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242 Commits

Author SHA1 Message Date
Andrew Tridgell 45e62add9f Copter: update ArduCopter for new ins interface 2012-11-30 07:15:18 +11:00
Robert Lefebvre c78ecc4fd1 ACM: Creating Yaw_Look_Ahead yaw mode. 
This function is not fully tested yet.
 2012-11-26 21:37:13 -05:00
Robert Lefebvre 211f964553 Changes to get_throttle_rate() 
Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
 2012-11-21 17:11:38 -05:00
Andrew Tridgell fc72b86304 SITL: disable optical flow on the desktop build 
it doesn't work yet, as no sensor emulator is available
 2012-11-19 09:04:03 +11:00
rmackay9 38fdacd93b ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
rmackay9 3a4d122e32 ArduCopter: low baterry failsafe 2012-11-15 23:35:41 +09:00
Jason Short a6bda80064 ACM: Allow for user defined roll and pitch input max 2012-11-11 18:00:10 -08:00
rmackay9 41c0cee292 ArduCopter: failsafe improvements 
resolves momentary throttle drop to zero before failsafe engages
resolves motor cut after 30seconds if flying in stabilize without GPS (now switches to ALT_HOLD with target altitude zero)
disables motors if throttle was zero before failsafe event
 2012-11-11 22:11:12 +09:00
Jason Short f17c63062e ACM crosstrack min distance 2012-11-09 22:15:16 -08:00
Jason Short 81b1ebd011 ACM: Added max RTL altitude 2012-11-09 22:15:15 -08:00
rmackay9 af40201b14 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
Jason Short 1e35d3d534 ACM: config.h cleanup 
Added LOG_ITERM default to enabled
 2012-10-27 09:59:57 -07:00
rmackay9 ab86eae860 ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters 
Changes on behalf of Leonard Hall
 2012-10-23 21:30:50 +09:00
rmackay9 7fb58fce87 ArduCopter: replace Serial.print with Serial.print_P to save memory. 
Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
 2012-10-22 16:45:24 +09:00
Robert Lefebvre 9a20fe32fa Fixed that last commit 
#define Stupid_Mistake
 2012-10-18 16:50:42 -04:00
Robert Lefebvre 5f8f53ec0a Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups. 2012-10-18 16:39:05 -04:00
rmackay9 3b631f1edd ArduCopter: integrated Leonard Hall's improved ACRO mode 2012-10-18 23:24:34 +09:00
rmackay9 3a26606510 ArduCopter: reduced optical flow's I and IMAX terms 2012-10-17 17:47:43 +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 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
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 c2b9c695b4 ArduCopter: reduce Stabilize Yaw P term to 4.5 2012-10-03 14:19:49 +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
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 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 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 54d07f6d04 ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
rmackay9 4e85e545bf ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU. 2012-09-10 11:37:48 +09:00
Craig Elder c83d1402fb Arducopter: Release 2.7.2 2012-08-31 19:18:10 -07:00
Andrew Tridgell 0b2cbbb677 ACM: added TELEM_DELAY to ArduCopter 2012-08-30 09:03:01 +10:00
Craig Elder 3403e1b78d Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking 
Arduplane:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
 2012-08-28 20:09:10 -07:00
rmackay9 4978e0c23f ArduCopter: increased Stabilize Roll and Pitch I term to 0.05 (was 0.01) based on feedback from Jason 2012-08-29 11:34:53 +09:00
rmackay9 ccc659e8a9 ArduCopter: reduced Rate Roll and Pitch PID values 
RATE_ROLL_P, RATE_PITCH_P reduced to 0.165 (was 0.185)
RATE_ROLL_D, RATE_PITCH_D reduced to 0.004 (was 0.008)
 2012-08-26 10:45:45 +09:00
uncrustify ad1f20924d uncrustify ArduCopter/config.h 2012-08-21 19:19:50 -07:00
Andrew Tridgell bd6581c523 AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
rmackay9 cdab521c7d ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h. 
Reduces possibility of difference between arduino ide compiled code and script built code (i.e. autotester, mission planner)
 2012-08-19 12:31:02 +09:00
Jason Short cd2cf2e431 ACM: Config.h - added default for toy mixer 2012-08-16 15:40:28 -07:00
Jason Short 31fdeab873 ACM increase the minimum speed at WP 2012-08-10 10:01:40 -07:00
Jason Short 168b755d0b ACM: config.h = updated default gains 
More yaw rate control
 2012-08-09 16:59:43 -07:00
Amilcar Lucas 9a8fd4738e Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Amilcar Lucas f321f5d9c5 Add a second mount instance 2012-08-08 23:07:25 +02:00
Amilcar Lucas a961988bba ArduCopter: Make the code fit in a 1280 chip again 
Even allows to control a camera/antenna mount, if the user explicitly wants to.
 2012-08-06 00:23:48 +02:00
Amilcar Lucas fc3a60a176 Default CLI_SLIDER_ENABLED to DISABLED 
Chris asked for this on the mailing list
 2012-08-06 00:22:33 +02:00
Amilcar Lucas f28be02286 ArduCopter: Save more space in APM1280 2012-08-05 23:05:52 +02:00
Amilcar Lucas 7b2896c72b Merge from ArduPlane 2012-08-04 18:38:50 +02:00