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948 Commits

Author SHA1 Message Date
Jason Short
e4e8189448 added a simple rest of nav_throttle just in case 2012-02-25 13:31:21 -08:00
Jason Short
cd55498a5c increased speed of alt hold I term based on Jani's Logs 2012-02-25 13:31:21 -08:00
Jason Short
a3f65b4a23 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
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
Andrew Tridgell
6b265c5034 ACM: use a NULL gps pointer in DCM init 
current DCM API does need a GPS reference passed in, but it can be
NULL
 2012-02-25 15:08:49 +11:00
Andrew Tridgell
3fe5b3151b allow MAG_ENABLE to be changed in flight 
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled

This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
 2012-02-25 14:51:09 +11:00
Andrew Tridgell
d1f655beee ACM: check the return of compass.init() 
if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell
ce5c7c2c85 ACM: don't pass a gps pointer to DCM 
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell
17718720b1 GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +11:00
Andrew Tridgell
007a6b8958 AP_Param: added special handling for Vector3f 
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
 2012-02-25 11:37:20 +11:00
Jason Short
ab945f36df Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
rmackay9
ab0e1d7632 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short
ed5db98522 updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short
22982cda0f Loiter updates 2012-02-23 22:03:26 -08:00
Andrew Tridgell
4edf311865 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Jason Short
b1340bbf80 added a constraint to D term 2012-02-23 09:14:44 -08:00
Andrew Tridgell
b231112957 DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Jason Short
128f19cdf7 Emile's Fixes 2012-02-22 10:27:34 -08:00
Jason Short
ac5a4830a1 Marco's Hexa Motors 2012-02-22 09:55:44 -08:00
Jason Short
92cfc8913a revved a version 2012-02-22 09:00:42 -08:00
Jason Short
207ffee856 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short
ac81ddef04 commented out control mode debug print 2012-02-21 21:48:07 -08:00
Jason Short
7bfda28cdc removed old comments 2012-02-19 14:21:27 -08:00
Jason Short
70d7a1f5d0 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short
434b059586 reset slow_WP option at mode switch 2012-02-19 13:13:42 -08:00
Jason Short
151e710668 Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short
4b52dde882 set Slow WP option for RTL in Auto mode 2012-02-19 13:12:23 -08:00
Jason Short
79a9665c9d Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short
ba2cfee2fb Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Jason Short
a4b8119c24 added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short
2a5a7fa245 Added SW test for Manual Boost 2012-02-19 12:39:40 -08:00
Randy Mackay
b4ee111c49 TradHeli - change throttle range back to 0~1000 (was temporarily changed to be 1250~850 which limited the range of the swash plate's vertical movements) 2012-02-20 00:27:12 +09:00
Randy Mackay
7c4ef140b9 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Andrew Tridgell
1fc24b506e AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell
b06f35eaa2 Heli: fixed some 'used before initialised' warnings 2012-02-19 16:34:43 +11:00
Jason Short
f86e1ed63f Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Jason Short
aeed144180 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short
5d658e5743 Change 800 to a define 2012-02-18 21:13:28 -08:00
Jason Short
83ad721b73 added Axis_Lock params 2012-02-18 21:13:06 -08:00
Jason Short
0517ed5199 updated throttle range 2012-02-18 21:11:06 -08:00
Jason Short
669e8e34ea added a limit to range output 2012-02-18 21:08:17 -08:00
Jason Short
aa57fce9f4 some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Randy Mackay
e3c24fbce8 ArduCopter - fix for yaw control on Octa Quad Plus frame. 2012-02-18 22:04:09 +09:00
Randy Mackay
b55db247ca TradHeli - fixed small parameter bug affecting helis. The servo parameters were declared as GSCALAR instead of GGROUP in Parameters.pde. 
also renamed heli parameters from _coll_ to the more descriptive _collective_
 2012-02-18 20:57:51 +09:00
Randy Mackay
cd89258294 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Andrew Tridgell
db4fef174b ACM: expanded EEPROM parameter area by 256 bytes 2012-02-18 10:51:57 +11:00
Andrew Tridgell
6b357fc66b AP_Param: fixed saving of sensor calibration 
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
 2012-02-18 10:51:57 +11:00
Jason Short
677df0fe1c added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short
0d5f7ca072 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short
03aa28224b re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short
9c7b8586d5 Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short
75919436ac added extra gain logging 2012-02-16 22:09:22 -08:00
Jason Short
cbe297b634 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short
6732f0934a cast to float 2012-02-16 22:09:21 -08:00
Jason Short
6913400221 cast D term to float just in case 2012-02-16 22:09:21 -08:00
Jason Short
43e695b1ac removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short
b070225366 CH 6 Range setup 2012-02-15 11:47:54 -08:00
Jason Short
bb4c02fbff Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short
f2b6b86265 allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short
efb451e475 Marco's updated Motor testing code 2012-02-15 10:49:35 -08:00
Jason Short
f9296796fd Added lengthy note about motor testing 2012-02-15 10:49:11 -08:00
Jason Short
0b011e3cd3 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short
101979ed7b AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short
f20952df49 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short
11d1973abd Added Acro_P 2012-02-15 09:10:14 -08:00
Jason Short
67892cd8df synced params 2012-02-15 09:10:14 -08:00
Jason Short
c916a87a78 added RTL_land_enabled 
added auto_pilot slew rate
 2012-02-15 09:10:14 -08:00
Jason Short
eee43608de Added new params for CH6 Tuning 
moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
 2012-02-15 09:10:14 -08:00
Jason Short
4ecbb19dcd Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short
ff627a8986 removed unused Vars 2012-02-13 15:25:23 -08:00
Jason Short
a69dc32020 Lowered for Jani 2012-02-13 15:25:23 -08:00
Andrew Tridgell
153575a01c token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell
16a5b5c3ee added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
781617cae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell
50f9d12ad5 go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f5f6e2d4ec added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell
d2a4091716 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
1bf832de2d the ACM parameters have a max size of 1114 bytes 
to ensure that all parameters can be saved, expand parameter area by
256 bytes
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
1af6f08b1c adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
da1526ced2 update ACM MAVLink code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f363d0542c fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell
55d0ad3255 update main parameter code for AP_Param in ACM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
2133b9fb08 log: fixed some integer size errors 
need to be careful with the types passed to printf()
 2012-02-12 20:38:37 +11:00
Pat Hickey
abd85f99a7 Makefile: extra convenience target for apm2hexa 2012-02-11 16:05:51 -08:00
Pat Hickey
0ad15e4fff ArduCopter Hexa output_motor_test: individually select all 6 motors 
* each of the 6 hexacopter motors can be selected individually
  by moving the joystick to extremes.

