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a7b597bd0a
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106 Commits

Author SHA1 Message Date
jasonshort
a7b597bd0a Camera stabilization, Mavlink updates 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2238 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-10 00:00:05 +00:00
jasonshort
a0d9c52d87 Mavlink Sync with APM 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2235 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 17:40:32 +00:00
jasonshort
0979876ccc Added APM's current sensing. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2234 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 15:46:56 +00:00
mich146@hotmail.com
6edb299243 AC2 - Mavlink on 2 ports 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2233 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 12:20:22 +00:00
jasonshort
7d38020d5f re-org'ed the logs 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2231 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 04:16:58 +00:00
jasonshort
985db37162 Added compass fix from APM 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2222 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-08 18:32:33 +00:00
jasonshort
08a7e02864 Final changes for Beta release 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2180 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-07 19:41:55 +00:00
jasonshort
6510b8df5a minor cleanup based on compiler warnings. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2122 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-07 00:21:16 +00:00
jasonshort
33c9f047eb increased to 160hz 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2043 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-02 04:34:15 +00:00
jasonshort
ceff21a0ec removed the !!! from ACM to keep the 2650 happy. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2036 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-02 04:13:27 +00:00
jasonshort
dc45d3e8c4 Added throttle_integrator 
Removed cos for nav_rate testing.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1934 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-30 16:01:57 +00:00
jasonshort
bc7c797fd6 added baro_alt_offset back in. Filtering out the effect over time. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1925 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-28 05:43:35 +00:00
jasonshort
2ba41bb374 refinements to nav 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1922 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-27 05:08:24 +00:00
jasonshort
6e6db9864e Loiter should work now. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1921 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-26 05:15:25 +00:00
jasonshort
121cf0f658 Warning!!! The recent build 1919 was tagged as sparkfun. 
The trunk is unstable, so please be careful. I've made a lot of changes based on the Sparkfun challange. Most include how we handle things like altitude, but the mission scripting has also been updated as well.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1920 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-25 05:12:59 +00:00
jasonshort
69b0ae329e Navigation bug fixes, tuning. 
better handling of sonar at angles and baro mixing. - optimized for flats.
Crosstrack test bug found and fixed.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1916 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-21 23:07:31 +00:00
jasonshort
a8b7505268 Lots of little things. Yaw control is updated based on Jani's logs. Thanks! 
Takeoff now works well.
better logging.
tuned down kD for Yaw - was causing some bad behavior.
Auto mission now resets when entering mode.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1914 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-21 05:15:45 +00:00
jasonshort
62c123f6df Minor Yaw update, Log adjustment, 
Main loop slightly faster at 125 hz


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1912 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-20 06:44:49 +00:00
jasonshort
fe6e0d2f44 Yaw fix, 
Logs updated to do better Yaw Debugging
Landing is now rate limited
updated command desctiption.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1911 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-20 05:37:05 +00:00
jasonshort
38e57bccb0 Added delay option for WP_NAV. The copter will LOITER in seconds based on p1 value. 
This turned out to be functionally identical to LOITER_TIME so I combined them.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1909 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-18 16:27:03 +00:00
jasonshort
588599d841 Added float for CH6_Y6_SCALING value. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1903 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-17 23:12:27 +00:00
jasonshort
f6f5a0c8dd Added rudimentary tuning with CH6. Assign this to your Flaps knob on your radio. in APM_config.h set your desired option, then upload. The knob will adjust the value in real time. Enter the CLI and run test, tune to see the output value. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1902 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-17 23:08:16 +00:00
jasonshort
0db3f100cc Reworking Yaw some more. Yaw is testing really well with this version. 
I have moved Pitch_Max to a different part of the code. It was limiting SIMPLE mode which was bad. Now it only limits in Auto modes, RTL, LOITER, etc.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1899 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-17 05:17:42 +00:00
jasonshort
f54f75140e Better CTUN Logging 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1892 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-16 20:42:00 +00:00
mich146@hotmail.com
a693a33164 Log fix 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1889 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-16 08:27:25 +00:00
mich146@hotmail.com
d3b12b99de Logging fix's 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1888 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-16 07:36:22 +00:00
mich146@hotmail.com
27e69d73d5 ACM mavlink update/log fix 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1881 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-15 13:24:05 +00:00
jasonshort
9b96a18ad4 Removed all calls to legacy trim_radio(). Handled by radio setup. 
Added AP_Var Fingerprint checker. Will not let users fly with OOD firmware.
Tweaked Yaw to give better response. Let me know how it goes. It looks fine, but I've not flown it.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1878 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-14 05:56:39 +00:00
jasonshort
2c3f6052db Altitude control fix - trying to go higher would make alt hold reset to 0 
Yaw fix, 
improved PID defaults
potential logging fix


