Jason Short
7fab9d940f
ACM | removing old files
2012-11-09 22:15:16 -08:00
Jason Short
3e905ec750
Ap state updates
2012-11-09 22:15:15 -08:00
Jason Short
81b1ebd011
ACM: Added max RTL altitude
2012-11-09 22:15:15 -08:00
Jason Short
c415830e81
ACM: added ap_state.pde
2012-11-09 22:15:15 -08:00
Jason Short
d527d19635
ACM : Attitude : added nav param reset
2012-11-09 22:15:15 -08:00
Jason Short
9b295ca7cf
ACM : Attitude.pde added ap bitfield for failsafe bit
2012-11-09 22:15:15 -08:00
Jason Short
9b16fdf182
ACM : Attitude.pde removed stabilize D
2012-11-09 22:15:15 -08:00
Jason Short
f48db96156
ACM : Arducopter Added ap state bitfield, system bitfield
2012-11-09 22:15:15 -08:00
Jason Short
00b41a198d
ACM: Arducopter - remove the stabilize D scheduling
2012-11-09 22:15:15 -08:00
Jason Short
99cf67fc9c
ACM : formatting
2012-11-09 22:15:15 -08:00
rmackay9
fabc149f45
ArduCopter: remove unused functions wrap_360f, wrap_180f and wrap_PI
2012-11-08 15:20:08 +09:00
rmackay9
499bdc1385
ArduCopter: remove unused get_stabilize_rate_yaw
2012-11-07 23:28:25 +09:00
rmackay9
56f374fc7d
AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors
2012-11-07 22:24:00 +09:00
rmackay9
a0e69ddf27
ArduCopter: fixed HIL build caused by optical flow semaphore changes
2012-11-07 21:13:34 +09:00
rmackay9
07ecf8b40b
ArduCopter: comment out InertialNav related Alt Hold and Loiter PID changes from APM_Config.h
2012-11-07 19:21:36 +09:00
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
rmackay9
e2b1cb7e8d
AP_InertialSensor: changes after review with Tridge.
...
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
2012-11-07 19:21:15 +09:00
rmackay9
0868917ff4
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
Andrew Tridgell
03974fa9db
ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT
...
these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
2012-11-05 15:23:41 +11:00
Jason Short
210148a432
ACM : Formatting
2012-10-28 12:12:38 -07:00
Jason Short
158c4f8d14
ACM : Formatting
2012-10-28 12:12:38 -07:00
Jason Short
0a68468610
ACM: Added simple mode bearing logging for bug hunting
2012-10-28 12:12:38 -07:00
Jason Short
9c40c11e7b
ACM: Formatting
2012-10-27 14:13:46 -07:00
Jason Short
4eeaf4c984
ACM: Added notes, credit to decel code. added speed_min to calc.
2012-10-27 14:13:24 -07:00
Jason Short
1e35d3d534
ACM: config.h cleanup
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Added LOG_ITERM default to enabled
2012-10-27 09:59:57 -07:00
rmackay9
2e6625b82c
ArduCopter: change TOY_M throttle mode to THROTTLE_HOLD
2012-10-26 10:56:06 +09:00
rmackay9
e780bfd4c1
ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon.
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Increase other constraints from 3200 to 32000. These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
2012-10-24 22:04:35 +09:00
rmackay9
ab86eae860
ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters
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Changes on behalf of Leonard Hall
2012-10-23 21:30:50 +09:00
Andrew Tridgell
61f85d05cc
ACM: save another 20 bytes
2012-10-22 18:59:51 +11:00
Andrew Tridgell
e90d2138f2
ACM: saved some more memory for strings
2012-10-22 18:57:08 +11:00
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
Jason Short
fb9fe2c9a5
ACM : fix compiler warning on non returning function
2012-10-21 14:37:42 -07:00
Jason Short
97d3134ff0
ACM : Cast to int32_T
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Don't think it really needs it, but I feel better with the cast.
