rmackay9
92688a793a
ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch.
2012-08-18 11:48:12 +09:00
rmackay9
8c636ca263
ArduCopter: fix compiler error related to printing boarding type in dataflash logs.
2012-08-18 11:47:10 +09:00
Michael Oborne
b2b73cc6cb
AC fix some Parameter units
2012-08-18 08:30:16 +08:00
Jason Short
1b7e27658b
ACM : removed old note
2012-08-17 17:03:40 -07:00
Jason Short
0ac1373591
ACM Logging - added APM version #, stab_I term logging
2012-08-17 17:03:40 -07:00
Jason Short
387a021c30
ACM : APM_Config.h : default removed for toy mixer.
2012-08-16 15:41:35 -07:00
Jason Short
3ee2fd3fb6
ACM: Config.h - added default for toy mixer
2012-08-16 15:40:28 -07:00
Jason Short
770956a3fd
ACM : Made control_roll and pitch global for logging; made yaw towards waypoint use initial angle and not a recalculated angle to deal with wiggles as we approach WP
2012-08-16 15:39:50 -07:00
Jason Short
9cee1b2fa0
ACM : Upped Yaw Limit to 2200
2012-08-16 15:38:46 -07:00
Jason Short
bdc1c41e62
ACM: made target bearing the lead filtered location
...
Had some major nav trouble from crosstrack if I used the laggy position.
2012-08-16 15:38:25 -07:00
Jason Short
0f9f72e8ab
ACM: added nav_yaw to att logging
...
Removed unnecessary casting
2012-08-16 12:43:55 -07:00
rmackay9
36f947acb9
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
...
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
2012-08-16 20:04:46 +09:00
rmackay9
a72bf6ef57
ArduCopter: replaced abs with labs as required in a few places.
...
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
2012-08-16 17:51:09 +09:00
Jason Short
4d5d16720b
ACM Test: Added a return statement
2012-08-15 21:37:23 -07:00
Jason Short
31f31eec75
ACM : Test for bearing calc
2012-08-15 21:04:24 -07:00
Jason Short
99dcbd039d
ACM Log : fixed formatting
2012-08-15 21:04:24 -07:00
Andrew Tridgell
ed064b2506
MAVLink: enable fetching of single parameters
...
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
2012-08-16 10:14:46 +10:00
Jason Short
f1af837543
ACM: Switched to filtered loc
2012-08-14 14:11:52 -07:00
Jason Short
cdd2093a4c
ACM: Switched to filtered_loc for distance calcs
2012-08-14 14:11:52 -07:00
Jason Short
a4bc5950cf
ACM: Added a filtered version of Location for GPS lag.
...
I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
2012-08-14 14:11:51 -07:00
Jason Short
993c89c4f8
ACM: Revved the version
2012-08-14 14:11:51 -07:00
rmackay9
2a83f1eef2
ArduCopter: remove RTL_LAND parameter as it's been deprecated in favour of APPROACH_ALT.
...
Updated comments on ALT_HOLD_RTL and APPROACH_ALT to make it a little easier to understand.
2012-08-14 12:14:35 +09:00
Jason Short
b01a71c4b9
ACM: Toy mode updates - added second toy mode
2012-08-11 22:37:27 -07:00
Jason Short
8160aa6103
ACM : Toy mode updates
2012-08-11 22:37:27 -07:00
Jason Short
1e0ab8768e
ACM: Toy mode updates
2012-08-11 22:37:26 -07:00
Jason Short
b27c1ce396
ACM : Added check for second Toy mode
2012-08-11 22:37:26 -07:00
Jason Short
11b7475ff9
ACM : Added CH7 multimode triggers, split Toy mode into two
2012-08-11 22:37:26 -07:00
Jason Short
45574c0b1a
ACM : CH_7 multimode option added
2012-08-11 22:37:26 -07:00
Jason Short
c305237e3a
ACM : Added CH_7 Multimode
2012-08-11 22:37:26 -07:00
Andrew Tridgell
3bdc7d41be
INS: disable INS AP_Param table when not on APM1 hardware
...
this could cause overwriting of memory with default values
2012-08-11 22:06:03 +10:00
Amilcar Lucas
780b469b11
ArduCopter: Enable the aux servos later, only in the slow periodic loop
...
