 13:11:05 -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 deed802d1a ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter. 2012-03-11 23:21:49 -07:00
Jason Short b3795f1c00 ACM: removed Filtering code for motors in Quad for testing 2012-03-11 23:21:49 -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
Jason Short 0ab6b6e592 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short 77fe7de55d ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time. 2012-03-11 23:21:49 -07:00
rmackay9 a869a01294 ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees 2012-03-12 12:09:04 +09:00
Andrew Tridgell 2a03a0584f AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
 2012-03-11 21:46:41 +11:00
Adam M Rivera d3667faef4 AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
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 62c2aa4924 ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short cb8729109c ACM: Added Loiter_D for tuning as #23 2012-03-10 14:17:16 -08:00
Jason Short 0671bb9168 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short f9d0dc9daa ACM: disabled auto_calibration until more testing can be done 2012-03-10 12:44:49 -08:00
Jason Short 5ad7320505 ACM: changed alt hold initialization of altitude to be immediate 2012-03-10 12:44:18 -08:00
Jason Short 450f89ec5d ACM: Added note about scaling rates 2012-03-10 12:43:28 -08:00
Jason Short eb53200179 ACM: Altered the scaling speed for altitude changes for faster rises. 2012-03-10 12:43:01 -08:00
Jason Short 204f9957b0 ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes. 2012-03-10 12:42:22 -08:00
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
Jason Short fc32da0d2e ACM: increased the available rate error constrain, it was too low 2012-03-10 12:39:16 -08:00
Jason Short bd4835a1b2 ACM: removed the experiment for rate error. 2012-03-10 12:38:29 -08:00
Jason Short 29d6085bab added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short 4ba600c0c5 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
rmackay9 afc4aceb32 ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde 2012-03-11 01:27:58 +09:00
rmackay9 c7480f2281 ArduCopter - fix to dataflash logging of Mag heading 2012-03-11 01:27:29 +09:00
Andrew Tridgell d75e883fe8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00
Andrew Tridgell 9a06d35772 make 'ENABLE' and 'ENABLED' mean the same things 
users get this wrong far too often!
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 828ad7625b ACM: removed the ADC filtering code 2012-03-10 10:34:32 +11:00
Andrew Tridgell 1016d3c95d ACM: removed quaternion special cases in CLI code 2012-03-10 10:34:31 +11:00
Andrew Tridgell 8393c0299b ACM: removed the DCM tuning overrides 
not needed now that DCM scales with deltat
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 7291dfc25a ACM: removed the special case for quaternions in GCS code 2012-03-10 10:34:31 +11:00
Andrew Tridgell d6cfc51ae4 ACM: no need to fetch offsets at startup 
AP_Param handles this
 2012-03-10 10:34:31 +11:00
Andrew Tridgell ef771fecdc ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell 69c29d35ce ACM: change DCM loop to 100Hz 
On my APM2 quad this seems to give better results
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 2596acc8eb ACM: removed incorrect mode definition 2012-03-10 10:34:30 +11:00
Andrew Tridgell 7a9b3d3388 Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell 7e4c8592ff ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell 9bff4e2c4c 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
Andrew Tridgell 367947fd33 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
Andrew Tridgell 64cc04ae09 ACM: adjust yaw drift correction constants 
this should give the compass a bit more authority
 2012-03-10 10:34:28 +11:00
Andrew Tridgell a0ce202d87 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +11:00
Jason Short 486c56ce41 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short c8e9d57567 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
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
rmackay9 8b256cf924 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
rmackay9 72a775cc2a 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
rmackay9 706bea5992 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
Jason Short 46d7da4d14 Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Robert Lefebvre a480b32400 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
Andrew Tridgell 0ff44563ec ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls 2012-03-02 17:57:08 +11:00
Andrew Tridgell 0fc646d666 ACM: set default RC fast speed to 400Hz 2012-03-02 17:57:08 +11:00
Andrew Tridgell e213f6780e ACM: added RC_SPEED MAVLink parameter 
this will set the speed for APM_RC.SetFastOutputChannels()
 2012-03-02 17:57:08 +11:00
