Commit Graph

1043 Commits

Author SHA1 Message Date
rmackay9 fad162989f ArduCopter - navigation.pde - added logging of Loiter PID controllers 2012-04-11 23:52:25 +09:00
rmackay9 f8210b164c ArduCopter - Parameters.h - changed initialisation order to remove compiler warning (have not changed enum values so shouldn't require eeprom format id update) 2012-04-09 17:37:06 +09:00
rmackay9 df85051574 ArduCopter - added dataflash logging of roll and pitch rate controllers 2012-04-08 10:19:20 +09:00
rmackay9 998058ec07 ArduCopter - removed unused motor pde files including heli.pde, motors_hexa.pde, motors_octa.pde, motors_octa_quad.pde, motors_tri.pde and motors_y6.pde 2012-04-04 23:06:12 +09:00
rmackay9 ad9a8acbab ArduCopter - test.pde - changed references "motor_armed" to "motors.armed()" as part of move to AP_Motors library.
Change to ESC initialisation calls to use motors.throttle_pass_through method of AP_Motors class.
2012-04-04 23:05:26 +09:00
rmackay9 1d086c83f0 ArduCopter - system.pde - changed references to "motor_armed" to "motors.armed()" as part of the move to use AP_Motors library. 2012-04-04 23:03:21 +09:00
rmackay9 4aa40bdf10 ArduCopter - setup.pde - changed cli for helicopter to call the new AP_Motors class's parameters instead of the global parameters.
changed init_esc to call the AP_Motor's class's "throttle_pass_through" function.
2012-04-04 23:02:29 +09:00
rmackay9 473126581d ArduCopter - radio.pde - changed motor initialisation to set update rate, frame orientation, min and max throttle to AP_Motors class.
Note: perhaps the motors speed at least should be moved to a parameter within the motors class.
output_min function greatly simplified as this is handled by the AP_Motors class.
2012-04-04 23:00:56 +09:00
rmackay9 905a445391 ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class.
Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
2012-04-04 22:58:42 +09:00
rmackay9 aa54458dcf ArduCopter - leds.pde - changed refrences to "motor_armed" to "motors.armed()" 2012-04-04 22:57:50 +09:00
rmackay9 7df17e9b3b ArduCopter - removed references to MOT_1 etc as these are now within the AP_Motors class (i.e. MOT_1 has become AP_MOTORS_MOT_1) 2012-04-04 22:56:07 +09:00
rmackay9 ee308ea06c ArduCopter - increased firmware version to 118. Removed nearly all heli parameters as these are all created by the AP_MotorHeli class now.
Note: we cannot move the heli_servos to the AP_MotorHeli class yet because of a small issue in the parameters class.
2012-04-04 22:55:07 +09:00
rmackay9 8402a3d837 ArduCopter - Log.pde - changed MOT output to dataflash to take values from AP_Motors class's motor_out array instead of the global motor_out array. 2012-04-04 22:53:21 +09:00
rmackay9 e5710958bc ArduCopter - GCS_Mavlink.pde - changed output to ground station to use new AP_Motor's class motors array inplace of the global "motor_out" array. 2012-04-04 22:52:26 +09:00
rmackay9 aa4085183c ArduCopter - Attitude.pde - moved heli_get_angle_boost from heli.pde (which will be removed) to Attitude.pde. In fact we should combine heli_get_angle_boost and the regular get_angle_boost. 2012-04-04 22:51:39 +09:00
rmackay9 54a0709759 ArduCopter - add includes for new AP_Motors classes.
Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
2012-04-04 22:50:43 +09:00
Andrew Tridgell c0a54762c6 MAVLink: port the new adaptive flow control to ArduCopter
This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
2012-04-02 11:18:53 +10:00
rmackay9 75d7308fb4 ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
Andrew Tridgell e0bb7e2777 MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.

This makes MAVLink work better at low baud rates
2012-03-30 17:46:20 +11:00
Andrew Tridgell 7634f541b9 ACM: use set_blocking_writes(false) when we arm motors 2012-03-30 17:46:20 +11:00
Andrew Tridgell b4107d35e8 MAVLink: raise the serial transmit buffer size to 256 bytes
the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient

As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
Andrew Tridgell 0bc604f030 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
Adam M Rivera 51b70e4d36 ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM. 2012-03-30 14:25:06 +11:00
rmackay9 0efb0e5b4d ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9 599cea21bb Added multiple new tuning parameters to the inflight channel 6 tuning feature:
#define CH6_YAW_KI 24
        #define CH6_ACRO_KP 25
        #define CH6_YAW_RATE_KD 26
        #define CH6_LOITER_KI 27
        #define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
Andrew Tridgell 34506b170f Mavlink: fixed warnings about limits on int32 values 2012-03-27 15:37:25 +11:00
Andrew Tridgell e0c9ab5a29 ACM: fixed heli build 2012-03-27 15:37:25 +11:00
Andrew Tridgell 47f9dfd125 ACM: fixed the build on the 1280 2012-03-27 15:37:24 +11:00
Andrew Tridgell e956e21e7d ACM: enable the new compass offset nulling in ACM 2012-03-27 15:37:24 +11:00
rmackay9 1f4cfb9333 ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers. 2012-03-25 16:09:08 +09:00
rmackay9 67cf7b9eed ArduCopter - updated firmware version to 2.5.3 2012-03-25 09:13:51 +09:00
rmackay9 63b96c0153 ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter 2012-03-23 23:48:24 +09:00
rmackay9 89576a281a ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area 2012-03-23 23:12:49 +09:00
Robert Lefebvre 84d8414a2e Fix Auto_Trim to allow it to actually be called when setup on Ch7 pulldown menu in MP. 2012-03-23 09:17:58 -04:00
Jason Short e2560c5865 Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator 2012-03-22 10:01:24 -07:00
rmackay9 ad4a2aa9f3 ArduCopter - motors_quad.pde - corrected test sequence for + configuration 2012-03-21 22:04:50 +09:00
rmackay9 66c4f752e3 ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint 2012-03-20 17:11:22 +09:00
rmackay9 1dd554c333 ArduCopter - updated version to 2.5.1 2012-03-20 17:08:18 +09:00
rmackay9 0773a25b5d ArduCopter - increased default THROTTLE_CRUISE to 450 2012-03-20 16:34:07 +09:00
rmackay9 22315cd41a ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!) 2012-03-20 16:13:38 +09:00
Andrew Tridgell 458d55e5bc MAVLink: constrain variable changes to the datatype range
if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
2012-03-19 17:29:02 +11:00
Andrew Tridgell 547b4ed55b AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short c5344a2a85 ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes. 2012-03-18 22:31:22 -07:00
Jason Short a0717f082e ACM: Attitude.pde - consolidated wind I term resets 2012-03-18 22:31:21 -07:00
Jason Short fe7ca98701 ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset. 2012-03-18 22:31:21 -07:00
rmackay9 9841cb0335 ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero)
- remove incorrect comments about when loiter target position is reset.
2012-03-18 15:16:04 +09:00
rmackay9 dc92da818c ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore 2012-03-18 14:53:19 +09:00
rmackay9 91b2b48fd8 ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations) 2012-03-18 12:11:12 +09:00
Jason Short 491af02d8a ACM: Lowered gains from flight tests today with 3DR Quad 2012-03-17 11:04:01 -07:00
Jason Short 427dacba70 ACM: Smoother Speed calcs 2012-03-16 14:10:19 -07:00