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4545 Commits

Author SHA1 Message Date
Jason Short a143e7bef6 Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short fcc38889b4 Navigation 
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
 2012-07-03 17:34:50 -07:00
Jason Short 69fe7feb54 Params 
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
 2012-07-03 17:33:03 -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 8a2df85ee8 commands_logic: Removed some old unused code 2012-07-03 17:19:19 -07:00
Jason Short 4a2e9b692d Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short 2bc77c1020 Log.pde: formatting 2012-07-03 17:16:26 -07:00
Jason Short c20c04ed24 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short b2d932136a Toy Mode: Yaw performance update. 2012-07-03 17:14:54 -07:00
Jason Short 50d1ff56c5 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short 88428743b2 Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks. 2012-07-02 17:52:38 -07:00
Andrew Tridgell 1142ec0665 AP_Mount: removed unused enum 2012-07-03 10:39:34 +10:00
Andrew Tridgell f150c645c8 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Andrew Tridgell e54e3f813d SITL: don't enable wind until we are off the ground 
this makes it possible to test with much larger wind speeds, without
the sim crashing due to the wind flipping us over on the runway
 2012-07-03 10:19:20 +10:00
Andrew Tridgell 7a77832f45 Baro: average over all pressure/temperature samples on MS5611 
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings

This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
 2012-07-02 13:44:53 +10:00
Andrew Tridgell f7b06e0a64 Baro: fixed build of MS5611 test code 2012-07-02 13:44:53 +10:00
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 bea1ab8810 System.pde - RTL 
removed Approach mode, fixed RTL to loiter until desired altitude is reached
 2012-07-01 13:40:12 -07:00
Jason Short 44e12c6d2d Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short 42a321b76c GCS_Mavlink.pde 
removed Approach define
 2012-07-01 13:40:11 -07:00
Jason Short 95e1f05f82 defines.h 
removed Approach mode enumeration
 2012-07-01 13:40:11 -07:00
Jason Short 3fb268da96 read_control_switch 
Removed Prev_WP reference. unneeded.
 2012-07-01 13:40:11 -07:00
Jason Short 99d6a45948 Config.h 
Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
 2012-07-01 13:40:11 -07:00
Jason Short 059fea36aa RTL: Commands.pde 
When we are out of commands we land or Loiter at the RTL_Approach_altitude.
 2012-07-01 13:40:11 -07:00
Jason Short 9cd9dd168e RTL: Commands.pde 
Removed do_approach function - now redundant
 2012-07-01 13:40:11 -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 8c8f44e6f7 Arducopter: enabled RTL_altitude, renamed function to be more accurate 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
Michael Oborne 84d2782c33 fixup sitl attribute group for planner. - causing invalid advanced/standard views 2012-07-01 21:43:32 +08:00
Michael Oborne dad36d2e42 APM Planner 1.1.95 
fix config panel value change detection
add loiter_ to AC config screen
Add praram name to Friendly param, and exception ignoring.
fix param file note line
intergrate andrews gimbal config.
fix any possible log appending issues
remove old cli planner on connect
modify speech to not crash on windows mono
 2012-07-01 17:51:22 +08:00
Andrew Tridgell 0313d106a0 ArduBoat: removed use of analogRead() 2012-07-01 15:09:39 +10:00
Andrew Tridgell 2bd5cd3b9a AnalogSource: added some example code 2012-07-01 15:01:05 +10:00
Andrew Tridgell 0341e0e5f0 SITL: added support for new analog source 
removed analogRead() to prevent people using it
 2012-07-01 15:01:05 +10:00
Andrew Tridgell e791cad9ef AnalogSource: convert analogRead() calls to the new API 
this should give us much better analog values, plus save a bunch of
CPU time
 2012-07-01 15:01:05 +10:00
Andrew Tridgell 2046e396a2 AnalogSource: make the Arduino AnalogSource interrupt driven 
this fixes several problems with reading analog sources:

 - we were getting poor values because we didn't wait long enough for
   an analog source to settle

 - we wasted a lot of CPU cycles waiting for conversions

 - we were not taking averages over many samples, which we did with
   the old AP_ADC driver on the APM1
 2012-07-01 15:01:05 +10:00
rmackay9 9624f8c179 ArduCopter: updated STABILIZE_ROLL_I to 0.01 (was 0.1) as instructed by Marco 2012-06-30 19:26:14 +09:00
Jason Short 60cdbe771c Circle_WP distance check fix 2012-06-29 21:20:28 -07:00
Jason Short d448ea23e6 Commands.pde: increased bad WP distance check 2012-06-29 21:20:28 -07:00
Jason Short d893cde785 navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction. 2012-06-29 21:20:28 -07:00
Jason Short 59181eab3d System.pde: Toy mode details for set_mode() 2012-06-29 21:20:28 -07:00
Jason Short 7178da3538 GCS_Mavlink: added notes to #if malink10 2012-06-29 21:20:28 -07:00
Jason Short 49243bc206 defines.h: Toy Mode defines for flight modes 2012-06-29 21:20:28 -07:00
Jason Short 40e0d88d12 Config.h: Optimizing Nav gains 2012-06-29 21:20:28 -07:00
Jason Short bcf6c03157 Attitude.pde: Toy mode logic 2012-06-29 21:20:27 -07:00
Jason Short 146a4b021f Arducopter.pde: Added Toy mode refinements 2012-06-29 21:20:27 -07:00
Jason Short eb06320559 Params: Added toy_yate_rate 2012-06-29 21:20:27 -07:00
Jason Short 57b75736ce Added Toy mode to navigation 2012-06-29 21:20:27 -07:00
Jason Short c830ab6ded Aeducopter.pde: Toy mode updates 2012-06-29 21:20:27 -07:00
Adam M Rivera d399143498 commands_process.pde: Bug fix 427. By default, the copter would land after an AUTO mission. Updated to check for valid approach altitude at end of mission. 2012-06-29 21:41:56 -05:00
Andrew Tridgell b5aa821071 AHRS: include the P terms in get_gyro() 
this makes it more useful for navigation controllers
 2012-06-29 21:54:09 +10:00