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4530 Commits

Author SHA1 Message Date
Andrew Tridgell f7b06e0a64 Baro: fixed build of MS5611 test code 2012-07-02 13:44:53 +10:00
Jason Short 0aabd4efe2 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 bea1ab8810 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 44e12c6d2d Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short 42a321b76c GCS_Mavlink.pde 
removed Approach define
 2012-07-01 13:40:11 -07:00
Jason Short 95e1f05f82 defines.h 
removed Approach mode enumeration
 2012-07-01 13:40:11 -07:00
Jason Short 3fb268da96 read_control_switch 
Removed Prev_WP reference. unneeded.
 2012-07-01 13:40:11 -07:00
Jason Short 99d6a45948 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 059fea36aa 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 9cd9dd168e RTL: Commands.pde 
Removed do_approach function - now redundant
 2012-07-01 13:40:11 -07:00
Jason Short e5fbcb629d 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 8c8f44e6f7 Arducopter: enabled RTL_altitude, renamed function to be more accurate 2012-07-01 13:40:11 -07:00
Jason Short b199fb22a2 Added code for self centering throttle - disabled by default. 2012-07-01 13:40:11 -07:00
Michael Oborne 84d2782c33 fixup sitl attribute group for planner. - causing invalid advanced/standard views 2012-07-01 21:43:32 +08:00
Michael Oborne dad36d2e42 APM Planner 1.1.95 
fix config panel value change detection
add loiter_ to AC config screen
Add praram name to Friendly param, and exception ignoring.
fix param file note line
intergrate andrews gimbal config.
fix any possible log appending issues
remove old cli planner on connect
modify speech to not crash on windows mono
 2012-07-01 17:51:22 +08:00
Andrew Tridgell 0313d106a0 ArduBoat: removed use of analogRead() 2012-07-01 15:09:39 +10:00
Andrew Tridgell 2bd5cd3b9a AnalogSource: added some example code 2012-07-01 15:01:05 +10:00
Andrew Tridgell 0341e0e5f0 SITL: added support for new analog source 
removed analogRead() to prevent people using it
 2012-07-01 15:01:05 +10:00
Andrew Tridgell e791cad9ef 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
Andrew Tridgell 2046e396a2 AnalogSource: make the Arduino AnalogSource interrupt driven 
this fixes several problems with reading analog sources:

 - we were getting poor values because we didn't wait long enough for
   an analog source to settle

 - we wasted a lot of CPU cycles waiting for conversions

 - we were not taking averages over many samples, which we did with
   the old AP_ADC driver on the APM1
 2012-07-01 15:01:05 +10:00
rmackay9 9624f8c179 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 60cdbe771c Circle_WP distance check fix 2012-06-29 21:20:28 -07:00
Jason Short d448ea23e6 Commands.pde: increased bad WP distance check 2012-06-29 21:20:28 -07:00
Jason Short d893cde785 navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction. 2012-06-29 21:20:28 -07:00
Jason Short 59181eab3d System.pde: Toy mode details for set_mode() 2012-06-29 21:20:28 -07:00
Jason Short 7178da3538 GCS_Mavlink: added notes to #if malink10 2012-06-29 21:20:28 -07:00
Jason Short 49243bc206 defines.h: Toy Mode defines for flight modes 2012-06-29 21:20:28 -07:00
Jason Short 40e0d88d12 Config.h: Optimizing Nav gains 2012-06-29 21:20:28 -07:00
Jason Short bcf6c03157 Attitude.pde: Toy mode logic 2012-06-29 21:20:27 -07:00
Jason Short 146a4b021f Arducopter.pde: Added Toy mode refinements 2012-06-29 21:20:27 -07:00
Jason Short eb06320559 Params: Added toy_yate_rate 2012-06-29 21:20:27 -07:00
Jason Short 57b75736ce Added Toy mode to navigation 2012-06-29 21:20:27 -07:00
Jason Short c830ab6ded Aeducopter.pde: Toy mode updates 2012-06-29 21:20:27 -07:00
Adam M Rivera d399143498 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 b5aa821071 AHRS: include the P terms in get_gyro() 
this makes it more useful for navigation controllers
 2012-06-29 21:54:09 +10:00
Andrew Tridgell 02b9ea4dfe MPU6k: removed an unused variable 2012-06-29 21:54:09 +10:00
Andrew Tridgell 1cb96e14a9 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Andrew Tridgell 117bae9585 SITL: added SITL class for controlling simulation 
this holds mavlink settable parameters for controlling sensor noise
levels
 2012-06-29 15:10:51 +10:00
Andrew Tridgell 37494dda2b AHRS: don't add the P terms in _omega 
this can lead feedback via the _P_gain()
 2012-06-29 15:10:51 +10:00
Adam M Rivera 44ce8fc4bc 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 21ae2957fb AHRS: disable barometer for vertical acceleration 
this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.

It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
 2012-06-28 11:12:49 +10:00
Andrew Tridgell e531061caa AHRS: re-instate new DCM drift correction code 
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
 2012-06-28 11:09:22 +10:00
Pat Hickey 2d71a2affc Autotest: use mktemp instead of tempfile 
* tempfile has been deprecated in favor of mktemp on debian, not available
  on fedora
 2012-06-27 14:28:22 -07:00
Michael Oborne 4e7fe5ec5c APM Planner 1.1.94 
Fix Issue 668 - typo
Fix issue 666 - now defaults to mav 1.0 planner
Fix Issue 665 - mavlink 1.0 is now default
Fix Issue 663 - increase timeout from 6 seconds to 12 seconds
Fix Issue 662 - now reads sat count for mav 1.0
Partial Issue 654 - added current to status, hud still wip
Fix Issue 648 - add validation to value
Fix Issue 638 - add delay
Fix Issue 636 - check for version.txt in app directory
Fix config panel null bug
Add more Ardurover config options
Add Exceptions handling to video format selection
Add FORMAT_VERSION to param file ignore list
Fix NOTE param file line
Add APMRover hidden firmware upload (control-R) on firmware screen.
fix possible speach engine exception
add dataflashlog for apmrover
 2012-06-27 20:46:17 +08:00
Michael Oborne f86f5dc025 firmware build 2012-06-27 19:10:43 +08:00
Andrew Tridgell 8600ad8d7f AHRS: revert to the old drift correction algorithm 
we need to work out why Craigs quad flipped today before we enable
this new drift correction
 2012-06-27 18:16:41 +10:00
Andrew Tridgell 70bfacc350 SITL: removed an unused variable 2012-06-27 16:01:50 +10:00
Andrew Tridgell 57579e494b Barometer: fixed airstart for APM 
we need to re-load the ground pressure and temperature from eeprom on
and airstart
 2012-06-27 16:01:50 +10:00
Andrew Tridgell ce016b5ae8 AHRS: include P term in omega 
thanks to Jon for suggesting this
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 0fa1f29cf3 AHRS: implement spin rate limits 
this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
 2012-06-27 16:01:50 +10:00