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426 Commits

Author SHA1 Message Date
Jason Short
146a4b021f Arducopter.pde: Added Toy mode refinements 2012-06-29 21:20:27 -07:00
Jason Short
c830ab6ded Aeducopter.pde: Toy mode updates 2012-06-29 21:20:27 -07:00
Andrew Tridgell
1cb96e14a9 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Adam M Rivera
44ce8fc4bc 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
7883c4a545 ACM: ArduCopter updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell
7eb150a2f0 ACM: adapt the ArduCopter code for new barometer interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell
d71e82191f ACM: enable GPS in AHRS for ArduCopter 
this is an experiment in centripetal correction for multicopters
 2012-06-27 16:01:49 +10:00
Jason Short
3fcd3100cc Added user editable define for Super simple radius 2012-06-26 10:38:46 -07:00
Jason Short
4872880134 Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with. 
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
8ef60f2d75 Added throttle_min as a user definable param 2012-06-20 14:58:34 -07:00
rmackay9
6b16ca190f ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release 2012-06-15 00:42:59 +09:00
Jason Short
6dc1e02f76 Inertial Control 
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.
 2012-06-13 22:34:45 -07:00
rmackay9
c9093a1609 ArduCopter: updated firmware version to 2.6 Epsilon 2012-06-12 23:22:57 +09:00
Jason Short
ebff84d41e Added Angel's name to contrib list 2012-06-10 12:38:22 -07:00
rmackay9
df72f70aba ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release) 2012-06-08 21:54:09 +09:00
rmackay9
cad76d4e0f ArduCopter: updated firmware description to 2.6 Gamma 2012-06-05 21:28:13 +09:00
Jason Short
60c89ee117 Updates to Flip: 
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
 2012-06-03 22:15:19 -07:00
rmackay9
826cffe688 ArduCopter: Ensure update_GPS does nothing when gps is disabled. 
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
 2012-06-03 23:48:45 +09:00
rmackay9
68de4e0259 ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 17:02:35 +09:00
rmackay9
09695602d2 ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 16:59:23 +09:00
Robert Lefebvre
bafb478924 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
Jason Short
abb426aec3 When RTLing, force home as the final location for loiter. 2012-05-30 11:06:41 -07:00
Jason Short
c45209eaff Broken timer - removed 2012-05-29 12:56:38 -07:00
Jason Short
33d1b5a137 Speed up automatic disarming to 25 seconds for safety. 
renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
 2012-05-29 12:41:35 -07:00
Jason Short
3ba6e1db7a Removed references to a takeoff timer 2012-05-29 11:28:40 -07:00
Jason Short
394f8c6eb0 pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle. 2012-05-29 11:25:04 -07:00
Jason Short
a3a90287f4 changed the way takeoff complete is figured. Looking for high throttle. 2012-05-29 11:25:04 -07:00
Jason Short
4ed48510dc reversed circle_WP calculation so the next_WP refers to the destination around the circle and circle_WP refers to the center. The intent is to make it easier to see via ground station. 2012-05-27 09:21:20 -07:00
Jason Short
e2086decc6 Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled. 2012-05-23 22:00:56 -07:00
Robert Lefebvre
df4246597f Updates to CopterLEDS 
Creation of Nav Blink Function.
 2012-05-22 09:58:37 -04:00
Jason Short
99dee97385 Added note 2012-05-21 09:58:23 -07:00
Jason Short
f8ceec2b4b added check for duplicate time-stamped GPS messages. 2012-05-18 09:54:18 -07:00
Jason Short
be71cbfcc8 Arducopter.pde : 
removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
 2012-05-17 11:05:05 -07:00
Jason Short
7278e8d1e5 removed retro loiter code since Angel has a branch now. 
shrank speed filter to avoid latency
removed unused forward estimator code

