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256 Commits

Author SHA1 Message Date
Andrew Tridgell d2a4091716 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell 1af6f08b1c adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Jason Short 0315221bd1 Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short 7c45d2bdc3 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short 927fc25421 made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short a27bd9db46 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short f3547a04a5 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Jason Short d161c0451f fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
analoguedevices 256893f385 credits 2012-02-01 04:44:36 +00:00
analoguedevices d86dbd1c6f Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Jason Short 3050c1d765 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short d93e259289 Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short af0b0d5a7f made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Jason Short 0213f4dd88 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 8fcb2931d7 Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short a685510c38 changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay 2db4d2bfe6 OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay 2f84b54bbb 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
Jason Short 8c4b955282 added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short 275815a7c9 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short fa06d4a2e3 Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short e9a4253cd1 added note 2012-01-20 22:52:31 -08:00
Jason Short 2fa8a343ac Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short ba535ed956 B3 2012-01-20 22:52:29 -08:00
Jason Short 556d646cad set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units. 
added the ability to force nav_throttle so we  don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
 2012-01-20 22:52:29 -08:00
Jason Short 0f24860552 Altitude no longer resets when moving loiter WP 2012-01-20 22:52:29 -08:00
Jason Short aa1f09af83 Lowered range to more sensible values 2012-01-20 22:52:29 -08:00
Michael Oborne 7f272b4c4b fix SITL attitude hil AC 2012-01-20 16:32:25 +08:00
Doug Weibel 2ea9db84e0 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Doug Weibel 17b3e514dc Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Jason Short 7e411f5fb6 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Jason Short 3879e79898 b2 2012-01-14 11:37:00 -08:00
Jason Short cf51967bbb Fix for SIMPLE mode 2012-01-14 11:32:48 -08:00
Jason Short e7ad08e209 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short c970ba4f93 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short 05dce91c24 fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short b9419e0123 moved GPS routines to 50hz loop to avoid delay. 2012-01-12 22:59:47 -08:00
Jason Short b81f9a5d77 Version 2.2 2012-01-12 22:37:33 -08:00
Jason Short b884462ce3 removed wind comp code, 
Added Landing boost code
 2012-01-12 22:28:58 -08:00
Jason Short 33fe4db3fc R10 2012-01-11 22:41:51 -08:00
Jason Short db1fafaaec R9 2012-01-10 23:46:08 -08:00
Jason Short 439c15f3fc Added climb rate control 
removed unused vars
 2012-01-10 23:42:26 -08:00
Jason Short 9cbfcac802 Made timer unsigned 2012-01-10 23:42:26 -08:00
Pat Hickey 8d4db05f50 Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey b22920c0ea ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey 7b056f208d ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Randy Mackay 7b9701fdd5 ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
Jason Short fda12c8902 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Jason Short a8574e813d R8 2012-01-07 22:28:03 -08:00
Jason Short ca80dc549c Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short 058a3275c3 Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short d430c847fa Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short de912b5054 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short beac2930c9 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short a8af509517 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell 9ee3431928 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short 3ac37c09a9 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short a70fdc58a1 Cleaned up and documented each global vavriable 
Added Wind compensation for Stability
Acro mode fixes
 2012-01-04 09:28:37 -08:00
Jason Short 86e01fce17 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short e8db2225dd upped to r5 2011-12-31 10:05:13 -08:00
Jason Short e17c8705ba Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short e9d41897df R4 2011-12-30 23:54:02 -08:00
Jason Short 4b2979743f no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short f5ffa7bd7e Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short 09db32ee02 Added Nav_bearing, just like APlane 
added fix for LOITER in missions so we don't Yaw in circles
 2011-12-30 23:48:04 -08:00
Jason Short 57b2d17d8a updated rev 2011-12-29 23:02:41 -08:00
Jason Short 4535bc4fd9 lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short aa2e474b80 Added 5 sec Takeoff Timer to clear i terms when lifting 
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
 2011-12-29 23:02:03 -08:00
Randy Mackay ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell 1cc38b0701 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell c27277c7f1 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Jason Short a8070d86df Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Jason Short 359d186798 added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short f2d6708058 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short 6c5f41fe58 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short 2f5da31a05 change Alpha name 2011-12-18 16:38:07 -08:00
Jason Short ed818e4ccf Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
Andrew Tridgell 4bbd5392ef removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Jason Short 027b710816 renamed super simple, added framework for auto calc of throttle cruise 2011-12-15 20:51:41 -08:00
Jason Short 96ce429537 made the last step of landing stop navigating so we can drop straight down. 2011-12-14 22:08:41 -08:00
Jason Short 2a7f981fb0 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Andrew Tridgell 4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short 6bac318def Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Andrew Tridgell ae1ec05dd4 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Pat Hickey 067724b4f1 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey 67436d7ff2 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey 82b8f4d7b7 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 698a231dd6 ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Randy Mackay 62a7b19600 Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Jason Short 995727383b Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short f444aac706 Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short 7c1a975a71 Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short 22e4ed67aa Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short 118a232b13 made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short ad94166c22 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short 55b2e5339a simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short 8e0d8a860b Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Michael Oborne 21143d87b5 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Jason Short f3b3350d25 Git Test 2011-11-28 10:54:20 -08:00
Jason Short dddf829c01 removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00