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1001 Commits

Author SHA1 Message Date
Jason Short 00d5ad9343 Added more Logging for PIDs. 2012-02-26 11:33:36 -08:00
rmackay9 41ea8e3eff ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9 add3133100 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short e4e8189448 added a simple rest of nav_throttle just in case 2012-02-25 13:31:21 -08:00
Jason Short cd55498a5c increased speed of alt hold I term based on Jani's Logs 2012-02-25 13:31:21 -08:00
Jason Short a3f65b4a23 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
Jason Short 68739f3cc4 Based on Jani's latest logs I've made two tweaks to alt hold. 
The first is to remove the filter on the throttle output for alt_hold.

The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
 2012-02-25 13:31:21 -08:00
Andrew Tridgell 6b265c5034 ACM: use a NULL gps pointer in DCM init 
current DCM API does need a GPS reference passed in, but it can be
NULL
 2012-02-25 15:08:49 +11:00
Andrew Tridgell 3fe5b3151b allow MAG_ENABLE to be changed in flight 
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled

This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
 2012-02-25 14:51:09 +11:00
Andrew Tridgell d1f655beee ACM: check the return of compass.init() 
if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell ce5c7c2c85 ACM: don't pass a gps pointer to DCM 
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell 17718720b1 GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 007a6b8958 AP_Param: added special handling for Vector3f 
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
 2012-02-25 11:37:20 +11:00
Jason Short ab945f36df Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
rmackay9 ab0e1d7632 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short ed5db98522 updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short 22982cda0f Loiter updates 2012-02-23 22:03:26 -08:00
Andrew Tridgell 4edf311865 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Jason Short b1340bbf80 added a constraint to D term 2012-02-23 09:14:44 -08:00
Andrew Tridgell b231112957 DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Jason Short 128f19cdf7 Emile's Fixes 2012-02-22 10:27:34 -08:00
Jason Short ac5a4830a1 Marco's Hexa Motors 2012-02-22 09:55:44 -08:00
Jason Short 92cfc8913a revved a version 2012-02-22 09:00:42 -08:00
Jason Short 207ffee856 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short ac81ddef04 commented out control mode debug print 2012-02-21 21:48:07 -08:00
Jason Short 7bfda28cdc removed old comments 2012-02-19 14:21:27 -08:00
Jason Short 70d7a1f5d0 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short 434b059586 reset slow_WP option at mode switch 2012-02-19 13:13:42 -08:00
Jason Short 151e710668 Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short 4b52dde882 set Slow WP option for RTL in Auto mode 2012-02-19 13:12:23 -08:00
Jason Short 79a9665c9d Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short ba2cfee2fb Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Jason Short a4b8119c24 added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short 2a5a7fa245 Added SW test for Manual Boost 2012-02-19 12:39:40 -08:00
Randy Mackay b4ee111c49 TradHeli - change throttle range back to 0~1000 (was temporarily changed to be 1250~850 which limited the range of the swash plate's vertical movements) 2012-02-20 00:27:12 +09:00
Randy Mackay 7c4ef140b9 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Andrew Tridgell 1fc24b506e AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell b06f35eaa2 Heli: fixed some 'used before initialised' warnings 2012-02-19 16:34:43 +11:00
Jason Short f86e1ed63f Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Jason Short aeed144180 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short 5d658e5743 Change 800 to a define 2012-02-18 21:13:28 -08:00
Jason Short 83ad721b73 added Axis_Lock params 2012-02-18 21:13:06 -08:00
Jason Short 0517ed5199 updated throttle range 2012-02-18 21:11:06 -08:00
Jason Short 669e8e34ea added a limit to range output 2012-02-18 21:08:17 -08:00
Jason Short aa57fce9f4 some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Randy Mackay e3c24fbce8 ArduCopter - fix for yaw control on Octa Quad Plus frame. 2012-02-18 22:04:09 +09:00
Randy Mackay b55db247ca TradHeli - fixed small parameter bug affecting helis. The servo parameters were declared as GSCALAR instead of GGROUP in Parameters.pde. 
also renamed heli parameters from _coll_ to the more descriptive _collective_
 2012-02-18 20:57:51 +09:00
Randy Mackay cd89258294 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Andrew Tridgell db4fef174b ACM: expanded EEPROM parameter area by 256 bytes 2012-02-18 10:51:57 +11:00
Andrew Tridgell 6b357fc66b AP_Param: fixed saving of sensor calibration 
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
 2012-02-18 10:51:57 +11:00
Jason Short 677df0fe1c added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short 0d5f7ca072 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short 03aa28224b re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short 9c7b8586d5 Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short 75919436ac added extra gain logging 2012-02-16 22:09:22 -08:00
Jason Short cbe297b634 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short 6732f0934a cast to float 2012-02-16 22:09:21 -08:00
Jason Short 6913400221 cast D term to float just in case 2012-02-16 22:09:21 -08:00
Jason Short 43e695b1ac removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short b070225366 CH 6 Range setup 2012-02-15 11:47:54 -08:00
Jason Short bb4c02fbff Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short f2b6b86265 allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short efb451e475 Marco's updated Motor testing code 2012-02-15 10:49:35 -08:00
Jason Short f9296796fd Added lengthy note about motor testing 2012-02-15 10:49:11 -08:00
Jason Short 0b011e3cd3 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short 101979ed7b AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short f20952df49 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short 11d1973abd Added Acro_P 2012-02-15 09:10:14 -08:00
Jason Short 67892cd8df synced params 2012-02-15 09:10:14 -08:00
Jason Short c916a87a78 added RTL_land_enabled 
added auto_pilot slew rate
 2012-02-15 09:10:14 -08:00
Jason Short eee43608de Added new params for CH6 Tuning 
moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
 2012-02-15 09:10:14 -08:00
Jason Short 4ecbb19dcd Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short ff627a8986 removed unused Vars 2012-02-13 15:25:23 -08:00
Jason Short a69dc32020 Lowered for Jani 2012-02-13 15:25:23 -08:00
Andrew Tridgell 153575a01c token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell 16a5b5c3ee added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 781617cae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell 50f9d12ad5 go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell f5f6e2d4ec added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell d2a4091716 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell 1bf832de2d the ACM parameters have a max size of 1114 bytes 
to ensure that all parameters can be saved, expand parameter area by
256 bytes
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 1af6f08b1c adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell da1526ced2 update ACM MAVLink code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell f363d0542c fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell 55d0ad3255 update main parameter code for AP_Param in ACM 2012-02-13 16:22:52 +11:00
Andrew Tridgell 2133b9fb08 log: fixed some integer size errors 
need to be careful with the types passed to printf()
 2012-02-12 20:38:37 +11:00
Pat Hickey abd85f99a7 Makefile: extra convenience target for apm2hexa 2012-02-11 16:05:51 -08:00
Pat Hickey 0ad15e4fff ArduCopter Hexa output_motor_test: individually select all 6 motors 
* each of the 6 hexacopter motors can be selected individually
  by moving the joystick to extremes.

