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1680 Commits

Author SHA1 Message Date
uncrustify
6d9b4ec785 uncrustify ArduCopter/defines.h 2012-08-21 18:57:21 -07:00
uncrustify
d662339d11 uncrustify ArduCopter/config_channels.h 2012-08-21 18:57:21 -07:00
uncrustify
11cf4a78eb uncrustify ArduCopter/UserVariables.h 2012-08-21 18:56:57 -07:00
uncrustify
f3559747b0 uncrustify ArduCopter/GCS.h 2012-08-21 18:56:56 -07:00
uncrustify
66f63fe415 uncrustify ArduCopter/APM_Config_mavlink_hil.h 2012-08-21 18:56:56 -07:00
uncrustify
196fff3d55 uncrustify ArduCopter/planner.pde 2012-08-21 18:56:56 -07:00
uncrustify
ad743cba6c uncrustify ArduCopter/sensors.pde 2012-08-21 18:56:50 -07:00
uncrustify
c7d32df65f uncrustify ArduCopter/UserCode.pde 2012-08-21 18:56:01 -07:00
uncrustify
e8760bec78 uncrustify ArduCopter/GCS_Mavlink.pde 2012-08-21 18:56:01 -07:00
uncrustify
fef945e2cb uncrustify ArduCopter/flip.pde 2012-08-21 18:56:01 -07:00
uncrustify
6088067ff3 uncrustify ArduCopter/GCS.pde 2012-08-21 18:56:00 -07:00
uncrustify
1fba78b594 uncrustify ArduCopter/toy.pde 2012-08-21 18:56:00 -07:00
uncrustify
95bbbd9ff9 uncrustify ArduCopter/commands_process.pde 2012-08-21 18:56:00 -07:00
uncrustify
5ba8d42ad4 uncrustify ArduCopter/leds.pde 2012-08-21 18:55:44 -07:00
uncrustify
ccf6e80c14 uncrustify ArduCopter/commands.pde 2012-08-21 18:55:43 -07:00
uncrustify
c9953574ca uncrustify ArduCopter/radio.pde 2012-08-21 18:55:43 -07:00
uncrustify
bcad02a1ba uncrustify ArduCopter/events.pde 2012-08-21 18:55:43 -07:00
uncrustify
f62681634b uncrustify ArduCopter/limits.pde 2012-08-21 18:55:16 -07:00
uncrustify
5992611a68 uncrustify ArduCopter/inertia.pde 2012-08-21 18:54:57 -07:00
uncrustify
0c0652b6d8 uncrustify ArduCopter/control_modes.pde 2012-08-21 18:54:57 -07:00
Andrew Tridgell
bd6581c523 AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
Andrew Tridgell
85e8ba7993 ACM: fixed TradHeli build 2012-08-22 09:55:31 +10:00
Robert Lefebvre
e1d6103045 TradHeli: Creating Flybar Acro mode. 2012-08-21 16:54:01 -04:00
Andrew Tridgell
dcaea1a47a ACM: build DMP version in autotest 
this gives it a chance of keeping working
 2012-08-21 15:58:59 +10:00
Andrew Tridgell
1ec772f69c AHRS: fixed reference to AHRS var_info for APM and ACM 2012-08-21 15:58:32 +10:00
Andrew Tridgell
878bcab4cf ACM: use ahrs.set_fast_gains() on arm/disarm 2012-08-21 15:38:31 +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
rmackay9
1dd8606b17 ArduCopter: changed reset_throttle_counter to uint8_t to get rid of overflow bug that was preventing target altitude from being locked in after pilot input down throttle. 2012-08-19 11:50:35 +09:00
Jason Short
df01d5acd7 ACM : removed 2-level DCM gain change - .1 will still be the default. 2012-08-18 15:43:34 -07:00
Jason Short
89784b99cf ACM : Fix for reloading the user DCM gains upon arming 2012-08-18 13:17:43 -07:00
Jason Short
5684934989 ACM | Attitude.pde - removed next_wp.alt reset. 2012-08-18 12:25:48 -07:00
Jason Short
123545f679 ACM : Alt hold adjustment - made angle boost work during alt hold changes. 
increased length of delay when reverting to automatic hold to deal with latency of baro sensor
 2012-08-18 09:30:46 -07:00
Jason Short
1e546b54be ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency. 2012-08-18 09:04:22 -07:00
Jason Short
21f9b7e531 ACM : temp fix for throttle output limit 
I had a bad crash when I lost authority. The logs showed the throttle pegged at 1000 which killed my control. We went round and round on this and somehow settled on no limit. That wasn't a good idea. This should really be hard coded into the Motors Library, but for now I'm just sticking it here.