This might solve some of the boot issues some users are having
2012-08-11 12:58:13 +02:00
Andrew Tridgell
81440a1b09
AHRS: fixed build
...
AP_Airspeed.h is now needed to build AHRS
2012-08-11 12:22:55 +10:00
Andrew Tridgell
c2dc920d02
ACM: allow users to set the AHRS_YAW_P and AHRS_RP_P
...
the forced set left users with parameters they couldn't use
2012-08-11 08:35:10 +10:00
Jason Short
3ad08b7ffc
ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second.
2012-08-10 10:02:32 -07:00
Jason Short
9a568385b0
ACM increase the minimum speed at WP
2012-08-10 10:01:40 -07:00
Jason Short
be0559864c
ACM : switched to get_bearing_cd
2012-08-09 17:04:30 -07:00
Jason Short
132ac7d412
ACM : attitude.pde - removed unused function
2012-08-09 17:04:12 -07:00
Jason Short
e73c0250ad
ACM: Radio.pde - toy mode updates
2012-08-09 17:00:11 -07:00
Jason Short
f641c5d077
ACM system.pde - toy mode update, cleanup of throttle cruise code
2012-08-09 16:59:44 -07:00
Jason Short
35839070ad
ACM - isolated Toy code
2012-08-09 16:59:44 -07:00
Jason Short
adf5939ba4
ACM: navigation - Alt cleanup, fast corner support
2012-08-09 16:59:44 -07:00
Jason Short
6037fabb5c
ACM Motors.pde
...
Added Toy mode options,
Added DCM kp set to .1(armed) and .8 (disarmed)
2012-08-09 16:59:44 -07:00
Jason Short
88a94c88b5
ACM : more aggressive and flexible flip code. Will flip right or left, and while pitching hard.
...
Increase in throttle is removed from init sequence to remove delay.
2012-08-09 16:59:44 -07:00
Jason Short
d674baadd2
ACM : Events - renamed target alt
2012-08-09 16:59:44 -07:00
Jason Short
07bd1940e7
ACM Defines.h -added Toy mixer enums
2012-08-09 16:59:43 -07:00
Jason Short
26e3d6090e
ACM control modes - renames CH_7 flag
2012-08-09 16:59:43 -07:00
Jason Short
3e57f8afd8
ACM: config.h = updated default gains
...
More yaw rate control
2012-08-09 16:59:43 -07:00
Jason Short
b5156185cc
ACM Commands parser to look for future nav commands to inspect upcoming turn angle
2012-08-09 16:59:43 -07:00
Jason Short
d796814dfc
ACM : Commands Logic
...
Altitude cleanup
2012-08-09 16:59:43 -07:00
Jason Short
98b8866215
ACM: Added fast corner support
2012-08-09 16:59:43 -07:00
Jason Short
5d756decd2
ACM : Attitude.pde
...
yaw limit, moved toy code out of att to it's own pre
2012-08-09 16:59:43 -07:00
Jason Short
02649f3f11
ACM : Arducopter.pde
...
command_nav_index upped to in16t for negative number
renamed trim flag > CH7_flag
Added fast_corner var
removed unused alt vars
Alt hold I term update
2012-08-09 16:59:43 -07:00
Jason Short
4a56e8ea2c
ACM : Toy Mixer options
2012-08-09 16:59:43 -07:00
Andrew Tridgell
dc47074dbd
MAVLink: removed the need for Mavlink_compat.h
...
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
2012-08-09 12:22:46 +10:00
Andrew Tridgell
2a7b298bbc
MAVLink: moved mavlink variables back to library
...
