Jason Short
0075901f77
upped rate loop to 250hz
2012-02-17 15:23:59 -08:00
Jason Short
5218220f0f
re-implemented WII Dampening filter for Marco.
2012-02-16 22:38:23 -08:00
Jason Short
b052dab80d
Adjusted gains to move closer to Marco's tests
2012-02-16 22:19:39 -08:00
Jason Short
17c6c7b294
added extra gain logging
2012-02-16 22:09:22 -08:00
Jason Short
908ca4e915
scaled X velocity
2012-02-16 22:09:22 -08:00
Jason Short
bc1593e89c
cast to float
2012-02-16 22:09:21 -08:00
Jason Short
632cc783a1
cast D term to float just in case
2012-02-16 22:09:21 -08:00
Jason Short
36a120d8df
removed some unused vars,
...
formatting, made loop speed same as PIDT1 to eliminate variable.
2012-02-16 22:09:21 -08:00
Jason Short
a43ee36bee
CH 6 Range setup
2012-02-15 11:47:54 -08:00
Jason Short
3d63bb6cd4
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
e8b6f5ecee
allow auto-land if failsafe is triggered
2012-02-15 10:53:54 -08:00
Jason Short
fabeccad4a
Marco's updated Motor testing code
2012-02-15 10:49:35 -08:00
Jason Short
73591a0ca5
Added lengthy note about motor testing
2012-02-15 10:49:11 -08:00
Jason Short
9a3e862b55
added option in code for Loiter specific gains
2012-02-15 09:10:15 -08:00
Jason Short
e249c8466d
AP slew rate
2012-02-15 09:10:15 -08:00
Jason Short
21856e7696
new defaults for params
2012-02-15 09:10:15 -08:00
Jason Short
fcb24ee17d
Added Acro_P
2012-02-15 09:10:14 -08:00
Jason Short
574b86b02e
synced params
2012-02-15 09:10:14 -08:00
Jason Short
91edeeeef2
added RTL_land_enabled
...
added auto_pilot slew rate
2012-02-15 09:10:14 -08:00
Jason Short
aa0662008b
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
05abe44f32
Added range setting via a parameter for CH6 tuning
2012-02-15 09:10:14 -08:00
Jason Short
c9b432955d
removed unused Vars
2012-02-13 15:25:23 -08:00
Jason Short
4faba2048c
Lowered for Jani
2012-02-13 15:25:23 -08:00
Andrew Tridgell
ecdbfd257a
token is 16 bits now
2012-02-13 16:22:53 +11:00
Andrew Tridgell
d55a0c3a71
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
Andrew Tridgell
0f9adbdae0
token size for first()/next() is now 16 bits
2012-02-13 16:22:52 +11:00
Andrew Tridgell
617082769a
go back to 1024 bytes for variables in EEPROM
2012-02-13 16:22:52 +11:00
Andrew Tridgell
0b3e3ec5c8
added group indexes to GCS_MAVLINK class
2012-02-13 16:22:52 +11:00
Andrew Tridgell
d4305e0ae2
fixed apm2beta build with AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
16417b651e
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
3b4cae3cc3
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
c9c422539e
update ACM MAVLink code for AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
a2d0900460
fixed warning in Log build
2012-02-13 16:22:52 +11:00
Andrew Tridgell
bf1eb670e3
update main parameter code for AP_Param in ACM
2012-02-13 16:22:52 +11:00
Andrew Tridgell
f1a41b041f
log: fixed some integer size errors
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need to be careful with the types passed to printf()
2012-02-12 20:38:37 +11:00
Pat Hickey
306a3bb4f9
Makefile: extra convenience target for apm2hexa
2012-02-11 16:05:51 -08:00
Pat Hickey
84dd0d2fda
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
739317276d
ArduCopter setup motors: print basic instructions.