* previously, this was built from the quadcopter output_motor_test
  and some motors (left/right motors on +, front/back motors on X)
  were only selectable as pairs.
 2012-02-11 16:05:51 -08:00
Pat Hickey 81ce8d346e ArduCopter setup motors: print basic instructions. 2012-02-11 16:05:51 -08:00
Pat Hickey 2022c1bab0 ArduCopter APM_Config.h: add sample custom channel config 
* uses new config variables introduced in 8a19543fd1e09621ba
 2012-02-11 16:05:51 -08:00
Pat Hickey db4195b7a0 ArduCopter Channel Config: config vars for user override of MOT_n mapping 
* config variable CONFIG_CHANNELS has possible values
  CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
  CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
 2012-02-11 16:05:51 -08:00
Jason Short 0315221bd1 Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short f369a02aab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -08:00
Jason Short c39cafc3c5 reset All for Auto takeoff 2012-02-10 22:54:29 -08:00
Jason Short 7c45d2bdc3 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short 8cc480f7e6 upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short 1851dd541b Made Yaw Hold universal for Acro 2012-02-10 22:32:55 -08:00
Jason Short 32e7b075d9 Moved to Rate_I by default for Jani to test 2012-02-10 22:32:55 -08:00
Jason Short 4f44ccc182 get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short 927fc25421 made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short 480be14eb0 Minimize the Yaw Deadzone 2012-02-10 22:32:55 -08:00
Jason Short b29384581a Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short 7cb4711e8e reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00
Jason Short 8a1c2165b2 Fix for disabled CH7 value triggering WP saving 2012-02-09 22:32:04 -08:00
Jason Short a27bd9db46 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short fb003e9742 Enabled PWM test 2012-02-09 22:22:01 -08:00
Jason Short e5a0959394 Found missing Break in Switch statement. 2012-02-09 22:22:01 -08:00
Jason Short 471bd12799 faster FS timer 2012-02-09 22:22:00 -08:00
Jason Short 0f3c3bb563 Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune. 2012-02-09 22:22:00 -08:00
Jason Short d00d6b8c64 Added safety to prevent shutdown of motors during Auto-land 2012-02-09 22:22:00 -08:00
Jason Short f3547a04a5 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Randy Mackay 7745239c13 ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00
levinemax 0d3369af45 Motor mix update for X8 (octo quad), 
diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
 2012-02-09 03:57:40 +00:00
Randy Mackay 31ff9a9318 ArduCopter - Camera.pde - turn off camera pitch control (which uses channel 6) when channel 6 is being used for tuning. 2012-02-08 23:51:53 +09:00
Randy Mackay e9ef79c42d Arducopter - reduced rate of decent when landing using sonar 2012-02-08 22:46:32 +09:00
Randy Mackay 54fe857236 ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments 2012-02-05 16:56:51 +09:00
Randy Mackay bde1ebb56e TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction. 2012-02-05 11:04:38 +09:00
Andrew Tridgell c95a295fd6 allow for lower serial baud rates 
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
 2012-02-04 19:07:18 +11:00
Jason Short d161c0451f fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
Michael Oborne 484b688700 fix issue 502 
to identify quad over mavlink
 2012-02-03 06:53:08 +08:00
Pat Hickey b65eb110bd Revert all changes to ArduCopter Motors MOT mappings. 
Revert "Arducopter Motors Octa: Change V frame MOT_ output ordering."

