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7114 Commits

Author SHA1 Message Date
Andrew Tridgell 1118d26f03 fixed "Free RAM" display on bootup 2011-10-28 21:34:10 +11:00
Jason Short 46590e5f28 Log updates 
Added motor logging for different frame types. Switched the PM log to some new debugging values and speed up the writing of the value to the logs.
 2011-10-27 22:36:25 -07:00
Jason Short 04b5776601 50 rev 
Work in progress, revved the EEPROM
 2011-10-27 12:42:28 -07:00
Jason Short 27d9712e80 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	libraries/APM_PI/APM_PI.cpp
 2011-10-27 12:41:00 -07:00
Jason Short 2458fe078f Loiter updates 
Added new option to do rate based Loiter with lat and long values, avoiding GPS heading latency issues.
 2011-10-27 12:37:33 -07:00
Jason Short d089059f58 Set default gain to 20 2011-10-27 12:33:44 -07:00
Jason Short c8c26d8193 added boost scalar arguments 
removed accel math from Trig function into Attitude.pde
 2011-10-27 12:33:19 -07:00
Jason Short c6c7966205 Attitude 
Made the Acro mode more NG like. Should be much more nimble!
Tweaked the Accel hold with sim tests. not flight tested or enabled by default.
added option to set scalar in angle boost
 2011-10-27 12:31:46 -07:00
Jason Short 0b4a3ccadb Acro PI defaults 2011-10-27 11:55:13 -07:00
Jason Short dd23883097 Motor arming delays 
Speeding up delays for motor arming commands - Level and Inflight leveling.
 2011-10-27 11:54:46 -07:00
Jason Short a076b45506 Added Acro Params 
Allows user's to fly separate PI loops settings for Acro
 2011-10-27 11:52:00 -07:00
Jason Short d4e5281a4c Deafaut dead_zone call 
Sets the correct default values for the RC_Channel group for Quads.
 2011-10-27 11:35:02 -07:00
Jason Short 76bf784f8c RC_Channel Dead zone 
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
 2011-10-27 11:34:00 -07:00
Andrew Tridgell 5a44298d57 CLI: enable "hit enter 3 times" support for CLI 
if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode
 2011-10-27 21:54:07 +11:00
Jani Hirvinen a503d9a7a7 adding missing config parameters 2011-10-21 10:41:52 +07:00
Jani Hirvinen f5f3fa8fb9 Adding second default PID sets for bigger motors 2011-10-21 10:38:36 +07:00
Jason Short d551494b94 Added ability to dynamically set wp with toggle switch 2011-10-18 17:59:45 -07:00
Jason Short a693bea7d9 added extra user hook 2011-10-17 23:51:47 -07:00
Jason Short 42d0b5cdb3 tweaked Alt hold PIDs, loiter PIDs based on SIM testing and feedback. 
Increased distance error for loiter for faster return to center.
 2011-10-16 15:41:54 -07:00
Jason Short 3bf36b5427 fix for Camera Roll 2011-10-15 20:45:45 -07:00
Jason Short 2f751793bc typoo in params for camera roll gain. fixed. 2011-10-15 18:34:23 -07:00
Jason Short 4c1d10a75e Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-15 16:35:09 -07:00
Jason Short 6a5aefd0ec Added gains to adjust travel of camera. 2011-10-15 16:34:57 -07:00
Michael Oborne 5c10b2af6c ac quick redo fix 2011-10-16 06:58:03 +08:00
Jason Short 4052fd4f73 Made wpspeed governor run per second so 1hz gps doesn't fail. Gave a 1m/s minimum. Increased WPspeed max to 4.0m/s 2011-10-15 15:35:18 -07:00
Jason Short 4be2776b17 Added Andrew's user hooks. 2011-10-15 15:29:33 -07:00
Jason Short 142707711e Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
Jason Short 65f26f7138 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-13 10:55:17 -07:00
Jason Short 338396b76a slowed acceleration from WP 2011-10-13 10:54:51 -07:00
Michael Oborne e85e3b87a8 AC2 fix guide mode fly off 2011-10-13 18:34:32 +08:00
Jason Short 2330006fbe logging for gyro and accell testing 2011-10-12 21:21:46 -07:00
Jason Short 9500171a46 tweak to the Loiter N turns 2011-10-12 20:59:12 -07:00
