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3,186 Commits 71 Branches 511 Tags 724 MiB
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757 Commits

Author SHA1 Message Date
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
Pat Hickey
9eae2ec7fe ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8] 2012-01-09 21:57:01 -08:00
Pat Hickey
a30558e9b2 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Pat Hickey
a7628b7f78 ArduCopter: add config_motors.h with MOT_n to CH_m mapping 
* APM1 values are not valid, but hopefully APM2 will stay that way?
 2012-01-09 21:57:01 -08:00
Pat Hickey
a19afd926a APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
 2012-01-09 21:57:01 -08:00
Jason Short
78255b722e Slowed Auto Descent 
Don't return true in Landing code to prevent flyways in Stabilize
 2012-01-08 23:01:22 -08:00
Randy Mackay
f68d23d91e ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
analoguedevices
d46f36e624 Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves 2012-01-09 01:59:55 +00:00
Jason Short
d45c0ce9f2 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Randy Mackay
3dfa26920f ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short
f4b530ebb1 R8 2012-01-07 22:28:03 -08:00