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403 Commits

Author SHA1 Message Date
jasonshort c86d335c17 Alt Hold updates 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2405 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-26 19:57:19 +00:00
jasonshort 10ef8b4f74 Yaw updates. 2.0.13 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2403 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-26 05:58:17 +00:00
jasonshort e95ea9eaaf Log FIx 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2402 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-26 01:50:32 +00:00
jasonshort 532cb00181 2.0.12 Very small Yaw Iterm added. reverted to earlier Loiter limit. 
Slight tweak to Alt hold.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2397 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-25 05:48:33 +00:00
jasonshort 0c2ffd30b3 Yaw Alternate enabled by default. 
Yaw dead_zone minimized
revved to 2.0.11


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2394 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 05:04:48 +00:00
jasonshort 662d0230a7 Adjusted gains for alt hold. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2393 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 04:58:53 +00:00
jasonshort 55019278c8 Added resetting of Loiter location based on stick input. Fly it to a location and let it stick. 
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2392 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 02:23:26 +00:00
jasonshort e73badae95 Added resetting of Loiter location based on stick input. Fly it to a location and let it stick. 
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2391 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 02:23:02 +00:00
jasonshort af79df1db5 Added resetting of Loiter location based on stick input. Fly it to a location and let it stick. 
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2390 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 02:18:30 +00:00
jasonshort 39a7276c9c Added resetting of Loiter location based on stick input. Fly it to a location and let it stick. 
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2389 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 02:14:18 +00:00
jasonshort 0c334938b6 Minor Gain fix. Roll and Pitch were sligtly different. Not enough to merit any point revision. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2383 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-23 19:33:18 +00:00
jasonshort 9e01cf9eb9 updates to get alt hold from 2.0.7. 
Cleanups, better logs for Alt hold, yaw debugging
I tuned up Hein's Hexa Yaw. I think we may need to adjust Yaw gains based on Frame type.
Crossing fingers, the next rev is the final.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2381 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-23 05:53:00 +00:00
jasonshort dee983b3f4 Minor log formatting 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2379 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-22 06:23:10 +00:00
jasonshort 8a29d20328 2.0.8 - Mavlink fixes. Works much better now with M.Oborne's planner 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2378 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-22 02:49:57 +00:00
jasonshort a1aa95fe6a refinement of alt hold and Hein's Yaw hold fix 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2377 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-21 16:24:07 +00:00
jasonshort bddde0b3da added in RTL failsafe option for AUTO mode. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2372 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-21 06:52:52 +00:00
jasonshort a5477eee0a removed unneeded RTL modes 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2371 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-21 06:52:18 +00:00
jasonshort ce3672747a removed unused descriptions 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2370 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-21 06:51:37 +00:00
jasonshort 339dde3da3 Missing , in test 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2369 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-21 06:51:16 +00:00
jasonshort ae4e337c30 lowered Yaw D value 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2368 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-21 06:50:46 +00:00
jasonshort 57da9e48b3 added NG analog pin definitions 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2364 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-20 17:40:11 +00:00
jasonshort 329b3ebf05 Fixed motors test for quads. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2363 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-20 17:34:15 +00:00
jasonshort 988134358b Disabled I term for yaw. not working right. 
Changes log step default to zero by recommendation from John C. Not sure why it works, Compiler should init to 0 by default.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2362 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-20 17:08:04 +00:00
jasonshort 4906d3c231 trying to improve Yaw issues. Enabled I term for yaw. This was mistakenly Imaxed to 0 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2359 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-20 05:33:35 +00:00
jasonshort 3a44752ac3 v2.0.7 Minor adjustments to Loiter behavior. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2358 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-20 05:23:51 +00:00
jasonshort 125e4ace80 Minor adjustments to Loiter behavior. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2357 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-20 05:23:12 +00:00
mich146@hotmail.com dfd231197b make sure things are saved from cli 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2348 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-19 12:40:17 +00:00
jasonshort 9336c28e2a Missed saving frame orientation. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2346 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-19 01:02:03 +00:00
jasonshort 4764bf9b63 2.0.6 Beta updates. Frame options + X moved to AP_Var. 
Updated nav code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2345 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-18 23:38:24 +00:00
jasonshort 92545b1ffb separated the PID values based on chosen Nav PID, Temporary until we get rate control tested. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2337 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-16 15:55:32 +00:00
jasonshort 57f98db7ce added nav_WP I term reset at WP. Would like to consider scaling it with a trig function to keep continuity during nav. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2336 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-16 06:23:21 +00:00
jasonshort 27ab016d98 added comments for frame types 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2330 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-16 06:05:08 +00:00
jasonshort c822e7d25e kD for WP nav does not seem to be doing anything but causing trouble. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2323 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-16 05:48:25 +00:00
jasonshort 799e6a0c15 Fixed bad output of GPS ground course. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2318 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-16 05:28:20 +00:00
jasonshort bb059aa2d9 Some nice updates to Rate based nav according to the simulation. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2316 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-16 04:59:06 +00:00
jasonshort 3ecd94180d Log_Read_Startup removed 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2306 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 22:36:41 +00:00
jasonshort 2c2c4c882c Moved PitchMax back to 18° 
raised the Yaw deadband.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2305 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 22:34:10 +00:00
jasonshort 6d056a569e Alignment with APM 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2293 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 17:42:32 +00:00
mich146@hotmail.com 6514dd8890 GCS Alt fix. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2287 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 06:14:55 +00:00
jasonshort 4368a401c0 updated relative altitude in nav_wp 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2284 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 06:04:16 +00:00
jasonshort 5f5a9be764 updated to new orientation from Jani 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2282 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 04:32:20 +00:00
jasonshort 4646b76217 updated alternative rate nav function. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2281 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 04:28:54 +00:00
jasonshort efc4584e92 moved back navigation into original loop - was for debugging 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2280 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 03:00:05 +00:00
jasonshort 26f5610d2c added reference to FRAME_TYPE 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2277 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 02:04:52 +00:00
jasonshort 1a6db76d2e added reference to FRAME_TYPE 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2276 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 02:03:23 +00:00
jasonshort 995d5325d1 Moved motors to individual files. 
updated motor setup test to be sequencial pulses of the motors in CW order.
Fixed Mission scripting logic
fixed Free yaw error in neutral throttle
fixed D term issue with Baro hold - was too high
incremented firmware revision, removed frame var
removed setup show from startup
removed unused EEPROM functions
fixed broken demo mission
fixed non working loiter with delay