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
2012-08-09 12:06:21 +10:00
Amilcar Lucas
d34549f386
Add an optional second mount to ArduPlane and ArduCopter
2012-08-08 23:22:24 +02:00
Amilcar Lucas
0b0b9c29a2
Allow fully independent operation of two AP_Mount instances
2012-08-08 23:11:23 +02:00
Amilcar Lucas
9cc705939a
Add a second mount instance
2012-08-08 23:07:25 +02:00
Andrew Tridgell
03714fc695
ACM: make it possible to set AHRS_GPS_GAIN on ArduCopter
...
this was affected by the AP_Param change, in particular the
constructor ordering. To ensure a user can set AHRS_GPS_GAIN to 1.0 if
they want to, we need to do a set_and_save() if the value isn't in
EEPROM
2012-08-08 17:36:01 +10:00
Andrew Tridgell
103b02fe94
ACM: removed pointless load() calls
2012-08-08 16:51:14 +10:00
Andrew Tridgell
fb26160d3b
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
Andrew Tridgell
c2a4d59132
AP_Param: update ArduCopter core for new AP_Param interface
2012-08-08 12:11:57 +10:00
rmackay9
f79b90725e
ArduCopter: Dan Gray's fix for Condition_Yaw
...
command_yaw_dir is an unsigned byte but was being set to a -ve number leading to very incorrect yaw target heading for counter clockwise turns.
command_yaw_end (i.e. turn's end target) was not being set if turn was of type "relative"
2012-08-07 06:43:10 -07:00
Amilcar Lucas
d9f1140278
ArduCopter: Use generic channel names for AP_Mount servos.
...
This simplifies mission planner, the same code can be used for plane and copter now.
2012-08-06 23:33:51 +02:00
Amilcar Lucas
e93daca17e
Fix heli compilation
2012-08-06 23:30:02 +02:00
Amilcar Lucas
f14237126a
Add me :)
2012-08-06 00:40:12 +02:00
Amilcar Lucas
aa3cc63b15
ArduCopter: Make the code fit in a 1280 chip again
...
Even allows to control a camera/antenna mount, if the user explicitly wants to.
2012-08-06 00:23:48 +02:00
Amilcar Lucas
0106c133cf
Default CLI_SLIDER_ENABLED to DISABLED
...
Chris asked for this on the mailing list
2012-08-06 00:22:33 +02:00
Amilcar Lucas
af08b630cd
Spellcheck in comments
2012-08-06 00:21:14 +02:00
Amilcar Lucas
107155fa1a
AP_Mount: Allow using any RC channel to control any of the mount axes.
...
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
2012-08-05 23:48:57 +02:00
Amilcar Lucas
b8c7b8a786
RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.
2012-08-05 23:08:31 +02:00
Amilcar Lucas
afd96025a7
ArduCopter: Save more space in APM1280
2012-08-05 23:05:52 +02:00
Amilcar Lucas
9c1ac2d9e6
More work on ch9, 10 and 11
2012-08-04 19:44:41 +02:00
Amilcar Lucas
4ba847c449
The mount type must be updated periodically
2012-08-04 18:44:08 +02:00
Amilcar Lucas
bbc4bdb729
More flexible RC support
2012-08-04 18:39:20 +02:00
Amilcar Lucas
d29f7023cc
Merge from ArduPlane
2012-08-04 18:38:50 +02:00
rmackay9
c091c8e0e6
ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode.
2012-08-01 12:15:02 +09:00
rmackay9
a5b5f6a619
ArduCopter: bug fix to global var_info parameter list for ahrs object.
2012-08-01 10:52:27 +09:00
Andreas M. Antonopoulos
7262b0429a
AP_Limits: experimental "bounce" mode.
2012-07-31 18:39:58 -07:00
Andreas M. Antonopoulos
de85442c36
AC2.7.1: Updated version and tag
2012-07-31 13:11:17 -07:00
Jason Short
8c47b0c087
ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling.
2012-07-30 15:43:05 -07:00
rmackay9
77b1785bc6
ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values
2012-07-30 11:01:45 +09:00
Michael Oborne
e577b51e17
AC remove attitude hil unused extra (gps jump issue.)
2012-07-29 08:18:41 +08:00
rmackay9
5cb4a88292
ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered)
2012-07-28 23:05:05 +09:00
rmackay9
3047084ed3
ArduCopter: added DMP_ENABLED to APM_Config.h to make it easier for people to enable it.
