Adam M Rivera
56a00fa1f7
ArduCopter: Changed millis compare to use new config value for approach delay.
2012-04-16 14:04:30 -05:00
Adam M Rivera
07e53fad18
commands_logic.pde: Added write to constrained value to EEPROM.
2012-04-16 14:03:33 -05:00
Adam M Rivera
7b277d7044
config.h: Added RTL_APPROACH_DELAY config value.
2012-04-16 14:00:08 -05:00
Adam M Rivera
f9affb3295
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
...
Conflicts:
ArduCopter/Parameters.h
2012-04-16 10:23:01 -05:00
Adam M Rivera
0c3d6614cd
system.pde: Updated param name to loiter_timer.
2012-04-16 10:12:30 -05:00
Adam M Rivera
3d024ba2dd
commands_logic: Allowed for an approach alt as low as 1m. Added a check to make sure we are currently above our target approach alt.
2012-04-16 10:11:50 -05:00
Adam M Rivera
41702aca94
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
a366bb2f81
Parameters: Changed rtl_approach_alt to float to support more granular altitudes
2012-04-16 10:06:29 -05:00
rmackay9
870b5e5f75
ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM
2012-04-16 23:47:57 +09:00
Andrew Tridgell
95cb35c7bb
AHRS: enable AHRS_ group in ArduCopter
2012-04-16 20:55:14 +10:00
Adam M Rivera
77d6f22864
ArduCopter, commands_logic: Updated logic to allow as low as 5m.
2012-04-15 19:50:05 -05:00
Adam M Rivera
2954bf6f76
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
cddcdb8be3
commands_logic: Added check to make sure the do_approach method is not being used to land.
2012-04-15 16:57:49 -05:00
Adam M Rivera
a2b338c052
System: Added handler for the new APPROACH flight mode which will initiate an approach to a target alt as defined by the user.
2012-04-15 16:55:34 -05:00
Adam M Rivera
a24b7bcf14
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
Adam M Rivera
cfe3b58248
commands_logic: Added do_approach() to set the new target alt based on the user defined value.
2012-04-15 16:53:25 -05:00
Adam M Rivera
83fe6733d4
Defines: Added new control mode (APPROACH).
2012-04-15 16:52:32 -05:00
Adam M Rivera
7ba8c291bd
Parameters: Added new APPROACH_ALT params (g.rtl_approach_alt) which stored the users desired target altitude after RTL is complete.
2012-04-15 16:51:41 -05:00
rmackay9
a71ed6abec
ArduCopter - updated firmware version to "2.6 Beta"
2012-04-14 14:26:44 +09:00
rmackay9
24b81db20e
ArduCopter - LEDS - main code to support COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:44 +09:00
rmackay9
c337df11c8
ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:40 +09:00
rmackay9
d70f5da5e0
ArduCopter - LEDS - define pins to be used for COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:36 +09:00
rmackay9
84b07b5e6a
ArduCopter - LEDS - added new COPTER_LEDS definition
...
Code by Robert Lefebvre
2012-04-12 22:55:32 +09:00
rmackay9
0a3bc9a66a
ArduCopter - LEDS - two new parameters to support COPTER_LEDS.
...
Code by Robert Lefebvre.
2012-04-12 22:55:28 +09:00
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
Jason Short
3038da1dc3
ACM: Softer Loiter Gains
2012-03-16 14:10:19 -07:00
Jason Short
48a0c9a818
ACM: Small fix to nav_throttle to prevent too fast of a landing.
2012-03-16 14:10:19 -07:00
Jason Short
6201bdb8a7
ACM: Fixed comment
2012-03-16 14:10:19 -07:00
Jason Short
1c0b28c956
Fixed Scaling bug in Sonar mixing
2012-03-16 14:10:19 -07:00
Jason Short
7153b94ade
ACM: Disabled D term experiment for Loiter until more testing
2012-03-15 19:20:03 -07:00
Jason Short
a52a14bf12
Tune down Loiter_P a hair
2012-03-15 19:17:27 -07:00
Robert Lefebvre
be3fe36c52
Small fix on the Traditional Helicopter Collective-Yaw compensation calculation.
2012-03-15 20:14:18 -04:00
rmackay9
68e37774a6
ArduCopter - removed #define AUTOMATIC_DECLINATION ENABLED line to ensure users don't try and enable it because it needs a bit more work before it's ready for general use
2012-03-15 21:58:42 +09:00
analoguedevices
86eff20d5d
Rev'ed version number to 2.5. Added more credits
2012-03-15 02:38:54 +00:00
Jason Short
6f8b97bf6a
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
4315c06f34
Lowering the D filter for less latency and less oscillation.
2012-03-13 12:58:46 -07:00
Jason Short
48ba24a810
ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.
2012-03-13 10:23:31 -07:00
Jason Short
468d9c4b4f
ACM: Loiter D performance updates
2012-03-13 10:23:31 -07:00
Jason Short
7953808d14
ACM: Larger filter for Loiter D
2012-03-13 10:23:30 -07:00
Jason Short
7034b709d1
ACM: removing old define
2012-03-12 13:11:30 -07:00
Jason Short
73e2bd6cd8
ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed.
2012-03-12 13:11:05 -07:00
Jason Short
0b51d9b8b0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
2012-03-12 10:37:15 -07:00
Jason Short
deed802d1a
ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter.
2012-03-11 23:21:49 -07:00
Jason Short
b3795f1c00
ACM: removed Filtering code for motors in Quad for testing
2012-03-11 23:21:49 -07:00
Jason Short
a989b88680
ACM: made same as Loiter I
2012-03-11 23:21:49 -07:00
Jason Short
0d434ca92c
ACM: Tuning based on flights today
2012-03-11 23:21:49 -07:00
Jason Short
0ab6b6e592
ACM: Rate_d filter for PID loop of Loiter.
