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414 Commits

Author SHA1 Message Date
Jason Short
c00f0d3dfb cleanup 2011-11-21 22:11:06 -08:00
Jason Short
ad813059bb removed unused function 2011-11-20 21:59:55 -08:00
Jason Short
180a851d2c removed the init_esc - reworking the method to avoid the use of the CLI. 2011-11-20 21:24:32 -08:00
Jason Short
023034e9f5 Better function definition 2011-11-20 20:32:46 -08:00
Jason Short
d900449013 Missed a function definition for no_logs option 2011-11-20 20:29:58 -08:00
Jason Short
048c081e9f RTL Yaw hold as default 2011-11-20 12:50:13 -08:00
Jason Short
57f3eafb52 Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Randy Mackay
7ac04af03d ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up 
Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
 2011-11-20 22:30:42 +09:00
Jason Short
d378a31e44 my take at a merge to give tridge a head start at Mav1.0 2011-11-20 00:23:40 -08:00
Jason Short
c6990088f9 Made loiter rad smaller in storage 2011-11-20 00:22:53 -08:00
Jason Short
b503902b34 renamed WP mask 2011-11-20 00:22:53 -08:00
Jason Short
188fbfd878 added some params from Arduplane to make Mavlink upgrade easier 
made loiter radius smaller in storage
 2011-11-20 00:22:53 -08:00
Jason Short
fa80b7a895 removed typo 2011-11-20 00:22:52 -08:00
Jason Short
e1e6268911 renamed MASK_OPTIONS_RELATIVE_ALT 2011-11-20 00:22:52 -08:00
Jason Short
4288280025 renamed set_command_with_index 2011-11-20 00:22:52 -08:00
Jason Short
4967251f16 renamed the options_mask 2011-11-20 00:22:52 -08:00
Jason Short
a2aa4e1e50 renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short
a0cc3bf897 renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short
5761b6b071 Logging stabilization KP to hunt bug 2011-11-19 16:59:54 -08:00
Jason Short
c762abdd00 Logging APVar saves 2011-11-19 16:59:54 -08:00
Jason Short
3a62f9dbd8 new DataLog message 2011-11-19 16:59:54 -08:00
Jason Short
5c762272df Added Arbitrary data logging 2011-11-19 16:59:54 -08:00
Jason Short
85905e3879 missed == 2011-11-19 14:42:57 -08:00
Jason Short
bd8182adda removed some tests 2011-11-19 14:02:00 -08:00
Jason Short
4c95bf27e6 s 
shortened strings, logging defines updated
 2011-11-19 14:01:47 -08:00
Jason Short
1b943276ed shortened strings for mem 2011-11-19 14:00:55 -08:00
Jason Short
bcfbdeb4d3 removed some unused code, made output min by default 2011-11-19 14:00:42 -08:00
Jason Short
13e2ecf096 Upped version 
added new logging params
added crosstrack gain
re-ordered param inits
 2011-11-19 14:00:23 -08:00
Jason Short
f75f514681 added param for crosstrack gain defaulted to 4 2011-11-19 13:59:37 -08:00
Jason Short
fbcc42097b Added crosstrack gain and lowered alt hold rate gain 2011-11-19 13:59:15 -08:00
Jason Short
a661311f60 remove PI_crosstrack 2011-11-19 13:58:53 -08:00
Jason Short
d8529a32a1 return to prev climb rate calc 2011-11-19 13:58:41 -08:00
Jason Short
332684f649 Added optimizations for radian calls to remove a division. 
added a protection for entering AP modes without Home being set by GPS lock.
 2011-11-19 11:08:13 -08:00
Jason Short
cac33f474f added logging of raw baro 2011-11-19 11:08:13 -08:00
Jason Short
366806359d PM restored to normal output 2011-11-17 10:37:01 -08:00
Jason Short
8d6701f072 Log type error fix 2011-11-17 10:27:02 -08:00
Randy Mackay
4baa2fd133 TradHeli - automatically reinitialise swash plate if HSV_MAN is switched from 1 to 0. 
Turn-off feed forward correction to yaw based on collect when in HIL mode.
 2011-11-17 20:43:07 +09:00
Jason Short
16eb5641c2 Working implementation of Jump Command 2011-11-16 21:28:56 -08:00
Jason Short
fc3e7767ba Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short
26f5a6f3f0 disabled raw GPS temp 2011-11-16 00:22:23 -08:00
Jason Short
870b4f3875 Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short
b746556933 Do not write home from GS, 
MAV_Action_Continue disabled until I find out what it does and how to do it.