2012-07-28 16:31:38 +09:00
rmackay9
670a66667f
ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing)
2012-07-28 16:22:35 +09:00
Michael Oborne
ef870e3ca1
AC remove some attitude HIL limitations
2012-07-28 13:59:30 +08:00
rmackay9
94cb325184
ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP
2012-07-28 14:21:45 +09:00
rmackay9
014f5aae99
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +09:00
rmackay9
f97257830b
ArduCopter: changes in arducopter to support moving AHRS var_info from AP_AHRS to AP_AHRS_DCM
2012-07-28 14:18:31 +09:00
rmackay9
8e5312a759
ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command
...
do_nav_roi and verify_nav_roi functions added to turn the copter and/or mount in response to a MAV_CMD_NAV_ROI way point
2012-07-25 11:02:54 +09:00
Michael Oborne
f4705577c8
AC fix sitl attitude hil build
2012-07-24 21:18:36 +08:00
Jason Short
8188058404
ACM: Failsafe Fix for Mission planner initiated AUTO mode
...
Keeps the failsafe from exiting Auto mode when returning from failsafe. Added arming ability for Toy mode.
2012-07-23 19:34:25 -07:00
Andreas M. Antonopoulos
80cf794c86
AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant.
2012-07-21 17:52:06 -07:00
Jason Short
b17eb7f768
ACM: Fixed Baro rate patch to work with Sonar and added simple filter
2012-07-21 16:45:00 -07:00
Jason Short
96aabb7712
ACM: Lowered default Alt hold P
2012-07-21 16:45:00 -07:00
Jason Short
55c342c858
ACM: Safety patch for CH7 flip toggle. Prevents flipping while on the ground. ouch.
2012-07-20 16:47:05 -07:00
Jason Short
1d085c8cf4
Added minimum speed for RTL
2012-07-20 13:27:35 -07:00
Jason Short
fcd0e12a1e
ACM: Flip code revision to fix bad orientation bug.
2012-07-20 13:27:35 -07:00
Jason Short
ca70acbf64
Arducopter: Added safety check for inadvertent triggering of flip code.
2012-07-20 13:27:35 -07:00
Jason Short
9f6e1347b6
Ardcucopter: RTL distance check update, reset I terms fixed.
2012-07-20 13:27:35 -07:00
Jason Short
613849a8df
Arducopter: Force nav_yaw to match auto_yaw when starting a mission
2012-07-19 22:59:03 -07:00
Jason Short
2b20c85279
Arducopter: cleanup, skip out of throttle control when flipping.
2012-07-19 22:35:21 -07:00
Jason Short
fbe898a6db
Arducopter: motors.pde formatting
2012-07-19 22:35:21 -07:00
Jason Short
3b496ff229
Arducopter: Upped D rate to .005 by default
2012-07-19 22:35:21 -07:00
Andrew Tridgell
0a12b6ad6f
ACM: fixed HIL build with new accel setup code
2012-07-20 12:46:16 +10:00
Andrew Tridgell
85465c9126
MAVLink: fixed another two places where micros() was used for a millisecond time
2012-07-20 11:57:15 +10:00
Jason Short
f46e8468c4
Arducopter: Adjusted speed of climb to not stall out before hitting peak
2012-07-19 17:53:49 -07:00
Jason Short
da6d981479
Arducopter: Testing toy mode - commented out by default
2012-07-19 17:50:42 -07:00
Jason Short
ad45012739
Arducopter: Renamed Config define (RTL_HOLD_ALT)
2012-07-19 17:50:15 -07:00
Jason Short
351b503fb6
Arducopter: Flip Check
2012-07-19 17:49:17 -07:00
Jason Short
49c7579079
Arducopter: Config.h defaults adjustments
2012-07-19 17:48:48 -07:00
Jason Short
610d1d1795
Arducopter: deprecated the get_nav_yaw_offset function.
...
Small Toy mode updates
2012-07-19 17:41:52 -07:00
Jason Short
91062b56af
Arducopter.pde: Increased the throttle Hold altitude control
...
simplified Yaw reset
2012-07-19 17:38:25 -07:00
Jason Short
6506ebf69f
Arducopter: Fix compile issue
2012-07-19 10:09:16 -07:00
Jason Short
5a73a2b9cd
Arducopters parameter: Adjusted RTL_ALTITUDE units so they reflect comments in config.h
2012-07-19 09:50:57 -07:00
Jason Short
2df487ab7b
Arducopter: Slower WP deceleration for RTL and WP navigation
...
