rmackay9
280488fa5e
ArduCopter: bug fix to display ITERM enabled/disabled properly from cli
...
Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
2012-09-27 17:40:30 +09:00
rmackay9
ed881117e0
ArduCopter: updated version to 2.7.4-Beta
2012-09-25 23:39:15 +09:00
rmackay9
fff5d51694
ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08)
2012-09-25 19:08:31 +09:00
rmackay9
a71aa21514
ArduCopter: increase default Loiter Rate P to 5.0
2012-09-25 12:19:44 +09:00
rmackay9
b2f12c4854
ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5
2012-09-24 18:39:33 +09:00
rmackay9
889d1bb36c
ArduCopter: alt hold bug fix - removed reset next_WP in init_home
2012-09-23 01:00:06 +09:00
rmackay9
b3ff368589
ArduCopter: position lead filters modified to use lag which varies by gps
2012-09-20 15:49:09 +09:00
rmackay9
361ff0c08f
ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.
2012-09-18 23:19:23 +09:00
rmackay9
93ae29a3e9
ArduCopter: added throttle curve (although disabled by default) for all multicopters
2012-09-18 23:05:08 +09:00
rmackay9
498cbb063b
ArduCopter: set fast gains while auto trim is being executed
2012-09-18 09:03:29 +09:00
Andrew Tridgell
5fd39bb928
ACM: updates for new GPS detection
...
a GPS can now be attached after startup
2012-09-17 14:45:47 +10:00
rmackay9
6f32f52377
ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables.
2012-09-17 13:44:29 +09:00
rmackay9
303ca11c4c
HIL: changes to fix HIL for ArduCopter after recent timing changes.
...
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
rmackay9
b6d2d4723f
ArduCopter: print firmware version of code instead of zero.
2012-09-13 21:49:11 +09:00
rmackay9
9e66b555cb
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
Jason Short
072085d2d8
ACM : better debugging text
2012-09-12 23:06:06 -07:00
Jason Short
6b6075ed30
ACM l Prevent pre-mature finish of mission
2012-09-12 23:06:06 -07:00
Jason Short
834f961409
ACM : Fix enduf
2012-09-10 21:25:53 -07:00
Jason Short
4c8e257ea2
ACM : forced setup_show to dump params during log dump for better analysis.
2012-09-10 20:52:30 -07:00
Jason Short
34e07c826f
ACM : Added centralized Iterm logging at a lower rate. Logs all iterms.
2012-09-10 20:26:48 -07:00
Jason Short
e8e8c27db4
ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t
2012-09-10 20:22:57 -07:00
Jason Short
a73bc70553
ACM : Params - formatting cleanup
2012-09-10 20:22:11 -07:00
Andrew Tridgell
841d2700b6
ACM: use spare CPU cycles to read the magnetometer
2012-09-10 11:38:18 +09:00
rmackay9
fd110a2723
ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU.
...
This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
2012-09-10 11:37:53 +09:00
rmackay9
42406c827a
ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU.
2012-09-10 11:37:48 +09:00
rmackay9
5d3ddf1fc9
ArduCopter: bug fix for ROI not working if user did not have a camera mount
...
Changed verify_nav_roi command to attempt to point at the target if our camera mount type is not pan_tilt nor pan_tilt_roll
2012-09-10 02:03:32 +09:00
Andrew Tridgell
f97104b435
ACM: use compass.accumulate() in ArduCopter
...
this gives us a much less noisy magnetometer
2012-09-08 10:06:04 +10:00
Michael Oborne
c1235c55d5
Fix Approach Altitude min
2012-09-06 17:43:58 +08:00
Pat Hickey
b02340fe10
APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE
2012-09-05 15:36:57 -07:00
rmackay9
5073e56c06
ArduCopter: upgraded firmware version to 2.7.3
2012-09-02 12:58:16 +09:00
rmackay9
c9d34c1737
ArduCopter: fixes to allow AP_Mount to work on APM1 with original default channels and fix to reenable support for 3-axis gimbals on APM2.
...
Channels 5 to 11 changed to RC_Channel_aux.
Removed channel 9 because APM_RC doesn't support it in any case.
Updated EEPROM format version to 119 because of the change to RC_Channel_aux and because k_param_rc_11 moved to be after k_param_rc_10.
