566daf883a
Copter: remove unused MODE bit from LOG_BITMASK
...
We always log the mode so no need for this bit
2013-05-17 12:26:42 +09:00
1426f40319
Copter: remove unused JDrones motor PID overrides
2013-05-17 12:05:20 +09:00
e843bf3dfd
Copter: bug fix for POSITION mode throttle
...
Was using alt-hold throttle controller instead of manual throttle
controller
2013-05-14 11:56:09 +09:00
a2e298bbfc
Copter: change to default RTL yaw behaviour
...
We will not point the nose home for RTL but will point the nose for all
other waypoints
2013-05-14 11:52:39 +09:00
0d027b7a23
Copter: updates for new compass API
2013-05-02 12:48:14 +10:00
bab9fa25e5
Copter: add GCS failsafe
2013-04-29 21:30:22 +09:00
58d1da2d80
Copter: integrate AC_Fence in place of limits
...
Lesser functionality than limits but saves more than 150 bytes and it
works
2013-04-27 11:14:07 +09:00
94d4ecef11
Copter: reduce throttle rate D to zero
2013-04-21 16:28:07 +09:00
36041bb9ff
Copter: Enable CURRENT logging by default to dataflash
2013-04-21 07:25:34 +10:00
745df9b13c
Copter: add SONAR_GAIN to tune reaction to sonar
...
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
2013-04-20 15:58:36 +09:00
a53e5f747b
Copter: add fourth yaw behaviour, look-at-home
...
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
2013-04-20 15:36:24 +09:00
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
...
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
2013-04-20 12:03:55 +09:00
18c1373847
Copter: remove unused AUTO_VELZ defaults
...
These have now moved to AC_WPNav
2013-04-18 14:57:08 +09:00
82989d85f2
Copter: remove unused #defines
2013-04-16 22:34:12 +09:00
0663da7c9e
Copter: loiter rate IMAX to 4m/s/s and D to zero
2013-04-16 22:28:18 +09:00
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
2013-04-14 13:27:37 +09:00
366616e32c
Copter: reduce default loiter PIDs
2013-04-14 10:39:28 +09:00
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
2013-04-14 10:38:01 +09:00
fc0c451b69
Copter: remove #ifdef checks for Atmega1280
2013-04-05 22:48:10 +09:00
a9eb626cb8
Copter: update default Rate Yaw P to 0.20 (was 0.25)
2013-04-01 11:49:50 +09:00
36834e77b5
Copter: remove support for CLI Slider
2013-03-18 14:07:04 +09:00
597a4b912a
Copter: fix to allow building HIL_MODE_SENSORS
2013-03-18 13:41:52 +09:00
d1344e8c39
Copter: remove #define for CROSSTRACK_GAIN
...
Note: the cross track is still calculated inside the inertial nav based
loiter and wp controls but it's no longer requires a tunable parameter
2013-03-17 16:56:18 +09:00
1b6fcad90a
Copter: remove tilt compensation parameter
...
Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
2013-03-17 16:53:32 +09:00
fdcb78ccf7
Copter: leonard's smoother alt-hold transition
...
Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
2013-03-17 13:24:49 +09:00
150046f2b8
Copter: GPS Failsafe implemented
...
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
2013-03-16 17:27:46 +09:00
a73f50494c
TradHeli: remove duplicate RC_FAST_SPEED definition
2013-03-04 23:45:23 +09:00
33bd984a91
Copter: remove unused input_voltage parameter
2013-03-03 23:23:54 +09:00
d6ff5ae261
Copter: add roll-pitch slew for auto modes
...
Added reporting of roll, pitch inputs for ACRO, AUTO
2013-02-24 14:42:04 +09:00
e297ba7d18
Copter: update default loiter gains for inertial nav
2013-02-24 14:42:00 +09:00
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
2013-02-24 14:41:52 +09:00
609676e26c
Copter: add logging of compass values
...
Removed rarely used ITERM because we didn't have enough bits in the log
mask
2013-02-24 14:41:48 +09:00
67c69a19ee
Copter: remove baro-only alt hold
...
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
fcf102b2cf
Copter: inertial nav waypoint controller
...
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
2013-02-24 14:41:09 +09:00
8e4c9518ea
Copter: increase low voltage check to 10.5v
...
Change requested by Rob Lefebvre and Richie Wilson
2013-02-23 00:36:51 +09:00
4c7a1a1806
Copter: change PX4 main baud rate back to 115200
...
we now use USB console
2013-02-22 07:04:23 +11:00
06a71af12f
Copter: THR_MID used to scale manual throttle
2013-02-01 22:37:16 +09:00
ce370bab0c
Copter: rename CUR and CURR to CURRENT for logging
...
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
2013-01-26 17:20:41 +09:00
b74fe10aa9
Copter: set each flight mode's nav_mode
...
Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
2013-01-25 15:57:55 +09:00
f303554259
Copter: run serial0 at 57600 on PX4
2013-01-22 09:50:22 +11:00
dde713aaa5
Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this.
2013-01-20 21:32:00 +09:00
580abf1106
Copter: fixed PX4 mag orientation
2013-01-17 17:23:34 +11:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
fef7569dee
Copter: added experimental LOITER_REPOSITIONING #define to config.h
...
APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
2013-01-14 13:34:14 +09:00
9ad6f711f8
ArduCopter: replace FS_THR_RTL_MIN_DISTANCE with wp_radius
...