Jason Short 43b3015963 lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Amilcar Lucas 04299122d8 Spell 2011-10-11 22:52:02 +02:00
Andrew Tridgell d11303ef78 removed an unused variable 2011-10-11 20:53:43 +11:00
Andrew Tridgell 97b3ced7aa fixed a signed/unsigned warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell eed26ae91a fixed a '=' vs '==' bug in do_loiter_turns() 2011-10-11 20:53:43 +11:00
Andrew Tridgell d89ae696ef merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Andrew Tridgell ea82b27fe5 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Andrew Tridgell 0939b51a4c added build makefiles 2011-10-10 07:18:38 +11:00
Andrew Tridgell 5a71030d76 don't check the slider switch if CLI is disabled 
this prevents a build error in desktop mode
 2011-10-09 22:39:23 +11:00
Andrew Tridgell c61fe55d76 don't initialise DataFlash if logging is disabled 2011-10-09 22:38:49 +11:00
Andrew Tridgell 01e5ae2ab9 use memcheck_available_memory() instead of freeRAM() 
this provides a more accurate view of memory
 2011-10-09 22:38:14 +11:00
Michael Oborne d42f2e230e undo config change 2011-10-08 21:13:53 +08:00
Michael Oborne a052c25899 Merge commit 'e7f5e4a623b79872a015dff5ca959e60f6f7fd64' 2011-10-08 20:43:13 +08:00
Jason Short c25478448b Quick RTL Fix, logic was backward 2011-10-07 11:06:31 -07:00
Jason Short 167df79b49 Better Loiter PIDs 
Fixed RTL overshoot bug
 2011-10-06 17:42:09 -07:00
Michael Oborne fab2121c6d fix ac2 hil build 2011-10-04 18:55:10 +08:00
Michael Oborne f9883bf382 fix make issue 2011-10-04 09:34:47 +08:00
Jason Short 1ff372a41d Implementing a limiter for the ramp up of speed to WPs. 2011-10-03 10:37:56 -07:00
Jason Short eb1117b136 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-02 11:36:31 -07:00
Jason Short b0bd9d1c44 Added second PI loop for alt hold. 
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
 2011-10-02 11:36:23 -07:00
Amilcar Lucas ee4251baef Fix compilation 2011-10-02 14:52:02 +02:00
Amilcar Lucas 3d1902abac Use the new AP_Relay library 2011-10-02 14:22:27 +02:00
Jason Short 189fc194b6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-30 18:40:40 -07:00
Jason Short f89da12387 Minimized the accel_filtered vector to be faster and more accurate. 
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
 2011-09-30 18:40:29 -07:00
James Goppert e20c279ca5 Added makefiles for ArduCopter/ArduPlane. 
These files are not generated by cmake. They are necessary for
the make based build to work. To build using this method
type make in the directoy such as ArudPlane/ArduCopter. Make
sure that you do not call cmake in the ArduPlane etc directory
as this will overwrite this Makefile with the autogenerated cmake
version. Cmake should be called from withing a build directory.
 2011-09-30 07:16:48 -04:00
Janne M b4e56e889f ArduCopter: Fixed board setting in cmake-file. Removed now autogenerated Makefile 2011-09-30 11:30:43 +03:00
Jason Short 12cd4539a3 2.0.46 preliminary release 2011-09-29 23:30:32 -07:00
Jason Short a7ea200407 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-29 23:27:36 -07:00
Jason Short de61e87128 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
James Goppert 5489b84f8e Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert dafaa1fa0b Merge branch 'apo' 
Conflicts:
	ArduBoat/ArduBoat.pde
	ArduBoat/CMakeLists.txt
	ArduRover/ArduRover.pde
	ArduRover/CMakeLists.txt
	apo/CMakeLists.txt
	apo/apo.pde
 2011-09-29 14:22:55 -04:00
James Goppert d887a28b91 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Jason Short 758d0e1aec Attempting to mimic loiter values for 4.0.42 
lowered Rate Error max in loiter
 2011-09-28 23:11:19 -07:00
Jason Short c881600385 lowered the deadzone a tad 2011-09-27 13:56:02 -07:00
Jason Short 888e1119e8 Added Loiter P tuning as #12 2011-09-27 09:39:32 -07:00
Jason Short c209d6e6dd 2.0.46 -Not flight tested! 