2012-09-02 12:51:23 +09:00
rmackay9
9013d9be43
ArduCopter: remove unnecessary references to CH_CAM_PITCH, CH_CAM_ROLL, CH_CAM_YAW
2012-09-02 12:47:27 +09:00
Craig Elder
274b2e2143
Arducopter: Release 2.7.2
2012-08-31 19:18:10 -07:00
Andrew Tridgell
e8d928cca4
ACM: added TELEM_DELAY to ArduCopter
2012-08-30 09:03:01 +10:00
Jason Short
51969dca22
ACM Log.pde : whitespace clean up
2012-08-28 21:22:07 -07:00
Jason Short
082913efd4
ACM : revert back to the 2.6 climb rate calc
...
The current filter is outputting wild oscillations.
2012-08-28 21:22:07 -07:00
Craig Elder
4ad516c445
Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
...
Arduplane: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
2012-08-28 20:09:10 -07:00
rmackay9
2ad6dcb7c4
ArduCopter: increased Stabilize Roll and Pitch I term to 0.05 (was 0.01) based on feedback from Jason
2012-08-29 11:34:53 +09:00
Craig Elder
d8a2bfb9e8
Arducopter: Preparing for 2.7.2 Release
2012-08-28 18:30:41 -07:00
Jason Short
fd4bc69d77
ACM : Logging updates
2012-08-28 15:40:08 -07:00
Jason Short
9d64bea2ef
ACM: Altitude Adjust
2012-08-28 15:40:08 -07:00
Jason Short
98cc65862d
ACM : Log Timing
2012-08-28 15:40:08 -07:00
rmackay9
2e9e3ce5a6
ArduCopter: increase SPI bus speed to 2Mhz after IMU initialisation has completed (MPU6000 accepts maximum of 1Mhz for some registers but up to 20Mhz for main sensor and interrupt registers)
2012-08-28 17:29:48 +09:00
rmackay9
b4b394e67e
ArduCopter: reduced Rate Roll and Pitch PID values
...
RATE_ROLL_P, RATE_PITCH_P reduced to 0.165 (was 0.185)
RATE_ROLL_D, RATE_PITCH_D reduced to 0.004 (was 0.008)
2012-08-26 10:45:45 +09:00
uncrustify
09fbe8e29a
uncrustify ArduCopter/APM_Config.h
2012-08-21 19:19:50 -07:00
uncrustify
429c41155c
uncrustify ArduCopter/config.h
2012-08-21 19:19:50 -07:00
uncrustify
969166c4e3
uncrustify ArduCopter/system.pde
2012-08-21 19:19:50 -07:00
uncrustify
841b4ce9c8
uncrustify ArduCopter/test.pde
2012-08-21 19:19:50 -07:00
uncrustify
bb6e4ac969
uncrustify ArduCopter/setup.pde
2012-08-21 19:19:50 -07:00
uncrustify
7f89e6c677
uncrustify ArduCopter/motors.pde
2012-08-21 19:19:50 -07:00
uncrustify
d49df965f3
uncrustify ArduCopter/navigation.pde
2012-08-21 19:19:50 -07:00
uncrustify
6791da4ee7
uncrustify ArduCopter/commands_logic.pde
2012-08-21 19:19:50 -07:00
uncrustify
f783ace0de
uncrustify ArduCopter/Attitude.pde
2012-08-21 19:19:50 -07:00
uncrustify
2438cd32fc
uncrustify ArduCopter/Parameters.pde
2012-08-21 19:19:50 -07:00
uncrustify
4021a64747
uncrustify ArduCopter/ArduCopter.pde
2012-08-21 19:19:50 -07:00
uncrustify
c1ce689e38
uncrustify ArduCopter/Log.pde
2012-08-21 19:19:50 -07:00
uncrustify
6a893c11c7
uncrustify ArduCopter/Parameters.h
2012-08-21 18:57:21 -07:00
uncrustify
b9ba41c12a
uncrustify ArduCopter/defines.h
2012-08-21 18:57:21 -07:00
uncrustify
d0e48755ab
uncrustify ArduCopter/config_channels.h
2012-08-21 18:57:21 -07:00
uncrustify
4311b15005
uncrustify ArduCopter/UserVariables.h
2012-08-21 18:56:57 -07:00
uncrustify
3d4ca7aa30
uncrustify ArduCopter/GCS.h
2012-08-21 18:56:56 -07:00
uncrustify
37e00fae80
uncrustify ArduCopter/APM_Config_mavlink_hil.h
2012-08-21 18:56:56 -07:00
uncrustify
42f107706e
uncrustify ArduCopter/planner.pde
2012-08-21 18:56:56 -07:00
uncrustify
8dccd9d6b0