 2011-11-16 00:22:23 -08:00
Jason Short
2c542a0b69 Made RTL Altitude hold current by default 2011-11-16 00:22:23 -08:00
Jason Short
006cb1ac9c Mission Scripting re-write 2011-11-16 00:22:23 -08:00
Jason Short
8051ebfba3 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
d0729a44b1 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
47354b61ce Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short
d475e7ced5 Added better navigation flag for more accurate dtnav timing 
Added better support for climb rate in SIM
 2011-11-16 00:22:22 -08:00
Jason Short
c6c6a98b0b Fixed typo in notes about timer speed 2011-11-14 12:25:06 -08:00
Jason Short
730668b0c7 scaling width of circle mode to make it more round. 2011-11-13 23:09:42 -08:00
Jason Short
f338e6cc79 fixed bad indexing for setting current mission index 2011-11-13 22:59:57 -08:00
Jason Short
e55ba471bc Moved updated alt to GPS so the climb rate is sane 2011-11-13 22:54:57 -08:00
Jason Short
081cd0a225 Better error and defaults checking 2011-11-13 22:54:18 -08:00
Jason Short
69be03bab8 slowed Circle flight 2011-11-13 13:41:23 -08:00
Jason Short
aefa05e3d9 error checking command saving 2011-11-13 13:41:23 -08:00
Randy Mackay
d804b28638 TradHeli - reversed the direction of "phase angle" to make it more intuitive. This parameter is used to correct for a heli's tendency to lean left or right when the pilot gives it a pitch forward command. 2011-11-13 22:40:46 +09:00
Randy Mackay
2acc1fbd9d TradHeli - added two parameters to improve heli control. 
heli_phase_angle allows pilot roll/pitch command to be translated into mixed roll and pitch.
heli_coll_yaw_effect mixes some collective into the yaw so tail can counter act collective movements more easily.
 2011-11-13 22:20:57 +09:00
Jason Short
4816bf4857 added scale note 2011-11-13 00:25:04 -08:00
Jason Short
c1313ae6a9 Fixed scaling issue with Circle mode 2011-11-13 00:24:25 -08:00
Jason Short
3b825fb8c1 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	Tools/autotest/autotest.py
 2011-11-12 21:53:08 -08:00
Jason Short
e6acbacdb6 nav updates 2011-11-12 21:46:57 -08:00
Jason Short
b8c8d22fed WP counting update 2011-11-12 21:46:03 -08:00
Jason Short
bc6f523d83 updates to Mavlink for zero based WP counting 2011-11-12 21:44:38 -08:00
Jason Short
ccdfa13edb Update and fix for Circle mode 
HIL updates for altitude
 2011-11-12 21:43:21 -08:00
Jason Short
a277e117b3 Fix for WP saving with CH7 2011-11-12 21:40:58 -08:00
Jason Short
38b79a3b03 WIP: adding 255 to represent a completed mission 2011-11-12 21:40:33 -08:00
Jason Short
6283e1bf98 Work in progress for using 0 based counting 2011-11-12 21:39:24 -08:00
Jason Short
043c3197da Added additional nav params to reset 2011-11-12 21:39:00 -08:00
Michael Oborne
9aeda9f702 fix loiter radius 2011-11-13 08:24:56 +08:00
Jason Short
238c4cfab2 Fixed type error in params 2011-11-12 15:15:33 -08:00
Jason Short
511ae85060 Shortened test name 2011-11-12 15:14:32 -08:00
unknown
4fcf11cf6e TradHeli - new parameter HSV_MAN to allow better set-up from APMissionPlanner. Also changed swash movement to use radio_out which fixes some setup bugs 2011-11-12 23:23:07 +09:00
Jason Short
01a4a120df Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-10 10:02:08 -08:00
Jason Short
124527b108 Trying to break Nav to test a feature 2011-11-10 10:01:57 -08:00
Andrew Tridgell
48eb35c45a fixed build error 
the prototype extractor was finding the commented out version of
cross_track_test(), which had a different prototype
 2011-11-10 22:01:09 +11:00
Jason Short
811ec3ec58 made crosstrack functions static 2011-11-09 23:30:16 -08:00
Jason Short
0cee7f0525 removed unused functions, log fix 2011-11-09 23:28:50 -08:00