Andrew Tridgell f781bd735b ACM: fixed Parameters.h to avoid duplicate keys 
unfortunately everyone needs to reload
 2012-03-02 15:48:28 +11:00
Andrew Tridgell cb874d6097 ACM: added board_voltage() 2012-03-02 15:48:28 +11:00
Robert Lefebvre e49c2d2871 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
Jason Short 7c09e4a5e6 added stab_d gain scheduling - off by default 2012-02-28 20:16:40 -08:00
Jason Short a387956814 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short ceef8070ac added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short b76c4ecb22 added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short efdf6ee79f added option for stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Jason Short ca34d7b7c2 Added test for stab_d gain scheduling. 2012-02-28 20:16:40 -08:00
Pat Hickey 16ed16f403 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
Pat Hickey ff0fc26484 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
Robert Lefebvre 76c3cd88f0 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9 744e5b8c60 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
rmackay9 4a0989f95d 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
rmackay9 17d94b61ed ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
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 6e53949c2a removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short 517172ba20 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
Jason Short 0ce0c7c262 Added Loiter_rate_tuning 2012-02-26 11:33:36 -08:00
Jason Short eac77504a3 Added more Logging for PIDs. 2012-02-26 11:33:36 -08:00
rmackay9 8193c786ef ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9 69132e0fe7 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short f27e9f9ca1 added a simple rest of nav_throttle just in case 2012-02-25 13:31:21 -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 1ce267f904 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
Jason Short a924c3685e 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
Andrew Tridgell e2bbc795ad 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
Andrew Tridgell 0248b48d30 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
Andrew Tridgell 864ed1a87f 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
Andrew Tridgell 698749dd92 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
Andrew Tridgell 690dc9052a GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 2e9105c68a 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
Jason Short 1e254cbca0 Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
rmackay9 57e5eee8c8 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short 385828824d updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short 24345d4f43 Loiter updates 2012-02-23 22:03:26 -08:00
Andrew Tridgell 1cd3172954 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Jason Short 364afe8da0 added a constraint to D term 2012-02-23 09:14:44 -08:00
Andrew Tridgell 95ef9206dc DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Jason Short c7c16a5b0f Emile's Fixes 2012-02-22 10:27:34 -08:00
Jason Short 4483f19f85 Marco's Hexa Motors 2012-02-22 09:55:44 -08:00
Jason Short 242f54793c revved a version 2012-02-22 09:00:42 -08:00
Jason Short 729c824809 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short 42b5d47f7b commented out control mode debug print 2012-02-21 21:48:07 -08:00
Jason Short 30efbae0e9 removed old comments 2012-02-19 14:21:27 -08:00
Jason Short 265c5255a3 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short 336441b109 reset slow_WP option at mode switch 2012-02-19 13:13:42 -08:00
Jason Short 81a861c8ac Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short 33d4d52a6b set Slow WP option for RTL in Auto mode 2012-02-19 13:12:23 -08:00
Jason Short cae49b3543 Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short b54d08f410 Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Jason Short bcd5129f9b added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short fa32b084bd Added SW test for Manual Boost 2012-02-19 12:39:40 -08:00
Randy Mackay 9fabdb5797 TradHeli - change throttle range back to 0~1000 (was temporarily changed to be 1250~850 which limited the range of the swash plate's vertical movements) 2012-02-20 00:27:12 +09:00
Randy Mackay e146f225b1 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Andrew Tridgell df8a557630 AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell 12327eb2a9 Heli: fixed some 'used before initialised' warnings 2012-02-19 16:34:43 +11:00
Jason Short 028de5d2c5 Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Jason Short 885710fce6 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short 05024cc06c Change 800 to a define 2012-02-18 21:13:28 -08:00
Jason Short 04b70ffdc2 added Axis_Lock params 2012-02-18 21:13:06 -08:00