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2275 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 02:02:09 +00:00
jasonshort 4a7b4ac3b4 moved rudder servo control out of 200hz loop to test if it will reduce servo noise. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2260 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-14 04:45:28 +00:00
jasonshort 12357746a9 better Baro hold - Baro_KD was way too high. 
Clean up with WP processing
moved crosstrack call to more logical location

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2259 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-14 04:30:42 +00:00
jasonshort 7fa6e35c49 log NTUN missing \newline 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2258 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-14 01:28:58 +00:00
jasonshort c9c7f6556e incremented 2.0.3 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2255 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-13 19:30:14 +00:00
jasonshort 9780ee69d9 Slight increase to loop speed - for Max 
removed throttle integrator until I have more time to deal with the data
tweaked control loops to be more like RC1 for Max to try. They fly great BTW
tweaked config to be more better.
Mavlink - only cosmetic tweaks

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2254 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-13 19:29:45 +00:00
jasonshort 142443a9c7 Logging updates 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2250 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-12 21:37:38 +00:00
jasonshort b566b1e55b HEXAP_FRAME output 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2247 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-12 15:58:27 +00:00
jasonshort d035f9e9fd Added missing comma 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2246 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-12 02:13:56 +00:00
mich146@hotmail.com 57338c488a Fix wp altitude issues 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2244 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-11 11:55:13 +00:00
jasonshort f0924a9f1b HEXA_P frame support 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2243 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-11 06:14:15 +00:00
jasonshort 1b815410c6 issue 130, other minor mavlink updates. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2242 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-11 06:10:06 +00:00
mich146@hotmail.com 5fbced7187 remove hil message in non hil mode 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2240 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-10 10:26:32 +00:00
jasonshort 65e08e7858 Camera stabilization updates 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2239 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-10 02:17:25 +00:00
jasonshort 7d43ce5159 Camera stabilization, Mavlink updates 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2238 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-10 00:00:05 +00:00
jasonshort 8e55b054f9 git-svn-id: https://arducopter.googlecode.com/svn/trunk@2237 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-09 20:04:02 +00:00
jasonshort 19a05b6533 revved version 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2236 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 17:48:32 +00:00
jasonshort 5c4bab3941 Mavlink Sync with APM 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2235 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 17:40:32 +00:00
jasonshort 2251db1b7c Added APM's current sensing. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2234 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 15:46:56 +00:00
mich146@hotmail.com 884bb4f103 AC2 - Mavlink on 2 ports 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2233 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 12:20:22 +00:00
mich146@hotmail.com 888bd62be1 Fix compile error 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2232 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 10:54:50 +00:00
jasonshort 17acfca526 re-org'ed the logs 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2231 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 04:16:58 +00:00
jasonshort 70a355b0fb removed auto_trim feature 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2230 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 04:16:11 +00:00
analoguedevices@gmail.com b4f227bbb0 typo fix 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2227 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 02:40:01 +00:00
analoguedevices@gmail.com fe9826738d Reverting assignment of MAVlink to Port 3 because it kills MAVLink on Port 0 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2226 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-09 02:38:36 +00:00
jasonshort cce3dd73bb Added compass fix from APM 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2222 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-08 18:32:33 +00:00
jasonshort ebeb9797cf Added port 3 for Mavlink. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2220 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-08 17:48:54 +00:00
jasonshort 99290bc590 git-svn-id: https://arducopter.googlecode.com/svn/trunk@2190 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-07 21:04:17 +00:00
jasonshort 06dd74b2e1 removed unused Stabilize test 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2189 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-07 20:57:48 +00:00
jasonshort 3ef317e625 git-svn-id: https://arducopter.googlecode.com/svn/trunk@2186 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-07 20:48:14 +00:00
jasonshort d783745823 git-svn-id: https://arducopter.googlecode.com/svn/trunk@2185 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-07 20:47:57 +00:00
jasonshort b0d7ec3747 changes for Max and tri-copters 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2184 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-07 20:26:43 +00:00
jasonshort 6f0a639898 Final changes for Beta release 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2180 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-07 19:41:55 +00:00
jasonshort b70c08d417 minor cleanup based on compiler warnings. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2122 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-07 00:21:16 +00:00
jasonshort 3dea060983 new ESC calibration routine 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2121 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-06 22:46:57 +00:00
jasonshort 05a24c070a temp removed altitude requirement 
change PWM scaling technique for Ch1, Ch2, Ch4