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
 2011-09-27 09:35:05 -07:00
Jason Short 326cfef808 Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth. 2011-09-26 22:12:39 -07:00
Michael Oborne d8fd3eadfd heli config 2011-09-27 07:36:12 +08:00
Michael Oborne b33eaa8c9c heli hil config 2011-09-27 07:34:32 +08:00
Michael Oborne 108a89f617 heli hil 2011-09-27 07:30:28 +08:00
Jason Short 0ed9af1bf5 Turned off Rate_I for Arduino users. 2011-09-25 15:34:59 -07:00
Jason Short b2a2221474 Fixed issue with Simple mode changes. 
Reverted to simpler, safer timer code for throttle hold
 2011-09-25 14:16:35 -07:00
Jason Short f437e4b2d1 Revved the firmware to force resetting the EERPOM 2011-09-25 12:24:02 -07:00
Jason Short 706211b757 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-25 12:22:07 -07:00
Jason Short 239164fa19 Fixed Flip code to compile. Flip still not flight tested! 2011-09-25 12:21:54 -07:00
rmackay9 bd79e1f73c Merge remote-tracking branch 'origin/master' 2011-09-25 16:55:52 +09:00
rmackay9 b5ea05698e TradHeli - added servo averaging to allow support of analog servos 
- moved heli parameters to 80 because they were causing flight modes to overlap with waypoints
 2011-09-25 16:51:25 +09:00
Jason Short bb8f97ec0b Better throttle boost value 2011-09-24 21:55:54 -07:00
Jason Short d262fdb264 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-24 21:50:08 -07:00
Jason Short d495e6a9c4 turned off Stabilize_I by default because it was hurting loiter 
tweaked speed control of rate_nav
 2011-09-24 21:49:45 -07:00
rmackay9 ddb4de1949 TradHeli - fix to set motor_auto_armed = true if throttle > 0. Required to let ALT_HOLD work! 2011-09-25 12:30:37 +09:00
Jason Short 236f665378 Added Loiter Turns - It orbits the Current location 
Added WP to Loiter_time so you can spec a specific location in the planner
added new Navigation alg. Should perform better (doesn't rely on 45° flow fields like last one)
Added "Jump" counter so missions don't get overwritten in flight.
removed I term by default for Rate pitch and roll
 2011-09-24 17:40:29 -07:00
Jason Short 35c30e91bf Test for new nav function 2011-09-24 16:48:04 -07:00
Jason Short e961d3f3d4 Removed default Rate_I for pitch and roll 
added change speed control for missions
 2011-09-24 09:49:11 -07:00
Amilcar Lucas e5c248e2bf Moved mavlink_check_target() to the libraries/. 
This allows it to be reused by the other libraries and by other projects ArduPlane, ArduCopter, ArduRover ... etc.
It also reduces code duplication
 2011-09-24 14:40:07 +02:00
Jason Short a8befb189c Fixed throttle_boost 2011-09-23 15:34:18 -07:00
Jason Short 2ae163ef75 Trying to make Alt hold more aggressively change altitudes. 2011-09-23 13:58:39 -07:00
Jason Short ba7abd62d8 Adjusted DCM Gains to normal levels. Added a check to stop navigating when landing and to land faster. 2011-09-23 13:52:10 -07:00
Jason Short 25b0a3c43b Added a default, but low throttle cruise value 
Added a clear integrator for Rate I to prevent tip ups at launch.
 2011-09-22 23:10:55 -07:00
Jason Short 7177bcec77 removed old CH6 tuning defines 2011-09-22 18:51:41 -07:00
Jason Short cfd2c31fb2 Better Tuning for default Quad 2011-09-22 18:30:29 -07:00
Jason Short 991279851a Refined Throttle Timer reset 
Reduced Loiter I gain to decrease overshoot.
 2011-09-22 17:38:39 -07:00
Jason Short f49621bde1 Fixed for sticky RTL CH7 option 2011-09-22 15:25:07 -07:00
Jason Short 078f64e276 Fixed Throttle integrator bug. Time was not being reset causing a big drop in throttle control. 2011-09-22 12:28:46 -07:00
Jason Short a012e7981a removed debug statements 2011-09-21 22:34:27 -07:00
Jason Short c91ad14e18 Fixed Timer overflow for throttle PI loop. 
