rmackay9
bd0e018ca0
ArduCopter: restore auto-trim method but now use AHRS.add_trim
2013-01-02 09:20:08 +11:00
Craig@3DR
e350bfbba8
Removed 2 more degree symbols from comments
2013-01-02 09:20:08 +11:00
rmackay9
b786cf40f7
ArduCopter: change GPS dataflash message to output unfiltered gps lat and lon
2013-01-02 09:19:39 +11:00
rmackay9
d3cbf733ba
ArduCopter: ensure RTL performs a land if a failsafe has been triggered
2013-01-02 09:19:39 +11:00
Robert Lefebvre
6e64b1b357
ACM: Precision Loiter RePositioning code.
...
Protected behind a #define
2013-01-02 09:19:39 +11:00
rmackay9
0fa6fdf407
ArduCopter: remove unused wait_for_yes function
2013-01-02 09:19:39 +11:00
rmackay9
e6519330f4
ArduCopter: remove unused rc_override variables to save 21 bytes
2013-01-02 09:19:17 +11:00
rmackay9
396024e802
ArduCopter: move scaleLongUp and scaleLongDown initialisation to init_home
2013-01-02 09:19:17 +11:00
rmackay9
7a5e4b8549
ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log
2013-01-02 09:19:17 +11:00
rmackay9
1b5ff6aac6
ArduCopter: restore initial climb to RTL
2013-01-02 09:19:17 +11:00
rmackay9
52802cb29e
ArduCopter: limit output throttle to 800 only for TRI which does not have the new stability patch
2013-01-02 09:19:17 +11:00
rmackay9
34e18ae12a
ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle
2013-01-02 09:19:17 +11:00
rmackay9
ac8af9a53f
ArduCopter: Leonard Hall's changes to alt hold including adding low pass filter to climb rate
...
get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
2013-01-02 09:19:17 +11:00
rmackay9
f4c50353b9
ArduCopter: allow tuning of the Throttle Rate D term
2013-01-02 09:16:48 +11:00
Robert Lefebvre
9605bd8ee1
ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work.
2013-01-02 09:14:55 +11:00
rmackay9
d926360e81
ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts
2013-01-02 09:14:31 +11:00
rmackay9
881dae1e27
ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters
...
Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
2013-01-02 09:13:42 +11:00
rmackay9
6da68c53a5
ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled
2013-01-02 09:13:42 +11:00
rmackay9
d8e3d5c10c
ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h
2013-01-02 09:12:40 +11:00
rmackay9
5633164fa0
ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue)
2013-01-02 09:12:40 +11:00
rmackay9
50d46898fb
ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden
2013-01-02 09:12:17 +11:00
rmackay9
ddc578fd18
ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode
2013-01-02 09:12:17 +11:00
rmackay9
0ab82f8c4e
ArduCopter: clear ahrs roll and pitch trims after an accel level command
2013-01-02 09:12:17 +11:00
rmackay9
7ea34d4fb7
ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method
...
Also removed slow low pass filter meant to correct for accelerometer calibration. This is no longer required now that we have the improved calibration method.
2013-01-02 09:11:25 +11:00
rmackay9
4dfe3a2d73
ArduCopter: remove weird character from navigation.pde
2013-01-02 09:11:25 +11:00
Robert Lefebvre
ab95f04a91
ACM: TradHeli
...
Change name of attitude rate feed-forward parameters.
2013-01-02 09:10:40 +11:00
rmackay9
8e032b89ee
ArduCopter: create 2.9 branch and update firmware version
2013-01-02 09:10:40 +11:00
Andrew Tridgell
cf8e648558
CLI: fixed accel setup
...