 2012-08-18 09:04:22 -07:00
Jason Short
5bbde052ba ACM: Added a more sane limit to Angle boost 2012-08-18 09:04:21 -07:00
rmackay9
1a2dd5b74b ArduCopter: renamed "_new_alt" parameter to just "new_alt" in force_new_altitude and set_new_altitude functions 2012-08-18 21:46:48 +09:00
rmackay9
7a31e4e660 ArduCopter: modified altitude hold so that 1 second slow down period is executed after pilot moves throttle back into deadzone 2012-08-18 21:45:49 +09:00
rmackay9
b80a3943aa ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +09:00
rmackay9
221e4ea32a ArduCopter: changed "unsigned long" to "uint32_t" 2012-08-18 19:05:55 +09:00
rmackay9
b3439f9b95 ArduCopter: added cast to (int) in printf statments. 
Also modified dump_log function's last_log_num to be int16_t to match return type from DataFlash's find_last_log method.
 2012-08-18 18:58:15 +09:00
rmackay9
bd84f58f83 ArduCopter: removed unused icount variable from commands_logic.pde to reduce compiler warnings. 2012-08-18 16:04:23 +09:00
rmackay9
310ce05dc2 ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings 2012-08-18 16:03:49 +09:00
rmackay9
f32c76648d ArduCopter: removed unused maggy variable from test.pde to reduce compiler warnings. 2012-08-18 16:03:26 +09:00
rmackay9
0dc3b23b59 ArduCopter: fixed small bug re arming_counter for TOY mode 2012-08-18 13:21:41 +09:00
rmackay9
2d0bea7f9c ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch. 2012-08-18 11:48:12 +09:00
rmackay9
eafc13c8d5 ArduCopter: fix compiler error related to printing boarding type in dataflash logs. 2012-08-18 11:47:10 +09:00
Michael Oborne
4be10b4418 AC fix some Parameter units 2012-08-18 08:30:16 +08:00
Jason Short
1a1987b810 ACM : removed old note 2012-08-17 17:03:40 -07:00
Jason Short
47e2837a9e ACM Logging - added APM version #, stab_I term logging 2012-08-17 17:03:40 -07:00
Jason Short
ebd399d11f ACM : APM_Config.h : default removed for toy mixer. 2012-08-16 15:41:35 -07:00
Jason Short
cd2cf2e431 ACM: Config.h - added default for toy mixer 2012-08-16 15:40:28 -07:00
Jason Short
cbf4870b00 ACM : Made control_roll and pitch global for logging; made yaw towards waypoint use initial angle and not a recalculated angle to deal with wiggles as we approach WP 2012-08-16 15:39:50 -07:00
Jason Short
bd17c23e7e ACM : Upped Yaw Limit to 2200 2012-08-16 15:38:46 -07:00
Jason Short
7ac4d06d3f ACM: made target bearing the lead filtered location 
Had some major nav trouble from crosstrack if I used the laggy position.
 2012-08-16 15:38:25 -07:00
Jason Short
0e7794336e ACM: added nav_yaw to att logging 
Removed unnecessary casting
 2012-08-16 12:43:55 -07:00
rmackay9
48b7d26c5d ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t". 
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
 2012-08-16 20:04:46 +09:00
rmackay9
5f2c662fc9 ArduCopter: replaced abs with labs as required in a few places. 
