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6,079 Commits 71 Branches 509 Tags 780 MiB
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1764 Commits

Author SHA1 Message Date
rmackay9 93063a812a ArduCopter: move gcs_check function (which sends to ground station) to run when 50hz loop is not running 
Also removed redundant heartbeat message
 2012-12-20 15:54:19 +09:00
rmackay9 d430903fcd ArduCopter: remove duplicate (?) send of MSG_EXTENDED_STATUS1 2012-12-20 12:57:07 +09:00
rmackay9 9706193463 ArduCopter: remove unused variable last_5hz 2012-12-20 11:37:06 +09:00
rmackay9 415029fdf5 ArduCopter: remove unnecessary "Initialising APM message..." 2012-12-20 11:35:04 +09:00
Jason Short 53acb324db ACM: Restore Multi-mode support 2012-12-19 08:08:59 -08:00
rmackay9 e13cea03ea ArduCopter: restore auto-trim method but now use AHRS.add_trim 2012-12-20 00:06:20 +09:00
Craig@3DR ae72238beb Removed 2 more degree symbols from comments 2012-12-18 13:42:42 -08:00
rmackay9 465d54e541 ArduCopter: change GPS dataflash message to output unfiltered gps lat and lon 2012-12-18 23:44:51 +09:00
rmackay9 200389dcc2 ArduCopter: ensure RTL performs a land if a failsafe has been triggered 2012-12-17 22:12:24 +09:00
Robert Lefebvre f48ec39cfa ACM: Precision Loiter RePositioning code. 
Protected behind a #define
 2012-12-17 07:42:28 -05:00
rmackay9 7bf3296425 ArduCopter: remove unused wait_for_yes function 2012-12-17 17:52:04 +09:00
rmackay9 3be100469b ArduCopter: remove unused rc_override variables to save 21 bytes 2012-12-17 17:04:51 +09:00
rmackay9 889a19f790 ArduCopter: move scaleLongUp and scaleLongDown initialisation to init_home 2012-12-17 16:54:03 +09:00
rmackay9 c8c13046e3 ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log 2012-12-17 16:34:20 +09:00
rmackay9 1332ed3b5c ArduCopter: restore initial climb to RTL 2012-12-17 16:17:49 +09:00
rmackay9 c1abd96ef2 ArduCopter: limit output throttle to 800 only for TRI which does not have the new stability patch 2012-12-17 15:29:11 +09:00
rmackay9 68d6eee1e7 ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle 2012-12-17 14:46:30 +09:00
rmackay9 e3ee865dc0 ArduCopter: Leonard Hall's changes to alt hold including adding low pass filter to climb rate 
get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
 2012-12-17 14:36:05 +09:00
rmackay9 d8ea210019 ArduCopter: allow tuning of the Throttle Rate D term 2012-12-15 13:32:07 +09:00
Robert Lefebvre b83049bdda ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work. 2012-12-13 14:54:14 -05:00
rmackay9 2656997714 ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts 2012-12-13 23:09:26 +09:00
rmackay9 7b4f311f28 ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters 
Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
 2012-12-13 20:30:23 +09:00
rmackay9 2e78977499 ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled 2012-12-13 16:07:34 +09:00
rmackay9 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
rmackay9 ad14e727e2 ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue) 2012-12-12 23:29:57 +09:00
rmackay9 8d75022d58 ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden 2012-12-12 23:28:26 +09:00
rmackay9 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
rmackay9 e9c1500f33 ArduCopter: clear ahrs roll and pitch trims after an accel level command 2012-12-12 17:17:09 +09:00
rmackay9 ff9902c5d6 ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method 
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
rmackay9 ee164b6073 ArduCopter: remove weird character from navigation.pde 2012-12-12 11:05:16 +09:00
Robert Lefebvre 0537dcd4cc ACM: TradHeli 
Change name of attitude rate feed-forward parameters.
 2012-12-10 21:02:16 -05:00
rmackay9 d9bec28c02 ArduCopter: create 2.9 branch and update firmware version 2012-12-11 00:24:34 +09:00
rmackay9 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
rmackay9 628fb1da15 ArduCopter: fix Failed to Init Optflow message at startup 2012-12-11 00:09:45 +09:00
rmackay9 770e1b97f2 ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE 2012-12-10 23:47:14 +09:00
rmackay9 44773d1f2a ArduCopter: rename throttle failsafe parameters. 
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
rmackay9 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
rmackay9 29f040acba ArduCopter: added descriptions for most parameters that did not have them 
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
rmackay9 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
rmackay9 709dc426f9 ArduCopter: remove ThirdOrderCompFilter from list of includes 2012-12-10 09:14:44 +09:00
rmackay9 b65f050b8a ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 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
rmackay9 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
rmackay9 8af9f6ed46 ArduCopter: add comments to tuning parameters. 
Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
 2012-12-09 16:44:42 +09:00
rmackay9 ea80a2d0c8 ArduCopter: add comments at the top of many navigation functions 2012-12-09 15:50:50 +09:00
rmackay9 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
rmackay9 618bd1c296 ArduCopter: allow alt hold to be engaged with alt < 1m because sometimes we get baro drift. 
Also initialisation of target altitude is done in set_throttle_mode function.
 2012-12-09 14:48:01 +09:00
rmackay9 a4ee5d2c81 ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz. 2012-12-09 14:27:33 +09:00
Robert Lefebvre 39013a33bc ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode. 2012-12-08 20:41:05 -05:00
Robert Lefebvre 083c451ec6 ACM: TradHeli 
Fix to make update_throttle_cruise work with stab_throttle scaling.
 2012-12-08 15:12:39 -05:00