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2094 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-05 17:47:11 +00:00
jasonshort bf7efc4f54 Defaulted APM_Config.h 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2091 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-05 05:21:04 +00:00
jasonshort 3c003f6653 Fixed Rate navigation 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2090 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-05 05:19:45 +00:00
jasonshort a76263c799 Added tri test 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2079 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-03 22:15:20 +00:00
jasonshort 7532687495 Added tri test 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2078 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-03 22:13:48 +00:00
jasonshort 2290deb925 removed D term for rate control for now. It may have been messing things up. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2077 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-03 05:24:48 +00:00
jasonshort a4596e5bdb increased to 160hz 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2043 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-02 04:34:15 +00:00
jasonshort b6b42f7b86 removed the !!! from ACM to keep the 2650 happy. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2036 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-02 04:13:27 +00:00
jasonshort 51d918dda7 Added throttle_integrator 
Removed cos for nav_rate testing.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1934 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-30 16:01:57 +00:00
jasonshort 1aabb8c395 added baro_alt_offset back in. Filtering out the effect over time. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1925 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-28 05:43:35 +00:00
jasonshort cf4b603315 refinements to nav 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1922 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-27 05:08:24 +00:00
jasonshort 93a7a76c9b Loiter should work now. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1921 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-26 05:15:25 +00:00
jasonshort 7e843ee679 Warning!!! The recent build 1919 was tagged as sparkfun. 
The trunk is unstable, so please be careful. I've made a lot of changes based on the Sparkfun challange. Most include how we handle things like altitude, but the mission scripting has also been updated as well.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1920 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-25 05:12:59 +00:00
jasonshort 7a9b290c7f added a bit of kI term for Yaw hold. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1918 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-22 21:15:17 +00:00
jasonshort 9aaba3fd0f Navigation bug fixes, tuning. 
better handling of sonar at angles and baro mixing. - optimized for flats.
Crosstrack test bug found and fixed.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1916 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-21 23:07:31 +00:00
jasonshort 0c61e9dd79 Lots of little things. Yaw control is updated based on Jani's logs. Thanks! 
Takeoff now works well.
better logging.
tuned down kD for Yaw - was causing some bad behavior.
Auto mission now resets when entering mode.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1914 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-21 05:15:45 +00:00
jasonshort 4cbbeb4860 Minor Yaw update, Log adjustment, 
Main loop slightly faster at 125 hz


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1912 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-20 06:44:49 +00:00
jasonshort 1b947f5d9e Yaw fix, 
Logs updated to do better Yaw Debugging
Landing is now rate limited
updated command desctiption.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1911 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-20 05:37:05 +00:00
jasonshort 36e9e3e5a2 updated Logs to give me better Yaw information 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1910 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-20 04:58:43 +00:00
jasonshort d858951e91 Added delay option for WP_NAV. The copter will LOITER in seconds based on p1 value. 
This turned out to be functionally identical to LOITER_TIME so I combined them.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1909 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-18 16:27:03 +00:00