uncrustify ArduCopter/sensors.pde
2012-08-21 18:56:50 -07:00
uncrustify
df6bdfbd5a
uncrustify ArduCopter/UserCode.pde
2012-08-21 18:56:01 -07:00
uncrustify
f7a748d43b
uncrustify ArduCopter/GCS_Mavlink.pde
2012-08-21 18:56:01 -07:00
uncrustify
30c0328d0c
uncrustify ArduCopter/flip.pde
2012-08-21 18:56:01 -07:00
uncrustify
58b5f4e271
uncrustify ArduCopter/GCS.pde
2012-08-21 18:56:00 -07:00
uncrustify
c7ff6a6335
uncrustify ArduCopter/toy.pde
2012-08-21 18:56:00 -07:00
uncrustify
1e2c01d8f6
uncrustify ArduCopter/commands_process.pde
2012-08-21 18:56:00 -07:00
uncrustify
b6dd8aa592
uncrustify ArduCopter/leds.pde
2012-08-21 18:55:44 -07:00
uncrustify
2d398aa663
uncrustify ArduCopter/commands.pde
2012-08-21 18:55:43 -07:00
uncrustify
a75d477071
uncrustify ArduCopter/radio.pde
2012-08-21 18:55:43 -07:00
uncrustify
ff0e2e537e
uncrustify ArduCopter/events.pde
2012-08-21 18:55:43 -07:00
uncrustify
4303e0bcae
uncrustify ArduCopter/limits.pde
2012-08-21 18:55:16 -07:00
uncrustify
a20f75e12c
uncrustify ArduCopter/inertia.pde
2012-08-21 18:54:57 -07:00
uncrustify
7c8f4421a3
uncrustify ArduCopter/control_modes.pde
2012-08-21 18:54:57 -07:00
Andrew Tridgell
6d11940ada
AHRS: removed Quaternion build support from APM/ACM/rover
2012-08-22 10:42:21 +10:00
Andrew Tridgell
e9928e78de
ACM: fixed TradHeli build
2012-08-22 09:55:31 +10:00
Robert Lefebvre
575b99b4be
TradHeli: Creating Flybar Acro mode.
2012-08-21 16:54:01 -04:00
Andrew Tridgell
16e06ea1f4
ACM: build DMP version in autotest
...
this gives it a chance of keeping working
2012-08-21 15:58:59 +10:00
Andrew Tridgell
bf2319a0fc
AHRS: fixed reference to AHRS var_info for APM and ACM
2012-08-21 15:58:32 +10:00
Andrew Tridgell
1b0f5ac84f
ACM: use ahrs.set_fast_gains() on arm/disarm
2012-08-21 15:38:31 +10:00
rmackay9
1d32e03f61
ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h.
...
Reduces possibility of difference between arduino ide compiled code and script built code (i.e. autotester, mission planner)
2012-08-19 12:31:02 +09:00
rmackay9
75459b09be
ArduCopter: changed reset_throttle_counter to uint8_t to get rid of overflow bug that was preventing target altitude from being locked in after pilot input down throttle.
2012-08-19 11:50:35 +09:00
Jason Short
c81064279a
ACM : removed 2-level DCM gain change - .1 will still be the default.
2012-08-18 15:43:34 -07:00
Jason Short
575a9c4fd1
ACM : Fix for reloading the user DCM gains upon arming
2012-08-18 13:17:43 -07:00
Jason Short
0a25a189eb
ACM | Attitude.pde - removed next_wp.alt reset.
2012-08-18 12:25:48 -07:00
Jason Short
988d0c98fc
ACM : Alt hold adjustment - made angle boost work during alt hold changes.
...
increased length of delay when reverting to automatic hold to deal with latency of baro sensor
2012-08-18 09:30:46 -07:00
Jason Short
77f47a45d0
ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency.
2012-08-18 09:04:22 -07:00
Jason Short
522fa58ea5
ACM : temp fix for throttle output limit
...
I had a bad crash when I lost authority. The logs showed the throttle pegged at 1000 which killed my control. We went round and round on this and somehow settled on no limit. That wasn't a good idea. This should really be hard coded into the Motors Library, but for now I'm just sticking it here.