2012-03-11 23:21:49 -07:00
Jason Short
77fe7de55d
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
rmackay9
a869a01294
ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees
2012-03-12 12:09:04 +09:00
Andrew Tridgell
2a03a0584f
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
d3667faef4
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
Adam M Rivera
2524f9c8df
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
...
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Jason Short
62c2aa4924
ACM: Added Loiter D tuning
2012-03-10 14:17:57 -08:00
Jason Short
cb8729109c
ACM: Added Loiter_D for tuning as #23
2012-03-10 14:17:16 -08:00
Jason Short
0671bb9168
ACM: Firmware rev
2012-03-10 12:45:03 -08:00
Jason Short
f9d0dc9daa
ACM: disabled auto_calibration until more testing can be done
2012-03-10 12:44:49 -08:00
Jason Short
5ad7320505
ACM: changed alt hold initialization of altitude to be immediate
2012-03-10 12:44:18 -08:00
Jason Short
450f89ec5d
ACM: Added note about scaling rates
2012-03-10 12:43:28 -08:00
Jason Short
eb53200179
ACM: Altered the scaling speed for altitude changes for faster rises.
2012-03-10 12:43:01 -08:00
Jason Short
204f9957b0
ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes.
2012-03-10 12:42:22 -08:00
Jason Short
83729d0f75
ACM: decreased rate P for alt hold to remove bumpy repsonse
2012-03-10 12:41:06 -08:00
Jason Short
220d5a1c6e
ACM: Increased the altitude error P for smoother alt hold response
2012-03-10 12:40:44 -08:00
Jason Short
4b703e8842
decreased the loiter rate P for overshoot
2012-03-10 12:40:07 -08:00
Jason Short
fc32da0d2e
ACM: increased the available rate error constrain, it was too low
2012-03-10 12:39:16 -08:00
Jason Short
bd4835a1b2
ACM: removed the experiment for rate error.
2012-03-10 12:38:29 -08:00
Jason Short
29d6085bab
added Force_new_altitude call for alt hold
2012-03-10 12:37:54 -08:00
Jason Short
4ba600c0c5
upped throttle manual boost to 225
2012-03-10 12:37:28 -08:00
rmackay9
afc4aceb32
ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde
2012-03-11 01:27:58 +09:00
rmackay9
c7480f2281
ArduCopter - fix to dataflash logging of Mag heading
2012-03-11 01:27:29 +09:00
Andrew Tridgell
d75e883fe8
GCS: get_integrator() is now get_gyro_drift() in DCM
2012-03-10 10:34:33 +11:00
Andrew Tridgell
9a06d35772
make 'ENABLE' and 'ENABLED' mean the same things
...
users get this wrong far too often!
2012-03-10 10:34:33 +11:00
Andrew Tridgell
828ad7625b
ACM: removed the ADC filtering code
2012-03-10 10:34:32 +11:00
Andrew Tridgell
1016d3c95d
ACM: removed quaternion special cases in CLI code
2012-03-10 10:34:31 +11:00
Andrew Tridgell
8393c0299b
ACM: removed the DCM tuning overrides
...
not needed now that DCM scales with deltat
2012-03-10 10:34:31 +11:00
Andrew Tridgell
7291dfc25a
ACM: removed the special case for quaternions in GCS code
2012-03-10 10:34:31 +11:00
Andrew Tridgell
d6cfc51ae4
ACM: no need to fetch offsets at startup
...
AP_Param handles this
2012-03-10 10:34:31 +11:00
Andrew Tridgell
ef771fecdc
ACM: removed a lot of the special case code for quaternions
2012-03-10 10:34:31 +11:00
Andrew Tridgell
69c29d35ce
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
2596acc8eb
ACM: removed incorrect mode definition
2012-03-10 10:34:30 +11:00
Andrew Tridgell
7a9b3d3388
Quaternion: show "Quaternion test" on startup if enabled
2012-03-10 10:34:29 +11:00
Andrew Tridgell
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Andrew Tridgell
9bff4e2c4c
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
Andrew Tridgell
367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
...
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
64cc04ae09
ACM: adjust yaw drift correction constants
...
this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a0ce202d87
ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM
2012-03-10 10:34:27 +11:00
Jason Short
486c56ce41
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
c8e9d57567
temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest.
2012-03-06 22:23:06 -08:00
Jason Short
730476fdfd
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
c26eb6afcc
ACM: Updated config values
2012-03-06 22:12:24 -08:00
rmackay9
8b256cf924
ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down
2012-03-06 23:20:30 +09:00
rmackay9
72a775cc2a
ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down.
2012-03-06 22:19:19 +09:00
rmackay9
706bea5992
ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino
2012-03-06 22:15:02 +09:00
Jason Short
46d7da4d14
Added define for throttle range for altitude changes, updated it to 250
2012-03-05 22:12:53 -08:00
Robert Lefebvre
a480b32400
Added support for TradHeli H1 swashplate type. Added new param heli_h1_swash_enabled.
...
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-03-03 08:14:14 -05:00
Andrew Tridgell
0ff44563ec
ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls
2012-03-02 17:57:08 +11:00
Andrew Tridgell
0fc646d666
ACM: set default RC fast speed to 400Hz
2012-03-02 17:57:08 +11:00
Andrew Tridgell
e213f6780e
ACM: added RC_SPEED MAVLink parameter
...
this will set the speed for APM_RC.SetFastOutputChannels()
2012-03-02 17:57:08 +11:00
Andrew Tridgell
f781bd735b
ACM: fixed Parameters.h to avoid duplicate keys
...
unfortunately everyone needs to reload
2012-03-02 15:48:28 +11:00
Andrew Tridgell
cb874d6097
ACM: added board_voltage()
2012-03-02 15:48:28 +11:00
Robert Lefebvre
e49c2d2871
Rescale TradHeli roll_out and pitch_out into the min and max ranges to provide linear motion across the input range instead of stopping when the input hits the constrain value. These calculations are based on an assumption of the user specified roll_max and pitch_max coming into this equation at 4500 or less, and based on the original assumption of the total g.heli_servo_x.servo_out range being -4500 to 4500.
