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588 Commits

Author SHA1 Message Date
rmackay9 ac5dcc8d49 ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables 2012-11-12 12:35:58 +09:00
Jason Short c1b759d5d8 ACM: Added a speed filter for throttle cruise, increased alt change rate for alt hold, increased the max climb_rate reporting 2012-11-11 18:17:33 -08:00
Jason Short 9e0b0b9fcd ACM : loging ApState at faster rate 2012-11-11 18:00:10 -08:00
rmackay9 bcb9519fd7 ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues 2012-11-11 22:42:10 +09:00
rmackay9 95f6357d35 ArduCopter: fix APM2 build 2012-11-10 22:06:23 +09:00
Jason Short e4cec91e59 ACM : Arducopter Added ap state bitfield, system bitfield 2012-11-09 22:15:15 -08:00
Jason Short cdabc3878b ACM: Arducopter - remove the stabilize D scheduling 2012-11-09 22:15:15 -08:00
Jason Short d2a0913b2d ACM : formatting 2012-11-09 22:15:15 -08:00
rmackay9 b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 ad431d2f25 ArduCopter: fixed HIL build caused by optical flow semaphore changes 2012-11-07 21:13:34 +09:00
rmackay9 1f801714e8 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
rmackay9 a1b4ec6d0e ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Jason Short e138b0a1d7 ACM: Added simple mode bearing logging for bug hunting 2012-10-28 12:12:38 -07:00
rmackay9 78316adf75 ArduCopter: replace Serial.print with Serial.print_P to save memory. 
Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
 2012-10-22 16:45:24 +09:00
Jason Short a0752dc7dc ACM Acceleration management 
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
 2012-10-21 14:32:39 -07:00
rmackay9 a37a9b5b67 ArduCopter: updated firmware version to 2.8 2012-10-20 09:50:53 +09:00
Pat Hickey d4bb8a10d7 Update ArduCopter and ArduPlane dependencies on AP_Menu 2012-10-18 20:53:39 -07:00
Robert Lefebvre 592f4040fd Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups. 2012-10-18 16:39:05 -04:00
rmackay9 1c08e48b4b ArduCopter: updated firmware version to 2.7.4-Zeta 2012-10-18 23:30:28 +09:00
rmackay9 583f2e49a3 ArduCopter: integrated Leonard Hall's improved ACRO mode 2012-10-18 23:24:34 +09:00
rmackay9 d2912e4e01 ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1 2012-10-18 17:04:44 +09:00
rmackay9 9e3c2dd105 ArduCopter: updated firmware version to 2.7.4-Epsilon 2012-10-17 19:27:11 +09:00
rmackay9 8519fe55d3 ArduCopter: more out-of-date commented out code removed 2012-10-17 19:25:14 +09:00
rmackay9 956b347d68 ArduCopter: updated firmware version to 2.7.4-Delta 2012-10-17 10:20:41 +09:00
rmackay9 4016f3ba85 ArduCopter: update version information ahead of testing 2012-10-15 18:15:38 +09:00
LeonardTHall d7b7e1cefa New Yaw controller using rate feed forward and stabilize. 
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
 2012-10-15 11:37:49 +09:00
rmackay9 997fe85880 ArduCopter: fixed acro mode 
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
 2012-10-14 17:47:46 +09:00
rmackay9 1e79d265a1 ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read 
The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
 2012-10-11 18:31:10 +09:00
rmackay9 cf3e49eea2 ArduCopter: changed sin_pitch and sin_roll to faster equivalents 2012-10-11 17:54:42 +09:00
Andrew Tridgell 601fe89baa ACM-HIL: fixed optflow declaration 2012-10-11 11:51:25 +11:00
Pat Hickey da374f9043 ArduCopter: Provide AP_Semaphore instance for SPI3 bus on APM2. 2012-10-09 11:39:39 -07:00
rmackay9 c0ad98be31 ArduCopter: failsafe added to shutdown motors if mainloop fails 2012-10-09 12:30:17 +09:00
rmackay9 61d0c8e35c ArduCopter: added AP_Semaphore to list of includes 2012-10-06 12:41:58 +09:00
rmackay9 e375a27058 ArduCopter: prioritise rate controllers, rate controller targets converted to body frame 2012-10-03 14:10:31 +09:00
rmackay9 95763e610b ArduCopter: allow DMP to run in parallel with DCM 
Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
 2012-09-30 00:25:40 +09:00
rmackay9 41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
rmackay9 ed881117e0 ArduCopter: updated version to 2.7.4-Beta 2012-09-25 23:39:15 +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 93ae29a3e9 ArduCopter: added throttle curve (although disabled by default) for all multicopters 2012-09-18 23:05:08 +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 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 9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
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
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
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
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
Craig Elder 274b2e2143 Arducopter: Release 2.7.2 2012-08-31 19:18:10 -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 d8a2bfb9e8 Arducopter: Preparing for 2.7.2 Release 2012-08-28 18:30:41 -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
uncrustify 4021a64747 uncrustify ArduCopter/ArduCopter.pde 2012-08-21 19:19:50 -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
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 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
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
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
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
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
Jason Short b01a71c4b9 ACM: Toy mode updates - added second toy mode 2012-08-11 22:37:27 -07:00
Andrew Tridgell 81440a1b09 AHRS: fixed build 
AP_Airspeed.h is now needed to build AHRS
 2012-08-11 12:22:55 +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 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
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 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
Amilcar Lucas d9f1140278 ArduCopter: Use generic channel names for AP_Mount servos. 
