d2c8abe491
ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h
2012-12-13 00:15:30 +09:00
ad14e727e2
ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue)
2012-12-12 23:29:57 +09:00
8d75022d58
ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden
2012-12-12 23:28:26 +09:00
31fd9a22a3
ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode
2012-12-12 23:27:45 +09:00
e9c1500f33
ArduCopter: clear ahrs roll and pitch trims after an accel level command
2012-12-12 17:17:09 +09:00
ff9902c5d6
ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method
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Also removed slow low pass filter meant to correct for accelerometer calibration. This is no longer required now that we have the improved calibration method.
2012-12-12 16:29:46 +09:00
ee164b6073
ArduCopter: remove weird character from navigation.pde
2012-12-12 11:05:16 +09:00
0537dcd4cc
ACM: TradHeli
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Change name of attitude rate feed-forward parameters.
2012-12-10 21:02:16 -05:00
d9bec28c02
ArduCopter: create 2.9 branch and update firmware version
2012-12-11 00:24:34 +09:00
b170da34ec
ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised
2012-12-11 00:14:29 +09:00
628fb1da15
ArduCopter: fix Failed to Init Optflow message at startup
2012-12-11 00:09:45 +09:00
770e1b97f2
ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE
2012-12-10 23:47:14 +09:00
44773d1f2a
ArduCopter: rename throttle failsafe parameters.
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Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
2012-12-10 23:38:43 +09:00
93fa3fbc69
ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees
2012-12-10 22:27:46 +09:00
29f040acba
ArduCopter: added descriptions for most parameters that did not have them
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Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
2012-12-10 21:45:57 +09:00
34724719d9
ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude
2012-12-10 17:30:50 +09:00
709dc426f9
ArduCopter: remove ThirdOrderCompFilter from list of includes
2012-12-10 09:14:44 +09:00
b65f050b8a
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
2012-12-10 00:43:11 +09:00
97153c32d0
ArduCopter: reduce Rate Roll/Pitch P to 0.150 (was 0.175) and increase I to 0.1 (was 0.01)
2012-12-09 18:08:45 +09:00
6cdcf5e737
ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission
2012-12-09 18:04:31 +09:00
8af9f6ed46
ArduCopter: add comments to tuning parameters.
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Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
2012-12-09 16:44:42 +09:00
ea80a2d0c8
ArduCopter: add comments at the top of many navigation functions
2012-12-09 15:50:50 +09:00
8be1f9d9b8
ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde
2012-12-09 15:24:19 +09:00
618bd1c296
ArduCopter: allow alt hold to be engaged with alt < 1m because sometimes we get baro drift.
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Also initialisation of target altitude is done in set_throttle_mode function.
2012-12-09 14:48:01 +09:00
a4ee5d2c81
ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.
2012-12-09 14:27:33 +09:00
39013a33bc
ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.
2012-12-08 20:41:05 -05:00
083c451ec6
ACM: TradHeli
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Fix to make update_throttle_cruise work with stab_throttle scaling.
2012-12-08 15:12:39 -05:00
c6537ae6e3
ACM: Code Cleanup
2012-12-08 14:49:38 -05:00
90f9b8c076
ArduCopter: remove debug related to yaw mode used for alt hold
2012-12-08 14:24:50 +09:00
f62c377062
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
6596f1728a
ArduCopter: removed unused and out-of-date #defines from APM_Config.h
2012-12-08 13:38:39 +09:00
b973d50d79
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
63a9913278
ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis
2012-12-07 13:01:40 +09:00
8378de6d8c
ArduCopter: do_set_servo fix to resolve -1 being assigned to uint8_t
2012-12-07 12:58:44 +09:00
5c3ca64c12
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
2cff551891
ArduCopter: allow triggering of camera from a mission
2012-12-06 23:48:30 +09:00
bfb033c52b
ArduCopter: fix do_set_servo so that it works again
2012-12-06 20:18:33 +09:00
80d9c76009
ArduCopter: added CH7 option to trigger camera
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Restructured reading of channel 7 into a switch statement.
2012-12-06 17:47:01 +09:00
73b7d1deca
ArduCopter: update comments related to CH7 switch options
2012-12-06 17:40:36 +09:00
e1a351552f
ArduCopter: maintain loiter control even below 1m while landing
2012-12-06 12:40:53 +09:00
c734a42e15
ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz)
2012-12-06 10:32:12 +09:00
9c0984c505
ArduCopter: bug fix - initialise inertial nav
2012-12-06 10:32:07 +09:00
5551f092be
ArduCopter: disable INERTIAL_NAV_XY by default
2012-12-06 10:32:02 +09:00
bdf236ef38
ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter.
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When disabled the original velocity based throttle controller is used.
2012-12-06 10:31:57 +09:00
9750c14325
ArduCopter: RTL clean-up and slightly improved landing sensor
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Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
9447d08fdd
ArduCopter: increase CONTROL_SWITCH_COUNTER so that flight mode switch must be changed for at least 1/10th of a second
2012-12-06 10:31:46 +09:00
eb3ad15843
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
450b6e13a4
ArduCopter: switch on INS in APM_Config.h (i.e. on by default for users uploading through Arduino IDE)
2012-12-06 10:31:36 +09:00
8a0faebb21
ArduCopter: pass linear altitude error to throttle rate controllers.
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Previously the requested rate used the square root of the altitude error.
Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
2012-12-06 10:31:31 +09:00
89e737728c
ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI)
2012-12-06 10:31:25 +09:00
rmackay9
Robert Lefebvre