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351 Commits

Author SHA1 Message Date
Jason Short e585eaa253 Ardcucopter: RTL distance check update, reset I terms fixed. 2012-07-20 13:27:35 -07:00
Jason Short c1186abf65 Arducopter: cleanup, skip out of throttle control when flipping. 2012-07-19 22:35:21 -07:00
Jason Short 8f7eba4fd1 Arducopter.pde: Increased the throttle Hold altitude control 
simplified Yaw reset
 2012-07-19 17:38:25 -07:00
Jason Short bc843b0684 Arducopter: Adjust landing speed 
removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.
 2012-07-19 09:48:31 -07:00
Jason Short 1595a662c0 Arducopter 
removed old Var
 2012-07-18 22:57:10 -07:00
Jason Short f40d8f04af Arducopter: New Alt control code 
Uses a new method to manage altitude changes. Alt hold controller was split into a hold and a rate controller just like navigation. Changing alt is done by specifying a climb rate.
Interactive alt hold is now simplified and is an 80cm climb or descent.
 2012-07-18 22:57:10 -07:00
Jason Short 095a9c5c96 Arducopter: Flip mode 
Flip mode graduates to pre-compiled option
 2012-07-18 22:57:10 -07:00
rmackay9 6ca8fda76d ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch. 
This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
 2012-07-18 23:49:09 +09:00
Andreas M. Antonopoulos b03e424fda AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling. 2012-07-16 11:46:43 -07:00
rmackay9 9276c68f80 ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move 2012-07-15 16:38:28 +09:00
Andreas M. Antonopoulos 31fd74d94c AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Jason Short 3ce48cb42c Arducopter: Yaw stop fix 2012-07-14 12:23:10 -07:00
Robert Lefebvre ef9cd54035 Implementing Yaw Fix. Tried to blend with Jason's changes. 2012-07-14 00:24:22 -04:00
Jason Short 9eb638dac8 Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance 2012-07-13 19:29:36 -07:00
Jason Short ce0de98144 Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions 2012-07-13 12:51:38 -07:00
Jason Short bfce0ad9c5 Arducopter: Fix circle_WP 2012-07-12 09:22:20 -07:00
Jason Short 1bd1975e2e Arducopter:Arducopter.pde 
switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
 2012-07-10 21:53:38 -07:00
Jason Short 9de2c00d93 Arducopter: WP_radius 
Switching to stored WP_radius in meters, just like Arduplane
 2012-07-10 21:53:38 -07:00
Amilcar Lucas 8e14ebbc10 Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Jason Short 86cab799ed arducopter.pde 
Timer was set =0 at initialization.
 2012-07-09 13:13:32 -07:00
Jason Short 207497a840 Arducopter.pde: 
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
 2012-07-03 17:21:46 -07:00
Jason Short 0aabd4efe2 Yaw mode: 
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
 2012-07-01 13:40:12 -07:00
Jason Short e5fbcb629d Arducopter.pde_RTL: 
added a new RTL function that goes into Loiter, first, checks if we have reached RTL_Altitude, then enters WP mode to come home.
Removes Approach mode. Uses Auto_Approach value to decide if we should land or descend to a certain altitude
 2012-07-01 13:40:11 -07:00
Jason Short b199fb22a2 Added code for self centering throttle - disabled by default. 2012-07-01 13:40:11 -07:00
Jason Short 60cdbe771c Circle_WP distance check fix 2012-06-29 21:20:28 -07:00
Jason Short 146a4b021f Arducopter.pde: Added Toy mode refinements 2012-06-29 21:20:27 -07:00
Jason Short c830ab6ded Aeducopter.pde: Toy mode updates 2012-06-29 21:20:27 -07:00
Andrew Tridgell 1cb96e14a9 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Adam M Rivera 44ce8fc4bc ArduCopter: Loiter Timer should have been set when the approach altitude was set. Previously, land had to be enabled before auto approach would work. 2012-06-28 20:34:53 -05:00
Andrew Tridgell 7883c4a545 ACM: ArduCopter updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell 7eb150a2f0 ACM: adapt the ArduCopter code for new barometer interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell d71e82191f ACM: enable GPS in AHRS for ArduCopter 
this is an experiment in centripetal correction for multicopters
 2012-06-27 16:01:49 +10:00
Jason Short 3fcd3100cc Added user editable define for Super simple radius 2012-06-26 10:38:46 -07:00
Jason Short 4872880134 Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with. 
Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
 2012-06-25 23:08:25 -07:00
Jason Short 8ef60f2d75 Added throttle_min as a user definable param 2012-06-20 14:58:34 -07:00
rmackay9 6b16ca190f ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release 2012-06-15 00:42:59 +09:00
Jason Short 6dc1e02f76 Inertial Control 
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.
 2012-06-13 22:34:45 -07:00
rmackay9 c9093a1609 ArduCopter: updated firmware version to 2.6 Epsilon 2012-06-12 23:22:57 +09:00
Jason Short ebff84d41e Added Angel's name to contrib list 2012-06-10 12:38:22 -07:00
rmackay9 df72f70aba ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release) 2012-06-08 21:54:09 +09:00
rmackay9 cad76d4e0f ArduCopter: updated firmware description to 2.6 Gamma 2012-06-05 21:28:13 +09:00
Jason Short 60c89ee117 Updates to Flip: 
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
 2012-06-03 22:15:19 -07:00
rmackay9 826cffe688 ArduCopter: Ensure update_GPS does nothing when gps is disabled. 
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
 2012-06-03 23:48:45 +09:00
rmackay9 68de4e0259 ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 17:02:35 +09:00
rmackay9 09695602d2 ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 16:59:23 +09:00
Robert Lefebvre bafb478924 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
Jason Short abb426aec3 When RTLing, force home as the final location for loiter. 2012-05-30 11:06:41 -07:00
Jason Short c45209eaff Broken timer - removed 2012-05-29 12:56:38 -07:00
Jason Short 33d1b5a137 Speed up automatic disarming to 25 seconds for safety. 
renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
 2012-05-29 12:41:35 -07:00
Jason Short 3ba6e1db7a Removed references to a takeoff timer 2012-05-29 11:28:40 -07:00