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 f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas 107155fa1a AP_Mount: Allow using any RC channel to control any of the mount axes. 
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 4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +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
Andreas M. Antonopoulos de85442c36 AC2.7.1: Updated version and tag 2012-07-31 13:11:17 -07:00
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 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
rmackay9 014f5aae99 ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP 2012-07-28 14:21:07 +09:00
Michael Oborne f4705577c8 AC fix sitl attitude hil build 2012-07-24 21:18:36 +08:00
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 9f6e1347b6 Ardcucopter: RTL distance check update, reset I terms fixed. 2012-07-20 13:27:35 -07:00
Jason Short 2b20c85279 Arducopter: cleanup, skip out of throttle control when flipping. 2012-07-19 22:35:21 -07:00
Jason Short 91062b56af Arducopter.pde: Increased the throttle Hold altitude control 
simplified Yaw reset
 2012-07-19 17:38:25 -07:00
Jason Short 1efc9eac58 Arducopter: Adjust landing speed 
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 c9851344e7 Arducopter 
removed old Var
 2012-07-18 22:57:10 -07:00
Jason Short cb1cdcd4a7 Arducopter: New Alt control code 
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 5965632888 Arducopter: Flip mode 
Flip mode graduates to pre-compiled option
 2012-07-18 22:57:10 -07:00
rmackay9 b691c3f658 ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch. 
This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
 2012-07-18 23:49:09 +09:00
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
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
Andreas M. Antonopoulos c73f7ef3ab AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Jason Short e3af0c7920 Arducopter: Yaw stop fix 2012-07-14 12:23:10 -07:00
Robert Lefebvre 59e133235f Implementing Yaw Fix. Tried to blend with Jason's changes. 2012-07-14 00:24:22 -04:00
Jason Short 4af392290b Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance 2012-07-13 19:29:36 -07:00
Jason Short 7b746cf5e1 Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions 2012-07-13 12:51:38 -07:00
Jason Short d8ff5dcfab Arducopter: Fix circle_WP 2012-07-12 09:22:20 -07:00
Jason Short 293f17902b Arducopter:Arducopter.pde 
switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
 2012-07-10 21:53:38 -07:00
Jason Short 3048d2f9b4 Arducopter: WP_radius 
Switching to stored WP_radius in meters, just like Arduplane
 2012-07-10 21:53:38 -07:00
Amilcar Lucas dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Jason Short f019d41729 arducopter.pde 
Timer was set =0 at initialization.
 2012-07-09 13:13:32 -07:00
Jason Short 8ccda519fa Arducopter.pde: 
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
 2012-07-03 17:21:46 -07:00
Jason Short e0b3309500 Yaw mode: 
Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
 2012-07-01 13:40:12 -07:00
Jason Short c5617eeeac Arducopter.pde_RTL: 
added a new RTL function that goes into Loiter, first, checks if we have reached RTL_Altitude, then enters WP mode to come home.