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
 2012-08-16 17:51:09 +09:00
Jason Short
67de828bcc ACM Test: Added a return statement 2012-08-15 21:37:23 -07:00
Jason Short
93c644fd0f ACM : Test for bearing calc 2012-08-15 21:04:24 -07:00
Jason Short
fd76bf7df4 ACM Log : fixed formatting 2012-08-15 21:04:24 -07:00
Andrew Tridgell
0a7d8a4933 MAVLink: enable fetching of single parameters 
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
 2012-08-16 10:14:46 +10:00
Jason Short
2cc27b9804 ACM: Switched to filtered loc 2012-08-14 14:11:52 -07:00
Jason Short
5d64942f01 ACM: Switched to filtered_loc for distance calcs 2012-08-14 14:11:52 -07:00
Jason Short
cbd4661b96 ACM: Added a filtered version of Location for GPS lag. 
I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
 2012-08-14 14:11:51 -07:00
Jason Short
ba6ec9ae45 ACM: Revved the version 2012-08-14 14:11:51 -07:00
rmackay9
95c59fd4a4 ArduCopter: remove RTL_LAND parameter as it's been deprecated in favour of APPROACH_ALT. 
Updated comments on ALT_HOLD_RTL and APPROACH_ALT to make it a little easier to understand.
 2012-08-14 12:14:35 +09:00
Jason Short
455cfa4caa ACM: Toy mode updates - added second toy mode 2012-08-11 22:37:27 -07:00
Jason Short
4eb66699e1 ACM : Toy mode updates 2012-08-11 22:37:27 -07:00
Jason Short
4f14baf5e5 ACM: Toy mode updates 2012-08-11 22:37:26 -07:00
Jason Short
abe7a12fba ACM : Added check for second Toy mode 2012-08-11 22:37:26 -07:00
Jason Short
0eed8853b4 ACM : Added CH7 multimode triggers, split Toy mode into two 2012-08-11 22:37:26 -07:00
Jason Short
9134271073 ACM : CH_7 multimode option added 2012-08-11 22:37:26 -07:00
Jason Short
609d5cd1d4 ACM : Added CH_7 Multimode 2012-08-11 22:37:26 -07:00
Andrew Tridgell
35c88dd418 INS: disable INS AP_Param table when not on APM1 hardware 
this could cause overwriting of memory with default values
 2012-08-11 22:06:03 +10:00
Amilcar Lucas
049e232ef0 ArduCopter: Enable the aux servos later, only in the slow periodic loop 
This might solve some of the boot issues some users are having
 2012-08-11 12:58:13 +02:00
Andrew Tridgell
d0709443b4 AHRS: fixed build 
AP_Airspeed.h is now needed to build AHRS
 2012-08-11 12:22:55 +10:00
Andrew Tridgell
8c0eeee3dc ACM: allow users to set the AHRS_YAW_P and AHRS_RP_P 
the forced set left users with parameters they couldn't use
 2012-08-11 08:35:10 +10:00
Jason Short
0688eee9bc ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second. 2012-08-10 10:02:32 -07:00
Jason Short
31fdeab873 ACM increase the minimum speed at WP 2012-08-10 10:01:40 -07:00
Jason Short
4aba673b38 ACM : switched to get_bearing_cd 2012-08-09 17:04:30 -07:00
Jason Short
fb7e5724c7 ACM : attitude.pde - removed unused function 2012-08-09 17:04:12 -07:00
Jason Short
ab60681376 ACM: Radio.pde - toy mode updates 2012-08-09 17:00:11 -07:00
Jason Short
3b2a1ad9e8 ACM system.pde - toy mode update, cleanup of throttle cruise code 2012-08-09 16:59:44 -07:00
Jason Short
e7632b9517 ACM - isolated Toy code 2012-08-09 16:59:44 -07:00
Jason Short
1980e0464c ACM: navigation - Alt cleanup, fast corner support 2012-08-09 16:59:44 -07:00
Jason Short
a199669b61 ACM Motors.pde 
Added Toy mode options,
Added DCM kp set to .1(armed) and .8 (disarmed)
 2012-08-09 16:59:44 -07:00
Jason Short
37e3b64877 ACM : more aggressive and flexible flip code. Will flip right or left, and while pitching hard. 
Increase in throttle is removed from init sequence to remove delay.
