rmackay9
c8c13046e3
ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log
2012-12-17 16:34:20 +09:00
rmackay9
1332ed3b5c
ArduCopter: restore initial climb to RTL
2012-12-17 16:17:49 +09:00
rmackay9
c1abd96ef2
ArduCopter: limit output throttle to 800 only for TRI which does not have the new stability patch
2012-12-17 15:29:11 +09:00
rmackay9
68d6eee1e7
ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle
2012-12-17 14:46:30 +09:00
rmackay9
e3ee865dc0
ArduCopter: Leonard Hall's changes to alt hold including adding low pass filter to climb rate
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get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
2012-12-17 14:36:05 +09:00
rmackay9
d8ea210019
ArduCopter: allow tuning of the Throttle Rate D term
2012-12-15 13:32:07 +09:00
Robert Lefebvre
b83049bdda
ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work.
2012-12-13 14:54:14 -05:00
rmackay9
2656997714
ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts
2012-12-13 23:09:26 +09:00
rmackay9
7b4f311f28
ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters
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Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
2012-12-13 20:30:23 +09:00
rmackay9
2e78977499
ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled
2012-12-13 16:07:34 +09:00
rmackay9
d2c8abe491
ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h
2012-12-13 00:15:30 +09:00
rmackay9
ad14e727e2
ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue)
2012-12-12 23:29:57 +09:00
rmackay9
8d75022d58
ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden
2012-12-12 23:28:26 +09:00
rmackay9
31fd9a22a3
ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode
2012-12-12 23:27:45 +09:00
rmackay9
e9c1500f33
ArduCopter: clear ahrs roll and pitch trims after an accel level command
2012-12-12 17:17:09 +09:00
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
