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274 Commits

Author SHA1 Message Date
Adam M Rivera 637f778dd0 ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s). 2012-04-16 10:07:57 -05:00
Adam M Rivera f27b5d538b ArduCopter, commands_logic: Updated logic to allow as low as 5m. 2012-04-15 19:50:05 -05:00
Adam M Rivera e4940ec3bb ArduCopter: Added check to make sure user defined approach alt is at least 5. 2012-04-15 16:58:22 -05:00
Adam M Rivera d1a7fdb9ef ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land. 2012-04-15 16:54:43 -05:00
rmackay9 ccb21613b5 ArduCopter - updated firmware version to "2.6 Beta" 2012-04-14 14:26:44 +09:00
rmackay9 33bd558a94 ArduCopter - LEDS - main code to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:44 +09:00
rmackay9 544237d60a 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 40d7b07789 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 b0c9a25024 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 58f539ca35 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 0727955fe3 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 a12a7a7d87 ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9 2cc87af180 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 4821eb4807 ACM: enable the new compass offset nulling in ACM 2012-03-27 15:37:24 +11:00
rmackay9 eb55234809 ArduCopter - updated firmware version to 2.5.3 2012-03-25 09:13:51 +09:00
rmackay9 1f253c5217 ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter 2012-03-23 23:48:24 +09:00
rmackay9 19981d4864 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
rmackay9 198ac97914 ArduCopter - updated version to 2.5.1 2012-03-20 17:08:18 +09:00
Andrew Tridgell 690ad58a64 AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short 223a6f80c8 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
rmackay9 bed667c62e 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
Jason Short 234a5dc65e ACM: Small fix to nav_throttle to prevent too fast of a landing. 2012-03-16 14:10:19 -07:00
Jason Short 1ecca36dd0 Fixed Scaling bug in Sonar mixing 2012-03-16 14:10:19 -07:00
analoguedevices eb530a2045 Rev'ed version number to 2.5. Added more credits 2012-03-15 02:38:54 +00:00
Jason Short 59fb1f3542 ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system. 2012-03-13 21:31:16 -07:00
Jason Short 50b4c07261 Lowering the D filter for less latency and less oscillation. 2012-03-13 12:58:46 -07:00
Jason Short 6edad4d9ef ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short 38a60df189 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short 2ac29effe9 ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time. 2012-03-11 23:21:49 -07:00
Andrew Tridgell 1e47ab26f2 AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
 2012-03-11 21:46:41 +11:00
Adam M Rivera 2e1cacd67f AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Jason Short 8b887b77bd ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short 149a484984 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short 0ccfdc664d added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short 037221cd02 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
Andrew Tridgell 34d25ab298 ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell e780dd2b44 ACM: change DCM loop to 100Hz 
On my APM2 quad this seems to give better results
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell bc81d8e6ac ACM: only call the fast loop if the imu has new data 
this prevents us spinning waiting for the sensors to gather some data
 2012-03-10 10:34:29 +11:00
Jason Short 13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short 43b3e1ccd1 ACM - 
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
 2012-03-06 22:22:14 -08:00
Jason Short fe5612d38b Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Jason Short a096292edb added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Robert Lefebvre b7ccfb0114 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9 8da8ce5b58 ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine) 2012-02-28 22:56:26 +09:00
rmackay9 701a21ff2f ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short 3ce1633157 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
rmackay9 41ea8e3eff ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9 add3133100 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short 68739f3cc4 Based on Jani's latest logs I've made two tweaks to alt hold. 
The first is to remove the filter on the throttle output for alt_hold.

The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
 2012-02-25 13:31:21 -08:00