2012-02-11 16:05:51 -08:00
Pat Hickey
6573cec611
ArduCopter APM_Config.h: add sample custom channel config
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* uses new config variables introduced in 8a19543fd1e09621ba
2012-02-11 16:05:51 -08:00
Pat Hickey
470fd8788e
ArduCopter Channel Config: config vars for user override of MOT_n mapping
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* 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
2c65fc9ddf
Cosmetic tweaks for tuning
2012-02-11 15:29:11 -08:00
Jason Short
0a63f104ab
Gain adjustments for 3d frame.
2012-02-11 15:29:11 -08:00
Jason Short
969ac70000
reset All for Auto takeoff
2012-02-10 22:54:29 -08:00
Jason Short
b1d52da431
reset Rate_I for takeoff
2012-02-10 22:50:56 -08:00
Jason Short
efce991bfb
upped max target speed to center of loiter
2012-02-10 22:46:27 -08:00
Jason Short
8ae53bffd2
Made Yaw Hold universal for Acro
2012-02-10 22:32:55 -08:00
Jason Short
dc15fe4c5d
Moved to Rate_I by default for Jani to test
2012-02-10 22:32:55 -08:00
Jason Short
c64d781dce
get_acro_yaw added
2012-02-10 22:32:55 -08:00
Jason Short
19ab0f481e
made Yaw work like Roll and Pitch
2012-02-10 22:32:55 -08:00
Jason Short
9f8d7d5076
Minimize the Yaw Deadzone
2012-02-10 22:32:55 -08:00
Jason Short
50aaa09348
Up Nav_Rate_P
2012-02-09 22:38:36 -08:00
Jason Short
62627e9b57
reverted to Save_WP now that CH7 triggering is fixed
2012-02-09 22:33:01 -08:00
Jason Short
3afaf2689c
Fix for disabled CH7 value triggering WP saving
2012-02-09 22:32:04 -08:00
Jason Short
4313d19bc5
2.3.1v
2012-02-09 22:22:01 -08:00
Jason Short
71d57a5371
Enabled PWM test
2012-02-09 22:22:01 -08:00
Jason Short
b315e23bbd
Found missing Break in Switch statement.
2012-02-09 22:22:01 -08:00
Jason Short
2335b74bc3
faster FS timer
2012-02-09 22:22:00 -08:00
Jason Short
c35ad2d493
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
6848dc17e5
Added safety to prevent shutdown of motors during Auto-land
2012-02-09 22:22:00 -08:00
Jason Short
f40d40b0f9
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
fe7a0a97ab
ArduCopter - CH7 - changed default to CH7_DO_NOTHING
2012-02-09 20:26:01 +09:00
levinemax
345a23273e
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
3517964e14
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
70f91e3cc3
Arducopter - reduced rate of decent when landing using sonar
2012-02-08 22:46:32 +09:00
Randy Mackay
f1a129c8ea
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
498970a948
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
1a861b3de5
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
ef9418c2de
fix issue with low throttle in air
2012-02-03 13:29:59 +00:00
Michael Oborne
151479f769
fix issue 502
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to identify quad over mavlink
2012-02-03 06:53:08 +08:00
Pat Hickey
dad4ee92e5
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
3288b518c0
credits
2012-02-01 04:44:36 +00:00
analoguedevices
6dbcac855a
Incremented version number to 2.3
2012-02-01 04:39:15 +00:00
Pat Hickey
36389cdbd8
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
6a333b743a
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
7ca81bd2c9
hexa frame FRAME_CONFIG fixup
2012-01-31 18:19:41 -08:00
Pat Hickey
a24f89fb6d
Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME
2012-01-31 18:19:41 -08:00
Pat Hickey
0735c2b62f
Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame
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* This will change the output order for APM2, but not APM1.
