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615 Commits

Author SHA1 Message Date
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
Jason Short 84d3e3135f Added Nav_bearing, just like APlane 
added fix for LOITER in missions so we don't Yaw in circles
 2011-12-30 23:48:04 -08:00
Jason Short cf48091d00 removed old loiter method option 2011-12-30 23:48:04 -08:00
Randy Mackay 3cb74cb459 ArduCopter - init_compass - fixed HIL build issue 2011-12-31 12:29:54 +09:00
Jason Short 3ea49e1415 updated rev 2011-12-29 23:02:41 -08:00
Jason Short 21460a57ae Yaw Performance tweaks 2011-12-29 23:02:03 -08:00
Jason Short 95a70cf32e lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short 10abb7871e removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short 17acbc4572 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short 53c09774e5 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short 2c1fe93856 cosmetic 2011-12-29 23:02:03 -08:00
Jason Short 6f42442e57 Added 5 sec Takeoff Timer to clear i terms when lifting 
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
 2011-12-29 23:02:03 -08:00
Jason Short f41835d546 Added Stabilize_D parameter 2011-12-29 23:02:02 -08:00
Jason Short bb954bc479 Upped Yaw speed to deal with performance complaints 
Added new Stabilize D term default of .25
 2011-12-29 23:02:02 -08:00
Jason Short d055763947 Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have. 2011-12-29 23:02:02 -08:00
Jason Short fa49aa5eec Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Jason Short 4f60fa412c Set Define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short 8a921e869c Fixed a 1280 only test 2011-12-29 23:02:02 -08:00
Jason Short db96b9ec7a added define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short 244ca98264 Added Dampening term for tuning 2011-12-29 23:02:02 -08:00
Jason Short 7e1e1f84b3 updated Loiter PIDs 2011-12-29 23:02:02 -08:00
Jason Short 4b5437afe8 Enable Magnetometer by default 2011-12-29 23:02:02 -08:00
Jason Short 51e6170ecb Missing ; 2011-12-29 23:02:01 -08:00
Jason Short 4353f60f60 removed takeoff complete flag from missions, not used and would be useful elsewhere. 2011-12-29 23:02:01 -08:00
Jason Short fbb35928fe removed unused function 
Simplified the baro init filter
 2011-12-29 23:02:01 -08:00
Randy Mackay bbe6dea980 OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell 955dfe0226 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell 03a16c6e45 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell 433df08cb3 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Andrew Tridgell 73e6d5ee11 ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Jason Short 234121f3c3 Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Andrew Tridgell 4fe527aefa ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Andrew Tridgell 111d156a99 ACM: fixed HIL build again 2011-12-26 19:17:11 +11:00
Andrew Tridgell ab64a689c8 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay 07041c2149 TradHeli - modified the default collective min/max values to restrict movement to about half the full range. 2011-12-26 16:59:01 +09:00
Jason Short 1afa25d9ef Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Randy Mackay c24b5229e1 AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell 0dadbf932a removed "Please run setup" loop from ArduCopter 
Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
 2011-12-24 18:12:51 +11:00
Jason Short cc4f5e7c74 disabled some tests with warnings 2011-12-23 18:54:38 -08:00
Jason Short 0491d4feca added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short d7af42c925 Getting rid of Simple Logging 2011-12-23 18:44:30 -08:00
Jason Short 0f91fbcee5 Made WP radius 1 by default 2011-12-23 15:01:53 -08:00
Jason Short d9590a44d6 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short e5a3899b7f added ability to enter Loiter with only optflow available 2011-12-23 14:46:32 -08:00
Jason Short 73a73fbf35 moved some defines around 2011-12-23 14:46:32 -08:00
Jason Short 5518882c69 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short 2d46022a2b This is the test to deal with big props with lots of inertia. We use a low pass filter on positive acceleration. 2011-12-23 14:46:32 -08:00
Jason Short 58ad9faf6d initing z dampener at arming 2011-12-23 14:46:08 -08:00
Jason Short 5f03c62bd9 Too complicated 2011-12-23 14:46:08 -08:00
Jason Short be4b031c7d added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Jason Short ca8f71a705 used for testing 2011-12-23 14:42:50 -08:00
Jason Short a966a178f8 increased crosstrack thanks to float math fix 
decreased loiter iterm, decreased throttle iterm based on simulator runs
 2011-12-23 14:42:50 -08:00
Jason Short a284fc222c No longer blocking before initing home 2011-12-23 14:42:50 -08:00
Jason Short 79fff0f096 the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -08:00
Jason Short 62cb407558 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short 85b564c5eb removed some unneeded HIL #defines 2011-12-23 14:42:49 -08:00
Pat Hickey c40fccbc26 Log_simple uses identical implementation of do_erase_logs. 
* fix build1280.ArduCopter
 2011-12-22 13:31:28 -08:00
Pat Hickey f1624621b3 ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added 
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
 2011-12-19 21:04:51 -08:00
Randy Mackay 310f072d50 Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer 2011-12-19 22:57:00 +09:00
Jani Hirvinen 106801a59c config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short b53a6bd4b4 Hexa stability patch bug fix by borna.segulin 2011-12-18 16:38:07 -08:00
Jason Short 239eb53983 change Alpha name 2011-12-18 16:38:07 -08:00
Andrew Tridgell ad9c0533d8 ACM: run mavlink loop while erasing logs 2011-12-18 10:19:41 +11:00
Jason Short 8970948804 Sync logging 2011-12-16 22:02:41 -08:00
Jason Short 47e4c875e1 Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
Andrew Tridgell f6f808357c removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Jason Short 2fc25d963d renamed super simple, added framework for auto calc of throttle cruise 2011-12-15 20:51:41 -08:00
Jason Short 3019c35364 turned off iterm for traverse 2011-12-15 20:51:41 -08:00
Jason Short f11f2c6d97 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Jason Short 72605f846c renamed super simple 2011-12-15 20:51:41 -08:00
Jason Short 88b3708dcf added altitude to circle mission 2011-12-15 20:51:40 -08:00
Jason Short 0ba8a9f30b Allows user to specify just an altitude for Circle Mode 2011-12-15 20:51:40 -08:00
Jason Short 4e280bb0dc More power to descend 2011-12-15 20:51:40 -08:00
Jason Short 3446744ae9 Addition of nav mode that tries to maintain level 2011-12-14 22:08:42 -08:00
Jason Short 4d90058c90 dupe of landing logic for scripting 2011-12-14 22:08:41 -08:00