placed code for switchover to gps.groundspeed at 1.5m/s

added clamp for D term when below .5m/s to eliminate noise

added hybrid I-term based on speed error and position

changes Loiter D term to use position rather than acceleration to avoid noise
 2012-05-15 22:14:23 -07:00
rmackay9
eaeaa3811a ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
rmackay9
47ea92aa7f ArduCopter: updated version to 2.5.5 2012-05-13 08:47:43 +09:00
Andrew Tridgell
7866740d62 MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI 2012-04-24 22:24:58 +10:00
Adam M Rivera
2ee8237b5f ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define. 2012-04-23 00:19:18 -05:00
Adam M Rivera
692bbee233 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
Jason Short
2aca6c64ab Added a union for casting floats to ints and back when storing Floats to the DataFlash 2012-04-21 15:17:09 -07:00
rmackay9
114e6a3551 ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion 2012-04-21 23:24:57 +09:00
rmackay9
53ddb58c7b ArduCopter - changed optflow object to be APM2 version if necessary 2012-04-21 20:15:55 +09:00
Adam M Rivera
edf15c1b9b Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-20 11:45:38 -05:00
rmackay9
c323efc2d4 ArduCopter - regressed version back to 2.5.4 2012-04-20 21:58:32 +09:00
Adam M Rivera
d09916422a Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera
9181eedf5a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera
ad13854ab7 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
Adam M Rivera
3995381800 Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity. 2012-04-18 23:07:35 -05:00
Adam M Rivera
baf8218b58 ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter. 2012-04-16 16:29:54 -05:00
Adam M Rivera
b891622210 ArduCopter: Changed millis compare to use new config value for approach delay. 2012-04-16 14:04:30 -05:00
Adam M Rivera
8128fb2d5f Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 
Conflicts:
	ArduCopter/Parameters.h
 2012-04-16 10:23:01 -05:00
Adam M Rivera
637f778dd0 ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s). 2012-04-16 10:07:57 -05:00
rmackay9
4dadd888d8 ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM 2012-04-16 23:47:57 +09:00
Adam M Rivera
f27b5d538b ArduCopter, commands_logic: Updated logic to allow as low as 5m. 2012-04-15 19:50:05 -05:00
Adam M Rivera
e4940ec3bb ArduCopter: Added check to make sure user defined approach alt is at least 5. 2012-04-15 16:58:22 -05:00
Adam M Rivera
d1a7fdb9ef ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land. 2012-04-15 16:54:43 -05:00
rmackay9
ccb21613b5 ArduCopter - updated firmware version to "2.6 Beta" 2012-04-14 14:26:44 +09:00
rmackay9
33bd558a94 ArduCopter - LEDS - main code to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:44 +09:00
rmackay9
544237d60a ArduCopter - add includes for new AP_Motors classes. 
Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
 2012-04-04 22:50:43 +09:00
Andrew Tridgell
40d7b07789 MAVLink: port the new adaptive flow control to ArduCopter 
This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
 2012-04-02 11:18:53 +10:00
rmackay9
b0c9a25024 ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100. 
also changed heli_ext_gyro_gain to make it use the tuning range directly.
 2012-03-31 09:28:25 +09:00
Andrew Tridgell
58f539ca35 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE 
we now have the EEPROM option COMPASS_AUTODEC instead
 2012-03-30 14:25:27 +11:00
Adam M Rivera
0727955fe3 ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM. 2012-03-30 14:25:06 +11:00
rmackay9
a12a7a7d87 ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9
2cc87af180 Added multiple new tuning parameters to the inflight channel 6 tuning feature: 
#define CH6_YAW_KI 24
        #define CH6_ACRO_KP 25
        #define CH6_YAW_RATE_KD 26
        #define CH6_LOITER_KI 27
        #define CH6_LOITER_RATE_KI 28
 2012-03-28 23:58:58 +09:00
Andrew Tridgell
4821eb4807 ACM: enable the new compass offset nulling in ACM 2012-03-27 15:37:24 +11:00
rmackay9
eb55234809 ArduCopter - updated firmware version to 2.5.3 2012-03-25 09:13:51 +09:00
rmackay9
1f253c5217 ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter 2012-03-23 23:48:24 +09:00
rmackay9
19981d4864 ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area 2012-03-23 23:12:49 +09:00
rmackay9
198ac97914 ArduCopter - updated version to 2.5.1 2012-03-20 17:08:18 +09:00
Andrew Tridgell
690ad58a64 AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short
223a6f80c8 ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes. 2012-03-18 22:31:22 -07:00
rmackay9
bed667c62e ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero) 
- remove incorrect comments about when loiter target position is reset.
 2012-03-18 15:16:04 +09:00
Jason Short
234a5dc65e ACM: Small fix to nav_throttle to prevent too fast of a landing. 2012-03-16 14:10:19 -07:00
Jason Short
1ecca36dd0 Fixed Scaling bug in Sonar mixing 2012-03-16 14:10:19 -07:00