 2012-08-09 16:59:44 -07:00
Jason Short
022c567b47 ACM : Events - renamed target alt 2012-08-09 16:59:44 -07:00
Jason Short
4c067b4c3a ACM Defines.h -added Toy mixer enums 2012-08-09 16:59:43 -07:00
Jason Short
a85cee34e7 ACM control modes - renames CH_7 flag 2012-08-09 16:59:43 -07:00
Jason Short
168b755d0b ACM: config.h = updated default gains 
More yaw rate control
 2012-08-09 16:59:43 -07:00
Jason Short
c3cf8de9da ACM Commands parser to look for future nav commands to inspect upcoming turn angle 2012-08-09 16:59:43 -07:00
Jason Short
3432030f7f ACM : Commands Logic 
Altitude cleanup
 2012-08-09 16:59:43 -07:00
Jason Short
ecedacbe7e ACM: Added fast corner support 2012-08-09 16:59:43 -07:00
Jason Short
c3f01bebfc ACM : Attitude.pde 
yaw limit, moved toy code out of att to it's own pre
 2012-08-09 16:59:43 -07:00
Jason Short
7615c835ee ACM : Arducopter.pde 
command_nav_index upped to in16t for negative number
renamed trim flag > CH7_flag
Added fast_corner var
removed unused alt vars
Alt hold I term update
 2012-08-09 16:59:43 -07:00
Jason Short
f20189a2e1 ACM : Toy Mixer options 2012-08-09 16:59:43 -07:00
Andrew Tridgell
a7399c405d MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00
Andrew Tridgell
16d63978f1 MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Amilcar Lucas
9a8fd4738e Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Amilcar Lucas
1683f18bff Allow fully independent operation of two AP_Mount instances 2012-08-08 23:11:23 +02:00
Amilcar Lucas
f321f5d9c5 Add a second mount instance 2012-08-08 23:07:25 +02:00
Andrew Tridgell
72935345ea ACM: make it possible to set AHRS_GPS_GAIN on ArduCopter 
this was affected by the AP_Param change, in particular the
constructor ordering. To ensure a user can set AHRS_GPS_GAIN to 1.0 if
they want to, we need to do a set_and_save() if the value isn't in
EEPROM
 2012-08-08 17:36:01 +10:00
Andrew Tridgell
2ba08c2122 ACM: removed pointless load() calls 2012-08-08 16:51:14 +10:00
Andrew Tridgell
295a9ce39c ACM: change to use get_bearing_cd() instead of get_bearing() 2012-08-08 12:12:30 +10:00
Andrew Tridgell
d8106cf20f AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
rmackay9
40839fdea2 ArduCopter: Dan Gray's fix for Condition_Yaw 
command_yaw_dir is an unsigned byte but was being set to a -ve number leading to very incorrect yaw target heading for counter clockwise turns.
command_yaw_end (i.e. turn's end target) was not being set if turn was of type "relative"
 2012-08-07 06:43:10 -07:00
Amilcar Lucas
ff32fed176 ArduCopter: Use generic channel names for AP_Mount servos. 
This simplifies mission planner, the same code can be used for plane and copter now.
 2012-08-06 23:33:51 +02:00
Amilcar Lucas
16dd919819 Fix heli compilation 2012-08-06 23:30:02 +02:00
Amilcar Lucas
03b902d4b7 Add me :) 2012-08-06 00:40:12 +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
2a3be452e0 Spellcheck in comments 2012-08-06 00:21:14 +02:00
Amilcar Lucas
36bcd827b4 AP_Mount: Allow using any RC channel to control any of the mount axes. 