2012-08-18 09:04:22 -07:00
Jason Short
bc631b656e
ACM: Added a more sane limit to Angle boost
2012-08-18 09:04:21 -07:00
rmackay9
64cfaf74b7
ArduCopter: renamed "_new_alt" parameter to just "new_alt" in force_new_altitude and set_new_altitude functions
2012-08-18 21:46:48 +09:00
rmackay9
5b6f7f0012
ArduCopter: modified altitude hold so that 1 second slow down period is executed after pilot moves throttle back into deadzone
2012-08-18 21:45:49 +09:00
rmackay9
11e946eb54
ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long"
2012-08-18 20:34:41 +09:00
rmackay9
2e4e8bbf1a
ArduCopter: changed "unsigned long" to "uint32_t"
2012-08-18 19:05:55 +09:00
rmackay9
99859ae42f
ArduCopter: added cast to (int) in printf statments.
...
Also modified dump_log function's last_log_num to be int16_t to match return type from DataFlash's find_last_log method.
2012-08-18 18:58:15 +09:00
rmackay9
7a6732fb4b
ArduCopter: removed unused icount variable from commands_logic.pde to reduce compiler warnings.
2012-08-18 16:04:23 +09:00
rmackay9
87d5b5944d
ArduCopter: commented out get_acro_yaw2 function to reduce compiler warnings
2012-08-18 16:03:49 +09:00
rmackay9
8a6085a3ba
ArduCopter: removed unused maggy variable from test.pde to reduce compiler warnings.
2012-08-18 16:03:26 +09:00
rmackay9
07c7c3945d
ArduCopter: fixed small bug re arming_counter for TOY mode
2012-08-18 13:21:41 +09:00
rmackay9
92688a793a
ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch.
2012-08-18 11:48:12 +09:00
rmackay9
8c636ca263
ArduCopter: fix compiler error related to printing boarding type in dataflash logs.
2012-08-18 11:47:10 +09:00
Michael Oborne
b2b73cc6cb
AC fix some Parameter units
2012-08-18 08:30:16 +08:00
Jason Short
1b7e27658b
ACM : removed old note
2012-08-17 17:03:40 -07:00
Jason Short
0ac1373591
ACM Logging - added APM version #, stab_I term logging
2012-08-17 17:03:40 -07:00
Jason Short
387a021c30
ACM : APM_Config.h : default removed for toy mixer.
2012-08-16 15:41:35 -07:00
Jason Short
3ee2fd3fb6
ACM: Config.h - added default for toy mixer
2012-08-16 15:40:28 -07:00
Jason Short
770956a3fd
ACM : Made control_roll and pitch global for logging; made yaw towards waypoint use initial angle and not a recalculated angle to deal with wiggles as we approach WP
2012-08-16 15:39:50 -07:00
Jason Short
9cee1b2fa0
ACM : Upped Yaw Limit to 2200
2012-08-16 15:38:46 -07:00
Jason Short
bdc1c41e62
ACM: made target bearing the lead filtered location
...
Had some major nav trouble from crosstrack if I used the laggy position.
2012-08-16 15:38:25 -07:00
Jason Short
0f9f72e8ab
ACM: added nav_yaw to att logging
...
Removed unnecessary casting
2012-08-16 12:43:55 -07:00
rmackay9
36f947acb9
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
...
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
2012-08-16 20:04:46 +09:00
rmackay9
a72bf6ef57
ArduCopter: replaced abs with labs as required in a few places.
...
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
2012-08-16 17:51:09 +09:00
Jason Short
4d5d16720b
ACM Test: Added a return statement
2012-08-15 21:37:23 -07:00
Jason Short
31f31eec75
ACM : Test for bearing calc
2012-08-15 21:04:24 -07:00
Jason Short
99dcbd039d
ACM Log : fixed formatting
2012-08-15 21:04:24 -07:00
Andrew Tridgell
ed064b2506
MAVLink: enable fetching of single parameters
...
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
2012-08-16 10:14:46 +10:00
Jason Short
f1af837543
ACM: Switched to filtered loc
2012-08-14 14:11:52 -07:00
Jason Short
cdd2093a4c
ACM: Switched to filtered_loc for distance calcs
2012-08-14 14:11:52 -07:00
Jason Short
a4bc5950cf
ACM: Added a filtered version of Location for GPS lag.
...
I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
2012-08-14 14:11:51 -07:00
Jason Short
993c89c4f8
ACM: Revved the version
2012-08-14 14:11:51 -07:00
rmackay9
2a83f1eef2
ArduCopter: remove RTL_LAND parameter as it's been deprecated in favour of APPROACH_ALT.
...
Updated comments on ALT_HOLD_RTL and APPROACH_ALT to make it a little easier to understand.