2012-01-31 18:18:13 -08:00
Pat Hickey
dbd1cc6a9f
Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME
2012-01-31 18:18:13 -08:00
Pat Hickey
b245265669
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
0e9294538b
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
b851d39eaa
OptFlow - reenable OF_LOITER pid controller and reduce I term
2012-02-01 08:04:18 +09:00
Jason Short
21bd48b6c3
Loiter PIDs
2012-01-30 21:13:03 -08:00
Jason Short
8aaf88e13b
tweaks to Loiter
2012-01-30 21:13:03 -08:00
Jason Short
90099d4a42
ATT tuning update
2012-01-30 21:13:03 -08:00
Jason Short
f225efef9f
tuning
2012-01-30 21:13:03 -08:00
Jason Short
08a9249e2b
cosmetic
2012-01-30 21:13:03 -08:00
Jason Short
5934b503b8
tuning fixes
2012-01-30 21:13:03 -08:00
Jason Short
31614c39dd
Cosmetic
2012-01-30 21:13:03 -08:00
Jani Hirvinen
009e87105f
Minor changes for PID for jDrones motors due latest changes on control laws.
2012-01-31 09:00:31 +07:00
Jason Short
23709bafef
pid_nav_lat incorrectly labeled
2012-01-29 23:02:00 -08:00
Jason Short
a3862ced62
cosmetic
2012-01-29 21:55:17 -08:00
Jason Short
46e08fb46a
Added more attributions
2012-01-29 21:53:44 -08:00
Jason Short
ae65a0f03f
removed filter. Don't need it.
2012-01-29 17:10:52 -08:00
Jason Short
bf2cc6072d
limiting alt hold rate error to 1m/s
2012-01-29 17:08:34 -08:00
Jason Short
02aacc454b
Lowering the throttle_P values by default
2012-01-29 16:27:13 -08:00
Jason Short
650c0ed3f1
made Loiter over ride exit dependent not on speed, but centered sticks.
2012-01-29 16:15:02 -08:00
Randy Mackay
693a2cfdcd
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
974c825f4a
Optflow - minor fix to D term defaulting
2012-01-29 21:06:41 +09:00
Jason Short
67cd412105
Landing update for better baro landing
2012-01-28 22:35:57 -08:00
Jason Short
5ab37a346c
reduce test.pde size for 1280 users
2012-01-28 22:16:24 -08:00
Jason Short
7833cea9d4
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
295631139a
formatting
2012-01-28 21:19:46 -08:00
Jason Short
d1fcebb5ca
Cosmetic changes
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GPS LED lock waits for home_is_set to be true
2012-01-28 21:19:46 -08:00
Jason Short
326a663c6b
changed tuning range
2012-01-28 21:18:43 -08:00
Randy Mackay
f3a95ff3cb
Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup
2012-01-28 10:13:58 +09:00
Randy Mackay
122623f64b
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Pat Hickey
1dcd50e3be
ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2
2012-01-27 07:39:01 -08:00
Randy Mackay
8dee001657
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Pat Hickey
6c03307217
ArduCopter Heli: add motors_output_enable function
2012-01-25 22:41:09 -08:00
Randy Mackay
2c906b7b27
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
Randy Mackay
4434ddf389
Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi
2012-01-25 21:53:20 +09:00
Jason Short
25529dec69
added loiter_d to allow users to configure alternate Loiter alg
2012-01-22 14:19:27 -08:00
Jason Short
74daadb252
Revert "test to switch loiter controls"
...
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
2012-01-22 14:19:27 -08:00
Jason Short
6476ba22f2
test to switch loiter controls
2012-01-22 12:28:34 -08:00
Pat Hickey
89e11afc09
ArduCopter: Call APM_RC.enable_out for camera channels in init_camera()
2012-01-22 12:03:11 -08:00
Pat Hickey
98a90d0352
ArduCopter: Call motors_output_enable at correct spot during init
2012-01-22 12:03:11 -08:00
Pat Hickey
04a3112f33
ArduCopter: Add implementation of motors_output_enable to each motors_ frame type
2012-01-22 12:03:11 -08:00
Jason Short
dd1e08a7e0
Causes Aero_SIM to fail
2012-01-22 09:34:43 -08:00
Jason Short
1d9783652a
added Beta 4 tag
2012-01-21 22:15:23 -08:00
Jason Short
60e3508f7c
converted to cm
...