analoguedevices
eb530a2045 Rev'ed version number to 2.5. Added more credits 2012-03-15 02:38:54 +00:00
Jason Short
59fb1f3542 ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system. 2012-03-13 21:31:16 -07:00
Jason Short
50b4c07261 Lowering the D filter for less latency and less oscillation. 2012-03-13 12:58:46 -07:00
Jason Short
6edad4d9ef ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short
38a60df189 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short
2ac29effe9 ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time. 2012-03-11 23:21:49 -07:00
Andrew Tridgell
1e47ab26f2 AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
 2012-03-11 21:46:41 +11:00
Adam M Rivera
2e1cacd67f AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Jason Short
8b887b77bd ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short
149a484984 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short
0ccfdc664d added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short
037221cd02 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
Andrew Tridgell
34d25ab298 ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell
e780dd2b44 ACM: change DCM loop to 100Hz 
On my APM2 quad this seems to give better results
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell
bc81d8e6ac ACM: only call the fast loop if the imu has new data 
this prevents us spinning waiting for the sensors to gather some data
 2012-03-10 10:34:29 +11:00
Jason Short
13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short
43b3e1ccd1 ACM - 
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
 2012-03-06 22:22:14 -08:00
Jason Short
fe5612d38b Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Jason Short
a096292edb added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Robert Lefebvre
b7ccfb0114 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9
8da8ce5b58 ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine) 2012-02-28 22:56:26 +09:00
rmackay9
701a21ff2f ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short
3ce1633157 Added Loiter Rate Tuning 2012-02-26 11:33:37 -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
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
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
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
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
7bfda28cdc removed old comments 2012-02-19 14:21:27 -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
Randy Mackay
7c4ef140b9 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Jason Short
f86e1ed63f Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Randy Mackay
cd89258294 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
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
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
f2b6b86265 allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short
101979ed7b AP slew rate 2012-02-15 09:10:15 -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
Andrew Tridgell
d2a4091716 fixed apm2beta build with AP_Param 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
Jason Short
0315221bd1 Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short
7c45d2bdc3 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short
927fc25421 made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short
a27bd9db46 2.3.1v 2012-02-09 22:22:01 -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
Jason Short
d161c0451f fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
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
Jason Short
3050c1d765 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short
d93e259289 Added more attributions 2012-01-29 21:53:44 -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
Jason Short
0213f4dd88 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short
8fcb2931d7 Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short
a685510c38 changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay
2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay
2f84b54bbb OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Jason Short
8c4b955282 added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short
275815a7c9 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short
fa06d4a2e3 Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short
e9a4253cd1 added note 2012-01-20 22:52:31 -08:00
Jason Short
2fa8a343ac Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short
ba535ed956 B3 2012-01-20 22:52:29 -08:00
Jason Short
556d646cad 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
0f24860552 Altitude no longer resets when moving loiter WP 2012-01-20 22:52:29 -08:00
Jason Short
aa1f09af83 Lowered range to more sensible values 2012-01-20 22:52:29 -08:00
Michael Oborne
7f272b4c4b fix SITL attitude hil AC 2012-01-20 16:32:25 +08:00
Doug Weibel
2ea9db84e0 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
17b3e514dc Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00