Slower descent and slightly faster ascent
2012-07-19 09:50:18 -07:00
Jason Short
3401bd3583
Arducopter: Clarified units in comment
2012-07-19 09:49:13 -07:00
Jason Short
3a62608355
Arducopter: Added Slow_WP setting to regular wp navigation
2012-07-19 09:48:54 -07:00
Jason Short
1efc9eac58
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
c9d3ab5413
Oilpan ADC parameters added
...
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
2012-07-18 22:57:11 -07:00
Jason Short
e09d6ad7a8
Arducopter
...
Simplified the inertial calcs for now
2012-07-18 22:57:11 -07:00
Jason Short
a7b1252b51
arducopter
...
alt hold state reset
2012-07-18 22:57:11 -07:00
Jason Short
c995749aaa
Arducopter
...
upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.
2012-07-18 22:57:11 -07:00
Jason Short
66ac438b9e
Arducopter
...
Better logging for Raw Inertial values
2012-07-18 22:57:11 -07:00
Jason Short
dcf9f9dab1
Arducopter
...
for rate altitude changes
2012-07-18 22:57:10 -07:00
Jason Short
71248fe114
Arducopter
...
increased landing authority
2012-07-18 22:57:10 -07:00
Jason Short
c9851344e7
Arducopter
...
removed old Var
2012-07-18 22:57:10 -07:00
Jason Short
a88d69e40e
Arducopter:
...
Loiter unlimited can now travel to a WP and then loiter.
set_altitude for landing now set to 0
2012-07-18 22:57:10 -07:00
Jason Short
aa645afe2b
Arducopter: Altitude change nav
...
Split altitude hold into two controls to parallel navigation.
2012-07-18 22:57:10 -07:00
Jason Short
cb1cdcd4a7
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
3f5e787fe8
Arducopter: Flip mode
2012-07-18 22:57:10 -07:00
Jason Short
9dad38e91d
Arducopter: Flip mode
...
Flip mode graduates
2012-07-18 22:57:10 -07:00
Jason Short
5965632888
Arducopter: Flip mode
...
Flip mode graduates to pre-compiled option
2012-07-18 22:57:10 -07:00
Jason Short
f73a2004be
Arducopter: INS
...
updated Nav control to use INS
2012-07-18 22:57:10 -07:00
Jason Short
98725be0ec
Arducopter: INS
...
removed calibrate accels for now
2012-07-18 22:57:10 -07:00
Jason Short
97845cace1
Arducopter: INS
...
Updated INS gains
2012-07-18 22:57:10 -07:00
Jason Short
0d8e8e0a04
Arducopter: INS
...
removed IMU test, updated INS test to include normalized gravity accel vector.
2012-07-18 22:57:10 -07:00
Jason Short
bb99bd4626
Arducopter: INS
...
removed zero accells call
2012-07-18 22:57:10 -07:00
rmackay9
33d8cbfd51
ArduCopter: small bug fix to radio.pde to allow code to compile when MOUNT == DISABLED
2012-07-18 23:49:41 +09:00
rmackay9
b691c3f658
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
Michael Oborne
636fcadde4
fix rc libray param gen
2012-07-18 07:03:39 +08:00
Andreas M. Antonopoulos
0e5345d17b
AP_Limits: documentation bug (which uncovered a param_parser bug - the irony burns)
2012-07-16 23:35:11 -07:00
Jonathan Challinger
fc4f111d15
Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground.
2012-07-17 16:15:11 +10:00
Andreas M. Antonopoulos
a976a59c88
AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.
2012-07-16 11:46:43 -07:00
Michael Oborne
e632ad6aa4
AC fix limits param gen header
2012-07-15 18:23:06 +08:00
rmackay9
36ecdff593
ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library)
2012-07-15 16:38:52 +09:00
rmackay9
c495a5f36e
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
rmackay9
761dad4e99
ArduCopter: restored set_range calls for RC_Channels 5 ~ 8.