Signed-off-by: Jason Short <jasonshort@mac.com>
2012-01-21 22:14:08 -08:00
Jason Short
aace39e65c
Converted distance gains to CM
...
added loiter_d for rate control, equal to old Nav_P gain
2012-01-21 22:13:57 -08:00
Jason Short
fffa1af3b3
Fixed speed governor which was letting speed get to 0.
...
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
2012-01-21 22:12:57 -08:00
Jason Short
f638a4b81d
recording nav_bearing rather than target bearing
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recording x and y speed rather than Iterms for nav since they are always 0 now
2012-01-21 22:10:28 -08:00
Jason Short
2fa24e0557
added conversions of CM to M
2012-01-21 22:09:39 -08:00
Jason Short
7edd16e5fe
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
...
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
2012-01-21 22:09:13 -08:00
Jason Short
59d1f225d5
convert command into CM from M
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Making Landing boost be one at minimum to trigger better navthrottle output
2012-01-21 22:06:35 -08:00
Jason Short
f3cc1121aa
better default for speed governer
2012-01-21 22:05:48 -08:00
Jason Short
5cc19bbe7c
slightly less filtering for less latency
2012-01-21 22:04:54 -08:00
Jason Short
9003b95499
Converted to cm for distance
2012-01-21 22:04:35 -08:00
Jason Short
8cb645f3c2
increasing the velocity near WP
2012-01-21 11:59:49 -08:00
Jason Short
1aa6d0ea08
limiting the pitch throttle compensation
2012-01-21 11:59:49 -08:00
Jason Short
ab5716c42d
Calc error for logs
2012-01-21 11:59:49 -08:00
Jason Short
7c25253422
Enabled auto throttle hold
2012-01-20 22:52:31 -08:00
Jason Short
7fb641ab77
added note
2012-01-20 22:52:31 -08:00
Jason Short
fb72ecd4e4
formatting
2012-01-20 22:52:31 -08:00
Jason Short
127544b833
Added cast for comparison
2012-01-20 22:52:30 -08:00
Jason Short
42b1362bba
cleanup
2012-01-20 22:52:30 -08:00
Jason Short
5ac26a5500
error on comparison operator
2012-01-20 22:52:30 -08:00
Jason Short
5180592913
Added Auto_land_timeout to params
2012-01-20 22:52:30 -08:00
Jason Short
c190f83bb0
AutoLanding timeout for Mission Planner
2012-01-20 22:52:30 -08:00
Jason Short
a22596fb33
Max throttle output was to high
2012-01-20 22:52:30 -08:00
Jason Short
19053bb725
Updated Firmware version
2012-01-20 22:52:30 -08:00
Jason Short
f5fd3a0597
reset all I terms at Arming
2012-01-20 22:52:30 -08:00
Jason Short
287ffb5fb4
enabled Mavlink Land command
2012-01-20 22:52:30 -08:00
Jason Short
6784989e83
relocated reset_I term functions to central location
2012-01-20 22:52:30 -08:00
Jason Short
d2c78d2b75
Stab_D changes units with the new dampening controller updates
...
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
2012-01-20 22:52:30 -08:00
Jason Short
932869b686
renamed function
2012-01-20 22:52:30 -08:00
Jason Short
43365fe802
Verify land updates from JLN
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Effectively a throttle control for landing that mimics a person lowering the throttle.
2012-01-20 22:52:29 -08:00
Jason Short
ed32ad30fd
Refined the D term for stabilize
...
moved all the rest_I terms from code into 1 central place
2012-01-20 22:52:29 -08:00
Jason Short
5141534ea9
B3
2012-01-20 22:52:29 -08:00