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1167 Commits

Author SHA1 Message Date
Jason Short
f8ceec2b4b added check for duplicate time-stamped GPS messages. 2012-05-18 09:54:18 -07:00
Jason Short
95076bf08e 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
be71cbfcc8 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
7278e8d1e5 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
cb68adfff2 Loiter Gains based on new SIM 2012-05-15 22:01:01 -07:00
Robert Lefebvre
17a1b6d672 Fixed Syntax error. 2012-05-15 12:35:35 -04:00
Robert Lefebvre
a9349a6e87 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
9e73dc4bd8 CopterLEDS changes for APM2 2012-05-15 10:07:03 -04:00
rmackay9
eaeaa3811a 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
47ea92aa7f ArduCopter: updated version to 2.5.5 2012-05-13 08:47:43 +09:00
rmackay9
ee20f887b5 ArduCopter: fixed compile error by declaring extern print_latlon 2012-04-30 21:44:27 +09:00
Andrew Tridgell
94b763fa1e ACM: fixed HIL build 2012-04-30 22:42:17 +10:00
rmackay9
ed9c59879f 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
292f9699fa Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases 2012-04-28 20:50:41 -05:00
Adam M Rivera
2a85a64b6e Parameters.pde: Added value aliases to comments 2012-04-28 20:35:22 -05:00
Adam M Rivera
c03f1d04ea Parameters.pde: Added more parameter comments. 2012-04-28 12:14:17 -05:00
Andrew Tridgell
8134c9a883 autotest: fixes for MAVLink 1.0 in autotest 2012-04-27 15:15:53 +10:00
Adam M Rivera
21886104a6 Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone. 2012-04-26 18:26:14 -05:00
Adam M Rivera
09ffc69d93 Changed the marker for Group parameters to @Group. 2012-04-25 12:27:51 -05:00
Adam M Rivera
0132392e36 Parameters.pde: Added lib comments. 2012-04-25 11:23:46 -05:00
Adam M Rivera
74789273b7 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
f70a4e61ea 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
8c607d93fc Parameters.pde: Added new comment structure to a few parameters for testing. 2012-04-24 11:37:33 -05:00
Andrew Tridgell
7866740d62 MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI 2012-04-24 22:24:58 +10:00
Andrew Tridgell
712b7184be 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
2ee8237b5f 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
ec06638db6 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
788df5ed6f config.h: Removed comment. 2012-04-23 00:16:41 -05:00
Adam M Rivera
692bbee233 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
Jason Short
cb863dd483 Log.pde : Updated Flash Logging to log Floats properly vs scaled integers. 2012-04-21 15:25:53 -07:00
Jason Short
2aca6c64ab 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
3b5ffe0f61 ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame 2012-04-21 23:46:36 +09:00
rmackay9
114e6a3551 ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion 2012-04-21 23:24:57 +09:00
rmackay9
bd8534ef14 ArduCopter - Attitude.pde - added logging of optical flow pid controller 2012-04-21 20:17:12 +09:00
rmackay9
53ddb58c7b ArduCopter - changed optflow object to be APM2 version if necessary 2012-04-21 20:15:55 +09:00
rmackay9
ce6dd8bb32 ArduCopter - changed Optical Flow for APM2 to use A3 pin 2012-04-21 20:15:16 +09:00
Adam M Rivera
edf15c1b9b Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-20 11:45:38 -05:00
rmackay9
c323efc2d4 ArduCopter - regressed version back to 2.5.4 2012-04-20 21:58:32 +09:00
James Goppert
1bc4d54ce9 Worked on ArduCopter cmake options. 2012-04-19 16:05:08 -04:00
Adam M Rivera
d09916422a 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
4430f75344 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
9181eedf5a 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
ad13854ab7 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
3995381800 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
c7c6dd70b9 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
f094085c25 Improved cmake options. 2012-04-18 23:15:29 -04:00
James Goppert
0a38e2b8d4 Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
Adam M Rivera
5ee15da73b 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
26e3d6ae45 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
baf8218b58 ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter. 2012-04-16 16:29:54 -05:00
Adam M Rivera
b891622210 ArduCopter: Changed millis compare to use new config value for approach delay. 2012-04-16 14:04:30 -05:00
Adam M Rivera
3146c22ea8 commands_logic.pde: Added write to constrained value to EEPROM. 2012-04-16 14:03:33 -05:00
Adam M Rivera
3135cd91d0 config.h: Added RTL_APPROACH_DELAY config value. 2012-04-16 14:00:08 -05:00
Adam M Rivera
8128fb2d5f 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
b611b6a1e8 system.pde: Updated param name to loiter_timer. 2012-04-16 10:12:30 -05:00
Adam M Rivera
03e11cf893 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
637f778dd0 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
2d096c401f Parameters: Changed rtl_approach_alt to float to support more granular altitudes 2012-04-16 10:06:29 -05:00
rmackay9
4dadd888d8 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
5a9ad6ddbb AHRS: enable AHRS_ group in ArduCopter 2012-04-16 20:55:14 +10:00
Adam M Rivera
f27b5d538b ArduCopter, commands_logic: Updated logic to allow as low as 5m. 2012-04-15 19:50:05 -05:00
Adam M Rivera
e4940ec3bb 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
0027c9253b 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
70d67b0791 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
d1a7fdb9ef 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
d12bf86876 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
fb5dc3085b Defines: Added new control mode (APPROACH). 2012-04-15 16:52:32 -05:00
Adam M Rivera
f5e0b002ba 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
ccb21613b5 ArduCopter - updated firmware version to "2.6 Beta" 2012-04-14 14:26:44 +09:00
rmackay9
33bd558a94 ArduCopter - LEDS - main code to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:44 +09:00
rmackay9
a429c78d20 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
663eda6d47 ArduCopter - LEDS - define pins to be used for COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:36 +09:00
rmackay9
ac9555a3b4 ArduCopter - LEDS - added new COPTER_LEDS definition 
Code by Robert Lefebvre
 2012-04-12 22:55:32 +09:00
rmackay9
d1a5d1f94c ArduCopter - LEDS - two new parameters to support COPTER_LEDS. 
Code by Robert Lefebvre.
 2012-04-12 22:55:28 +09:00
rmackay9
8f0bc57967 ArduCopter - navigation.pde - added logging of Loiter PID controllers 2012-04-11 23:52:25 +09:00
rmackay9
023378a214 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
c7edd7857c ArduCopter - added dataflash logging of roll and pitch rate controllers 2012-04-08 10:19:20 +09:00
rmackay9
0607be8ea5 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
2128085576 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
2fc3b740c4 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
5e2147de1f 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
1701cac0b1 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
0f4203a755 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
00d540bfa9 ArduCopter - leds.pde - changed refrences to "motor_armed" to "motors.armed()" 2012-04-04 22:57:50 +09:00
rmackay9
ffd77f58ab 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
929e933b69 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
acc24291f3 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
86d2a9ffdb 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
23c3f25654 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
544237d60a 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
40d7b07789 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
b0c9a25024 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
1e0a2fb0be 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
0985327331 ACM: use set_blocking_writes(false) when we arm motors 2012-03-30 17:46:20 +11:00
Andrew Tridgell
36e741b078 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
58f539ca35 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
0727955fe3 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
a12a7a7d87 ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9
2cc87af180 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
8ccf3a05f0 Mavlink: fixed warnings about limits on int32 values 2012-03-27 15:37:25 +11:00