rmackay9
ff9902c5d6
ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method
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Also removed slow low pass filter meant to correct for accelerometer calibration. This is no longer required now that we have the improved calibration method.
2012-12-12 16:29:46 +09:00
rmackay9
ee164b6073
ArduCopter: remove weird character from navigation.pde
2012-12-12 11:05:16 +09:00
Robert Lefebvre
0537dcd4cc
ACM: TradHeli
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Change name of attitude rate feed-forward parameters.
2012-12-10 21:02:16 -05:00
rmackay9
d9bec28c02
ArduCopter: create 2.9 branch and update firmware version
2012-12-11 00:24:34 +09:00
rmackay9
b170da34ec
ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised
2012-12-11 00:14:29 +09:00
rmackay9
628fb1da15
ArduCopter: fix Failed to Init Optflow message at startup
2012-12-11 00:09:45 +09:00
rmackay9
770e1b97f2
ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE
2012-12-10 23:47:14 +09:00
rmackay9
44773d1f2a
ArduCopter: rename throttle failsafe parameters.
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Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
2012-12-10 23:38:43 +09:00
rmackay9
93fa3fbc69
ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees
2012-12-10 22:27:46 +09:00
rmackay9
29f040acba
ArduCopter: added descriptions for most parameters that did not have them
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Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
2012-12-10 21:45:57 +09:00
rmackay9
34724719d9
ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude
2012-12-10 17:30:50 +09:00
rmackay9
709dc426f9
ArduCopter: remove ThirdOrderCompFilter from list of includes
2012-12-10 09:14:44 +09:00
rmackay9
b65f050b8a
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
2012-12-10 00:43:11 +09:00
rmackay9
97153c32d0
ArduCopter: reduce Rate Roll/Pitch P to 0.150 (was 0.175) and increase I to 0.1 (was 0.01)
2012-12-09 18:08:45 +09:00
rmackay9
6cdcf5e737
ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission
2012-12-09 18:04:31 +09:00
rmackay9
8af9f6ed46
ArduCopter: add comments to tuning parameters.
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Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
2012-12-09 16:44:42 +09:00
rmackay9
ea80a2d0c8
ArduCopter: add comments at the top of many navigation functions
2012-12-09 15:50:50 +09:00
rmackay9
8be1f9d9b8
ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde
2012-12-09 15:24:19 +09:00
rmackay9
618bd1c296
ArduCopter: allow alt hold to be engaged with alt < 1m because sometimes we get baro drift.
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Also initialisation of target altitude is done in set_throttle_mode function.
2012-12-09 14:48:01 +09:00
rmackay9
a4ee5d2c81
ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.
2012-12-09 14:27:33 +09:00
Robert Lefebvre
39013a33bc
ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.
2012-12-08 20:41:05 -05:00
Robert Lefebvre
083c451ec6
ACM: TradHeli
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Fix to make update_throttle_cruise work with stab_throttle scaling.
2012-12-08 15:12:39 -05:00
Robert Lefebvre
c6537ae6e3
ACM: Code Cleanup
2012-12-08 14:49:38 -05:00
rmackay9
90f9b8c076
ArduCopter: remove debug related to yaw mode used for alt hold
2012-12-08 14:24:50 +09:00
rmackay9
f62c377062
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
rmackay9
6596f1728a
ArduCopter: removed unused and out-of-date #defines from APM_Config.h
2012-12-08 13:38:39 +09:00
rmackay9
b973d50d79
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
rmackay9
63a9913278
ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis
2012-12-07 13:01:40 +09:00
rmackay9
8378de6d8c
ArduCopter: do_set_servo fix to resolve -1 being assigned to uint8_t
2012-12-07 12:58:44 +09:00
rmackay9
5c3ca64c12
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
rmackay9
2cff551891
ArduCopter: allow triggering of camera from a mission
2012-12-06 23:48:30 +09:00
rmackay9
bfb033c52b
ArduCopter: fix do_set_servo so that it works again
2012-12-06 20:18:33 +09:00
rmackay9
80d9c76009
ArduCopter: added CH7 option to trigger camera
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Restructured reading of channel 7 into a switch statement.
2012-12-06 17:47:01 +09:00
rmackay9
73b7d1deca
ArduCopter: update comments related to CH7 switch options
2012-12-06 17:40:36 +09:00
rmackay9
e1a351552f
ArduCopter: maintain loiter control even below 1m while landing
2012-12-06 12:40:53 +09:00
rmackay9
c734a42e15
ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz)
2012-12-06 10:32:12 +09:00
rmackay9
9c0984c505
ArduCopter: bug fix - initialise inertial nav
2012-12-06 10:32:07 +09:00
rmackay9
5551f092be
ArduCopter: disable INERTIAL_NAV_XY by default
2012-12-06 10:32:02 +09:00
rmackay9
bdf236ef38
ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter.
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When disabled the original velocity based throttle controller is used.
2012-12-06 10:31:57 +09:00
rmackay9
9750c14325
ArduCopter: RTL clean-up and slightly improved landing sensor
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Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
rmackay9
9447d08fdd
ArduCopter: increase CONTROL_SWITCH_COUNTER so that flight mode switch must be changed for at least 1/10th of a second
2012-12-06 10:31:46 +09:00
rmackay9
eb3ad15843
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
rmackay9
450b6e13a4
ArduCopter: switch on INS in APM_Config.h (i.e. on by default for users uploading through Arduino IDE)
2012-12-06 10:31:36 +09:00
rmackay9
8a0faebb21
ArduCopter: pass linear altitude error to throttle rate controllers.
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Previously the requested rate used the square root of the altitude error.
Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
2012-12-06 10:31:31 +09:00
rmackay9
89e737728c
ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI)
2012-12-06 10:31:25 +09:00
rmackay9
dc0b35da30
ArduCopter: restored landing detector to landing throttle mode.
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Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
2012-12-06 10:31:20 +09:00
rmackay9
b26f2861ff
ArduCopter: removed unused AUTO_THROTTLE_HOLD #define
2012-12-06 10:31:15 +09:00
rmackay9
ea9f357dc0
ArduCopter: remove unused get_desired_climb_rate function
2012-12-06 10:31:09 +09:00
rmackay9
e629fe2eb0
ArduCopter: add set_throttle_mode to better control initialisation of variables
2012-12-06 10:31:04 +09:00
rmackay9
1285198b71
ArduCopter: added back in angle boost and recombined for heli and multicopter
2012-12-06 10:30:55 +09:00
rmackay9
c1ce0ae752
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
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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
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Fixes for Attitude rate controllers.
2012-12-04 14:42:04 -05:00
Robert Lefebvre
b225bc8cb8
ACM: TradHeli
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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
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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
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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.
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This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
Robert Lefebvre
332b728ebf
ACM: TradHeli
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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.
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May affect Multi-Rotors.
2012-11-26 21:02:41 -05:00
Robert Lefebvre
ca23a7ba76
ACM: TradHeli
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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
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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
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Prevent helis from arming while RSC control is switched on.
2012-11-26 19:03:28 -05:00
Robert Lefebvre
311d190494
ACM: TradHeli
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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
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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
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Removing this "throttle" output restriction for TradHelis.
2012-11-26 18:44:03 -05:00
Andrew Tridgell
901a5326a4
Copter: fixed build error
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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
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useful for getting out of CLI
2012-11-24 18:20:37 +11:00
Andrew Tridgell
386ef45fbb
Copter: ported RSSI_PIN option from ArduPlane
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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()
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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
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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
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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.
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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
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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
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improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
Andrew Tridgell
604ec021ec
MAVLink: improve usefulness of logged GPS velocities
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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
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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'
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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