* previously, this was built from the quadcopter output_motor_test
  and some motors (left/right motors on +, front/back motors on X)
  were only selectable as pairs.
 2012-02-11 16:05:51 -08:00
Pat Hickey
81ce8d346e ArduCopter setup motors: print basic instructions. 2012-02-11 16:05:51 -08:00
Pat Hickey
2022c1bab0 ArduCopter APM_Config.h: add sample custom channel config 
* uses new config variables introduced in 8a19543fd1e09621ba
 2012-02-11 16:05:51 -08:00
Pat Hickey
db4195b7a0 ArduCopter Channel Config: config vars for user override of MOT_n mapping 
* config variable CONFIG_CHANNELS has possible values
  CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
  CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
 2012-02-11 16:05:51 -08:00
Jason Short
0315221bd1 Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short
f369a02aab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -08:00
Jason Short
c39cafc3c5 reset All for Auto takeoff 2012-02-10 22:54:29 -08:00
Jason Short
7c45d2bdc3 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short
8cc480f7e6 upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short
1851dd541b Made Yaw Hold universal for Acro 2012-02-10 22:32:55 -08:00
Jason Short
32e7b075d9 Moved to Rate_I by default for Jani to test 2012-02-10 22:32:55 -08:00
Jason Short
4f44ccc182 get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short
927fc25421 made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short
480be14eb0 Minimize the Yaw Deadzone 2012-02-10 22:32:55 -08:00
Jason Short
b29384581a Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short
7cb4711e8e reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00