disable mavlink callback in CLI
2012-12-24 08:51:33 +11:00
Andrew Tridgell
9931009db2
Math: use pythagorous2() in some more places
2012-12-20 15:16:18 +11:00
Andrew Tridgell
78d98023f4
Copter: remove use of 'byte'
2012-12-20 14:58:07 +11:00
Pat Hickey
1878290510
ArduCopter: fixes for AP_InertialSenor_UserInteract
2012-12-20 14:53:23 +11:00
Andrew Tridgell
3c0440b0b4
Math: use common degrees() and radians() functions
2012-12-20 14:53:22 +11:00
Andrew Tridgell
06357c40f2
Copter: use new functions
2012-12-20 14:53:22 +11:00
Pat Hickey
2ad4fed8cd
Rover/Copter/Plane: change from vsnprintf to vsnprintf_P
2012-12-20 14:52:38 +11:00
Pat Hickey
54b98c0a7c
ArduPlane: use hal's vsnprintf
2012-12-20 14:52:37 +11:00
Andrew Tridgell
a02f723f3a
Copter: fixed HIL builds
2012-12-20 14:52:37 +11:00
Andrew Tridgell
2e8e84ba8b
Copter: switch to using targets.mk
2012-12-20 14:52:36 +11:00
Pat Hickey
eb530b86e8
move Arduino.mk to /mk/Arduino.mk
2012-12-20 14:52:35 +11:00
Andrew Tridgell
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
Andrew Tridgell
08b1c2d590
Copter: fixed GPS init
2012-12-20 14:52:33 +11:00
Pat Hickey
9a28ed2df6
ArduCopter: refactor Makefile targets in terms of Arduino.mk targets
2012-12-20 14:52:31 +11:00
Andrew Tridgell
7d27e420ae
AP_HAL: remove unnecessary Arduino.h includes
2012-12-20 14:52:30 +11:00
Pat Hickey
22ac39a4ef
ArduCopter: disable and remove InertialNav defines from APM_Config
...
* We're not going to have the RAM available to support those in general release
2012-12-20 14:52:29 +11:00
Pat Hickey
d5d97be837
ArduCopter: add param loader properly implement parameters
...
* thanks tridge!
2012-12-20 14:52:29 +11:00
Pat Hickey
5e63491994
ArduCopter: fix issues with HAL/HIL mixup and baro/compass instances
2012-12-20 14:52:29 +11:00
Pat Hickey
21d0da84a6
ArduCopter: temporarily disable AP_Param::setup_sketch_results
...
* rebased away tridge's AP_Param changes as they seemed possibly buggy?
2012-12-20 14:52:29 +11:00
Pat Hickey
a0151aa66c
ArduCopter: fix cliSerial null ptr, do AP_Param::setup_sketch_defaults
...
* plus make SITL DataFlash available.
2012-12-20 14:52:29 +11:00
Pat Hickey
1e48d0fc69
Makefile Targets rewritten to use per-target extension style
2012-12-20 14:52:29 +11:00
Pat Hickey
524e52f449
ArduCopter: changed makefile to inherit environments properly
2012-12-20 14:52:29 +11:00
Pat Hickey
d93d932831
ArduCopter: defines fixes
...
Conflicts:
libraries/AP_Common/Arduino.mk
2012-12-20 14:52:28 +11:00
Pat Hickey
2aa4657315
ArduCopter: changes to use CONFIG_HIL_BOARD
2012-12-20 14:52:28 +11:00
Pat Hickey
ade7099d75
ArduCopter: add AP_HAL_MAIN
2012-12-20 14:52:28 +11:00
Pat Hickey
5bd7046a95
ArduCopter: sketch cpp builds!
2012-12-20 14:52:28 +11:00
Pat Hickey
8b49208771
ArduCopter: some fixes
2012-12-20 14:52:28 +11:00
Pat Hickey
13c044ab3e
ArduCopter: fixes to radio.pde
2012-12-20 14:52:28 +11:00
Pat Hickey
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
Pat Hickey
b90889dd11
ArduCopter: add ArduPlane's compat.h & compat.pde
2012-12-20 14:52:28 +11:00
Pat Hickey
70f4739522
ArduCopter: more fixes
2012-12-20 14:52:28 +11:00
Pat Hickey
4b84e99f85
remove dumb user hooks comments
2012-12-20 14:52:28 +11:00
Pat Hickey
901c692ee3
arducopter: type fix
2012-12-20 14:52:28 +11:00
Pat Hickey
f281d9265e
ArduCopter: reworked sonar analog source creation
2012-12-20 14:52:28 +11:00
Pat Hickey
d9e0bbbbab
ArduCopter: first pass at AP_HAL porting
...
* changed all the byte types to uint8_t
* fixed up much of the serial stuff
2012-12-20 14:52:27 +11:00
Pat Hickey
b7a7eceef8
ArduCopter: add nocore.inoflag and Arduino.h
2012-12-20 14:51:40 +11:00
Pat Hickey
ada10f6eb2
ArduCopter: change comment references to AP_Var to AP_Param
...