2012-10-21 14:36:05 -07:00
Jason Short
96f0a32cd3
ACM Acceleration management
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removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
2012-10-21 14:32:39 -07:00
rmackay9
6a66fdace9
ArduCopter: updated firmware version to 2.8
2012-10-20 09:50:53 +09:00
rmackay9
4c7292e6ce
ArduCopter: incremented eeprom format version to force users to accept the new defaults.
...
Particularly important is the roll-pitch I term move from the stabilize to rate controllers.
2012-10-19 16:14:51 +09:00
Pat Hickey
0dd0bd131a
Update ArduCopter and ArduPlane dependencies on AP_Menu
2012-10-18 20:53:39 -07:00
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
d7c80fb025
ArduCopter: updated firmware version to 2.7.4-Zeta
2012-10-18 23:30:28 +09:00
rmackay9
3b631f1edd
ArduCopter: integrated Leonard Hall's improved ACRO mode
2012-10-18 23:24:34 +09:00
rmackay9
e0727e6d31
ArduCopter: bug fix for telemetry not working on APM1.
...
SPI3 is also UART3. On APM1 we use UART3 for telemetry and don't need SPI3.
2012-10-18 19:15:21 +09:00
rmackay9
9392c8cae2
ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1
2012-10-18 17:04:44 +09:00
rmackay9
0299e2b51e
ArduCopter: removed deprecated mag offset routine.
...
Also removed commented-out block of code from navigation.pde.
2012-10-17 19:47:21 +09:00
rmackay9
f1fe5f303b
ArduCopter: updated firmware version to 2.7.4-Epsilon
2012-10-17 19:27:11 +09:00
rmackay9
a4a2fad798
ArduCopter: more out-of-date commented out code removed
2012-10-17 19:25:14 +09:00
rmackay9
25b3acab8c
ArduCopter: bug fix in earthframe->body frame translation.
...
Provided by Leonard Hall.
Also removed large unnecessary comments.
2012-10-17 19:15:25 +09:00
rmackay9
3a26606510
ArduCopter: reduced optical flow's I and IMAX terms
2012-10-17 17:47:43 +09:00
rmackay9
7228236db6
ArduCopter: updated firmware version to 2.7.4-Delta
2012-10-17 10:20:41 +09:00
rmackay9
7787bb4fd5
ArduCopter: bug fix for get_yaw_rate_stabilized_ef
...
Provided by Leonard Hall
2012-10-17 10:18:24 +09:00
Andrew Tridgell
33d9ae23ff
battery: use set_pin() to allow pins to be changed at runtime
2012-10-16 17:20:49 +11:00
Robert Lefebvre
1e01a642bc
Adding some comments to parameters.
2012-10-15 09:37:02 -04:00
rmackay9
025cc05cab
ArduCopter: update version information ahead of testing
2012-10-15 18:15:38 +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
c201b3c35e
ArduCopter: small comment fixes related to battery monitoring
2012-10-13 20:52:14 +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
Robert Lefebvre
446d8ee934
Added comment detail for Tilt_Comp Parameter.
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Reduced parameter default value for TradHeli.
2012-10-11 13:17:39 -04:00
rmackay9
9052b4152b
ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read
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The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
2012-10-11 18:31:10 +09:00
rmackay9
b5c1e23549
ArduCopter: changed sin_pitch and sin_roll to faster equivalents
2012-10-11 17:54:42 +09:00
rmackay9
a5feda6b1f
ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015
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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
be25e75d75
ArduCopter: freeze I terms if motor limits breached
2012-10-11 17:20:00 +09:00
Andrew Tridgell
2af5ff896d
ACM-HIL: fixed optflow declaration
2012-10-11 11:51:25 +11:00
Pat Hickey
24dcbe1b0e
ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors
...
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
mavelous <mavelous@googlegroups.com>
Michael,
Per our discussion today,
In a MAVLINK_MSG_ID_COMMAND_LONG
A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
uses param index 1 to specify an arm/disarm motors event: 1 to arm,
0 to disarm
Thanks for working this out with me. Sorry to get it so completely
wrong the first time around!