This reverts commit bdab02f408ddc5451fcb4c6390b2475d31ac657f.

Revert "hexa frame FRAME_CONFIG fixup"

This reverts commit d15e692df613cb728ec671a54dce166f6f1940a0.

Revert "Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME"

This reverts commit cb0a8c62fbd07a8ae9dcb8d4fffce337ace1aa1c.

Revert "Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame"

This reverts commit 120d7f9050d5ec9f8fbe02c0ed4f38621949f4ee.

Revert "Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME"

This reverts commit 7d65ec311fd2e1222a36d0b34c366e21f3869fcc.

Revert "Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines."

This reverts commit 47c6e8662f4d5e8fb920f2049338541343d8d18e.

Revert "Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types."

This reverts commit 8259c90ec7cb29dedac19890cd9a4449b7399e36.
 2012-02-01 10:14:46 -08:00
analoguedevices 256893f385 credits 2012-02-01 04:44:36 +00:00
analoguedevices d86dbd1c6f Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Pat Hickey 48b152d642 ArduCopter Octa: fix yaw motors for Octa V. 
* I based this off the APM1 Octa V diagram at
  http://code.google.com/p/arducopter/wiki/AC2_Multi
 2012-01-31 19:37:49 -08:00
Pat Hickey ca18eb3f8f Arducopter Motors Octa: Change V frame MOT_ output ordering. 
* I backed this out from Max's changes, but I'm not sure whether its correct.
 2012-01-31 18:19:41 -08:00
Pat Hickey 417d75eb50 hexa frame FRAME_CONFIG fixup 2012-01-31 18:19:41 -08:00
Pat Hickey 41ea9079be Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME 2012-01-31 18:19:41 -08:00
Pat Hickey 7d264d1150 Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame 
* This will change the output order for APM2, but not APM1.
 2012-01-31 18:18:13 -08:00
Pat Hickey 5cee2b674b Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME 2012-01-31 18:18:13 -08:00
Pat Hickey 8463acc978 Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines. 
* HEXA_X_FRAME and HEXA_PLUS_FRAME merged back into HEXA_FRAME
* OCTA_V_FRAME merged back into OCTA_FRAME
 2012-01-31 18:18:13 -08:00
Pat Hickey f32d089f33 Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. 
* HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and
  HEXA_PLUS_FRAME
* OCTA_FRAME stays the same name for X and +, but the V frame
  configuration requires new OCTA_V_FRAME name.
 2012-01-31 18:18:13 -08:00
Randy Mackay 1a1f6cac5d OptFlow - reenable OF_LOITER pid controller and reduce I term 2012-02-01 08:04:18 +09:00
Jason Short 4402a92e85 Loiter PIDs 2012-01-30 21:13:03 -08:00
Jason Short 5de459a160 tweaks to Loiter 2012-01-30 21:13:03 -08:00
Jason Short 06d54bf0e8 ATT tuning update 2012-01-30 21:13:03 -08:00
Jason Short c181186690 tuning 2012-01-30 21:13:03 -08:00
Jason Short 90ee552bd1 cosmetic 2012-01-30 21:13:03 -08:00
Jason Short 3050c1d765 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short f2afa39bbd Cosmetic 2012-01-30 21:13:03 -08:00
Jani Hirvinen b3dd07038b Minor changes for PID for jDrones motors due latest changes on control laws. 2012-01-31 09:00:31 +07:00
Jason Short ba81e2aa69 pid_nav_lat incorrectly labeled 2012-01-29 23:02:00 -08:00
Jason Short cc45bd47fe cosmetic 2012-01-29 21:55:17 -08:00
Jason Short d93e259289 Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short 25c2c9b437 removed filter. Don't need it. 2012-01-29 17:10:52 -08:00
Jason Short c855c81d2a limiting alt hold rate error to 1m/s 2012-01-29 17:08:34 -08:00
Jason Short 370d633f51 Lowering the throttle_P values by default 2012-01-29 16:27:13 -08:00
Jason Short af0b0d5a7f made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Randy Mackay cff6799d18 TradHeli - fix to servo limits. They had been unnecessarily limited to the collective pitch's min and max but actually there are cases (for example when the swash is leaning over 45degrees) where one servo goes well beyond the collective pitch's min or max. 2012-01-29 21:14:37 +09:00
Randy Mackay 1cbbe7bc7d Optflow - minor fix to D term defaulting 2012-01-29 21:06:41 +09:00
Jason Short 2a8044c666 Landing update for better baro landing 2012-01-28 22:35:57 -08:00