...
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-03-01 22:04:50 -05:00
Jason Short
7c09e4a5e6
added stab_d gain scheduling - off by default
2012-02-28 20:16:40 -08:00
Jason Short
a387956814
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
Jason Short
ceef8070ac
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
Jason Short
b76c4ecb22
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
Jason Short
efdf6ee79f
added option for stab_d gain scheduling
2012-02-28 20:16:40 -08:00
Jason Short
ca34d7b7c2
Added test for stab_d gain scheduling.
2012-02-28 20:16:40 -08:00
Pat Hickey
16ed16f403
Cleanup: rm ArduCopter/GCS_Mavlink\ copy.txt
...
* Not needed, but we can always checkout an old version if it is.
Hi Pat,
This may have been my WIP for the Mavlink 1.0 conversion. I tried to
give Tridge a head start on it. I've made small updates to it in
parallel to the current Mavlink. You can delete it as he would have used
it by now if he felt it was helpful.
Jason
On Feb 28, 2012, at 4:08 PM, Pat Hickey wrote:
It looks like this file was checked in by accident, possibly, but you've
made a few small changes to it since creating it.
Is it important? Should we get rid of it?
Git log of file below.
Thanks
Pat
...
2012-02-28 16:28:27 -08:00
Pat Hickey
ff0fc26484
Cleanup: rename files with spaces in their names, replace with underscores
...
* Skipped /Tools/ArdupilotMegaPlanner/Resources/new...
and /archive/Configurator/Source/Utilities/TDMS/G...
because I don't want to mess with that.
2012-02-28 16:14:31 -08:00
Robert Lefebvre
76c3cd88f0
Added heli_collectiveFactor array
...
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-02-28 10:49:28 -05:00
rmackay9
744e5b8c60
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
4a0989f95d
ArduCopter - Attitude.pde - updated get_rate_roll and get_rate_pitch to use new average filter.
...
modified all int to int16_t in Attitude.pde
2012-02-28 21:26:37 +09:00
rmackay9
17d94b61ed
ArduCopter - modified to work with new Filter library
2012-02-28 21:02:44 +09:00
Jason Short
ba68d6d8a1
Set loiter rate enabled by default
2012-02-26 12:29:28 -08:00
Jason Short
e06d8142c1
Added OPtion for non-rate based loiter
2012-02-26 11:33:37 -08:00
Jason Short
6e53949c2a
removed Constraint that caused JLN's horizontal drift.
2012-02-26 11:33:37 -08:00
Jason Short
517172ba20
Added Loiter Rate Tuning
2012-02-26 11:33:37 -08:00
Jason Short
0ce0c7c262
Added Loiter_rate_tuning
2012-02-26 11:33:36 -08:00
Jason Short
eac77504a3
Added more Logging for PIDs.
2012-02-26 11:33:36 -08:00
rmackay9
8193c786ef
ArduCopter - added #include <Filter.h> to unbreak the build!
2012-02-26 17:05:41 +09:00
rmackay9
69132e0fe7
ArduCopter - change sonar to use new mode filter from Filter library
2012-02-26 15:35:14 +09:00
Jason Short
f27e9f9ca1
added a simple rest of nav_throttle just in case
2012-02-25 13:31:21 -08:00
Jason Short
cc5ab4aebf
increased speed of alt hold I term based on Jani's Logs
2012-02-25 13:31:21 -08:00
Jason Short
1ce267f904
increased the rate error for more responsive alt hold
2012-02-25 13:31:21 -08:00
Jason Short
a924c3685e
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
e2bbc795ad
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
0248b48d30
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
864ed1a87f
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
698749dd92
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
690dc9052a
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
2e9105c68a
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
1e254cbca0
Compass heading added to ATT log
2012-02-24 12:11:15 -08:00
rmackay9
57e5eee8c8
TradHeli - increase max yaw input to 45 degrees
2012-02-24 20:18:40 +09:00
Jason Short
385828824d
updated Gains for Marco's loiter test
2012-02-23 22:03:26 -08:00
Jason Short
24345d4f43
Loiter updates
2012-02-23 22:03:26 -08:00
Andrew Tridgell
1cd3172954
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
364afe8da0
added a constraint to D term
2012-02-23 09:14:44 -08:00
Andrew Tridgell
95ef9206dc
DCM: renorm_sqrt_count is now called renorm_range_count
2012-02-23 08:16:08 +11:00
Jason Short
c7c16a5b0f
Emile's Fixes
2012-02-22 10:27:34 -08:00
Jason Short
4483f19f85
Marco's Hexa Motors
2012-02-22 09:55:44 -08:00
Jason Short
242f54793c
revved a version
2012-02-22 09:00:42 -08:00
Jason Short
729c824809
made timer unsigned
2012-02-21 21:49:03 -08:00
Jason Short
42b5d47f7b
commented out control mode debug print
2012-02-21 21:48:07 -08:00
Jason Short
30efbae0e9
removed old comments
2012-02-19 14:21:27 -08:00
Jason Short
265c5255a3
Added slow_wp default in AP mode
2012-02-19 13:15:40 -08:00
Jason Short
336441b109
reset slow_WP option at mode switch
2012-02-19 13:13:42 -08:00
Jason Short
81a861c8ac
Added slow wp option in calc_desired_speed
2012-02-19 13:13:21 -08:00
Jason Short
33d4d52a6b
set Slow WP option for RTL in Auto mode
2012-02-19 13:12:23 -08:00
Jason Short
cae49b3543
Added "slow WP" option for RTL.
2012-02-19 13:11:59 -08:00
Jason Short
b54d08f410
Updated manual throttle control during throttle hold
2012-02-19 12:40:51 -08:00
Jason Short
bcd5129f9b
added workaround for resetting alt.