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
 2012-08-05 23:48:57 +02:00
Amilcar Lucas
fe4713b46e RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas
f28be02286 ArduCopter: Save more space in APM1280 2012-08-05 23:05:52 +02:00
Amilcar Lucas
f3f89004e9 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas
9b31938519 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas
431ed1c9b9 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas
7b2896c72b Merge from ArduPlane 2012-08-04 18:38:50 +02:00
rmackay9
64f027bf42 ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode. 2012-08-01 12:15:02 +09:00
rmackay9
b85986cb44 ArduCopter: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:27 +09:00
Andreas M. Antonopoulos
1ea2cb7b75 AP_Limits: experimental "bounce" mode. 2012-07-31 18:39:58 -07:00
Andreas M. Antonopoulos
005b3d7f62 AC2.7.1: Updated version and tag 2012-07-31 13:11:17 -07:00
Jason Short
4829e937ea ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling. 2012-07-30 15:43:05 -07:00
rmackay9
072c247911 ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values 2012-07-30 11:01:45 +09:00
Michael Oborne
2d6d74f625 AC remove attitude hil unused extra (gps jump issue.) 2012-07-29 08:18:41 +08:00
rmackay9
38ff381620 ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered) 2012-07-28 23:05:05 +09:00
rmackay9
a10ac65c11 ArduCopter: added DMP_ENABLED to APM_Config.h to make it easier for people to enable it. 2012-07-28 16:31:38 +09:00
rmackay9
07a8d0cc99 ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing) 2012-07-28 16:22:35 +09:00
Michael Oborne
f83ca8b296 AC remove some attitude HIL limitations 2012-07-28 13:59:30 +08:00
rmackay9
0073f65ac6 ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP 2012-07-28 14:21:45 +09:00
rmackay9
83ab9be0eb ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP 2012-07-28 14:21:07 +09:00
rmackay9
38d974b63f ArduCopter: changes in arducopter to support moving AHRS var_info from AP_AHRS to AP_AHRS_DCM 2012-07-28 14:18:31 +09:00
rmackay9
5318da9e0e ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command 
do_nav_roi and verify_nav_roi functions added to turn the copter and/or mount in response to a MAV_CMD_NAV_ROI way point
 2012-07-25 11:02:54 +09:00
Michael Oborne
78b94f39ae AC fix sitl attitude hil build 2012-07-24 21:18:36 +08:00
Jason Short
34945b4e38 ACM: Failsafe Fix for Mission planner initiated AUTO mode 
Keeps the failsafe from exiting Auto mode when returning from failsafe. Added arming ability for Toy mode.
 2012-07-23 19:34:25 -07:00
Andreas M. Antonopoulos
f8a9cdd8cd AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant. 2012-07-21 17:52:06 -07:00
Jason Short
9cf36c553c ACM: Fixed Baro rate patch to work with Sonar and added simple filter 2012-07-21 16:45:00 -07:00
Jason Short
b6f45bb188 ACM: Lowered default Alt hold P 2012-07-21 16:45:00 -07:00
Jason Short
3d32bbc476 ACM: Safety patch for CH7 flip toggle. Prevents flipping while on the ground. ouch. 2012-07-20 16:47:05 -07:00
Jason Short
6177a1f5de Added minimum speed for RTL 2012-07-20 13:27:35 -07:00
Jason Short
122e2430ff ACM: Flip code revision to fix bad orientation bug. 2012-07-20 13:27:35 -07:00
Jason Short
2dfe38588d Arducopter: Added safety check for inadvertent triggering of flip code. 2012-07-20 13:27:35 -07:00
Jason Short
e585eaa253 Ardcucopter: RTL distance check update, reset I terms fixed. 2012-07-20 13:27:35 -07:00
Jason Short
6067170f48 Arducopter: Force nav_yaw to match auto_yaw when starting a mission 2012-07-19 22:59:03 -07:00
Jason Short
c1186abf65 Arducopter: cleanup, skip out of throttle control when flipping. 2012-07-19 22:35:21 -07:00
Jason Short
6528aba386 Arducopter: motors.pde formatting 2012-07-19 22:35:21 -07:00
Jason Short
64d06a8f0e Arducopter: Upped D rate to .005 by default 2012-07-19 22:35:21 -07:00
Andrew Tridgell
53e0e44704 ACM: fixed HIL build with new accel setup code 2012-07-20 12:46:16 +10:00
Andrew Tridgell
d0ebb4ca26 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jason Short
676f02da7c Arducopter: Adjusted speed of climb to not stall out before hitting peak 2012-07-19 17:53:49 -07:00
Jason Short
ca470f8a53 Arducopter: Testing toy mode - commented out by default 2012-07-19 17:50:42 -07:00
Jason Short
24d05c171a Arducopter: Renamed Config define (RTL_HOLD_ALT) 2012-07-19 17:50:15 -07:00
Jason Short
45f71e9783 Arducopter: Flip Check 2012-07-19 17:49:17 -07:00
Jason Short
f7017f1fb3 Arducopter: Config.h defaults adjustments 2012-07-19 17:48:48 -07:00
Jason Short
219fed1441 Arducopter: deprecated the get_nav_yaw_offset function. 
