Commit Graph

6048 Commits

Author SHA1 Message Date
Robert Lefebvre b83049bdda ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work. 2012-12-13 14:54:14 -05:00
rmackay9 2656997714 ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts 2012-12-13 23:09:26 +09:00
rmackay9 7b4f311f28 ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters
Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
2012-12-13 20:30:23 +09:00
rmackay9 2e78977499 ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled 2012-12-13 16:07:34 +09:00
rmackay9 d2c8abe491 ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h 2012-12-13 00:15:30 +09:00
rmackay9 59b20c6fe4 AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm 2012-12-12 23:30:52 +09:00
rmackay9 ad14e727e2 ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue) 2012-12-12 23:29:57 +09:00
rmackay9 8d75022d58 ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden 2012-12-12 23:28:26 +09:00
rmackay9 31fd9a22a3 ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode 2012-12-12 23:27:45 +09:00
rmackay9 66133f4e59 AP_AHRS: save trim to eeprom when set_trim is called 2012-12-12 17:24:28 +09:00
rmackay9 e9c1500f33 ArduCopter: clear ahrs roll and pitch trims after an accel level command 2012-12-12 17:17:09 +09:00
rmackay9 ff9902c5d6 ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method
Also removed slow low pass filter meant to correct for accelerometer calibration.  This is no longer required now that we have the improved calibration method.
2012-12-12 16:29:46 +09:00
rmackay9 50bd21d548 AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles 2012-12-12 16:27:27 +09:00
rmackay9 2b6fbe5c01 AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle 2012-12-12 16:22:56 +09:00
Craig@3DR cbcc1437b8 Updated the MediaTek configuration
to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
2012-12-12 11:13:24 +09:00
rmackay9 ee164b6073 ArduCopter: remove weird character from navigation.pde 2012-12-12 11:05:16 +09:00
Robert Lefebvre 0537dcd4cc ACM: TradHeli
Change name of attitude rate feed-forward parameters.
2012-12-10 21:02:16 -05:00
rmackay9 d9bec28c02 ArduCopter: create 2.9 branch and update firmware version 2012-12-11 00:24:34 +09:00
rmackay9 b170da34ec ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised 2012-12-11 00:14:29 +09:00
rmackay9 628fb1da15 ArduCopter: fix Failed to Init Optflow message at startup 2012-12-11 00:09:45 +09:00
rmackay9 770e1b97f2 ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE 2012-12-10 23:47:14 +09:00
rmackay9 44773d1f2a ArduCopter: rename throttle failsafe parameters.
Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
2012-12-10 23:38:43 +09:00
rmackay9 0b815d9afb AC_PID, AP_AHRS: added descriptions to some parameters 2012-12-10 22:28:39 +09:00
rmackay9 93fa3fbc69 ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees 2012-12-10 22:27:46 +09:00
rmackay9 29f040acba ArduCopter: added descriptions for most parameters that did not have them
Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
2012-12-10 21:45:57 +09:00
rmackay9 037efef3fb AP_Motors: add comments for parameters 2012-12-10 21:37:20 +09:00
rmackay9 34724719d9 ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude 2012-12-10 17:30:50 +09:00
rmackay9 709dc426f9 ArduCopter: remove ThirdOrderCompFilter from list of includes 2012-12-10 09:14:44 +09:00
rmackay9 d5bda7a99c AP_InertialNav_test: small change to #include in example sketch 2012-12-10 00:49:09 +09:00
rmackay9 b98f0448a3 ThirdOrderCompFilter: delete because now combined with AP_InertialNav library 2012-12-10 00:48:43 +09:00
rmackay9 b65f050b8a ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 b2b5ad4b0e AP_Buffer: add size 5 float fifo buffer to predeclared types 2012-12-10 00:41:59 +09:00
rmackay9 97153c32d0 ArduCopter: reduce Rate Roll/Pitch P to 0.150 (was 0.175) and increase I to 0.1 (was 0.01) 2012-12-09 18:08:45 +09:00
rmackay9 6cdcf5e737 ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission 2012-12-09 18:04:31 +09:00
rmackay9 8af9f6ed46 ArduCopter: add comments to tuning parameters.
Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
2012-12-09 16:44:42 +09:00
rmackay9 88522d5db2 RC_Channel: move RC_CHANNEL_ANGLE, RANGE, ANGLE_RAW type definitions to .h file so they can be used by the main sketch 2012-12-09 16:42:58 +09:00
rmackay9 ea80a2d0c8 ArduCopter: add comments at the top of many navigation functions 2012-12-09 15:50:50 +09:00
rmackay9 8be1f9d9b8 ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde 2012-12-09 15:24:19 +09:00
rmackay9 618bd1c296 ArduCopter: allow alt hold to be engaged with alt < 1m because sometimes we get baro drift.
Also initialisation of target altitude is done in set_throttle_mode function.
2012-12-09 14:48:01 +09:00
rmackay9 a4ee5d2c81 ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz. 2012-12-09 14:27:33 +09:00
Robert Lefebvre 39013a33bc ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode. 2012-12-08 20:41:05 -05:00
Robert Lefebvre 083c451ec6 ACM: TradHeli
Fix to make update_throttle_cruise work with stab_throttle scaling.
2012-12-08 15:12:39 -05:00
Robert Lefebvre c6537ae6e3 ACM: Code Cleanup 2012-12-08 14:49:38 -05:00
rmackay9 90f9b8c076 ArduCopter: remove debug related to yaw mode used for alt hold 2012-12-08 14:24:50 +09:00
rmackay9 f62c377062 ArduCopter: auto yaw changes to allow pilot override of yaw during missions
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw).  We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
rmackay9 6596f1728a ArduCopter: removed unused and out-of-date #defines from APM_Config.h 2012-12-08 13:38:39 +09:00
Michael Oborne 1b56a10b9a Mission Planner 1.2.26
move mavlink structure/currentstate around for future mods
update old firmware git hashs
mod some error descriptions
AP_mount camera trigger mod
modify raw param display with units/range/desc
add radio support for 868mhz
update ch7 options
updated dataflashlog format
small df log parser mod for bad gps loc
renable menu to always dock. right click for autohide
2012-12-07 17:19:46 +08:00
rmackay9 b973d50d79 ArduCopter: remove some unused #defines 2012-12-07 15:17:35 +09:00
rmackay9 63a9913278 ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis 2012-12-07 13:01:40 +09:00
rmackay9 8378de6d8c ArduCopter: do_set_servo fix to resolve -1 being assigned to uint8_t 2012-12-07 12:58:44 +09:00