2012-02-19 12:40:08 -08:00
Jason Short
fa32b084bd
Added SW test for Manual Boost
2012-02-19 12:39:40 -08:00
Randy Mackay
9fabdb5797
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
e146f225b1
ArduCopter - remove unnecessary block for next GPS value before saving home location
2012-02-19 15:38:40 +09:00
Andrew Tridgell
df8a557630
AP_Param: update users of AP_Param for ParamToken
2012-02-19 17:05:28 +11:00
Andrew Tridgell
12327eb2a9
Heli: fixed some 'used before initialised' warnings
2012-02-19 16:34:43 +11:00
Jason Short
028de5d2c5
Axis lock beta (off by default)
2012-02-18 21:16:19 -08:00
Jason Short
885710fce6
updated max throttle define
2012-02-18 21:14:13 -08:00
Jason Short
05024cc06c
Change 800 to a define
2012-02-18 21:13:28 -08:00
Jason Short
04b70ffdc2
added Axis_Lock params
2012-02-18 21:13:06 -08:00
Jason Short
ff2b4ecb7a
updated throttle range
2012-02-18 21:11:06 -08:00
Jason Short
1e37a0ec17
added a limit to range output
2012-02-18 21:08:17 -08:00
Jason Short
1b46daa12e
some better defaults for JDrones
2012-02-18 14:23:21 -08:00
Randy Mackay
b92d7aaad5
ArduCopter - fix for yaw control on Octa Quad Plus frame.
2012-02-18 22:04:09 +09:00
Randy Mackay
232359186e
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
b64c0da003
ArduCopter - updated version to 2.4
2012-02-18 18:44:29 +09:00
Andrew Tridgell
6929226b96
ACM: expanded EEPROM parameter area by 256 bytes
2012-02-18 10:51:57 +11:00
Andrew Tridgell
718a5b70e3
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
b532cb91b1
added Rate_D tuning value
2012-02-17 15:23:59 -08:00
Jason Short
0075901f77
upped rate loop to 250hz
2012-02-17 15:23:59 -08:00
Jason Short
5218220f0f
re-implemented WII Dampening filter for Marco.
2012-02-16 22:38:23 -08:00
Jason Short
b052dab80d
Adjusted gains to move closer to Marco's tests
2012-02-16 22:19:39 -08:00
Jason Short
17c6c7b294
added extra gain logging
2012-02-16 22:09:22 -08:00
Jason Short
908ca4e915
scaled X velocity
2012-02-16 22:09:22 -08:00
Jason Short
bc1593e89c
cast to float
2012-02-16 22:09:21 -08:00
Jason Short
632cc783a1
cast D term to float just in case
2012-02-16 22:09:21 -08:00
Jason Short
36a120d8df
removed some unused vars,
...
formatting, made loop speed same as PIDT1 to eliminate variable.
2012-02-16 22:09:21 -08:00
Jason Short
a43ee36bee
CH 6 Range setup
2012-02-15 11:47:54 -08:00
Jason Short
3d63bb6cd4
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
e8b6f5ecee
allow auto-land if failsafe is triggered
2012-02-15 10:53:54 -08:00
Jason Short
fabeccad4a
Marco's updated Motor testing code
2012-02-15 10:49:35 -08:00
Jason Short
73591a0ca5
Added lengthy note about motor testing
2012-02-15 10:49:11 -08:00
Jason Short
9a3e862b55
added option in code for Loiter specific gains
2012-02-15 09:10:15 -08:00
Jason Short
e249c8466d
AP slew rate
2012-02-15 09:10:15 -08:00
Jason Short
21856e7696
new defaults for params
2012-02-15 09:10:15 -08:00
Jason Short
fcb24ee17d
Added Acro_P
2012-02-15 09:10:14 -08:00
Jason Short
574b86b02e
synced params
2012-02-15 09:10:14 -08:00
Jason Short
91edeeeef2
added RTL_land_enabled
...
added auto_pilot slew rate
2012-02-15 09:10:14 -08:00
Jason Short
aa0662008b
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
05abe44f32
Added range setting via a parameter for CH6 tuning
2012-02-15 09:10:14 -08:00
Jason Short
c9b432955d
removed unused Vars
2012-02-13 15:25:23 -08:00
Jason Short
4faba2048c
Lowered for Jani
2012-02-13 15:25:23 -08:00
Andrew Tridgell
ecdbfd257a
token is 16 bits now
2012-02-13 16:22:53 +11:00
Andrew Tridgell
d55a0c3a71
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
Andrew Tridgell
0f9adbdae0
token size for first()/next() is now 16 bits
2012-02-13 16:22:52 +11:00
Andrew Tridgell
617082769a
go back to 1024 bytes for variables in EEPROM
2012-02-13 16:22:52 +11:00
Andrew Tridgell
0b3e3ec5c8
added group indexes to GCS_MAVLINK class
2012-02-13 16:22:52 +11:00
Andrew Tridgell
d4305e0ae2
fixed apm2beta build with AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
16417b651e
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
3b4cae3cc3
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
c9c422539e
update ACM MAVLink code for AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
a2d0900460
fixed warning in Log build
2012-02-13 16:22:52 +11:00
Andrew Tridgell
bf1eb670e3
update main parameter code for AP_Param in ACM
2012-02-13 16:22:52 +11:00
Andrew Tridgell
f1a41b041f
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
306a3bb4f9
Makefile: extra convenience target for apm2hexa
2012-02-11 16:05:51 -08:00
Pat Hickey
84dd0d2fda
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
739317276d
ArduCopter setup motors: print basic instructions.
2012-02-11 16:05:51 -08:00
Pat Hickey
6573cec611
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
470fd8788e
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
2c65fc9ddf
Cosmetic tweaks for tuning
2012-02-11 15:29:11 -08:00
Jason Short
0a63f104ab
Gain adjustments for 3d frame.