2012-07-15 16:37:40 +09:00
rmackay9
29b6ec0b11
ArduCopter: reverted channel 5~8 to be regular RC_Channel objects, restored rc_camera_roll and rc_camera_pitch RC_Channels and created new rc_camera_yaw RC_Channel to control the camera mount servos.
...
Defined camera_mount (MNT_) in Parameters.h and Parameters.pde so that it appears in global parameters list.
Removed unused camera_*_gain and camaera_*_continuous parameters.
2012-07-15 16:36:05 +09:00
rmackay9
793fb7f059
ArduCopter: added definition for yaw channels.
...
APM1 uses channel 11 for camera's yaw servo, APM2 uses channel 8. This should allow all frame types except octacopters to potentially use a 3 axis camera mount.
2012-07-15 16:31:23 +09:00
Andreas M. Antonopoulos
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Jason Short
584e7dcda4
Arducopter: Removed Yaw Limit for Quads
2012-07-14 14:06:34 -07:00
Jason Short
44b16b7b61
Arducopter: Temp reversion to old Yaw controller.
2012-07-14 12:26:13 -07:00
Jason Short
e3af0c7920
Arducopter: Yaw stop fix
2012-07-14 12:23:10 -07:00
Robert Lefebvre
59e133235f
Implementing Yaw Fix. Tried to blend with Jason's changes.
2012-07-14 00:24:22 -04:00
Jason Short
4af392290b
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
7b746cf5e1
Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions
2012-07-13 12:51:38 -07:00
Jason Short
d34ca0e6ea
Arducopter - commands: Add home logging
2012-07-13 11:51:40 -07:00
Jason Short
d8ff5dcfab
Arducopter: Fix circle_WP
2012-07-12 09:22:20 -07:00
Jason Short
a28070e0e0
Arducopter: Loiter unlimited fix
2012-07-12 08:52:49 -07:00
Andreas M. Antonopoulos
d4a0cb5db1
Added Michael Pursifull's Maxsonar HRLV model support
2012-07-11 18:46:47 -07:00
Jason Short
7a5544051d
Arducopter
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Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
2012-07-11 17:46:07 -07:00
Jason Short
6f9e2bf3a8
Arducopter: Toy mode update
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Removed debugging printfs,
lowered roll response - was too high in test flights
made roll limit 2500 for testing
2012-07-11 17:46:06 -07:00
Jason Short
1feaaa4655
Arducopter: Toy mode refinements
2012-07-10 21:53:38 -07:00
Jason Short
293f17902b
Arducopter:Arducopter.pde
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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
c04bff67de
Arducopter: Config.h, default gain tweaks from flight tests.
2012-07-10 21:53:38 -07:00
Jason Short
f35b5ba13f
Arducopter:test.pde made a note for WP radius that shows m in the printout.
2012-07-10 21:53:38 -07:00
Jason Short
782ebf5176
Arducopter:Log.pde Logging the calculated Climbrate
2012-07-10 21:53:38 -07:00
Jason Short
3048d2f9b4
Arducopter: WP_radius
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Switching to stored WP_radius in meters, just like Arduplane
2012-07-10 21:53:38 -07:00
Jason Short
0620d86bfd
Arducopter:Params
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WP_RADIUS_DEFAULT is now stored the same as Arduplane
2012-07-10 21:53:37 -07:00
Jason Short
1dbde3f803
Arducopter: Added note
2012-07-10 21:53:37 -07:00
Jason Short
af5423b863
Toy Mode: High Yaw default
2012-07-10 21:53:37 -07:00
Jason Short
19d8c405fd
Arducopter : Force home alt to 0
2012-07-10 21:53:37 -07:00
Jason Short
89fec907e2
Arducopter: CH7 Waypoint saving
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Saves the takeoff Waypoint as Home + new altitude rather than current location.
2012-07-10 21:53:37 -07:00
Amilcar Lucas
dfe0983e1e
Merge the changes from APM_Camera branch into ArduCopter
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Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
2012-07-11 00:39:13 +02:00
Andrew Tridgell
be763a6ead
ACM: use get_distance_cm() not get_distance()
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this fixes a bug introduced in 28f2eb6b9
2012-07-11 07:50:07 +10:00
Andrew Tridgell
0f9fb2c64b
AHRS: added AHRS_GPS_GAIN parameter
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this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
2012-07-10 16:22:48 +10:00
Jason Short
f019d41729
arducopter.pde
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Timer was set =0 at initialization.
