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1686 Commits

Author SHA1 Message Date
rmackay9 c1ce0ae752 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy 
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
 2012-12-06 10:30:49 +09:00
Robert Lefebvre 6f8958289f ACM: Small fix to Yaw Look Ahead 2012-12-04 14:50:14 -05:00
Robert Lefebvre 5863c737a1 ACM: TradHeli 
Fixes for Attitude rate controllers.
 2012-12-04 14:42:04 -05:00
Robert Lefebvre b225bc8cb8 ACM: TradHeli 
Creating Rate Feed-Forward Parameters
 2012-12-04 13:47:38 -05:00
Robert Lefebvre 45e6e2bc9a ACM: TradHeli APM_Config.h changes 2012-12-04 13:32:40 -05:00
Robert Lefebvre fdcf966df7 ACM: Yaw Look Ahead Changes 2012-12-04 13:26:41 -05:00
Robert Lefebvre ac8a6b7c3e ACM: Code Cleanup 2012-11-30 17:05:12 -05:00
rmackay9 f7a05f577e ArduCopter: bug fix - increase mpu6k sample rate to 100hz 2012-11-30 23:49:18 +09:00
Andrew Tridgell 45e62add9f Copter: update ArduCopter for new ins interface 2012-11-30 07:15:18 +11:00
Michael Oborne da3398d41d AC add ability to start new accel_scale via mavlink 2012-11-28 21:38:58 +08:00
Andrew Tridgell b3f93eab7d Copter: re-enable sending of GLOBAL_POSITION_INT message 
this gives important raw GPS velocity information, plus relative and
absolute height
 2012-11-28 11:26:19 +11:00
Robert Lefebvre 4463150122 ACM: TradHeli 
Bringing in Low Pass Filter for Rate Controllers
 2012-11-26 21:51:23 -05:00
Robert Lefebvre c78ecc4fd1 ACM: Creating Yaw_Look_Ahead yaw mode. 
This function is not fully tested yet.
 2012-11-26 21:37:13 -05:00
Robert Lefebvre 332b728ebf ACM: TradHeli 
Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
 2012-11-26 21:21:12 -05:00
Robert Lefebvre a4ae24de6c ACM: Begin creation of TradHeli rate control. 
May affect Multi-Rotors.
 2012-11-26 21:02:41 -05:00
Robert Lefebvre ca23a7ba76 ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Robert Lefebvre b29e85dc0a ACM: TradHeli 
Move some TradHeli #defines into one place in APM_Config to clean up config.h and defines.h
 2012-11-26 19:09:55 -05:00
Robert Lefebvre 069749e49c ACM: TradHeli 
Prevent helis from arming while RSC control is switched on.
 2012-11-26 19:03:28 -05:00
Robert Lefebvre 311d190494 ACM: TradHeli 
Removing Angle Boost function.
Does not make sense for helis due to aerodynamics.  Can cause more problems than it solves.
 2012-11-26 18:58:21 -05:00
Robert Lefebvre 6056d4fb7b ACM: TradHeli 
Remove Rate I-term reset when throttle stick is on the bottom.  This could be very bad for helis since it's plausible to use full downstick while flying.
There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway.
Also removed what appears to be some deadwood.
 2012-11-26 18:49:24 -05:00
Robert Lefebvre 31ea32dc9c ACM: TradHeli 
Removing this "throttle" output restriction for TradHelis.
 2012-11-26 18:44:03 -05:00
Andrew Tridgell 901a5326a4 Copter: fixed build error 
thanks to Marco for pointing this out
 2012-11-24 20:39:35 +11:00
Andrew Tridgell 62edd146a3 Copter: added reboot in CLI and over MAVLink 
useful for getting out of CLI
 2012-11-24 18:20:37 +11:00
Andrew Tridgell 386ef45fbb Copter: ported RSSI_PIN option from ArduPlane 
this is useful for OSD users
 2012-11-22 20:59:33 +11:00
rmackay9 79bcdf3625 ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d 2012-11-22 12:50:39 +09:00
rmackay9 ed38440f5b ArduCopter: added ReleaseNotes.txt 2012-11-22 09:51:04 +09:00
Robert Lefebvre 211f964553 Changes to get_throttle_rate() 
Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
 2012-11-21 17:11:38 -05:00
Andrew Tridgell f9892fac60 ACM: allow fetch of parameters by index 
this makes it more efficient to re-fetch parameters that are missing
 2012-11-22 00:16:57 +11:00
Andrew Tridgell 76e9adb8d4 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
Andrew Tridgell 7436974e2f MAVLink: make it possible to enter the CLI over the radio 
this only works on the APM2, where UART0 is also the radio port
 2012-11-21 14:11:05 +11:00
Michael Oborne 9ba3dd735b remove cli planner mode - no longer used 2012-11-21 07:45:45 +08:00
Michael Oborne a9531082e0 fix unit max. and unit type 2012-11-21 07:42:53 +08:00
Andrew Tridgell d1ab9f59fd ACM: support 16 character parameter names 2012-11-20 21:38:58 +11:00
Andrew Tridgell 7a9ef49ea7 ACM: fixed documentation of disabling voltage/current pins for ArduCopter 2012-11-20 20:26:14 +11:00
Andrew Tridgell 202513e327 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
rmackay9 e0f85f63fb ArduCopter: performance monitoring - changed loop counters to uint16_t. 
Removed an unused items from dataflash logging of Performance.
 2012-11-19 11:55:47 +09:00
Andrew Tridgell fc72b86304 SITL: disable optical flow on the desktop build 
it doesn't work yet, as no sensor emulator is available
 2012-11-19 09:04:03 +11:00
Andrew Tridgell b3ffea0ad2 ACM: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
rmackay9 38fdacd93b ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
Andrew Tridgell 604ec021ec MAVLink: improve usefulness of logged GPS velocities 
we need them to align with time to use them for accelerations
 2012-11-17 17:45:30 +11:00
Jason Short ab215838a6 ACM Nav_throttle- removed sign inversion 2012-11-16 17:38:57 -08:00
Robert Lefebvre 6c407e5770 Added Leonard to Contributor List. 2012-11-16 15:43:03 -05:00
rmackay9 3a4d122e32 ArduCopter: low baterry failsafe 2012-11-15 23:35:41 +09:00
rmackay9 414f9b9759 ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
rmackay9 cd5da84698 ArduCopter: flight mode changes ignored while in throttle failsafe 
reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
 2012-11-13 12:50:51 +09:00
rmackay9 6a2cca3610 ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap' 
Changed ArduPlane to keep function consistent with ArduCopter
 2012-11-12 13:30:04 +09:00
rmackay9 dab975301b ArduCopter: remove some variables no longer required with introduction of AP_state 2012-11-12 12:41:25 +09:00
rmackay9 702dd1fb2e ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables 2012-11-12 12:35:58 +09:00
Jason Short 1049381dbe ACM: Added fast descent with Bill P's equation for managed accerlation 2012-11-11 18:23:45 -08:00
Jason Short 27a41c294b ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller. 2012-11-11 18:22:54 -08:00