2012-02-11 15:29:11 -08:00
Jason Short
969ac70000
reset All for Auto takeoff
2012-02-10 22:54:29 -08:00
Jason Short
b1d52da431
reset Rate_I for takeoff
2012-02-10 22:50:56 -08:00
Jason Short
efce991bfb
upped max target speed to center of loiter
2012-02-10 22:46:27 -08:00
Jason Short
8ae53bffd2
Made Yaw Hold universal for Acro
2012-02-10 22:32:55 -08:00
Jason Short
dc15fe4c5d
Moved to Rate_I by default for Jani to test
2012-02-10 22:32:55 -08:00
Jason Short
c64d781dce
get_acro_yaw added
2012-02-10 22:32:55 -08:00
Jason Short
19ab0f481e
made Yaw work like Roll and Pitch
2012-02-10 22:32:55 -08:00
Jason Short
9f8d7d5076
Minimize the Yaw Deadzone
2012-02-10 22:32:55 -08:00
Jason Short
50aaa09348
Up Nav_Rate_P
2012-02-09 22:38:36 -08:00
Jason Short
62627e9b57
reverted to Save_WP now that CH7 triggering is fixed
2012-02-09 22:33:01 -08:00
Jason Short
3afaf2689c
Fix for disabled CH7 value triggering WP saving
2012-02-09 22:32:04 -08:00
Jason Short
4313d19bc5
2.3.1v
2012-02-09 22:22:01 -08:00
Jason Short
71d57a5371
Enabled PWM test
2012-02-09 22:22:01 -08:00
Jason Short
b315e23bbd
Found missing Break in Switch statement.
2012-02-09 22:22:01 -08:00
Jason Short
2335b74bc3
faster FS timer
2012-02-09 22:22:00 -08:00
Jason Short
c35ad2d493
Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune.
2012-02-09 22:22:00 -08:00
Jason Short
6848dc17e5
Added safety to prevent shutdown of motors during Auto-land
2012-02-09 22:22:00 -08:00
Jason Short
f40d40b0f9
Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that.
2012-02-09 22:22:00 -08:00
Randy Mackay
fe7a0a97ab
ArduCopter - CH7 - changed default to CH7_DO_NOTHING
2012-02-09 20:26:01 +09:00
levinemax
345a23273e
Motor mix update for X8 (octo quad),
...
diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
2012-02-09 03:57:40 +00:00
Randy Mackay
3517964e14
ArduCopter - Camera.pde - turn off camera pitch control (which uses channel 6) when channel 6 is being used for tuning.
2012-02-08 23:51:53 +09:00
Randy Mackay
70f91e3cc3
Arducopter - reduced rate of decent when landing using sonar
2012-02-08 22:46:32 +09:00
Randy Mackay
f1a129c8ea
ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments
2012-02-05 16:56:51 +09:00
Randy Mackay
498970a948
TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction.
2012-02-05 11:04:38 +09:00
Andrew Tridgell
1a861b3de5
allow for lower serial baud rates
...
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
2012-02-04 19:07:18 +11:00
Jason Short
ef9418c2de
fix issue with low throttle in air
2012-02-03 13:29:59 +00:00
Michael Oborne
151479f769
fix issue 502
...
to identify quad over mavlink
2012-02-03 06:53:08 +08:00
Pat Hickey
dad4ee92e5
Revert all changes to ArduCopter Motors MOT mappings.
...
Revert "Arducopter Motors Octa: Change V frame MOT_ output ordering."
This reverts commit bdab02f408ddc5451fcb4c6390b2475d31ac657f.
Revert "hexa frame FRAME_CONFIG fixup"
This reverts commit d15e692df613cb728ec671a54dce166f6f1940a0.
Revert "Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME"
This reverts commit cb0a8c62fbd07a8ae9dcb8d4fffce337ace1aa1c.
Revert "Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame"
This reverts commit 120d7f9050d5ec9f8fbe02c0ed4f38621949f4ee.
Revert "Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME"
This reverts commit 7d65ec311fd2e1222a36d0b34c366e21f3869fcc.
Revert "Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines."
This reverts commit 47c6e8662f4d5e8fb920f2049338541343d8d18e.
Revert "Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types."
This reverts commit 8259c90ec7cb29dedac19890cd9a4449b7399e36.
2012-02-01 10:14:46 -08:00
analoguedevices
3288b518c0
credits
2012-02-01 04:44:36 +00:00
analoguedevices
6dbcac855a
Incremented version number to 2.3
2012-02-01 04:39:15 +00:00
Pat Hickey
36389cdbd8
ArduCopter Octa: fix yaw motors for Octa V.
...
* I based this off the APM1 Octa V diagram at
http://code.google.com/p/arducopter/wiki/AC2_Multi
2012-01-31 19:37:49 -08:00
Pat Hickey
6a333b743a
Arducopter Motors Octa: Change V frame MOT_ output ordering.
...
* I backed this out from Max's changes, but I'm not sure whether its correct.
2012-01-31 18:19:41 -08:00
Pat Hickey
7ca81bd2c9
hexa frame FRAME_CONFIG fixup
2012-01-31 18:19:41 -08:00
Pat Hickey
a24f89fb6d
Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME
2012-01-31 18:19:41 -08:00
Pat Hickey
0735c2b62f
Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame
...
* This will change the output order for APM2, but not APM1.
2012-01-31 18:18:13 -08:00
Pat Hickey
dbd1cc6a9f
Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME
2012-01-31 18:18:13 -08:00
Pat Hickey
b245265669
Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines.
...
* HEXA_X_FRAME and HEXA_PLUS_FRAME merged back into HEXA_FRAME
* OCTA_V_FRAME merged back into OCTA_FRAME
2012-01-31 18:18:13 -08:00
Pat Hickey
0e9294538b
Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types.
...
* HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and
HEXA_PLUS_FRAME
* OCTA_FRAME stays the same name for X and +, but the V frame
configuration requires new OCTA_V_FRAME name.