Small Toy mode updates
 2012-07-19 17:41:52 -07:00
Jason Short
8f7eba4fd1 Arducopter.pde: Increased the throttle Hold altitude control 
simplified Yaw reset
 2012-07-19 17:38:25 -07:00
Jason Short
05a2d3ae35 Arducopter: Fix compile issue 2012-07-19 10:09:16 -07:00
Jason Short
243aa72abe Arducopters parameter: Adjusted RTL_ALTITUDE units so they reflect comments in config.h 2012-07-19 09:50:57 -07:00
Jason Short
ec1d400adf Arducopter: Slower WP deceleration for RTL and WP navigation 
Slower descent and slightly faster ascent
 2012-07-19 09:50:18 -07:00
Jason Short
91c1c255a2 Arducopter: Clarified units in comment 2012-07-19 09:49:13 -07:00
Jason Short
35144ccbf2 Arducopter: Added Slow_WP setting to regular wp navigation 2012-07-19 09:48:54 -07:00
Jason Short
bc843b0684 Arducopter: Adjust landing speed 
removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.
 2012-07-19 09:48:31 -07:00
Jason Short
25c3ed6c4b Oilpan ADC parameters added 
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
 2012-07-18 22:57:11 -07:00
Jason Short
7e25775af9 Arducopter 
Simplified the inertial calcs for now
 2012-07-18 22:57:11 -07:00
Jason Short
79cdef1a48 arducopter 
alt hold state reset
 2012-07-18 22:57:11 -07:00
Jason Short
f29aa0dc25 Arducopter 
upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.
 2012-07-18 22:57:11 -07:00
Jason Short
a53a0a51be Arducopter 
Better logging for Raw Inertial values
 2012-07-18 22:57:11 -07:00
Jason Short
bfabc54b01 Arducopter 
for rate altitude changes
 2012-07-18 22:57:10 -07:00
Jason Short
16adaf12db Arducopter 
increased landing authority
 2012-07-18 22:57:10 -07:00
Jason Short
1595a662c0 Arducopter 
removed old Var
 2012-07-18 22:57:10 -07:00
Jason Short
c0a0e834e5 Arducopter: 
Loiter unlimited can now travel to a WP and then loiter.
set_altitude for landing now set to 0
 2012-07-18 22:57:10 -07:00
Jason Short
5f7c5ff387 Arducopter: Altitude change nav 
Split altitude hold into two controls to parallel navigation.
 2012-07-18 22:57:10 -07:00
Jason Short
f40d8f04af Arducopter: New Alt control code 
Uses a new method to manage altitude changes. Alt hold controller was split into a hold and a rate controller just like navigation. Changing alt is done by specifying a climb rate.
Interactive alt hold is now simplified and is an 80cm climb or descent.
 2012-07-18 22:57:10 -07:00
Jason Short
806663b80b Arducopter: Flip mode 2012-07-18 22:57:10 -07:00
Jason Short
3a11a7596a Arducopter: Flip mode 
Flip mode graduates
 2012-07-18 22:57:10 -07:00
Jason Short
095a9c5c96 Arducopter: Flip mode 
Flip mode graduates to pre-compiled option
 2012-07-18 22:57:10 -07:00
Jason Short
c5d3620d2b Arducopter: INS 
updated Nav control to use INS
 2012-07-18 22:57:10 -07:00
Jason Short
4c44dda7e8 Arducopter: INS 
removed calibrate accels for now
 2012-07-18 22:57:10 -07:00
Jason Short
f56e1582a2 Arducopter: INS 
Updated INS gains
 2012-07-18 22:57:10 -07:00
Jason Short
02f1695991 Arducopter: INS 
removed IMU test, updated INS test to include normalized gravity accel vector.