Removes Approach mode. Uses Auto_Approach value to decide if we should land or descend to a certain altitude
 2012-07-01 13:40:11 -07:00
Jason Short 2e8eee9306 Added code for self centering throttle - disabled by default. 2012-07-01 13:40:11 -07:00
Jason Short 4d6ccccef5 Circle_WP distance check fix 2012-06-29 21:20:28 -07:00
Jason Short 668135ea8b Arducopter.pde: Added Toy mode refinements 2012-06-29 21:20:27 -07:00
Jason Short e036bee424 Aeducopter.pde: Toy mode updates 2012-06-29 21:20:27 -07:00
Andrew Tridgell 55092c25a6 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Adam M Rivera dadc7d5a7d ArduCopter: Loiter Timer should have been set when the approach altitude was set. Previously, land had to be enabled before auto approach would work. 2012-06-28 20:34:53 -05:00
Andrew Tridgell 33440567e6 ACM: ArduCopter updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell dae1a57dc5 ACM: adapt the ArduCopter code for new barometer interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell b676caa626 ACM: enable GPS in AHRS for ArduCopter 
this is an experiment in centripetal correction for multicopters
 2012-06-27 16:01:49 +10:00
Jason Short c76ac4543b Added user editable define for Super simple radius 2012-06-26 10:38:46 -07:00
Jason Short 80d15368bc Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with. 
Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
 2012-06-25 23:08:25 -07:00
Jason Short 6020f6d9fa Added throttle_min as a user definable param 2012-06-20 14:58:34 -07:00
rmackay9 c62cc4844e ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release 2012-06-15 00:42:59 +09:00
Jason Short c42f9ece43 Inertial Control 
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.
 2012-06-13 22:34:45 -07:00
rmackay9 e1acf21381 ArduCopter: updated firmware version to 2.6 Epsilon 2012-06-12 23:22:57 +09:00
Jason Short f5a85d48a0 Added Angel's name to contrib list 2012-06-10 12:38:22 -07:00
rmackay9 aeaebb21d5 ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release) 2012-06-08 21:54:09 +09:00
rmackay9 70b04d9427 ArduCopter: updated firmware description to 2.6 Gamma 2012-06-05 21:28:13 +09:00
Jason Short 1b9f75c844 Updates to Flip: 
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
 2012-06-03 22:15:19 -07:00
rmackay9 72d76558a7 ArduCopter: Ensure update_GPS does nothing when gps is disabled. 
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
 2012-06-03 23:48:45 +09:00
rmackay9 fd6b21d0c7 ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 17:02:35 +09:00
rmackay9 4544b37fec ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 16:59:23 +09:00
Robert Lefebvre 5f058fb9b2 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
Jason Short dec6f0ca62 When RTLing, force home as the final location for loiter. 2012-05-30 11:06:41 -07:00
Jason Short 22065e3f3f Broken timer - removed 2012-05-29 12:56:38 -07:00
Jason Short 7c6f766251 Speed up automatic disarming to 25 seconds for safety. 
renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
 2012-05-29 12:41:35 -07:00
Jason Short f491f5e9ca Removed references to a takeoff timer 2012-05-29 11:28:40 -07:00
Jason Short 08bf04dd08 pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle. 2012-05-29 11:25:04 -07:00
Jason Short 09f4a16bfb changed the way takeoff complete is figured. Looking for high throttle. 2012-05-29 11:25:04 -07:00
Jason Short 5754f97433 reversed circle_WP calculation so the next_WP refers to the destination around the circle and circle_WP refers to the center. The intent is to make it easier to see via ground station. 2012-05-27 09:21:20 -07:00
Jason Short 7df1aa2914 Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled. 2012-05-23 22:00:56 -07:00
Robert Lefebvre 4e4ff84cf1 Updates to CopterLEDS 
Creation of Nav Blink Function.
 2012-05-22 09:58:37 -04:00
Jason Short f6d8a18182 Added note 2012-05-21 09:58:23 -07:00
Jason Short 8d075015e1 added check for duplicate time-stamped GPS messages. 2012-05-18 09:54:18 -07:00
Jason Short 7e190c6f5c Arducopter.pde : 
removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
 2012-05-17 11:05:05 -07:00
Jason Short d1cd04486a removed retro loiter code since Angel has a branch now. 