2012-08-14 12:14:35 +09:00
Jason Short
b01a71c4b9
ACM: Toy mode updates - added second toy mode
2012-08-11 22:37:27 -07:00
Jason Short
8160aa6103
ACM : Toy mode updates
2012-08-11 22:37:27 -07:00
Jason Short
1e0ab8768e
ACM: Toy mode updates
2012-08-11 22:37:26 -07:00
Jason Short
b27c1ce396
ACM : Added check for second Toy mode
2012-08-11 22:37:26 -07:00
Jason Short
11b7475ff9
ACM : Added CH7 multimode triggers, split Toy mode into two
2012-08-11 22:37:26 -07:00
Jason Short
45574c0b1a
ACM : CH_7 multimode option added
2012-08-11 22:37:26 -07:00
Jason Short
c305237e3a
ACM : Added CH_7 Multimode
2012-08-11 22:37:26 -07:00
Andrew Tridgell
3bdc7d41be
INS: disable INS AP_Param table when not on APM1 hardware
...
this could cause overwriting of memory with default values
2012-08-11 22:06:03 +10:00
Amilcar Lucas
780b469b11
ArduCopter: Enable the aux servos later, only in the slow periodic loop
...
This might solve some of the boot issues some users are having
2012-08-11 12:58:13 +02:00
Andrew Tridgell
81440a1b09
AHRS: fixed build
...
AP_Airspeed.h is now needed to build AHRS
2012-08-11 12:22:55 +10:00
Andrew Tridgell
c2dc920d02
ACM: allow users to set the AHRS_YAW_P and AHRS_RP_P
...
the forced set left users with parameters they couldn't use
2012-08-11 08:35:10 +10:00
Jason Short
3ad08b7ffc
ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second.
2012-08-10 10:02:32 -07:00
Jason Short
9a568385b0
ACM increase the minimum speed at WP
2012-08-10 10:01:40 -07:00
Jason Short
be0559864c
ACM : switched to get_bearing_cd
2012-08-09 17:04:30 -07:00
Jason Short
132ac7d412
ACM : attitude.pde - removed unused function
2012-08-09 17:04:12 -07:00
Jason Short
e73c0250ad
ACM: Radio.pde - toy mode updates
2012-08-09 17:00:11 -07:00
Jason Short
f641c5d077
ACM system.pde - toy mode update, cleanup of throttle cruise code
2012-08-09 16:59:44 -07:00
Jason Short
35839070ad
ACM - isolated Toy code
2012-08-09 16:59:44 -07:00
Jason Short
adf5939ba4
ACM: navigation - Alt cleanup, fast corner support
2012-08-09 16:59:44 -07:00
Jason Short
6037fabb5c
ACM Motors.pde
...
Added Toy mode options,
Added DCM kp set to .1(armed) and .8 (disarmed)
2012-08-09 16:59:44 -07:00
Jason Short
88a94c88b5
ACM : more aggressive and flexible flip code. Will flip right or left, and while pitching hard.
...
Increase in throttle is removed from init sequence to remove delay.
2012-08-09 16:59:44 -07:00
Jason Short
d674baadd2
ACM : Events - renamed target alt
2012-08-09 16:59:44 -07:00
Jason Short
07bd1940e7
ACM Defines.h -added Toy mixer enums
2012-08-09 16:59:43 -07:00
Jason Short
26e3d6090e
ACM control modes - renames CH_7 flag
2012-08-09 16:59:43 -07:00
Jason Short
3e57f8afd8
ACM: config.h = updated default gains
...
More yaw rate control
2012-08-09 16:59:43 -07:00
Jason Short
b5156185cc
ACM Commands parser to look for future nav commands to inspect upcoming turn angle
2012-08-09 16:59:43 -07:00
Jason Short
d796814dfc
ACM : Commands Logic
...
Altitude cleanup
2012-08-09 16:59:43 -07:00
Jason Short
98b8866215
ACM: Added fast corner support
2012-08-09 16:59:43 -07:00
Jason Short
5d756decd2
ACM : Attitude.pde
...
yaw limit, moved toy code out of att to it's own pre
2012-08-09 16:59:43 -07:00
Jason Short
02649f3f11
ACM : Arducopter.pde
...