 2012-07-18 22:57:10 -07:00
Jason Short
0ea3424779 Arducopter: INS 
removed zero accells call
 2012-07-18 22:57:10 -07:00
rmackay9
fed92cc979 ArduCopter: small bug fix to radio.pde to allow code to compile when MOUNT == DISABLED 2012-07-18 23:49:41 +09:00
rmackay9
6ca8fda76d ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch. 
This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
 2012-07-18 23:49:09 +09:00
Michael Oborne
45609b3e6f fix rc libray param gen 2012-07-18 07:03:39 +08:00
Andreas M. Antonopoulos
5917928bdc AP_Limits: documentation bug (which uncovered a param_parser bug - the irony burns) 2012-07-16 23:35:11 -07:00
Jonathan Challinger
e271f97b53 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
Andreas M. Antonopoulos
b03e424fda AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling. 2012-07-16 11:46:43 -07:00
Michael Oborne
6fe0882809 AC fix limits param gen header 2012-07-15 18:23:06 +08:00
rmackay9
f7bb7667a1 ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library) 2012-07-15 16:38:52 +09:00
rmackay9
9276c68f80 ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move 2012-07-15 16:38:28 +09:00
rmackay9
f137f51ec0 ArduCopter: restored set_range calls for RC_Channels 5 ~ 8. 2012-07-15 16:37:40 +09:00
rmackay9
0dc0e3801c ArduCopter: reverted channel 5~8 to be regular RC_Channel objects, restored rc_camera_roll and rc_camera_pitch RC_Channels and created new rc_camera_yaw RC_Channel to control the camera mount servos. 
Defined camera_mount (MNT_) in Parameters.h and Parameters.pde so that it appears in global parameters list.
Removed unused camera_*_gain and camaera_*_continuous parameters.
 2012-07-15 16:36:05 +09:00
rmackay9
46a44a6b1b ArduCopter: added definition for yaw channels. 
APM1 uses channel 11 for camera's yaw servo, APM2 uses channel 8.  This should allow all frame types except octacopters to potentially use a 3 axis camera mount.
 2012-07-15 16:31:23 +09:00
Andreas M. Antonopoulos
31fd74d94c AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Jason Short
eafdfb2fea Arducopter: Removed Yaw Limit for Quads 2012-07-14 14:06:34 -07:00
Jason Short
f36aa618cf Arducopter: Temp reversion to old Yaw controller. 2012-07-14 12:26:13 -07:00
Jason Short
3ce48cb42c Arducopter: Yaw stop fix 2012-07-14 12:23:10 -07:00
Robert Lefebvre
ef9cd54035 Implementing Yaw Fix. Tried to blend with Jason's changes. 2012-07-14 00:24:22 -04:00
Jason Short
9eb638dac8 Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance 2012-07-13 19:29:36 -07:00
Jason Short
ce0de98144 Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions 2012-07-13 12:51:38 -07:00
Jason Short
34cf0b4c24 Arducopter - commands: Add home logging 2012-07-13 11:51:40 -07:00
Jason Short
bfce0ad9c5 Arducopter: Fix circle_WP 2012-07-12 09:22:20 -07:00
Jason Short
1a62d84288 Arducopter: Loiter unlimited fix 2012-07-12 08:52:49 -07:00
Andreas M. Antonopoulos
9dfb3c4db9 Added Michael Pursifull's Maxsonar HRLV model support 2012-07-11 18:46:47 -07:00
Jason Short
0bb7acb6fe Arducopter 
Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
 2012-07-11 17:46:07 -07:00
Jason Short
b6715b2e53 Arducopter: Toy mode update 
Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
 2012-07-11 17:46:06 -07:00
Jason Short
23f8d20271 Arducopter: Toy mode refinements 2012-07-10 21:53:38 -07:00
Jason Short
1bd1975e2e Arducopter:Arducopter.pde 
switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
 2012-07-10 21:53:38 -07:00
Jason Short
31d0211960 Arducopter: Config.h, default gain tweaks from flight tests. 2012-07-10 21:53:38 -07:00
Jason Short
997031bca0 Arducopter:test.pde made a note for WP radius that shows m in the printout. 2012-07-10 21:53:38 -07:00
Jason Short
e1484180f8 Arducopter:Log.pde Logging the calculated Climbrate 2012-07-10 21:53:38 -07:00
Jason Short
9de2c00d93 Arducopter: WP_radius 
Switching to stored WP_radius in meters, just like Arduplane
 2012-07-10 21:53:38 -07:00
Jason Short
32e6a6ba8d Arducopter:Params 
WP_RADIUS_DEFAULT is now stored the same as Arduplane
 2012-07-10 21:53:37 -07:00
Jason Short
225c63c06a Arducopter: Added note 2012-07-10 21:53:37 -07:00
Jason Short
492809098b Toy Mode: High Yaw default 2012-07-10 21:53:37 -07:00
Jason Short
cf6082fc44 Arducopter : Force home alt to 0 2012-07-10 21:53:37 -07:00
Jason Short
46f292bcd8 Arducopter: CH7 Waypoint saving 
Saves the takeoff Waypoint as Home + new altitude rather than current location.
