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3,074 Commits 71 Branches 511 Tags 786 MiB
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689 Commits

Author SHA1 Message Date
Jason Short
5f55780b5e Added comments 
moved out failsafe check. otherwise the reporting was erroneous.
 2012-01-10 23:42:26 -08:00
Jason Short
92f7b22722 Moved failsafe check to more logical place 2012-01-10 23:42:26 -08:00
Jason Short
cf92631d33 added #if to wind compensation code 2012-01-10 23:42:26 -08:00
Pat Hickey
fc6321b7ca ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros 2012-01-09 22:06:49 -08:00
Pat Hickey
927e60d85b ArduCopter motors_y6: rewrite loop in terms of motors 2012-01-09 22:06:49 -08:00
Pat Hickey
ac7f6a5602 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
73610ddb6c ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 22:06:48 -08:00
Pat Hickey
7f4c994346 ArduCopter motors_octa_quad: rewrite loop in terms of motors 2012-01-09 22:05:01 -08:00
Pat Hickey
e2be119433 ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros 2012-01-09 21:57:02 -08:00
Pat Hickey
46b8037a73 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
79030a84b8 ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros. 2012-01-09 21:57:02 -08:00
Pat Hickey
f7e14fff37 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
b907c1fd5c ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Pat Hickey
7535c1c3fe ArduCopter test.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
6a4442557c ArduCopter setup.pde: translate from CH_ to MOT_ notation 2012-01-09 21:57:02 -08:00
Pat Hickey
91bc2698a8 ArduCopter radio.pde: translate CH_ to MOT_ outputs 2012-01-09 21:57:02 -08:00
Pat Hickey
2f63c636ad Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey
f5b6746ad7 ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey
c105f64dca ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
e0e430895e motors_quad: translate from CH_ to MOT_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
0b40f55334 ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Pat Hickey
e5e8ed8a54 ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL 2012-01-09 21:57:01 -08:00
Pat Hickey
9eae2ec7fe ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8] 2012-01-09 21:57:01 -08:00
Pat Hickey
a30558e9b2 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Pat Hickey
a7628b7f78 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
a19afd926a 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
78255b722e 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
f68d23d91e 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
d46f36e624 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
d45c0ce9f2 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Randy Mackay
3dfa26920f ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short
f4b530ebb1 R8 2012-01-07 22:28:03 -08:00
Jason Short
48c211e055 Added finish to missions - auto-land or stabilize 2012-01-07 22:27:26 -08:00
Jason Short
9c8122e061 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
63be9c5f7b Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short
06e032db68 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
6678edf243 Auto-land updates - removed sonar option - not needed 
updates from JLN
 2012-01-07 22:27:26 -08:00
Jason Short
76dd79e7b5 Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short
dd42f06275 Cleanup 2012-01-07 22:27:26 -08:00
Jason Short
faa9dd43cf scaled to 0-1023 2012-01-06 21:43:37 -08:00
Jason Short
ee0551037e Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short
98f9a5f237 Forced Faildafe throttle mode to throttle Auto 2012-01-06 10:21:50 -08:00
Jason Short
5b66a09688 Added check for armed motors in failsafe 2012-01-06 10:21:23 -08:00
Jason Short
c9f60f239d Added Note 2012-01-06 10:20:59 -08:00
Jason Short
8f3c577e47 Made RTL go up 10m for failsafe 2012-01-06 10:20:48 -08:00
Jason Short
17873eb09c Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short
e116636fe9 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short
e3c16fc1b1 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short
40ad164c8d Clears Auto_land timer 2012-01-05 21:15:12 -08:00
Jason Short
20661e5020 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell
df81a9459a ACM: reset all I terms on gyro calibration 2012-01-05 10:15:14 +11:00
Andrew Tridgell
2913948520 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Andrew Tridgell
c1c3115b42 ACM: fixed a alt hold bug 
== instead of =
 2012-01-05 10:14:30 +11:00
Andrew Tridgell
92f9c0b648 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Andrew Tridgell
596a1f43f4 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short
3cf77729ef Disabled stable mode wind comp by default for release 2012-01-04 09:28:38 -08:00
Jason Short
28262dd825 Added Xplane output option 2012-01-04 09:28:38 -08:00
Jason Short
467ef66a77 Added home offset for altitude 2012-01-04 09:28:38 -08:00
Jason Short
40c649a27b Made landing disarm the motors 2012-01-04 09:28:38 -08:00
Jason Short
ed1ff0b171 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short
76cfdca6cc Cleaned up and documented each global vavriable 
Added Wind compensation for Stability
Acro mode fixes
 2012-01-04 09:28:37 -08:00
Jason Short
2e83e42764 Added precalc for wind compensation when entering Stabilze mode 2012-01-04 09:28:37 -08:00
Jason Short
e36d2f6e96 Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short
fe8c99c49b removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short
a2c8f5af15 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
de6325fb8a removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
cf9e744ed2 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
8ed2d96396 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short
59f22f0ca0 removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
ecb3241489 calc_wind_compensation called when exiting AP modes 
Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
 2012-01-04 09:28:37 -08:00
Jason Short
4e0e783e7c added Reset_Rate_I function 
Removed I term from Throttle rate calc
Added some basic constrains to Acro
 2012-01-04 09:28:37 -08:00
Jason Short
b8c0bdb66f removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
92eece79a4 cleanup - removed unused functions, made pressure reading Float to avoid extra cast 2012-01-04 09:28:36 -08:00
Jason Short
e1232e7b80 cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
e7b750074b Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Jason Short
37cda3c364 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
2fc6a645b4 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
b28ae04e0d Removed unused options 2012-01-04 09:28:36 -08:00
Jason Short
6513b12eb2 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
67bf991598 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
c7b5b747e8 change how Reset Nav params work - no longer clear I terms 2012-01-04 09:28:36 -08:00
Jason Short
580ad2c5ce Added JLN's landing patch, moved some variables local such as Jump counter 2012-01-04 09:28:36 -08:00
Jason Short
c0c2ea4ebb removed unused functions 2012-01-04 09:28:36 -08:00
Andrew Tridgell
ca39fc8b47 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell
9d1c4ecfcd ACM: don't set defaults in APM_Config.h 
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
 2012-01-04 19:35:05 +11:00
Andrew Tridgell
cdd5589498 I2c: default to 5ms timeout, and faster bus speed 
we will slow down the speed when we get a failure
 2012-01-04 16:36:47 +11:00
Jason Short
26d0bf93ff Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short
b3cea96970 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short
74b203c7f2 Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short
ea832c0818 upped to r5 2011-12-31 10:05:13 -08:00
Jason Short
1ef7f9fe62 Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short
0ace8474d7 R4 2011-12-30 23:54:02 -08:00
Jason Short
c6586810cf New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short
2cb09f46e9 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
6a8391f0a7 removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short
28984a72e4 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
26267f75b2 Reverted to Crosstrack like in Arduplane, requires Degrees * 100 2011-12-30 23:48:04 -08:00
Jason Short
dac29af7ab Sync with Arduplane 2011-12-30 23:48:04 -08:00
Jason Short
c7f93f8718 Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short
15a377d759 Added a default Yaw tracking setting 
Added Nav_Bearing
 2011-12-30 23:48:04 -08:00