command_nav_index upped to in16t for negative number
renamed trim flag > CH7_flag
Added fast_corner var
removed unused alt vars
Alt hold I term update
2012-08-09 16:59:43 -07:00
Jason Short
4a56e8ea2c
ACM : Toy Mixer options
2012-08-09 16:59:43 -07:00
Andrew Tridgell
dc47074dbd
MAVLink: removed the need for Mavlink_compat.h
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we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
2012-08-09 12:22:46 +10:00
Andrew Tridgell
2a7b298bbc
MAVLink: moved mavlink variables back to library
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these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
2012-08-09 12:06:21 +10:00
Amilcar Lucas
d34549f386
Add an optional second mount to ArduPlane and ArduCopter
2012-08-08 23:22:24 +02:00
Amilcar Lucas
0b0b9c29a2
Allow fully independent operation of two AP_Mount instances
2012-08-08 23:11:23 +02:00
Amilcar Lucas
9cc705939a
Add a second mount instance
2012-08-08 23:07:25 +02:00
Andrew Tridgell
03714fc695
ACM: make it possible to set AHRS_GPS_GAIN on ArduCopter
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this was affected by the AP_Param change, in particular the
constructor ordering. To ensure a user can set AHRS_GPS_GAIN to 1.0 if
they want to, we need to do a set_and_save() if the value isn't in
EEPROM
2012-08-08 17:36:01 +10:00
Andrew Tridgell
103b02fe94
ACM: removed pointless load() calls
2012-08-08 16:51:14 +10:00
Andrew Tridgell
fb26160d3b
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
Andrew Tridgell
c2a4d59132
AP_Param: update ArduCopter core for new AP_Param interface
2012-08-08 12:11:57 +10:00
rmackay9
f79b90725e
ArduCopter: Dan Gray's fix for Condition_Yaw
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command_yaw_dir is an unsigned byte but was being set to a -ve number leading to very incorrect yaw target heading for counter clockwise turns.
command_yaw_end (i.e. turn's end target) was not being set if turn was of type "relative"
2012-08-07 06:43:10 -07:00
Amilcar Lucas
d9f1140278
ArduCopter: Use generic channel names for AP_Mount servos.
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This simplifies mission planner, the same code can be used for plane and copter now.
2012-08-06 23:33:51 +02:00
Amilcar Lucas
e93daca17e
Fix heli compilation
2012-08-06 23:30:02 +02:00
Amilcar Lucas
f14237126a
Add me :)
2012-08-06 00:40:12 +02:00
Amilcar Lucas
aa3cc63b15
ArduCopter: Make the code fit in a 1280 chip again
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Even allows to control a camera/antenna mount, if the user explicitly wants to.
2012-08-06 00:23:48 +02:00
Amilcar Lucas
0106c133cf
Default CLI_SLIDER_ENABLED to DISABLED
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Chris asked for this on the mailing list
2012-08-06 00:22:33 +02:00
Amilcar Lucas
af08b630cd
Spellcheck in comments
2012-08-06 00:21:14 +02:00
Amilcar Lucas
107155fa1a
AP_Mount: Allow using any RC channel to control any of the mount axes.
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This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
2012-08-05 23:48:57 +02:00
Amilcar Lucas
b8c7b8a786
RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.
2012-08-05 23:08:31 +02:00
Amilcar Lucas
afd96025a7
ArduCopter: Save more space in APM1280
2012-08-05 23:05:52 +02:00
Amilcar Lucas
9c1ac2d9e6
More work on ch9, 10 and 11
2012-08-04 19:44:41 +02:00
Amilcar Lucas
4ba847c449
The mount type must be updated periodically
2012-08-04 18:44:08 +02:00
Amilcar Lucas
bbc4bdb729
More flexible RC support
2012-08-04 18:39:20 +02:00
Amilcar Lucas
d29f7023cc
Merge from ArduPlane
2012-08-04 18:38:50 +02:00
rmackay9
c091c8e0e6
ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode.
2012-08-01 12:15:02 +09:00
rmackay9
a5b5f6a619
ArduCopter: bug fix to global var_info parameter list for ahrs object.
2012-08-01 10:52:27 +09:00
Andreas M. Antonopoulos
7262b0429a
AP_Limits: experimental "bounce" mode.
2012-07-31 18:39:58 -07:00
Andreas M. Antonopoulos
de85442c36
AC2.7.1: Updated version and tag
2012-07-31 13:11:17 -07:00
Jason Short
8c47b0c087
ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling.
2012-07-30 15:43:05 -07:00
rmackay9
77b1785bc6
ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values
2012-07-30 11:01:45 +09:00
Michael Oborne
e577b51e17
AC remove attitude hil unused extra (gps jump issue.)
2012-07-29 08:18:41 +08:00
rmackay9
5cb4a88292
ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered)
2012-07-28 23:05:05 +09:00
rmackay9
3047084ed3
ArduCopter: added DMP_ENABLED to APM_Config.h to make it easier for people to enable it.