Moved look at home to update_nav where it belongs
 2011-09-21 22:31:12 -07:00
Jason Short 0fba3e6742 Added Auto_trim to CH7 option 2011-09-21 16:24:09 -07:00
Jason Short 5ca50f1f01 Altered CIRCLE mode to allow Loiter_N_Turns to work in AP mode. 2011-09-21 13:19:36 -07:00
Jason Short 2a6d2dea5c upped to 2.0.44 - not flight tested 2011-09-20 23:23:42 -07:00
Jason Short 00fe8e0450 Fixed do_flip, 2011-09-20 23:20:33 -07:00
Jason Short 94313ea88f Fixed Yaw for Auto mode. 2011-09-20 22:59:23 -07:00
Jason Short c143e08d2e Logic fix for RTL option 2011-09-20 10:39:39 -07:00
Jason Short 020062498b Edited CH7 options to include Do Nothing and RTL. 2011-09-20 10:37:50 -07:00
Jason Short b2b28cc90c Converted Millis to Micros 
added navigation check to return a failed navigation
 2011-09-19 22:24:57 -07:00
Jason Short bf94ba551e changed PI Library to take Float for DeltaTime 
Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!
 2011-09-19 14:02:42 -07:00
Jason Short 6dd2cc058a removed outdated reference file. 2011-09-18 17:18:35 -07:00
Jason Short b9b5c57662 added contributor 2011-09-18 17:12:59 -07:00
Jason Short 73fd0084be Added Piezo Support, code from Oliver. 2011-09-18 17:12:28 -07:00
Jason Short ddc5ced162 removed saving - not needed for copters 2011-09-18 16:28:53 -07:00
Jason Short 151cae6074 Jump command was reported to have issues, updated to match APM branch. 2011-09-18 16:27:43 -07:00
Amilcar Lucas 2755748d44 Added comment, spellcheck 
This reduces the diff to the APM_Camera branch
 2011-09-18 14:57:55 +02:00
Andrew Tridgell dc23ad4275 MAVLink: merged in the stack saving changes from ArduPlane 2011-09-18 11:37:24 +10:00
Jason Short 2f961ad315 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-17 12:23:22 -07:00
Jason Short 99065d5035 Added a GPS watchdog to stop navigating if we loose signal. 2011-09-17 12:23:16 -07:00
Amilcar Lucas 1dca64f190 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-17 20:25:49 +02:00
Amilcar Lucas 227ce0a92d Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Jason Short 0b701f7351 Reverted to current_loc.alt in MSG_VFR_HUD and MSG_Location 2011-09-17 11:16:13 -07:00
rmackay9 c825e76a88 ArduCopter - small changes to fix compile errors when optical flow enabled 2011-09-17 22:09:18 +09:00
Andrew Tridgell d4a068416f fixed bit-logic for simple modes 2011-09-17 14:58:02 +10:00
Andrew Tridgell 3c69404d5b fixed build of OpticalFlow code 2011-09-17 14:58:02 +10:00
Andrew Tridgell 0425f4be54 updates for new DCM code 
G_Dt is no longer needed by the DCM
 2011-09-17 14:58:02 +10:00
Jason Short 4607bdb4b5 fixed naming for opt flow 2011-09-16 19:26:17 -07:00
Jason Short f79b8de5e8 removed DCM reference from OPT FLOW 2011-09-16 19:17:50 -07:00
Jason Short cd72e6bea9 roughed in an expo option idea 
made min and max values 1100, 1900
removed hard coded init for camera values
 2011-09-16 19:06:53 -07:00
Jason Short 1689a9857c removed unused pde file 2011-09-16 18:57:35 -07:00
Jason Short 9c5cba56eb Added low voltage code flashing code. 2011-09-16 18:56:51 -07:00
Jason Short 9bcbe70e59 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-16 18:35:14 -07:00
Jason Short b948e0f02b Lowered Loiter_I - higher value didn't test well. 2011-09-16 18:24:42 -07:00
Jason Short 129c13e065 Fixed CIRCLE mode trig error 
made loiter_radius * 100 in Params
updated gains
 2011-09-16 16:54:45 -07:00
Jason Short 8d0a2fae9b cleanup 
added more ifdef for optflow
 2011-09-15 23:41:15 -07:00
Jason Short d29cfbcee3 Integration of optical flow 
bug fixes for new Simple mode
increased Baro filter by 2 fields
 2011-09-15 23:33:00 -07:00
Michael Oborne e43b711e96 fix remote error value 2011-09-15 18:26:59 +08:00
Jason Short 1025fc3abf Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-14 14:45:13 -07:00
Jason Short 1ce2308d11 Removed Simple Mode 
Added Simple option to mode switch positions
removed unused OptFlow code
added reset lat and lon error
removed unused init_auto
Fixed log formatting
Added simple mode bitmask
removed pitchmax
added CLI setup for enabling Simple mode to any switch position
 2011-09-14 13:58:18 -07:00
unknown a4e001bbcf Adding CMake support 2011-09-14 15:44:55 +02:00
Jason Short fdc56c9ad5 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-12 12:57:56 -07:00
Jason Short ecd14f4425 Cleaned up guided mode 
Reduced ADC filter to 3 from 6 to increase speed of filter.