* jsut to clean up the grep for "AP_Var"
2012-12-20 14:51:31 +11:00
Pat Hickey
a4f1f6a5db
AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR
2012-12-20 14:51:28 +11:00
Pat Hickey
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
...
* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
2012-12-20 14:51:19 +11:00
Jason Short
0419dc8dfd
ACM: Simplified control mode code
2012-12-14 13:30:48 -08:00
Jason Short
19ae5c30eb
ACM : Formatting
2012-12-13 20:12:39 -08:00
rmackay9
52177c63f7
ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised
2012-12-11 00:14:29 +09:00
rmackay9
af77425636
ArduCopter: fix Failed to Init Optflow message at startup
2012-12-11 00:09:45 +09:00
rmackay9
2f748f8382
ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE
2012-12-10 23:47:14 +09:00
rmackay9
d31efebd44
ArduCopter: rename throttle failsafe parameters.
...
Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
2012-12-10 23:38:43 +09:00
rmackay9
2f1b2b70e6
ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees
2012-12-10 22:27:46 +09:00
rmackay9
dadad8677e
ArduCopter: added descriptions for most parameters that did not have them
...
Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
2012-12-10 21:45:57 +09:00
rmackay9
f522ef078e
ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude
2012-12-10 17:30:50 +09:00
rmackay9
047f848cc7
ArduCopter: remove ThirdOrderCompFilter from list of includes
2012-12-10 09:14:44 +09:00
rmackay9
154e3c33f7
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
2012-12-10 00:43:11 +09:00
rmackay9
cfe2507c0b
ArduCopter: reduce Rate Roll/Pitch P to 0.150 (was 0.175) and increase I to 0.1 (was 0.01)
2012-12-09 18:08:45 +09:00
rmackay9
56ceb230cb
ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission
2012-12-09 18:04:31 +09:00
rmackay9
0f7bb79d89
ArduCopter: add comments to tuning parameters.
...
Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
2012-12-09 16:44:42 +09:00
rmackay9
9a05d3bd36
ArduCopter: add comments at the top of many navigation functions
2012-12-09 15:50:50 +09:00
rmackay9
8c2423f618
ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde
2012-12-09 15:24:19 +09:00
rmackay9
b36eb406d4
ArduCopter: allow alt hold to be engaged with alt < 1m because sometimes we get baro drift.
...
Also initialisation of target altitude is done in set_throttle_mode function.
2012-12-09 14:48:01 +09:00
rmackay9
b4e5176e2a
ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.
2012-12-09 14:27:33 +09:00
Robert Lefebvre
aa4d4f8c24
ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.
2012-12-08 20:41:05 -05:00
Robert Lefebvre
0eb57bf93d
ACM: TradHeli
...
Fix to make update_throttle_cruise work with stab_throttle scaling.
2012-12-08 15:12:39 -05:00
Robert Lefebvre
1b97a92098
ACM: Code Cleanup
2012-12-08 14:49:38 -05:00
rmackay9
f98a807d36
ArduCopter: remove debug related to yaw mode used for alt hold
2012-12-08 14:24:50 +09:00
rmackay9
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
...
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
rmackay9
85c8bdce15
ArduCopter: removed unused and out-of-date #defines from APM_Config.h
2012-12-08 13:38:39 +09:00
rmackay9
68ca123224
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
rmackay9
99b32a39c4
ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis
2012-12-07 13:01:40 +09:00
rmackay9
cca9f9dbce
ArduCopter: do_set_servo fix to resolve -1 being assigned to uint8_t
2012-12-07 12:58:44 +09:00
rmackay9
3a90fc77f9
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
rmackay9
d74cf54b5d
ArduCopter: allow triggering of camera from a mission
2012-12-06 23:48:30 +09:00
rmackay9
d3de77f74c
ArduCopter: fix do_set_servo so that it works again
2012-12-06 20:18:33 +09:00
rmackay9
653535b9a1
ArduCopter: added CH7 option to trigger camera
...
Restructured reading of channel 7 into a switch statement.
2012-12-06 17:47:01 +09:00
rmackay9
4ca27defb3
ArduCopter: update comments related to CH7 switch options
2012-12-06 17:40:36 +09:00
rmackay9
75401756f2
ArduCopter: maintain loiter control even below 1m while landing
2012-12-06 12:40:53 +09:00
rmackay9
2dd4694eef
ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz)
2012-12-06 10:32:12 +09:00