2012-07-28 16:31:38 +09:00
rmackay9
670a66667f
ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing)
2012-07-28 16:22:35 +09:00
Michael Oborne
ef870e3ca1
AC remove some attitude HIL limitations
2012-07-28 13:59:30 +08:00
rmackay9
94cb325184
ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP
2012-07-28 14:21:45 +09:00
rmackay9
014f5aae99
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +09:00
rmackay9
f97257830b
ArduCopter: changes in arducopter to support moving AHRS var_info from AP_AHRS to AP_AHRS_DCM
2012-07-28 14:18:31 +09:00
rmackay9
8e5312a759
ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command
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do_nav_roi and verify_nav_roi functions added to turn the copter and/or mount in response to a MAV_CMD_NAV_ROI way point
2012-07-25 11:02:54 +09:00
Michael Oborne
f4705577c8
AC fix sitl attitude hil build
2012-07-24 21:18:36 +08:00
Jason Short
8188058404
ACM: Failsafe Fix for Mission planner initiated AUTO mode
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Keeps the failsafe from exiting Auto mode when returning from failsafe. Added arming ability for Toy mode.
2012-07-23 19:34:25 -07:00
Andreas M. Antonopoulos
80cf794c86
AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant.
2012-07-21 17:52:06 -07:00
Jason Short
b17eb7f768
ACM: Fixed Baro rate patch to work with Sonar and added simple filter
2012-07-21 16:45:00 -07:00
Jason Short
96aabb7712
ACM: Lowered default Alt hold P
2012-07-21 16:45:00 -07:00
Jason Short
55c342c858
ACM: Safety patch for CH7 flip toggle. Prevents flipping while on the ground. ouch.
2012-07-20 16:47:05 -07:00
Jason Short
1d085c8cf4
Added minimum speed for RTL
2012-07-20 13:27:35 -07:00
Jason Short
fcd0e12a1e
ACM: Flip code revision to fix bad orientation bug.
2012-07-20 13:27:35 -07:00
Jason Short
ca70acbf64
Arducopter: Added safety check for inadvertent triggering of flip code.
2012-07-20 13:27:35 -07:00
Jason Short
9f6e1347b6
Ardcucopter: RTL distance check update, reset I terms fixed.
2012-07-20 13:27:35 -07:00
Jason Short
613849a8df
Arducopter: Force nav_yaw to match auto_yaw when starting a mission
2012-07-19 22:59:03 -07:00
Jason Short
2b20c85279
Arducopter: cleanup, skip out of throttle control when flipping.
2012-07-19 22:35:21 -07:00
Jason Short
fbe898a6db
Arducopter: motors.pde formatting
2012-07-19 22:35:21 -07:00
Jason Short
3b496ff229
Arducopter: Upped D rate to .005 by default
2012-07-19 22:35:21 -07:00
Andrew Tridgell
0a12b6ad6f
ACM: fixed HIL build with new accel setup code
2012-07-20 12:46:16 +10:00
Andrew Tridgell
85465c9126
MAVLink: fixed another two places where micros() was used for a millisecond time
2012-07-20 11:57:15 +10:00
Jason Short
f46e8468c4
Arducopter: Adjusted speed of climb to not stall out before hitting peak
2012-07-19 17:53:49 -07:00
Jason Short
da6d981479
Arducopter: Testing toy mode - commented out by default
2012-07-19 17:50:42 -07:00
Jason Short
ad45012739
Arducopter: Renamed Config define (RTL_HOLD_ALT)
2012-07-19 17:50:15 -07:00
Jason Short
351b503fb6
Arducopter: Flip Check
2012-07-19 17:49:17 -07:00
Jason Short
49c7579079
Arducopter: Config.h defaults adjustments
2012-07-19 17:48:48 -07:00
Jason Short
610d1d1795
Arducopter: deprecated the get_nav_yaw_offset function.
...
Small Toy mode updates
2012-07-19 17:41:52 -07:00
Jason Short
91062b56af
Arducopter.pde: Increased the throttle Hold altitude control
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simplified Yaw reset
2012-07-19 17:38:25 -07:00
Jason Short
6506ebf69f
Arducopter: Fix compile issue
2012-07-19 10:09:16 -07:00
Jason Short
5a73a2b9cd
Arducopters parameter: Adjusted RTL_ALTITUDE units so they reflect comments in config.h
2012-07-19 09:50:57 -07:00
Jason Short
2df487ab7b
Arducopter: Slower WP deceleration for RTL and WP navigation
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Slower descent and slightly faster ascent
2012-07-19 09:50:18 -07:00
Jason Short
3401bd3583
Arducopter: Clarified units in comment
2012-07-19 09:49:13 -07:00
Jason Short
3a62608355
Arducopter: Added Slow_WP setting to regular wp navigation
2012-07-19 09:48:54 -07:00
Jason Short
1efc9eac58
Arducopter: Adjust landing speed
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removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.