2012-07-09 13:13:32 -07:00
Jason Short
226bba48a6
Toy Mode Yaw Rate fix
2012-07-09 13:13:32 -07:00
Jason Short
cf6d73ec88
commands.pde RTL Alt
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fix to maintain current altitude of we are above our RTL alt for safety.
2012-07-09 13:13:32 -07:00
Jason Short
038116f521
Airspeed patch:
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pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
2012-07-09 13:13:32 -07:00
Andreas M. Antonopoulos
384365832a
ArduCopter: Copied parameter documentation from ArduPlane, where appropriate
2012-07-04 23:33:55 -07:00
Andrew Tridgell
8220ae8096
MAVLink: climb_rate is in m/s
2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos
fdbb1ebd42
parameter documentation to test auto build
2012-07-04 20:06:12 -07:00
Andrew Tridgell
60caaa4b04
MAVLink: remove MAVLink 0.9 protocol support
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this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
Adam M Rivera
857ad6c706
Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals.
2012-07-04 21:08:03 -05:00
Adam M Rivera
6e93ab6af6
Parameters: Added flag for camera pitch/roll servos (continuous or regular)
2012-07-04 21:06:21 -05:00
Andrew Tridgell
5ed345fe94
ACM: removed some Location functions which are now in AP_Math
2012-07-04 13:44:36 +10:00
Jason Short
fd97eb5a8d
commands
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fixed logic bug to make a copter loiter after the mission is ended.
2012-07-03 17:38:50 -07:00
Jason Short
37685756df
Config.h:
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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
c29a0bc3f8
Navigation
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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
3a3966736c
Params
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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
8ccda519fa
Arducopter.pde:
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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
b076b571eb
commands_logic: Removed some old unused code
2012-07-03 17:19:19 -07:00
Jason Short
2d572461ec
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
1070eea70b
Log.pde: formatting
2012-07-03 17:16:26 -07:00
Jason Short
1a6549fef7
removed GPS ground speed calc - was causing some funny business during the transition.
2012-07-03 17:16:14 -07:00
Jason Short
c62706ad06
Toy Mode: Yaw performance update.
2012-07-03 17:14:54 -07:00
Jason Short
8a08a74cc6
Config.h : shortening the landing time to 10s
2012-07-02 17:52:38 -07:00
Jason Short
16b25a26c2
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
Jason Short
e0b3309500
Yaw mode:
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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
9a30270879
System.pde - RTL
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removed Approach mode, fixed RTL to loiter until desired altitude is reached
2012-07-01 13:40:12 -07:00
Jason Short
e35fb9ecd7
Parameters
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removed unused parameters for retro loiter
2012-07-01 13:40:12 -07:00
Jason Short
3cf16c1424
GCS_Mavlink.pde
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removed Approach define
2012-07-01 13:40:11 -07:00
Jason Short
ab564b8a86
defines.h
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removed Approach mode enumeration
2012-07-01 13:40:11 -07:00
Jason Short
3646d69faf
read_control_switch
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Removed Prev_WP reference. unneeded.
2012-07-01 13:40:11 -07:00
Jason Short
8ab1acfb92
Config.h
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Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
2012-07-01 13:40:11 -07:00
Jason Short
2ad08fdd98
RTL: Commands.pde
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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
d58ceb2b09
RTL: Commands.pde
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Removed do_approach function - now redundant
2012-07-01 13:40:11 -07:00
Jason Short
c5617eeeac
Arducopter.pde_RTL:
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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
2450c25544
Arducopter: enabled RTL_altitude, renamed function to be more accurate
2012-07-01 13:40:11 -07:00
Jason Short
2e8eee9306
Added code for self centering throttle - disabled by default.
