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a4a2fad798
Commit Graph

1575 Commits

Author SHA1 Message Date
rmackay9
a4a2fad798 ArduCopter: more out-of-date commented out code removed 2012-10-17 19:25:14 +09:00
rmackay9
25b3acab8c ArduCopter: bug fix in earthframe->body frame translation. 
Provided by Leonard Hall.

Also removed large unnecessary comments.
 2012-10-17 19:15:25 +09:00
rmackay9
3a26606510 ArduCopter: reduced optical flow's I and IMAX terms 2012-10-17 17:47:43 +09:00
rmackay9
7228236db6 ArduCopter: updated firmware version to 2.7.4-Delta 2012-10-17 10:20:41 +09:00
rmackay9
7787bb4fd5 ArduCopter: bug fix for get_yaw_rate_stabilized_ef 
Provided by Leonard Hall
 2012-10-17 10:18:24 +09:00
Andrew Tridgell
33d9ae23ff battery: use set_pin() to allow pins to be changed at runtime 2012-10-16 17:20:49 +11:00
Robert Lefebvre
1e01a642bc Adding some comments to parameters. 2012-10-15 09:37:02 -04:00
rmackay9
025cc05cab ArduCopter: update version information ahead of testing 2012-10-15 18:15:38 +09:00
LeonardTHall
4203655646 New Yaw controller using rate feed forward and stabilize. 
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
 2012-10-15 11:37:49 +09:00
rmackay9
ee41f3be6c ArduCopter: enable ACRO mode's AXIS_LOCK by default 2012-10-14 19:50:45 +09:00
rmackay9
254fff6acd ArduCopter: fixed acro mode 
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
 2012-10-14 17:47:46 +09:00
rmackay9
c201b3c35e ArduCopter: small comment fixes related to battery monitoring 2012-10-13 20:52:14 +09:00
rmackay9
71c773801a ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor 2012-10-13 18:40:46 +09:00
Robert Lefebvre
8e19e7d0b2 Added #define for Tilt_Compensation. 
Also added some detail to WP_Speed_Max parameter.
 2012-10-12 14:51:31 -04:00
Robert Lefebvre
446d8ee934 Added comment detail for Tilt_Comp Parameter. 
Reduced parameter default value for TradHeli.
 2012-10-11 13:17:39 -04:00
rmackay9
9052b4152b ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read 
The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
 2012-10-11 18:31:10 +09:00
rmackay9
b5c1e23549 ArduCopter: changed sin_pitch and sin_roll to faster equivalents 2012-10-11 17:54:42 +09:00
rmackay9
a5feda6b1f ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015 
Updated after discussing with Marco
 2012-10-11 17:25:01 +09:00
rmackay9
94d16d426f ArduCopter: move I terms from stabilize to rate controllers 2012-10-11 17:20:05 +09:00
rmackay9
be25e75d75 ArduCopter: freeze I terms if motor limits breached 2012-10-11 17:20:00 +09:00
Andrew Tridgell
2af5ff896d ACM-HIL: fixed optflow declaration 2012-10-11 11:51:25 +11:00
Pat Hickey
24dcbe1b0e ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors 
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
    mavelous <mavelous@googlegroups.com>

    Michael,

    Per our discussion today,

    In a MAVLINK_MSG_ID_COMMAND_LONG
    A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
    with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
    uses param index 1 to specify an arm/disarm motors event: 1 to arm,
    0 to disarm

    Thanks for working this out with me. Sorry to get it so completely
    wrong the first time around!

    Best
    Pat
 2012-10-10 18:59:55 +08:00
Pat Hickey
74d5b1b841 ArduCopter: Provide AP_Semaphore instance for SPI3 bus on APM2. 2012-10-09 11:39:39 -07:00
rmackay9
04b50af6e1 ArduCopter: added message to console when entering ESC Calibration on startup 2012-10-09 12:31:05 +09:00
rmackay9
0050232ae2 ArduCopter: failsafe added to shutdown motors if mainloop fails 2012-10-09 12:30:17 +09:00
rmackay9
50e19dfd12 ArduCopter: APM_Config.h - make it ever so slightly easier to enable INERTIAL_NAV 2012-10-08 12:31:51 +09:00
rmackay9
9d5d9ce3fc ArduCopter: bug fix to ROI when no camera mount is specific 2012-10-08 12:31:10 +09:00
rmackay9
f88ca4b7e4 ArduCopter: bug fix in earth-frame to body-frame conversion for roll 2012-10-07 19:14:40 +09:00
rmackay9
ae447ad6b6 ArduCopter: fix heli build 2012-10-06 13:46:19 +09:00
rmackay9
ae05bc62f6 ArduCopter: added AP_Semaphore to list of includes 2012-10-06 12:41:58 +09:00
rmackay9
c2b9c695b4 ArduCopter: reduce Stabilize Yaw P term to 4.5 2012-10-03 14:19:49 +09:00
rmackay9
a35543bf96 ArduCopter: prioritise rate controllers, rate controller targets converted to body frame 2012-10-03 14:10:31 +09:00
rmackay9
770aa0b56b ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements 
To save a parameter, the current sensor pin is assumed to always be 1 higher than the voltage pin.
 2012-10-02 22:16:19 +09:00
Michael Oborne
939ee1f4a9 AP,AC Add ability to override an altitude in any auto mode, on the current active target 2012-09-30 07:29:33 +08:00
rmackay9
fc4f4d76c9 ArduCopter: allow DMP to run in parallel with DCM 
Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
 2012-09-30 00:25:40 +09:00
rmackay9
1cd4b08fac AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
rmackay9
4bca609b9f AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
rmackay9
04c92240c4 ArduCopter: tiny formatting change in defines.h 2012-09-27 17:40:54 +09:00
rmackay9
fec3f3260e ArduCopter: bug fix to display ITERM enabled/disabled properly from cli 
Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
 2012-09-27 17:40:30 +09:00
rmackay9
ebbf8dc6be ArduCopter: updated version to 2.7.4-Beta 2012-09-25 23:39:15 +09:00
rmackay9
08f203a991 ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08) 2012-09-25 19:08:31 +09:00
rmackay9
15893e719a ArduCopter: increase default Loiter Rate P to 5.0 2012-09-25 12:19:44 +09:00
rmackay9
090a672636 ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5 2012-09-24 18:39:33 +09:00
rmackay9
12a1f3244b ArduCopter: alt hold bug fix - removed reset next_WP in init_home 2012-09-23 01:00:06 +09:00
rmackay9
5e6951d3f4 ArduCopter: position lead filters modified to use lag which varies by gps 2012-09-20 15:49:09 +09:00
rmackay9
69c29f5196 ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in. 2012-09-18 23:19:23 +09:00
rmackay9
aaab3c08aa ArduCopter: added throttle curve (although disabled by default) for all multicopters 2012-09-18 23:05:08 +09:00
rmackay9
3b5b2eba6e ArduCopter: set fast gains while auto trim is being executed 2012-09-18 09:03:29 +09:00
Andrew Tridgell
14d19ac33d ACM: updates for new GPS detection 
a GPS can now be attached after startup
 2012-09-17 14:45:47 +10:00
rmackay9
d7a53e67ed ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables. 2012-09-17 13:44:29 +09:00