 2011-09-12 12:57:36 -07:00
Amilcar Lucas d1a63db767 These defines got moved to the library 2011-09-12 21:32:05 +02:00
Jason Short a6182965c1 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-11 21:46:53 -07:00
Jason Short 885ec18182 Removed last of Xtrack 2011-09-11 20:40:05 -07:00
Jason Short bae05178f0 removed Xtrack and increased rate error limit 2011-09-11 20:36:20 -07:00
Jason Short 285029856b removed nav_bearing 2011-09-11 20:33:29 -07:00
Jason Short 5f94aa1d40 removed Nav_bearing 2011-09-11 20:32:58 -07:00
Jason Short c15b6be83f increased imax 2011-09-11 20:28:43 -07:00
Jason Short 466488e78d removed nav_bearing - not used 2011-09-11 20:27:56 -07:00
Olivier ADLER b9383537e2 Added missing motor tests for octa quad and octa V 2011-09-12 00:43:54 +02:00
Olivier ADLER 1ee65e3ef2 Merge branch 'APM_Camera' of https://code.google.com/p/ardupilot-mega/ 
Conflicts:
	ArduPlane/ArduPlane.pde
	libraries/AP_Camera/AP_Camera.h
	libraries/AP_Mount/AP_Mount.cpp
	libraries/AP_Mount/AP_Mount.h
 2011-09-12 00:31:18 +02:00
Olivier ADLER 8b3e9d2df6 Signed-off-by: Olivier ADLER <contact2@nerim.net> 
slightly upped motor out values for motor test. Was too low for some ESCs.
 2011-09-11 23:32:04 +02:00
Jason Short d733868fea Fixed Yaw mode for CIRCLE 2011-09-11 11:48:11 -07:00
Jason Short e6b7c57d26 Circle Mode now working 
250Hz loop implemented
 2011-09-11 11:22:01 -07:00
Jason Short 482844b87a Added Input Voltage value to params 2011-09-10 18:44:56 -07:00
Jason Short b4a51806bc Added Nav Rate tuning 2011-09-10 18:37:28 -07:00
Jason Short bb1b7b47a7 Fixed numbering issue with defines 2011-09-10 16:25:52 -07:00
Jason Short 97d69906dd Incremented to 2.0.41 2011-09-10 15:28:55 -07:00
Jason Short 02bfd43390 Fixes Alt hold mistake 
Moves tuning into runtime definable param
Added more IMax to throttle

Signed-off-by: Jason Short <jasonshort@gmail.com>
 2011-09-10 15:16:51 -07:00
Chris Anderson 59b5bafdd1 Renamed code to ArduCopter 2011-09-08 19:14:12 -07:00
jasonshort 8870e2f309 circle mode patch 2011-09-09 11:59:42 +10:00
Andrew Tridgell ec398505a6 rename main pde file for arduino requirements 2011-09-09 11:52:25 +10:00
Andrew Tridgell b9fad1262a move Frame into ArduCopter 2011-09-09 11:52:15 +10:00
Andrew Tridgell d95e454609 rename main pde file for arduino requirements 2011-09-09 11:51:21 +10:00
Andrew Tridgell afe0fa18ea move Frame into ArduCopter 2011-09-09 11:49:11 +10:00
Andrew Tridgell 1456a2a912 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00