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1877 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-13 16:33:06 +00:00
jasonshort
06d0b9859c commented out debugger code 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1872 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-10 23:20:22 +00:00
jasonshort
608a089d68 added a limit to throttle_input = 800 for stability insurance 
found an odd bug in SIMPLE mode that broke LOITER mode. Fixed



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1871 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-10 23:07:24 +00:00
jasonshort
828f0b0443 removed the throttle min max settings for user config. 
turned off altitude interpolation for now.
removed the "Dampener" setting in config. Using less confusing kD instead.
removed throttle_cruise reset in events.pde for RTL - would cause a crash.
added I term for pitch/roll for when flying greater than 20°

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1868 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-10 20:31:33 +00:00
jasonshort
b1fcea4308 added minimum of 1 meter to alt hold 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1859 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-09 17:48:03 +00:00
jasonshort
5d63a05de7 added better value for Sonar minimal value for landing 
removed FBW mode - no longer needed
added set_throttle_cruise_flag to auto set the throttle value for alt hold
added altitude minimum option for waypoints
added support for relative WPs
added support for Yaw tracking per WP in options bitmask

lowered default sonar kD value
increased minimal value to set the throttle cruise value with CH7 switch
updated README.txt
added additional stock test missions available in CLI


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1856 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-08 19:13:31 +00:00
jasonshort
4660bb87e2 updated test mission. It now passes the tests. Be sure to verify things are working well before flying. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1843 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-03 21:11:14 +00:00
jasonshort
5d4b8d9913 git-svn-id: https://arducopter.googlecode.com/svn/trunk@1840 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-04-03 04:44:00 +00:00
jasonshort
6b405c5831 minor change to GPS 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1834 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-02 19:56:35 +00:00
jasonshort
72fc8a1f51 Added interactive control for altitude in Loiter (position hold) and Altitude hold (mostly just used for testing). 
Throttle down = descend, throttle high = ascend.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1831 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-30 05:27:13 +00:00
jasonshort
294d6752fe Hopefully this fixes the GPS init bug. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1830 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-30 04:24:20 +00:00
jasonshort
f8a718e645 git-svn-id: https://arducopter.googlecode.com/svn/trunk@1824 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-03-28 05:18:10 +00:00
jasonshort
2a4cb2095f GPS is disabled in this version to debug some bad behavior. If it doesn't stabilize well. Let me know. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1823 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-28 04:12:19 +00:00
jasonshort
eee391e6d9 implementing yaw tracking. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1821 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-27 21:26:34 +00:00
jasonshort
eead295208 Better implementation of the GPS sensing. 
You must now be on the ground and before you cant set the initial angle for Simple mode.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1819 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-27 06:24:53 +00:00
jasonshort
46e8c2e67a GPS Light fix 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1815 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-26 06:53:27 +00:00
jasonshort
f8b0c61e63 updates - support 
new test mission  - Liftoff, spin, land
updated scripted Yaw control

Public Beta candidate...

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1814 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-26 06:35:52 +00:00
mich146@hotmail.com
bb285a248b implement mavlink messages 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1793 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-20 12:55:51 +00:00
tridge60@gmail.com
d70703aa62 disabled tabs in emacs formatting markers 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1790 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-19 10:20:11 +00:00
tridge60@gmail.com
2427931550 added update_events() prototype 
this fixes a build error on Linux. See the equivalent commit in APM

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1786 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-18 01:50:46 +00:00
tridge60@gmail.com
613d414908 mavlink: reduce the number of message buffers to 2 
this is all we need, and it saves us some SRAM

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1784 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-18 01:50:33 +00:00
jasonshort
b66db9f839 fix for Loop timing issue. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1776 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-16 05:43:48 +00:00