shrank speed filter to avoid latency
removed unused forward estimator code

placed code for switchover to gps.groundspeed at 1.5m/s

added clamp for D term when below .5m/s to eliminate noise

added hybrid I-term based on speed error and position

changes Loiter D term to use position rather than acceleration to avoid noise
 2012-05-15 22:14:23 -07:00
rmackay9 357d6c2d9b ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
rmackay9 2f74004fcb ArduCopter: updated version to 2.5.5 2012-05-13 08:47:43 +09:00
Andrew Tridgell 4fee26437b MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI 2012-04-24 22:24:58 +10:00
Adam M Rivera b2a7227ae7 ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define. 2012-04-23 00:19:18 -05:00
Adam M Rivera 97040a7b3a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
Jason Short e22832a832 Added a union for casting floats to ints and back when storing Floats to the DataFlash 2012-04-21 15:17:09 -07:00
rmackay9 c993049c48 ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion 2012-04-21 23:24:57 +09:00
rmackay9 3e95ade004 ArduCopter - changed optflow object to be APM2 version if necessary 2012-04-21 20:15:55 +09:00
Adam M Rivera 7d13371acf Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-20 11:45:38 -05:00
rmackay9 f0a9209935 ArduCopter - regressed version back to 2.5.4 2012-04-20 21:58:32 +09:00
Adam M Rivera c233defbe6 Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera 24363ccb83 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera d29f1ef331 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
Adam M Rivera a7bc3d2cc6 Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity. 2012-04-18 23:07:35 -05:00
Adam M Rivera f6d81a16c2 ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter. 2012-04-16 16:29:54 -05:00
Adam M Rivera 56a00fa1f7 ArduCopter: Changed millis compare to use new config value for approach delay. 2012-04-16 14:04:30 -05:00
Adam M Rivera f9affb3295 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 
Conflicts:
	ArduCopter/Parameters.h
 2012-04-16 10:23:01 -05:00
Adam M Rivera 41702aca94 ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s). 2012-04-16 10:07:57 -05:00
rmackay9 870b5e5f75 ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM 2012-04-16 23:47:57 +09:00
Adam M Rivera 77d6f22864 ArduCopter, commands_logic: Updated logic to allow as low as 5m. 2012-04-15 19:50:05 -05:00
Adam M Rivera 2954bf6f76 ArduCopter: Added check to make sure user defined approach alt is at least 5. 2012-04-15 16:58:22 -05:00
Adam M Rivera a24b7bcf14 ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land. 2012-04-15 16:54:43 -05:00
rmackay9 a71ed6abec ArduCopter - updated firmware version to "2.6 Beta" 2012-04-14 14:26:44 +09:00
rmackay9 24b81db20e ArduCopter - LEDS - main code to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:44 +09:00
rmackay9 54a0709759 ArduCopter - add includes for new AP_Motors classes. 
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
Andrew Tridgell c0a54762c6 MAVLink: port the new adaptive flow control to ArduCopter 
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
rmackay9 75d7308fb4 ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100. 
also changed heli_ext_gyro_gain to make it use the tuning range directly.
 2012-03-31 09:28:25 +09:00
Andrew Tridgell 0bc604f030 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE 
we now have the EEPROM option COMPASS_AUTODEC instead
 2012-03-30 14:25:27 +11:00
Adam M Rivera 51b70e4d36 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
rmackay9 0efb0e5b4d ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9 599cea21bb Added multiple new tuning parameters to the inflight channel 6 tuning feature: 
#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
Andrew Tridgell e956e21e7d ACM: enable the new compass offset nulling in ACM 2012-03-27 15:37:24 +11:00
rmackay9 67cf7b9eed ArduCopter - updated firmware version to 2.5.3 2012-03-25 09:13:51 +09:00
rmackay9 63b96c0153 ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter 2012-03-23 23:48:24 +09:00
rmackay9 89576a281a 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
rmackay9 1dd554c333 ArduCopter - updated version to 2.5.1 2012-03-20 17:08:18 +09:00
Andrew Tridgell 547b4ed55b AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short c5344a2a85 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
rmackay9 9841cb0335 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) 
- remove incorrect comments about when loiter target position is reset.
 2012-03-18 15:16:04 +09:00
Jason Short 48a0c9a818 ACM: Small fix to nav_throttle to prevent too fast of a landing. 2012-03-16 14:10:19 -07:00
Jason Short 1c0b28c956 Fixed Scaling bug in Sonar mixing 2012-03-16 14:10:19 -07:00
analoguedevices 86eff20d5d Rev'ed version number to 2.5. Added more credits 2012-03-15 02:38:54 +00:00
Jason Short 6f8b97bf6a 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
Jason Short 4315c06f34 Lowering the D filter for less latency and less oscillation. 2012-03-13 12:58:46 -07:00
Jason Short 7953808d14 ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short 0ab6b6e592 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short 77fe7de55d 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
Andrew Tridgell 2a03a0584f AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
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
Adam M Rivera d3667faef4 AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Jason Short 62c2aa4924 ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short 0671bb9168 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short 29d6085bab added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short 4ba600c0c5 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
Andrew Tridgell ef771fecdc ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00