2012-01-31 18:18:13 -08:00
Randy Mackay
b851d39eaa
OptFlow - reenable OF_LOITER pid controller and reduce I term
2012-02-01 08:04:18 +09:00
Jason Short
21bd48b6c3
Loiter PIDs
2012-01-30 21:13:03 -08:00
Jason Short
8aaf88e13b
tweaks to Loiter
2012-01-30 21:13:03 -08:00
Jason Short
90099d4a42
ATT tuning update
2012-01-30 21:13:03 -08:00
Jason Short
f225efef9f
tuning
2012-01-30 21:13:03 -08:00
Jason Short
08a9249e2b
cosmetic
2012-01-30 21:13:03 -08:00
Jason Short
5934b503b8
tuning fixes
2012-01-30 21:13:03 -08:00
Jason Short
31614c39dd
Cosmetic
2012-01-30 21:13:03 -08:00
Jani Hirvinen
009e87105f
Minor changes for PID for jDrones motors due latest changes on control laws.
2012-01-31 09:00:31 +07:00
Jason Short
23709bafef
pid_nav_lat incorrectly labeled
2012-01-29 23:02:00 -08:00
Jason Short
a3862ced62
cosmetic
2012-01-29 21:55:17 -08:00
Jason Short
46e08fb46a
Added more attributions
2012-01-29 21:53:44 -08:00
Jason Short
ae65a0f03f
removed filter. Don't need it.
2012-01-29 17:10:52 -08:00
Jason Short
bf2cc6072d
limiting alt hold rate error to 1m/s
2012-01-29 17:08:34 -08:00
Jason Short
02aacc454b
Lowering the throttle_P values by default
2012-01-29 16:27:13 -08:00
Jason Short
650c0ed3f1
made Loiter over ride exit dependent not on speed, but centered sticks.
2012-01-29 16:15:02 -08:00
Randy Mackay
693a2cfdcd
TradHeli - fix to servo limits. They had been unnecessarily limited to the collective pitch's min and max but actually there are cases (for example when the swash is leaning over 45degrees) where one servo goes well beyond the collective pitch's min or max.
2012-01-29 21:14:37 +09:00
Randy Mackay
974c825f4a
Optflow - minor fix to D term defaulting
2012-01-29 21:06:41 +09:00
Jason Short
67cd412105
Landing update for better baro landing
2012-01-28 22:35:57 -08:00
Jason Short
5ab37a346c
reduce test.pde size for 1280 users
2012-01-28 22:16:24 -08:00
Jason Short
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
...
Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Jason Short
295631139a
formatting
2012-01-28 21:19:46 -08:00
Jason Short
d1fcebb5ca
Cosmetic changes
...
GPS LED lock waits for home_is_set to be true
2012-01-28 21:19:46 -08:00
Jason Short
326a663c6b
changed tuning range
2012-01-28 21:18:43 -08:00
Randy Mackay
f3a95ff3cb
Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup
2012-01-28 10:13:58 +09:00
Randy Mackay
122623f64b
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Pat Hickey
1dcd50e3be
ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2
2012-01-27 07:39:01 -08:00
Randy Mackay
8dee001657
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Pat Hickey
6c03307217
ArduCopter Heli: add motors_output_enable function
2012-01-25 22:41:09 -08:00
Randy Mackay
2c906b7b27
OpticalFlow - replaced PI controller with PID controller.
...
Modified optical flow hold to use aggregated position instead of speed.
2012-01-25 21:55:14 +09:00
Randy Mackay
4434ddf389
Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi
2012-01-25 21:53:20 +09:00
Jason Short
25529dec69
added loiter_d to allow users to configure alternate Loiter alg
2012-01-22 14:19:27 -08:00
Jason Short
74daadb252
Revert "test to switch loiter controls"
...
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
2012-01-22 14:19:27 -08:00
Jason Short
6476ba22f2
test to switch loiter controls
2012-01-22 12:28:34 -08:00
Pat Hickey
89e11afc09
ArduCopter: Call APM_RC.enable_out for camera channels in init_camera()
2012-01-22 12:03:11 -08:00
Pat Hickey
98a90d0352
ArduCopter: Call motors_output_enable at correct spot during init
2012-01-22 12:03:11 -08:00
Pat Hickey
04a3112f33
ArduCopter: Add implementation of motors_output_enable to each motors_ frame type
2012-01-22 12:03:11 -08:00
Jason Short
dd1e08a7e0
Causes Aero_SIM to fail
2012-01-22 09:34:43 -08:00
Jason Short
1d9783652a
added Beta 4 tag
2012-01-21 22:15:23 -08:00
Jason Short
60e3508f7c
converted to cm
...
Signed-off-by: Jason Short <jasonshort@mac.com>
2012-01-21 22:14:08 -08:00
Jason Short
aace39e65c
Converted distance gains to CM
...
added loiter_d for rate control, equal to old Nav_P gain
2012-01-21 22:13:57 -08:00
Jason Short
fffa1af3b3
Fixed speed governor which was letting speed get to 0.
...
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
2012-01-21 22:12:57 -08:00
Jason Short
f638a4b81d
recording nav_bearing rather than target bearing
...
recording x and y speed rather than Iterms for nav since they are always 0 now
2012-01-21 22:10:28 -08:00
Jason Short
2fa24e0557
added conversions of CM to M
2012-01-21 22:09:39 -08:00
Jason Short
7edd16e5fe
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
...
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
2012-01-21 22:09:13 -08:00
Jason Short
59d1f225d5
convert command into CM from M
...
