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,
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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
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lowered default Loiter gain
2012-01-12 22:28:58 -08:00
Jason Short
8416de7e9c
Added Ryan's GPS lag filter
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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.
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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
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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
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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
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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
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* 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
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* 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
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* 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
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* 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
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* 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
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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)
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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
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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
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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
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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
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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
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comment out some unused debug code
2012-01-05 10:14:53 +11:00
Andrew Tridgell
734b0a02be
ACM: fixed a alt hold bug
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== instead of =
2012-01-05 10:14:30 +11:00
Andrew Tridgell
3c965ff1a2
ACM: fixed a signed/unsigned warning
2012-01-05 10:14:12 +11:00
Andrew Tridgell
9ee3431928
ACM-simple: don't use uninitialised simple trig values
2012-01-05 10:13:36 +11:00
Jason Short
8341a080ce
Disabled stable mode wind comp by default for release
2012-01-04 09:28:38 -08:00
Jason Short
5aa0861ec2
Added Xplane output option
2012-01-04 09:28:38 -08:00
Jason Short
6b9d35cc34
Added home offset for altitude
2012-01-04 09:28:38 -08:00
Jason Short
f74e265bb9
Made landing disarm the motors
2012-01-04 09:28:38 -08:00
Jason Short
3ac37c09a9
Upped Revision
2012-01-04 09:28:38 -08:00
Jason Short
a70fdc58a1
Cleaned up and documented each global vavriable
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Added Wind compensation for Stability
Acro mode fixes
2012-01-04 09:28:37 -08:00
Jason Short
123ce533bb
Added precalc for wind compensation when entering Stabilze mode
2012-01-04 09:28:37 -08:00
Jason Short
bf8e3975ec
Added Wind compensation for Stabilize
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moved speed calc to it's own function
decreased acceleration from WPs
2012-01-04 09:28:37 -08:00