Commit Graph

737 Commits

Author SHA1 Message Date
Jason Short
3879e79898 b2 2012-01-14 11:37:00 -08:00
Jason Short
cf51967bbb Fix for SIMPLE mode 2012-01-14 11:32:48 -08:00
Jason Short
6714ab49ad Tweak to make circle mode scripting more accurate 2012-01-14 11:21:50 -08:00
Jason Short
e7ad08e209 adjusted GPS watch dog not to be so aggressive,
removed unneeded flag clearing
2012-01-14 11:20:40 -08:00
Jason Short
11e1df497d lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short
f25d741f62 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short
e6ec80bb21 Clarified the Increment for WP total 2012-01-14 11:20:40 -08:00
Jason Short
6d0329b08c added notes, removed redundant save wp_total 2012-01-14 11:20:40 -08:00
Jason Short
24b760d48f added update throttle cruise function 2012-01-13 16:48:05 -08:00
Jason Short
414a2581a0 Made RTL always the current Altitude 2012-01-13 16:47:38 -08:00
Jason Short
c970ba4f93 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short
589f8bc557 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short
05dce91c24 fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short
8de6e0e223 made landing shoot for below home by 2 meters to avoid bounce up. 2012-01-13 12:46:40 -08:00
Jason Short
9a0539f39e tuned down Alt hold D gain 2012-01-13 09:36:51 -08:00
Jason Short
81413d2a76 re-enabled relay test 2012-01-13 08:55:02 -08:00
Jason Short
09c4bbe46e Added simple constrain for Alt d term 2012-01-13 08:49:55 -08:00
Jason Short
b9419e0123 moved GPS routines to 50hz loop to avoid delay. 2012-01-12 22:59:47 -08:00
Jason Short
b81f9a5d77 Version 2.2 2012-01-12 22:37:33 -08:00
Jason Short
b884462ce3 removed wind comp code,
Added Landing boost code
2012-01-12 22:28:58 -08:00
Jason Short
5418d330f6 Added a small D term on alt hold 2012-01-12 22:28:58 -08:00
Jason Short
6d0f078fdd Added Landing throttle control to force down the copter 2012-01-12 22:28:58 -08:00
Jason Short
b493cb1e55 removed unused defines
lowered default Loiter gain
2012-01-12 22:28:58 -08:00
Jason Short
8416de7e9c Added Ryan's GPS lag filter
Removed unused code
refined alt change
2012-01-12 22:28:58 -08:00
Jason Short
400d080d12 added notes 2012-01-12 22:28:58 -08:00
Doug Weibel
622217357c Bug fix for compass.
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
analoguedevices
c00bcc58d9 Eliminated second instance of APM2 #defines 2012-01-12 20:38:41 +00:00
Jason Short
33fe4db3fc R10 2012-01-11 22:41:51 -08:00
Jason Short
464038b3ea New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short
2566f1fb95 New Loiter Gains for new Loiter methods 2012-01-11 22:41:51 -08:00
Jason Short
55cb0ad476 moved to verify_land 2012-01-11 22:41:51 -08:00
Jason Short
7978a2a21a attempting to force down without using Manual boost. 2012-01-11 22:41:51 -08:00
Jason Short
db1fafaaec R9 2012-01-10 23:46:08 -08:00
Jason Short
22ebe00773 comma 2012-01-10 23:45:33 -08:00
Jason Short
7933492fec Switched to set_next_WP for mode switches 2012-01-10 23:43:44 -08:00
Jason Short
30f5ecda54 Fixed Type Error 2012-01-10 23:43:44 -08:00
Jason Short
ed903c6cd3 Fixed type error 2012-01-10 23:43:44 -08:00
Jason Short
36516161b5 Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short
78925d57c2 added set_new_altitude call() 2012-01-10 23:43:44 -08:00
Jason Short
0c9dc11ac1 Added ending for auto landing 2012-01-10 23:42:27 -08:00
Jason Short
7d4067a6ed updated climb rate control
Land detector
2012-01-10 23:42:27 -08:00
Jason Short
f683371508 added set_new_altitude call 2012-01-10 23:42:27 -08:00
Jason Short
581657ab7a climb rate control 2012-01-10 23:42:26 -08:00
Jason Short
439c15f3fc Added climb rate control
removed unused vars
2012-01-10 23:42:26 -08:00
Jason Short
c385db412e Added altitude change flags 2012-01-10 23:42:26 -08:00
Jason Short
9cbfcac802 Made timer unsigned 2012-01-10 23:42:26 -08:00
Jason Short
9d1b1dba77 Added comments 2012-01-10 23:42:26 -08:00
Jason Short
5b00928b15 added location error calc to get better data. Otherwise we'll be 1 GPS read off. 2012-01-10 23:42:26 -08:00
Jason Short
0744179970 Added comments
moved out failsafe check. otherwise the reporting was erroneous.