Best
Pat
2012-10-10 18:59:55 +08:00
Pat Hickey
74d5b1b841
ArduCopter: Provide AP_Semaphore instance for SPI3 bus on APM2.
2012-10-09 11:39:39 -07:00
rmackay9
04b50af6e1
ArduCopter: added message to console when entering ESC Calibration on startup
2012-10-09 12:31:05 +09:00
rmackay9
0050232ae2
ArduCopter: failsafe added to shutdown motors if mainloop fails
2012-10-09 12:30:17 +09:00
rmackay9
50e19dfd12
ArduCopter: APM_Config.h - make it ever so slightly easier to enable INERTIAL_NAV
2012-10-08 12:31:51 +09:00
rmackay9
9d5d9ce3fc
ArduCopter: bug fix to ROI when no camera mount is specific
2012-10-08 12:31:10 +09:00
rmackay9
f88ca4b7e4
ArduCopter: bug fix in earth-frame to body-frame conversion for roll
2012-10-07 19:14:40 +09:00
rmackay9
ae447ad6b6
ArduCopter: fix heli build
2012-10-06 13:46:19 +09:00
rmackay9
ae05bc62f6
ArduCopter: added AP_Semaphore to list of includes
2012-10-06 12:41:58 +09:00
rmackay9
c2b9c695b4
ArduCopter: reduce Stabilize Yaw P term to 4.5
2012-10-03 14:19:49 +09:00
rmackay9
a35543bf96
ArduCopter: prioritise rate controllers, rate controller targets converted to body frame
2012-10-03 14:10:31 +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
Michael Oborne
939ee1f4a9
AP,AC Add ability to override an altitude in any auto mode, on the current active target
2012-09-30 07:29:33 +08:00
rmackay9
fc4f4d76c9
ArduCopter: allow DMP to run in parallel with DCM
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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
1cd4b08fac
AP_AHRS: added scheduler parameter to init
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Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
4bca609b9f
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
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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
04c92240c4
ArduCopter: tiny formatting change in defines.h
2012-09-27 17:40:54 +09:00
rmackay9
fec3f3260e
ArduCopter: bug fix to display ITERM enabled/disabled properly from cli
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Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
2012-09-27 17:40:30 +09:00
rmackay9
ebbf8dc6be
ArduCopter: updated version to 2.7.4-Beta
2012-09-25 23:39:15 +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
090a672636
ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5
2012-09-24 18:39:33 +09:00
rmackay9
12a1f3244b
ArduCopter: alt hold bug fix - removed reset next_WP in init_home
2012-09-23 01:00:06 +09:00
rmackay9
5e6951d3f4
ArduCopter: position lead filters modified to use lag which varies by gps
2012-09-20 15:49:09 +09:00
rmackay9
69c29f5196
ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.
2012-09-18 23:19:23 +09:00
rmackay9
aaab3c08aa
ArduCopter: added throttle curve (although disabled by default) for all multicopters
2012-09-18 23:05:08 +09:00
rmackay9
3b5b2eba6e
ArduCopter: set fast gains while auto trim is being executed
2012-09-18 09:03:29 +09:00
Andrew Tridgell
14d19ac33d
ACM: updates for new GPS detection
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a GPS can now be attached after startup
2012-09-17 14:45:47 +10:00
rmackay9
d7a53e67ed
ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables.
2012-09-17 13:44:29 +09:00
rmackay9
9965dd8b1a
HIL: changes to fix HIL for ArduCopter after recent timing changes.
...
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
rmackay9
94d4305cf3
ArduCopter: print firmware version of code instead of zero.
2012-09-13 21:49:11 +09:00
rmackay9
54d07f6d04
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
Jason Short
e4ec96e12f
ACM : better debugging text
2012-09-12 23:06:06 -07:00
Jason Short
ecf7e0e8bf
ACM l Prevent pre-mature finish of mission
2012-09-12 23:06:06 -07:00