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3,242 Commits 71 Branches 511 Tags 793 MiB
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792 Commits

Author SHA1 Message Date
Pat Hickey
70825e0e1c ArduCopter Heli: add motors_output_enable function 2012-01-25 22:41:09 -08:00
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
Randy Mackay
cd21c5905b Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi 2012-01-25 21:53:20 +09:00
Jason Short
86c7742dc0 added loiter_d to allow users to configure alternate Loiter alg 2012-01-22 14:19:27 -08:00
Jason Short
32241319c1 Revert "test to switch loiter controls" 
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
 2012-01-22 14:19:27 -08:00
Jason Short
04a2eee410 test to switch loiter controls 2012-01-22 12:28:34 -08:00
Pat Hickey
05246bf3b4 ArduCopter: Call APM_RC.enable_out for camera channels in init_camera() 2012-01-22 12:03:11 -08:00
Pat Hickey
368e736a61 ArduCopter: Call motors_output_enable at correct spot during init 2012-01-22 12:03:11 -08:00
Pat Hickey
2bd2e9c774 ArduCopter: Add implementation of motors_output_enable to each motors_ frame type 2012-01-22 12:03:11 -08:00
Jason Short
acf43341da Causes Aero_SIM to fail 2012-01-22 09:34:43 -08:00
Jason Short
8c4b955282 added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short
a213e05eb9 converted to cm 
Signed-off-by: Jason Short <jasonshort@mac.com>
 2012-01-21 22:14:08 -08:00
Jason Short
7616c3b5a1 Converted distance gains to CM 
added loiter_d for rate control, equal to old Nav_P gain
 2012-01-21 22:13:57 -08:00
Jason Short
e1f7fa34ea Fixed speed governor which was letting speed get to 0. 
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
 2012-01-21 22:12:57 -08:00
Jason Short
8bd6cabdf1 recording nav_bearing rather than target bearing 
recording x and y speed rather than Iterms for nav since they are always 0 now
 2012-01-21 22:10:28 -08:00
Jason Short
14a8d8a471 added conversions of CM to M 2012-01-21 22:09:39 -08:00
Jason Short
a3daae1530 Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning. 
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
 2012-01-21 22:09:13 -08:00
Jason Short
9ecd091f79 convert command into CM from M 
Making Landing boost be one at minimum to trigger better navthrottle output
 2012-01-21 22:06:35 -08:00
Jason Short
6377cf8549 better default for speed governer 2012-01-21 22:05:48 -08:00
Jason Short
02d6adb21f slightly less filtering for less latency 2012-01-21 22:04:54 -08:00
Jason Short
275815a7c9 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short
ab8bf0b560 increasing the velocity near WP 2012-01-21 11:59:49 -08:00
Jason Short
8f86caa3ff limiting the pitch throttle compensation 2012-01-21 11:59:49 -08:00
Jason Short
fa06d4a2e3 Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short
d444051eb3 Enabled auto throttle hold 2012-01-20 22:52:31 -08:00
Jason Short
e9a4253cd1 added note 2012-01-20 22:52:31 -08:00
Jason Short
3921fb7880 formatting 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
525f7cd40f cleanup 2012-01-20 22:52:30 -08:00
Jason Short
a087d84734 error on comparison operator 2012-01-20 22:52:30 -08:00
Jason Short
84937b4f69 Added Auto_land_timeout to params 2012-01-20 22:52:30 -08:00
Jason Short
bf8774c2f8 AutoLanding timeout for Mission Planner 2012-01-20 22:52:30 -08:00
Jason Short
c5dd970026 Max throttle output was to high 2012-01-20 22:52:30 -08:00
Jason Short
99b71434da Updated Firmware version 2012-01-20 22:52:30 -08:00
Jason Short
9c912b2573 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short
63a1cf75df enabled Mavlink Land command 2012-01-20 22:52:30 -08:00
Jason Short
0475dbf8ae relocated reset_I term functions to central location 2012-01-20 22:52:30 -08:00
Jason Short
f504c79fb0 Stab_D changes units with the new dampening controller updates 
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
 2012-01-20 22:52:30 -08:00
Jason Short
3a4a80c650 renamed function 2012-01-20 22:52:30 -08:00
Jason Short
c2496948fb Verify land updates from JLN 
Effectively a throttle control for landing that mimics a person lowering the throttle.