2012-01-10 23:42:26 -08:00
Jason Short
5d28e97339 Moved failsafe check to more logical place 2012-01-10 23:42:26 -08:00
Jason Short
f240888b49 added #if to wind compensation code 2012-01-10 23:42:26 -08:00
Pat Hickey
7961021895 ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros 2012-01-09 22:06:49 -08:00
Pat Hickey
397aef9c2a ArduCopter motors_y6: rewrite loop in terms of motors 2012-01-09 22:06:49 -08:00
Pat Hickey
2f11c3f17a ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros
* Third Tricopter motor was on CH_4, so it is called MOT_4. This
  will be changed in a subsequent commit.
2012-01-09 22:06:49 -08:00
Pat Hickey
757471c3a3 ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 22:06:48 -08:00
Pat Hickey
ee7356c1a7 ArduCopter motors_octa_quad: rewrite loop in terms of motors 2012-01-09 22:05:01 -08:00
Pat Hickey
f8aa1456cc ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 21:57:02 -08:00
Pat Hickey
ad5c31cd38 ArduCopter motors_octa: rewrite janky loops to use ch_of_mot
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
f055cbc720 ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros. 2012-01-09 21:57:02 -08:00
Pat Hickey
2cf935e2d2 ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
b8b6e3c25b ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Pat Hickey
87735fef24 ArduCopter test.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
20b0e4cd33 ArduCopter setup.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
38c2a052be ArduCopter radio.pde: translate CH_ to MOT_ outputs 2012-01-09 21:57:02 -08:00
Pat Hickey
8d4db05f50 Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey
b22920c0ea ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey
ccff9041f8 ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
8d595d7c53 motors_quad: translate from CH_ to MOT_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
7b056f208d ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Pat Hickey
e969e0dc55 ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL 2012-01-09 21:57:01 -08:00
Pat Hickey
eb345c009b ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8] 2012-01-09 21:57:01 -08:00
Pat Hickey
bcb43ec9b5 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Pat Hickey
a1cc77f41e ArduCopter: add config_motors.h with MOT_n to CH_m mapping
* APM1 values are not valid, but hopefully APM2 will stay that way?
2012-01-09 21:57:01 -08:00
Pat Hickey
d015e0d6d9 APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
Jason Short
ba72a98345 Slowed Auto Descent
Don't return true in Landing code to prevent flyways in Stabilize
2012-01-08 23:01:22 -08:00
Randy Mackay
7b9701fdd5 ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
analoguedevices
8b68da3105 Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves 2012-01-09 01:59:55 +00:00
Jason Short
fda12c8902 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Randy Mackay
598593e1fc ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short
a8574e813d R8 2012-01-07 22:28:03 -08:00
Jason Short
0a7378856d Added finish to missions - auto-land or stabilize 2012-01-07 22:27:26 -08:00
Jason Short
cf5e0b3a1b converted auto land to use the mission planner version
Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
2012-01-07 22:27:26 -08:00
Jason Short
12493d6431 Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short
7e96e0f7fa Quad frame - X is default
added wind comp stability option to config - off by default
2012-01-07 22:27:26 -08:00
Jason Short
250545f31d Auto-land updates - removed sonar option - not needed
updates from JLN
2012-01-07 22:27:26 -08:00
Jason Short
ca80dc549c Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short
b8bcd81b39 Cleanup 2012-01-07 22:27:26 -08:00
Jason Short
048532ae98 scaled to 0-1023 2012-01-06 21:43:37 -08:00
Jason Short
058a3275c3 Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short
056a08d838 Forced Faildafe throttle mode to throttle Auto 2012-01-06 10:21:50 -08:00
Jason Short
57c3405658 Added check for armed motors in failsafe 2012-01-06 10:21:23 -08:00
Jason Short
a640311f58 Added Note 2012-01-06 10:20:59 -08:00
Jason Short
e908390c64 Made RTL go up 10m for failsafe 2012-01-06 10:20:48 -08:00
Jason Short
d430c847fa Changed default throttle type for failsafe to avoid checking
changed timer to 20 seconds.
2012-01-06 10:20:31 -08:00
Jason Short
de912b5054 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short
beac2930c9 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short
9d9bef37a8 Clears Auto_land timer 2012-01-05 21:15:12 -08:00
Jason Short
a8af509517 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell
600a5680f8 ACM: reset all I terms on gyro calibration 2012-01-05 10:15:14 +11:00
Andrew Tridgell
a6808162d6 ACM: fixed a warning
comment out some unused debug code
2012-01-05 10:14:53 +11:00