ccb21613b5
ArduCopter - updated firmware version to "2.6 Beta"
2012-04-14 14:26:44 +09:00
33bd558a94
ArduCopter - LEDS - main code to support COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:44 +09:00
544237d60a
ArduCopter - add includes for new AP_Motors classes.
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Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
2012-04-04 22:50:43 +09:00
40d7b07789
MAVLink: port the new adaptive flow control to ArduCopter
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This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
2012-04-02 11:18:53 +10:00
b0c9a25024
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
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also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
58f539ca35
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
0727955fe3
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
2012-03-30 14:25:06 +11:00
a12a7a7d87
ArduCopter - added CH6_STABILIZE_KD tuning value
2012-03-29 21:09:41 +09:00
2cc87af180
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
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#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
4821eb4807
ACM: enable the new compass offset nulling in ACM
2012-03-27 15:37:24 +11:00
eb55234809
ArduCopter - updated firmware version to 2.5.3
2012-03-25 09:13:51 +09:00
1f253c5217
ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter
2012-03-23 23:48:24 +09:00
19981d4864
ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area
2012-03-23 23:12:49 +09:00
198ac97914
ArduCopter - updated version to 2.5.1
2012-03-20 17:08:18 +09:00
690ad58a64
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
223a6f80c8
ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes.
2012-03-18 22:31:22 -07:00
bed667c62e
ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero)
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- remove incorrect comments about when loiter target position is reset.
2012-03-18 15:16:04 +09:00
234a5dc65e
ACM: Small fix to nav_throttle to prevent too fast of a landing.
2012-03-16 14:10:19 -07:00
1ecca36dd0
Fixed Scaling bug in Sonar mixing
2012-03-16 14:10:19 -07:00
eb530a2045
Rev'ed version number to 2.5. Added more credits
2012-03-15 02:38:54 +00:00
59fb1f3542
ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system.
2012-03-13 21:31:16 -07:00
50b4c07261
Lowering the D filter for less latency and less oscillation.
2012-03-13 12:58:46 -07:00
6edad4d9ef
ACM: Larger filter for Loiter D
2012-03-13 10:23:30 -07:00
38a60df189
ACM: Rate_d filter for PID loop of Loiter.
2012-03-11 23:21:49 -07:00
2ac29effe9
ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time.
2012-03-11 23:21:49 -07:00
1e47ab26f2
AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED
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unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
2012-03-11 21:46:41 +11:00
2e1cacd67f
AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
8b887b77bd
ACM: Added Loiter D tuning
2012-03-10 14:17:57 -08:00
149a484984
ACM: Firmware rev
2012-03-10 12:45:03 -08:00
0ccfdc664d
added Force_new_altitude call for alt hold
2012-03-10 12:37:54 -08:00
037221cd02
upped throttle manual boost to 225
2012-03-10 12:37:28 -08:00
34d25ab298
ACM: removed a lot of the special case code for quaternions
2012-03-10 10:34:31 +11:00
e780dd2b44
ACM: change DCM loop to 100Hz
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On my APM2 quad this seems to give better results
2012-03-10 10:34:31 +11:00
1591d41b33
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
bc81d8e6ac
ACM: only call the fast loop if the imu has new data
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this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
13e9608fb8
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
43b3e1ccd1
ACM -
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Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
2012-03-06 22:22:14 -08:00
fe5612d38b
Added define for throttle range for altitude changes, updated it to 250
2012-03-05 22:12:53 -08:00
a096292edb
added stab_d gain scheduling
2012-02-28 20:16:40 -08:00
b7ccfb0114
Added heli_collectiveFactor array
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Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-02-28 10:49:28 -05:00
8da8ce5b58
ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine)
2012-02-28 22:56:26 +09:00
701a21ff2f
ArduCopter - modified to work with new Filter library
2012-02-28 21:02:44 +09:00
3ce1633157
Added Loiter Rate Tuning
2012-02-26 11:33:37 -08:00
41ea8e3eff
ArduCopter - added #include <Filter.h> to unbreak the build!
2012-02-26 17:05:41 +09:00
add3133100
ArduCopter - change sonar to use new mode filter from Filter library
2012-02-26 15:35:14 +09:00
68739f3cc4
Based on Jani's latest logs I've made two tweaks to alt hold.
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The first is to remove the filter on the throttle output for alt_hold.
The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
2012-02-25 13:31:21 -08:00
6b265c5034
ACM: use a NULL gps pointer in DCM init
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current DCM API does need a GPS reference passed in, but it can be
NULL
2012-02-25 15:08:49 +11:00
ce5c7c2c85
ACM: don't pass a gps pointer to DCM
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after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
2012-02-25 14:51:08 +11:00
4edf311865
ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch
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the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
2012-02-24 11:52:55 +11:00
92cfc8913a
revved a version
2012-02-22 09:00:42 -08:00
rmackay9
Andrew Tridgell
Adam M Rivera
Jason Short
analoguedevices
Robert Lefebvre