Jason Short
289d54038f renamed original_target_bearing 2011-11-09 23:04:04 -08:00
Jason Short
7df7dbe883 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-09 22:56:52 -08:00
Jason Short
3cb1f6b197 crosstrack angle variable 2011-11-09 22:56:38 -08:00
Jason Short
d8dcb0e0d0 Added in crosstrack correction - test for SIM 2011-11-09 22:56:09 -08:00
Andrew Tridgell
d69afc3945 HIL: allow for fast HIL attitude update in HIL_MODE_ATTITUDE 
this runs it at the full loop rate
 2011-11-10 13:17:06 +11:00
Jason Short
ae19d2158f back to original config for testing 2011-11-10 13:00:34 +11:00
Jason Short
2a451ba202 Lowered Nav_P based on SIM data 2011-11-10 13:00:34 +11:00
Jason Short
1605d71f32 back to original config for testing 2011-11-09 13:53:26 -08:00
Jason Short
d0211ed4ca Lowered Nav_P based on SIM data 2011-11-09 12:46:34 -08:00
Jason Short
a26758203f CTUN log update 2011-11-09 12:28:12 -08:00
Jason Short
e5b89e4226 Added code notes 2011-11-09 12:07:15 -08:00
Jason Short
c3c08d7915 Code formatting 2011-11-09 12:06:55 -08:00
Jason Short
4d27b725db Tuning nav_WP 
Added more notes
 2011-11-09 12:06:37 -08:00
Jason Short
54790bd981 Lowered Nav_P I term to ramp slower base on SIM 2011-11-09 11:30:50 -08:00
Jason Short
6c9e6f3f96 Added more output to Mavlink for debugging 2011-11-09 11:00:40 -08:00
Jason Short
ee8ab89f6e Added MAV_CMD YAW parsing 2011-11-08 23:44:14 -08:00
Jason Short
78668ce6f1 Added Mav_CMD_Yaw parsing 2011-11-08 23:42:41 -08:00
Andrew Tridgell
e32171b185 call gcs_update() while waiting for GPS lock 
this ensures we react to ground commands, and also allows HIL GPS to
work
 2011-11-09 17:43:55 +11:00
Jason Short
ccc2746a22 removed debugging code 2011-11-08 14:41:46 -08:00
Jason Short
c7eb695b4a SIM test 2011-11-08 14:11:02 -08:00
Jason Short
bc506514c9 fix for SIM GPS 2011-11-08 14:10:09 -08:00
Andrew Tridgell
7b175618fc Log: try to fix -ve lat in logging 2011-11-09 08:46:05 +11:00
Jason Short
50703ed847 restoring throttle i term for SIM 2011-11-08 11:51:49 -08:00
Jason Short
59fb774226 bad hijacking of GPS_Status 2011-11-08 10:48:47 -08:00
Jason Short
31e05e40fd Fixes for Sim - Missing climb rate calculation 2011-11-08 10:46:52 -08:00
Jason Short
51c746c9a4 PID test for alt hold to narrow down on a bug 2011-11-08 10:13:16 -08:00
Jason Short
f80a08bf57 Updated Logs to be C++ compliant 2011-11-07 22:23:48 -08:00
Jason Short
7e49de6596 Update to RTL logic. 2011-11-07 21:30:12 -08:00
Jason Short
7bc6a7a2fa Fix for bad RTL tracking in Autopilot 2011-11-07 21:09:29 -08:00
Andrew Tridgell
2186a5978a Log: fixed a few more casts 2011-11-08 11:59:30 +11:00
Andrew Tridgell
87d5581046 ArduCopter: use specific sized data types in a lot of places 
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
 2011-11-08 11:05:36 +11:00
Jason Short
34a53f6f7d Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Andrew Tridgell
dacf98e201 HIL: enable CTUN log message in ATTITUDE HIL 2011-11-08 07:58:35 +11:00
Andrew Tridgell
a045e4ec7e Log: better way to check for -1 long portably 2011-11-08 07:58:34 +11:00
Jason Short
6d0a32cc65 Alt hold fix 2011-11-07 12:00:37 -08:00
Andrew Tridgell
4113d04f70 Log: make find_last_log_page() portable 
this makes it work with platforms with a larger 'long'
 2011-11-07 23:50:49 +11:00
Andrew Tridgell
0775f57a89 Log: fixed a bug where we could index outside an array 
when we first start up, num_existing_logs may be zero
 2011-11-07 22:56:13 +11:00
Jason Short
8ac8ea9c1d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-06 22:46:57 -08:00
Jason Short
7522b034ca moved to 200hz update 
Zccel Z updates from Aurelio in attitude.pde
lowered baro_alt sanity check
moved user hooks to the medium 10hz loop.