Making Landing boost be one at minimum to trigger better navthrottle output
2012-01-21 22:06:35 -08:00
Jason Short
f3cc1121aa
better default for speed governer
2012-01-21 22:05:48 -08:00
Jason Short
5cc19bbe7c
slightly less filtering for less latency
2012-01-21 22:04:54 -08:00
Jason Short
9003b95499
Converted to cm for distance
2012-01-21 22:04:35 -08:00
Jason Short
8cb645f3c2
increasing the velocity near WP
2012-01-21 11:59:49 -08:00
Jason Short
1aa6d0ea08
limiting the pitch throttle compensation
2012-01-21 11:59:49 -08:00
Jason Short
ab5716c42d
Calc error for logs
2012-01-21 11:59:49 -08:00
Jason Short
7c25253422
Enabled auto throttle hold
2012-01-20 22:52:31 -08:00
Jason Short
7fb641ab77
added note
2012-01-20 22:52:31 -08:00
Jason Short
fb72ecd4e4
formatting
2012-01-20 22:52:31 -08:00
Jason Short
127544b833
Added cast for comparison
2012-01-20 22:52:30 -08:00
Jason Short
42b1362bba
cleanup
2012-01-20 22:52:30 -08:00
Jason Short
5ac26a5500
error on comparison operator
2012-01-20 22:52:30 -08:00
Jason Short
5180592913
Added Auto_land_timeout to params
2012-01-20 22:52:30 -08:00
Jason Short
c190f83bb0
AutoLanding timeout for Mission Planner
2012-01-20 22:52:30 -08:00
Jason Short
a22596fb33
Max throttle output was to high
2012-01-20 22:52:30 -08:00
Jason Short
19053bb725
Updated Firmware version
2012-01-20 22:52:30 -08:00
Jason Short
f5fd3a0597
reset all I terms at Arming
2012-01-20 22:52:30 -08:00
Jason Short
287ffb5fb4
enabled Mavlink Land command
2012-01-20 22:52:30 -08:00
Jason Short
6784989e83
relocated reset_I term functions to central location
2012-01-20 22:52:30 -08:00
Jason Short
d2c78d2b75
Stab_D changes units with the new dampening controller updates
...
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
2012-01-20 22:52:30 -08:00
Jason Short
932869b686
renamed function
2012-01-20 22:52:30 -08:00
Jason Short
43365fe802
Verify land updates from JLN
...
Effectively a throttle control for landing that mimics a person lowering the throttle.
2012-01-20 22:52:29 -08:00
Jason Short
ed32ad30fd
Refined the D term for stabilize
...
moved all the rest_I terms from code into 1 central place
2012-01-20 22:52:29 -08:00
Jason Short
5141534ea9
B3
2012-01-20 22:52:29 -08:00
Jason Short
db6db1ab91
set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units.
...
added the ability to force nav_throttle so we don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
2012-01-20 22:52:29 -08:00
Jason Short
6e94b21d67
Altitude no longer resets when moving loiter WP
2012-01-20 22:52:29 -08:00
Jason Short
85f10589b2
slowed down slightly
2012-01-20 22:52:29 -08:00
Jason Short
017364fc5b
Lowered range to more sensible values
2012-01-20 22:52:29 -08:00
Jason Short
2831ff9148
Off by default
2012-01-20 22:52:29 -08:00
Michael Oborne
3142a75913
AC fix attitude level hil
2012-01-21 07:52:52 +08:00
Michael Oborne
95f58b0432
fix scale error
2012-01-21 06:33:18 +08:00
Michael Oborne
1bebb9452b
AC sync battery code with arduplane
2012-01-21 06:29:09 +08:00
Michael Oborne
52a9bb3cd1
fix SITL attitude hil AC
2012-01-20 16:32:25 +08:00
Doug Weibel
ed9f7cb1b6
Update battery monitoring code for ArduCopter
...
Fixes compatibility for APM2. Also a significant update to the battery monitoring code: We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos. These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere). Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs. The CLI battery and current monitoring tests were consolidated into 1 test.
changed
2012-01-15 17:10:02 -07:00
Doug Weibel
0306bf97a0
Just a little more commenting work on global variables
2012-01-15 16:11:02 -07:00
Jason Short
e2c2a453a8
APM2 Channel assignments
2012-01-15 10:24:16 -08:00
Jason Short
3ebed0b278
This allows users to test the Auto_throttle hold or cruise value
2012-01-14 11:43:52 -08:00
Jason Short
46ef246e67
b2
2012-01-14 11:37:00 -08:00
Jason Short
0ae82da0fd
Fix for SIMPLE mode
2012-01-14 11:32:48 -08:00
Jason Short
72faa6525e
Tweak to make circle mode scripting more accurate
2012-01-14 11:21:50 -08:00
Jason Short
89343ae306
adjusted GPS watch dog not to be so aggressive,
...
removed unneeded flag clearing
2012-01-14 11:20:40 -08:00
Jason Short
95ac9d163e
lowered Loiter I, commented out unused var
2012-01-14 11:20:40 -08:00
Jason Short
c02b403a06
temp removed alt D term until more testing
2012-01-14 11:20:40 -08:00
Jason Short
1843798697
Clarified the Increment for WP total
2012-01-14 11:20:40 -08:00
Jason Short
f97d58c753
added notes, removed redundant save wp_total
2012-01-14 11:20:40 -08:00
Jason Short
7877a872d3
added update throttle cruise function
2012-01-13 16:48:05 -08:00
Jason Short
1269b07d9a
Made RTL always the current Altitude
2012-01-13 16:47:38 -08:00
Jason Short
ec9880f725
made resetting throttle cruise a function
2012-01-13 16:47:08 -08:00
Jason Short
6591089110
Disabled Ryans filter until we get real-world testing in.
2012-01-13 12:48:02 -08:00
Jason Short
8d909f6eed
fixed GPS bug - moved to fast loop location
2012-01-13 12:47:22 -08:00
Jason Short
c327a9f000
made landing shoot for below home by 2 meters to avoid bounce up.
2012-01-13 12:46:40 -08:00
Jason Short
7c475f178c
tuned down Alt hold D gain
2012-01-13 09:36:51 -08:00
Jason Short
4eacc6f3eb
re-enabled relay test
2012-01-13 08:55:02 -08:00
Jason Short
ee7c948781
Added simple constrain for Alt d term
2012-01-13 08:49:55 -08:00
Jason Short
b0810e054e
moved GPS routines to 50hz loop to avoid delay.