2012-07-19 09:48:31 -07:00
Jason Short
c9d3ab5413
Oilpan ADC parameters added
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including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
2012-07-18 22:57:11 -07:00
Jason Short
e09d6ad7a8
Arducopter
...
Simplified the inertial calcs for now
2012-07-18 22:57:11 -07:00
Jason Short
a7b1252b51
arducopter
...
alt hold state reset
2012-07-18 22:57:11 -07:00
Jason Short
c995749aaa
Arducopter
...
upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.
2012-07-18 22:57:11 -07:00
Jason Short
66ac438b9e
Arducopter
...
Better logging for Raw Inertial values
2012-07-18 22:57:11 -07:00
Jason Short
dcf9f9dab1
Arducopter
...
for rate altitude changes
2012-07-18 22:57:10 -07:00
Jason Short
71248fe114
Arducopter
...
increased landing authority
2012-07-18 22:57:10 -07:00
Jason Short
c9851344e7
Arducopter
...
removed old Var
2012-07-18 22:57:10 -07:00
Jason Short
a88d69e40e
Arducopter:
...
Loiter unlimited can now travel to a WP and then loiter.
set_altitude for landing now set to 0
2012-07-18 22:57:10 -07:00
Jason Short
aa645afe2b
Arducopter: Altitude change nav
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Split altitude hold into two controls to parallel navigation.
2012-07-18 22:57:10 -07:00
Jason Short
cb1cdcd4a7
Arducopter: New Alt control code
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Uses a new method to manage altitude changes. Alt hold controller was split into a hold and a rate controller just like navigation. Changing alt is done by specifying a climb rate.
Interactive alt hold is now simplified and is an 80cm climb or descent.
2012-07-18 22:57:10 -07:00
Jason Short
3f5e787fe8
Arducopter: Flip mode
2012-07-18 22:57:10 -07:00
Jason Short
9dad38e91d
Arducopter: Flip mode
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Flip mode graduates
2012-07-18 22:57:10 -07:00
Jason Short
5965632888
Arducopter: Flip mode
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Flip mode graduates to pre-compiled option
2012-07-18 22:57:10 -07:00
Jason Short
f73a2004be
Arducopter: INS
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updated Nav control to use INS
2012-07-18 22:57:10 -07:00
Jason Short
98725be0ec
Arducopter: INS
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removed calibrate accels for now
2012-07-18 22:57:10 -07:00
Jason Short
97845cace1
Arducopter: INS
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Updated INS gains
2012-07-18 22:57:10 -07:00
Jason Short
0d8e8e0a04
Arducopter: INS
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removed IMU test, updated INS test to include normalized gravity accel vector.
2012-07-18 22:57:10 -07:00
Jason Short
bb99bd4626
Arducopter: INS
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removed zero accells call
2012-07-18 22:57:10 -07:00
rmackay9
33d8cbfd51
ArduCopter: small bug fix to radio.pde to allow code to compile when MOUNT == DISABLED
2012-07-18 23:49:41 +09:00
rmackay9
b691c3f658
ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch.
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This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
2012-07-18 23:49:09 +09:00
Michael Oborne
636fcadde4
fix rc libray param gen
2012-07-18 07:03:39 +08:00
Andreas M. Antonopoulos
0e5345d17b
AP_Limits: documentation bug (which uncovered a param_parser bug - the irony burns)
2012-07-16 23:35:11 -07:00
Jonathan Challinger
fc4f111d15
Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground.
2012-07-17 16:15:11 +10:00
Andreas M. Antonopoulos
a976a59c88
AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.
2012-07-16 11:46:43 -07:00
Michael Oborne
e632ad6aa4
AC fix limits param gen header
2012-07-15 18:23:06 +08:00
rmackay9
36ecdff593
ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library)
2012-07-15 16:38:52 +09:00
rmackay9
c495a5f36e
ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move
2012-07-15 16:38:28 +09:00
rmackay9
761dad4e99
ArduCopter: restored set_range calls for RC_Channels 5 ~ 8.
2012-07-15 16:37:40 +09:00