2012-07-01 13:40:11 -07:00
Andrew Tridgell
82ede937e7
AnalogSource: convert analogRead() calls to the new API
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this should give us much better analog values, plus save a bunch of
CPU time
2012-07-01 15:01:05 +10:00
rmackay9
78fa903e17
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
4d6ccccef5
Circle_WP distance check fix
2012-06-29 21:20:28 -07:00
Jason Short
59d16f5fe0
Commands.pde: increased bad WP distance check
2012-06-29 21:20:28 -07:00
Jason Short
eea788b63f
navigation.pde : Added a drag/velocity prediction filter for improved I term wind correction.
2012-06-29 21:20:28 -07:00
Jason Short
031830b5fe
System.pde: Toy mode details for set_mode()
2012-06-29 21:20:28 -07:00
Jason Short
c276fe8fa0
GCS_Mavlink: added notes to #if malink10
2012-06-29 21:20:28 -07:00
Jason Short
0011190880
defines.h: Toy Mode defines for flight modes
2012-06-29 21:20:28 -07:00
Jason Short
4450d80ea3
Config.h: Optimizing Nav gains
2012-06-29 21:20:28 -07:00
Jason Short
3ce867508b
Attitude.pde: Toy mode logic
2012-06-29 21:20:27 -07:00
Jason Short
668135ea8b
Arducopter.pde: Added Toy mode refinements
2012-06-29 21:20:27 -07:00
Jason Short
49401bffae
Params: Added toy_yate_rate
2012-06-29 21:20:27 -07:00
Jason Short
5e4d28baf0
Added Toy mode to navigation
2012-06-29 21:20:27 -07:00
Jason Short
e036bee424
Aeducopter.pde: Toy mode updates
2012-06-29 21:20:27 -07:00
Adam M Rivera
61baa666c4
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
55092c25a6
SITL: enable the SIM_* parameters in ArduCopter and ArduPlane
2012-06-29 15:10:52 +10:00
Adam M Rivera
dadc7d5a7d
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
33440567e6
ACM: ArduCopter updates for new compass interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
dae1a57dc5
ACM: adapt the ArduCopter code for new barometer interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
b676caa626
ACM: enable GPS in AHRS for ArduCopter
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this is an experiment in centripetal correction for multicopters
2012-06-27 16:01:49 +10:00
Jason Short
eeab4c5363
Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco.
2012-06-26 10:39:42 -07:00
Jason Short
c76ac4543b
Added user editable define for Super simple radius
2012-06-26 10:38:46 -07:00
rmackay9
068fe64b9b
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
2012-06-26 22:50:17 +09:00
Jason Short
812bf7d874
Attitude.pde - Added small boost to alt hold for takeoff.
2012-06-25 23:12:19 -07:00
Jason Short
46fb3b783a
GCS_Mavlink.pde : mav_nav only used in legacy Mavlink.
2012-06-25 23:08:25 -07:00
Jason Short
cd93c40f09
Added Toy Mode control
2012-06-25 23:08:25 -07:00
Jason Short
807c4ced34
Added Toy Mode defines
2012-06-25 23:08:25 -07:00
Jason Short
80d15368bc
Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with.
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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
7f92d702ab
commands.pde: fixed unit error for distance check
2012-06-25 23:06:28 -07:00
Jason Short
a0dc1f7ab1
Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm
2012-06-25 23:06:28 -07:00
Jason Short
c71c503c84
GCS Mavlink.pde: change reference to nav_bearing to target_bearing.
2012-06-25 23:06:28 -07:00
Jason Short
53d2a46cd6
Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s
2012-06-25 23:06:28 -07:00
Jason Short
92d481c08c
inertia.pde: WIP don't fly with inertia enabled until FN.
2012-06-25 23:06:28 -07:00
Jason Short
28829b0d60
Log.pde: removed nav_bearing reference and replaced with target_bearing ref
2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos
bef005b5f2
AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane
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http://code.google.com/p/arducopter/issues/detail?id=430
2012-06-24 17:01:25 -07:00
Robert Lefebvre
1064dcbd34
Open up constraint on Rate Yaw Output for all copters.
2012-06-22 10:06:01 -04:00
Jason Short
7e0708ca36
Config.h - returned low to original 120
2012-06-20 15:22:35 -07:00