2012-01-12 22:59:47 -08:00
Jason Short
648a404ee1
Version 2.2
2012-01-12 22:37:33 -08:00
Jason Short
91e05834c8
removed wind comp code,
...
Added Landing boost code
2012-01-12 22:28:58 -08:00
Jason Short
4459fc4e34
Added a small D term on alt hold
2012-01-12 22:28:58 -08:00
Jason Short
6b85adb460
Added Landing throttle control to force down the copter
2012-01-12 22:28:58 -08:00
Jason Short
154411c96c
removed unused defines
...
lowered default Loiter gain
2012-01-12 22:28:58 -08:00
Jason Short
569ff5046f
Added Ryan's GPS lag filter
...
Removed unused code
refined alt change
2012-01-12 22:28:58 -08:00
Jason Short
a59c9ae22c
added notes
2012-01-12 22:28:58 -08:00
Doug Weibel
9846822748
Bug fix for compass.
...
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge.
If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.
To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
analoguedevices
70b7951366
Eliminated second instance of APM2 #defines
2012-01-12 20:38:41 +00:00
Jason Short
a7bce15365
R10
2012-01-11 22:41:51 -08:00
Jason Short
99ea69ef7b
New Loiter control
2012-01-11 22:41:51 -08:00
Jason Short
257890d5be
New Loiter Gains for new Loiter methods
2012-01-11 22:41:51 -08:00
Jason Short
98f637282b
moved to verify_land
2012-01-11 22:41:51 -08:00
Jason Short
5e9db462f5
attempting to force down without using Manual boost.
2012-01-11 22:41:51 -08:00
Jason Short
f35411ac45
R9
2012-01-10 23:46:08 -08:00
Jason Short
84e001594d
comma
2012-01-10 23:45:33 -08:00
Jason Short
4b54887c6c
Switched to set_next_WP for mode switches
2012-01-10 23:43:44 -08:00
Jason Short
6b836d1a09
Fixed Type Error
2012-01-10 23:43:44 -08:00
Jason Short
c4476bdd80
Fixed type error
2012-01-10 23:43:44 -08:00
Jason Short
3e8ff39d4b
Climb rate control
2012-01-10 23:43:44 -08:00
Jason Short
a79d302b98
added set_new_altitude call()
2012-01-10 23:43:44 -08:00
Jason Short
e102cb9e6a
Added ending for auto landing
2012-01-10 23:42:27 -08:00
Jason Short
3a5ffc252d
updated climb rate control
...
Land detector
2012-01-10 23:42:27 -08:00
Jason Short
acd877abda
added set_new_altitude call
2012-01-10 23:42:27 -08:00
Jason Short
f36aba8af2
climb rate control
2012-01-10 23:42:26 -08:00
Jason Short
5a91396f63
Added climb rate control
...
removed unused vars
2012-01-10 23:42:26 -08:00
Jason Short
dab4fb43d4
Added altitude change flags
2012-01-10 23:42:26 -08:00
Jason Short
351be7c305
Made timer unsigned
2012-01-10 23:42:26 -08:00
Jason Short
7b8767d846
Added comments
2012-01-10 23:42:26 -08:00
Jason Short
b1e971ea18
added location error calc to get better data. Otherwise we'll be 1 GPS read off.
2012-01-10 23:42:26 -08:00
Jason Short
5f55780b5e
Added comments
...
moved out failsafe check. otherwise the reporting was erroneous.
2012-01-10 23:42:26 -08:00
Jason Short
92f7b22722
Moved failsafe check to more logical place
2012-01-10 23:42:26 -08:00
Jason Short
cf92631d33
added #if to wind compensation code
2012-01-10 23:42:26 -08:00
Pat Hickey
fc6321b7ca
ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros
2012-01-09 22:06:49 -08:00
Pat Hickey
927e60d85b
ArduCopter motors_y6: rewrite loop in terms of motors
2012-01-09 22:06:49 -08:00
Pat Hickey
ac7f6a5602
ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros
...
* Third Tricopter motor was on CH_4, so it is called MOT_4. This
will be changed in a subsequent commit.
2012-01-09 22:06:49 -08:00
Pat Hickey
73610ddb6c
ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros
2012-01-09 22:06:48 -08:00
Pat Hickey
7f4c994346
ArduCopter motors_octa_quad: rewrite loop in terms of motors
2012-01-09 22:05:01 -08:00
Pat Hickey
e2be119433
ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros
2012-01-09 21:57:02 -08:00
Pat Hickey
46b8037a73
ArduCopter motors_octa: rewrite janky loops to use ch_of_mot
...
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
79030a84b8
ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
f7e14fff37
ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot
...
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
b907c1fd5c
ArduCopter: add ch_of_mot lookup to motors.pde
2012-01-09 21:57:02 -08:00
Pat Hickey
7535c1c3fe
ArduCopter test.pde: translate from CH_ to MOT_ notation
2012-01-09 21:57:02 -08:00
Pat Hickey
6a4442557c
ArduCopter setup.pde: translate from CH_ to MOT_ notation
2012-01-09 21:57:02 -08:00
Pat Hickey
91bc2698a8
ArduCopter radio.pde: translate CH_ to MOT_ outputs
2012-01-09 21:57:02 -08:00
Pat Hickey
2f63c636ad
Rename ArduCopter/config_motors.h to config_channels.h
2012-01-09 21:57:02 -08:00
Pat Hickey
f5b6746ad7
ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define
2012-01-09 21:57:02 -08:00
Pat Hickey
c105f64dca
ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation.
2012-01-09 21:57:02 -08:00
Pat Hickey
e0e430895e
motors_quad: translate from CH_ to MOT_ notation.
2012-01-09 21:57:02 -08:00
Pat Hickey
0b40f55334
ArduCopter: include config_motors.h in sketch
2012-01-09 21:57:01 -08:00
Pat Hickey
e5e8ed8a54
ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL
2012-01-09 21:57:01 -08:00