 2012-01-20 22:52:29 -08:00
Jason Short
d991a22453 Refined the D term for stabilize 
moved all the rest_I terms from code into 1 central place
 2012-01-20 22:52:29 -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
7468889bb7 slowed down slightly 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
Jason Short
3797c25867 Off by default 2012-01-20 22:52:29 -08:00
Michael Oborne
c2f3cf0cf5 AC fix attitude level hil 2012-01-21 07:52:52 +08:00
Michael Oborne
b94c80059b fix scale error 2012-01-21 06:33:18 +08:00
Michael Oborne
3b93418d67 AC sync battery code with arduplane 2012-01-21 06:29:09 +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
f326a5a9ea APM2 Channel assignments 2012-01-15 10:24:16 -08:00
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
6714ab49ad Tweak to make circle mode scripting more accurate 2012-01-14 11:21:50 -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
11e1df497d lowered Loiter I, commented out unused var 2012-01-14 11:20:40 -08:00
Jason Short
f25d741f62 temp removed alt D term until more testing 2012-01-14 11:20:40 -08:00
Jason Short
e6ec80bb21 Clarified the Increment for WP total 2012-01-14 11:20:40 -08:00
Jason Short
6d0329b08c added notes, removed redundant save wp_total 2012-01-14 11:20:40 -08:00
Jason Short
24b760d48f added update throttle cruise function 2012-01-13 16:48:05 -08:00
Jason Short
414a2581a0 Made RTL always the current Altitude 2012-01-13 16:47:38 -08:00
Jason Short
c970ba4f93 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short
589f8bc557 Disabled Ryans filter until we get real-world testing in. 2012-01-13 12:48:02 -08:00
Jason Short
05dce91c24 fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short
8de6e0e223 made landing shoot for below home by 2 meters to avoid bounce up. 2012-01-13 12:46:40 -08:00
Jason Short
9a0539f39e tuned down Alt hold D gain 2012-01-13 09:36:51 -08:00
Jason Short
81413d2a76 re-enabled relay test 2012-01-13 08:55:02 -08:00
Jason Short
09c4bbe46e Added simple constrain for Alt d term 2012-01-13 08:49:55 -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
5418d330f6 Added a small D term on alt hold 2012-01-12 22:28:58 -08:00
Jason Short
6d0f078fdd Added Landing throttle control to force down the copter 2012-01-12 22:28:58 -08:00
Jason Short
b493cb1e55 removed unused defines 
lowered default Loiter gain
 2012-01-12 22:28:58 -08:00
Jason Short
8416de7e9c Added Ryan's GPS lag filter 
Removed unused code
refined alt change
 2012-01-12 22:28:58 -08:00
Jason Short
400d080d12 added notes 2012-01-12 22:28:58 -08:00
Doug Weibel
622217357c Bug fix for compass. 
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
analoguedevices
c00bcc58d9 Eliminated second instance of APM2 #defines 2012-01-12 20:38:41 +00:00
Jason Short
33fe4db3fc R10 2012-01-11 22:41:51 -08:00
Jason Short
464038b3ea New Loiter control 2012-01-11 22:41:51 -08:00
Jason Short
2566f1fb95 New Loiter Gains for new Loiter methods 2012-01-11 22:41:51 -08:00
Jason Short
55cb0ad476 moved to verify_land 2012-01-11 22:41:51 -08:00
Jason Short
7978a2a21a attempting to force down without using Manual boost. 2012-01-11 22:41:51 -08:00
Jason Short
db1fafaaec R9 2012-01-10 23:46:08 -08:00
Jason Short
22ebe00773 comma 2012-01-10 23:45:33 -08:00
Jason Short
7933492fec Switched to set_next_WP for mode switches 2012-01-10 23:43:44 -08:00
Jason Short
30f5ecda54 Fixed Type Error 2012-01-10 23:43:44 -08:00
Jason Short
ed903c6cd3 Fixed type error 2012-01-10 23:43:44 -08:00
Jason Short
36516161b5 Climb rate control 2012-01-10 23:43:44 -08:00
Jason Short
78925d57c2 added set_new_altitude call() 2012-01-10 23:43:44 -08:00
Jason Short
0c9dc11ac1 Added ending for auto landing 2012-01-10 23:42:27 -08:00
Jason Short
7d4067a6ed updated climb rate control 
Land detector
 2012-01-10 23:42:27 -08:00
Jason Short
f683371508 added set_new_altitude call 2012-01-10 23:42:27 -08:00
Jason Short
581657ab7a climb rate control 2012-01-10 23:42:26 -08:00
Jason Short
439c15f3fc Added climb rate control 
removed unused vars
 2012-01-10 23:42:26 -08:00
Jason Short
c385db412e Added altitude change flags 2012-01-10 23:42:26 -08:00