 2011-11-06 22:46:39 -08:00
Jason Short
7bf8ef98f5 default top_bottom ratio 1.0 2011-11-06 22:45:07 -08:00
Jason Short
ec6169000c default top_bottom ratio 1.0 2011-11-06 22:43:49 -08:00
Jason Short
2521b01c69 Y6 Motors now have top bottom ratio 2011-11-06 22:42:59 -08:00
unknown
8ca8ca3e73 AltHold - another correction to the manual boost. Hopefully properly transferring building up I terms to g.throttle_cruise 2011-11-06 19:06:13 +08:00
unknown
28032d0561 AltHold - made TradHeli code also use manual_boost 2011-11-06 18:25:13 +08:00
unknown
0aac828eeb Altitude hold bug fix - changed g.throttle_cruise to be updated to steal I term from correct controller 2011-11-06 17:47:24 +08:00
unknown
b30387bc5b TradHeli - small change to make throttle_cruise in terms of radio input instead of servo output 2011-11-06 17:40:17 +08:00
unknown
c76e1097e3 TradHeli - changed deadzones for throttle to zero (and also reduced for yaw) 2011-11-06 17:37:59 +08:00
Jason Short
37883a93f6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-04 21:42:10 -07:00
Jason Short
80c7e135d5 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
unknown
3df9a03e02 TradHeli - fix to allow tail servo to be reversed. Also increase max movement of tail servo to 45 degrees. 2011-11-05 12:31:30 +08:00
Jason Short
f4db53203b Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:18:56 -07:00
Jason Short
7b88499579 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Andrew Tridgell
73cc32fb0d fixed HIL build 2011-11-02 08:14:07 +11:00
Jason Short
53d7cac075 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 09:30:54 -07:00
Jason Short
eaff769f2f updated Alt hold PIDs 2011-11-01 09:30:34 -07:00
Jason Short
e7cecf03d3 updated baro test 2011-11-01 09:29:55 -07:00
Jason Short
0e8264a759 cleanup 2011-11-01 09:28:36 -07:00
Jason Short
561a5a740b removed accel.z references 2011-11-01 09:28:23 -07:00
Jason Short
e0d82ffa2d alt hold logging 2011-11-01 09:28:04 -07:00
Jason Short
65acc1ae5b resetting alt hold I 2011-11-01 09:27:49 -07:00
Jason Short
09fa260883 Tweaks to alt hold 2011-11-01 09:25:23 -07:00
Jason Short
946db43cc1 altered the interactive throttle to be more aggressive and proportional. 
reworked baro reading strategy.
 2011-11-01 09:24:51 -07:00
Andrew Tridgell
3bf4cb52b1 GCS: fixed timeout loading waypoints (ArduCopter) 
prevents link saturation
 2011-10-31 21:25:58 +11:00
James Goppert
249ce91d78 Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
James Goppert
b655482b98 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-29 15:09:35 -04:00
James Goppert
c56c3e33e1 Working on cmake support. 2011-10-29 15:01:05 -04:00
Jason Short
81de29e398 Added additional NTUN logging entries. 2011-10-29 11:53:50 -07:00
unknown
f241888224 TradHeli - added TUNE value 13 to allow adjusting of external gyro gain using channel 6 2011-10-29 20:34:21 +09:00
unknown
8dc5683dff TradHeli - added throttle scaling and heli specific angle_boost function that takes into account that heli's main blades can have -ve pitch. 2011-10-29 17:27:43 +09:00
Jason Short
3d48ad2569 logging type change in CTUN 2011-10-28 21:59:47 -07:00
Jason Short
4ccc995576 Added save WP note to APM_Config.h 2011-10-28 21:46:31 -07:00
Jason Short
be3843ccb9 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-28 21:29:18 -07:00
Jason Short
a88424b152 Added a slew rate to the alt change rate. 
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
 2011-10-28 21:29:10 -07:00