 2012-07-10 21:53:37 -07:00
Amilcar Lucas
8e14ebbc10 Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Andrew Tridgell
a643d2aa6b ACM: use get_distance_cm() not get_distance() 
this fixes a bug introduced in 28f2eb6b9
 2012-07-11 07:50:07 +10:00
Andrew Tridgell
9b6acf168e AHRS: added AHRS_GPS_GAIN parameter 
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
 2012-07-10 16:22:48 +10:00
Jason Short
86cab799ed arducopter.pde 
Timer was set =0 at initialization.
 2012-07-09 13:13:32 -07:00
Jason Short
ab603c7fcf Toy Mode Yaw Rate fix 2012-07-09 13:13:32 -07:00
Jason Short
acfd263bab commands.pde RTL Alt 
fix to maintain current altitude of we are above our RTL alt for safety.
 2012-07-09 13:13:32 -07:00
Jason Short
9e796899e4 Airspeed patch: 
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
 2012-07-09 13:13:32 -07:00
Andreas M. Antonopoulos
ba9b94851f ArduCopter: Copied parameter documentation from ArduPlane, where appropriate 2012-07-04 23:33:55 -07:00
Andrew Tridgell
a71f567d28 MAVLink: climb_rate is in m/s 2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos
a2e2bf69c6 parameter documentation to test auto build 2012-07-04 20:06:12 -07:00
Andrew Tridgell
fe54329de2 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Adam M Rivera
ddd069ad83 Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals. 2012-07-04 21:08:03 -05:00
Adam M Rivera
278e215a21 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Andrew Tridgell
35b73b9d01 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Jason Short
cc51d497c6 commands 
fixed logic bug to make a copter loiter after the mission is ended.
 2012-07-03 17:38:50 -07:00
Jason Short
a143e7bef6 Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short
fcc38889b4 Navigation 
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
 2012-07-03 17:34:50 -07:00
Jason Short
69fe7feb54 Params 
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
 2012-07-03 17:33:03 -07:00
Jason Short
207497a840 Arducopter.pde: 
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
 2012-07-03 17:21:46 -07:00
Jason Short
8a2df85ee8 commands_logic: Removed some old unused code 2012-07-03 17:19:19 -07:00
Jason Short
4a2e9b692d Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short
2bc77c1020 Log.pde: formatting 2012-07-03 17:16:26 -07:00
Jason Short
c20c04ed24 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short
b2d932136a Toy Mode: Yaw performance update. 2012-07-03 17:14:54 -07:00
Jason Short
50d1ff56c5 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short
88428743b2 Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks. 2012-07-02 17:52:38 -07:00
Jason Short
0aabd4efe2 Yaw mode: 
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
 2012-07-01 13:40:12 -07:00
Jason Short
bea1ab8810 System.pde - RTL 
removed Approach mode, fixed RTL to loiter until desired altitude is reached
 2012-07-01 13:40:12 -07:00
Jason Short
44e12c6d2d Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short
42a321b76c GCS_Mavlink.pde 
removed Approach define
 2012-07-01 13:40:11 -07:00
Jason Short
95e1f05f82 defines.h 
removed Approach mode enumeration
 2012-07-01 13:40:11 -07:00