This effectively means that an RTL kicked off by a failsafe will
immediately switch to LAND mode only if within 2 meters. Previously the
radius was much wider (15m).
2013-01-13 20:00:47 +11:00
12f885c33c
ArduCopter: disable ITERM logging by default
...
This message takes 1ms to write and we are running over our limits on
some loops.
2013-01-13 20:00:39 +11:00
21b6c78d12
ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes
...
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
2013-01-13 19:51:47 +11:00
87627d883b
ArduCopter: use new logging method for remaining packet types
...
Additional changes include renaming RAW dataflash type to IMU
2013-01-13 00:17:44 +09:00
7827a4a54a
ArduCopter: Add AP_HAL_SMACCM support.
...
- Added default configuration to "config.h".
- Added main function to run under FreeRTOS with HWF4.
2013-01-09 11:19:51 -08:00
ab37f833db
MS5611: Fix CONFIG_MS5611_SERIAL definitions.
...
- Make sure the values are defined as integers. We were always using
SPI rather than using I2C when desired.
2013-01-09 11:19:51 -08:00
c48714be16
Copter: enabled PX4 sensors
2013-01-05 20:39:31 +11:00
264db3670e
AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C.
...
- Update ArduCopter and ArduPlane modules to pass the correct serial
driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
2013-01-03 13:48:06 -08:00
94e3322e24
Copter: fixed build on px4
2013-01-02 22:09:02 +11:00
9b2956b377
ArduCopter: increase throttle rate P to 6.0 (was 1.0) and alt hold P to 2.0 (was 1.0)
2013-01-02 09:55:37 +11:00
d400e5040b
ArduCopter: turn on INERTIAL_NAV_Z in the config.h file so that it takes effect when built for the mission planner
2013-01-02 09:55:37 +11:00
e850ab7ccd
ArduCopter: add AUTO_VELZ_MIN, AUTO_VELZ_MAX and PILOT_VELZ_MAX to allow better control of climb/descent rate in auto and manual throttle modes
2013-01-02 09:24:31 +11:00
5526ca204c
ArduCopter: on throttle failsafe, only initiate RTL if we are at least 15m from home
2013-01-02 09:22:51 +11:00
6e64b1b357
ACM: Precision Loiter RePositioning code.
...
Protected behind a #define
2013-01-02 09:19:39 +11:00
e6519330f4
ArduCopter: remove unused rc_override variables to save 21 bytes
2013-01-02 09:19:17 +11:00
34e18ae12a
ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle
2013-01-02 09:19:17 +11:00
9605bd8ee1
ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work.
2013-01-02 09:14:55 +11:00
d8e3d5c10c
ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h
2013-01-02 09:12:40 +11:00
50d46898fb
ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden
2013-01-02 09:12:17 +11:00
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
5e63491994
ArduCopter: fix issues with HAL/HIL mixup and baro/compass instances
2012-12-20 14:52:29 +11:00
d93d932831
ArduCopter: defines fixes
...
Conflicts:
libraries/AP_Common/Arduino.mk
2012-12-20 14:52:28 +11:00
2aa4657315
ArduCopter: changes to use CONFIG_HIL_BOARD
2012-12-20 14:52:28 +11:00
2f748f8382
ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE
2012-12-10 23:47:14 +09:00
d31efebd44
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
2f1b2b70e6
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
dadad8677e
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
cfe2507c0b
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
aa4d4f8c24
ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.
2012-12-08 20:41:05 -05:00
1b97a92098
ACM: Code Cleanup
2012-12-08 14:49:38 -05:00
f98a807d36
ArduCopter: remove debug related to yaw mode used for alt hold
2012-12-08 14:24:50 +09:00
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
...
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
68ca123224
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
3a90fc77f9
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
a5bb54e36e
ArduCopter: RTL clean-up and slightly improved landing sensor
...
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
072ffec493
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
bdb47c449a
ArduCopter: pass linear altitude error to throttle rate controllers.
...
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
7b4ed2d227
ArduCopter: restored landing detector to landing throttle mode.
...
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
2012-12-06 10:31:20 +09:00
560bb1d738
ArduCopter: removed unused AUTO_THROTTLE_HOLD #define
2012-12-06 10:31:15 +09:00
3cbef57c64
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
...
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
6fbf5ec8f2
Copter: update ArduCopter for new ins interface
2012-11-30 07:15:18 +11:00
6b8c39dd10
ACM: Creating Yaw_Look_Ahead yaw mode.
...
This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
6ffc115236
Changes to get_throttle_rate()
...
Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
2012-11-21 17:11:38 -05:00
dafaa2efc8
SITL: disable optical flow on the desktop build
...
it doesn't work yet, as no sensor emulator is available
2012-11-19 09:04:03 +11:00
07a7a1acd8
ArduCopter: replaced digitalRead and digitalWrite with faster calls
...
improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
e92b560df5
ArduCopter: low baterry failsafe
2012-11-15 23:35:41 +09:00
9735a0eff1
ACM: Allow for user defined roll and pitch input max
2012-11-11 18:00:10 -08:00
e212744f4c
ArduCopter: failsafe improvements
...
resolves momentary throttle drop to zero before failsafe engages
resolves motor cut after 30seconds if flying in stabilize without GPS (now switches to ALT_HOLD with target altitude zero)
disables motors if throttle was zero before failsafe event
2012-11-11 22:11:12 +09:00
129ec35c35
ACM crosstrack min distance
2012-11-09 22:15:16 -08:00
4d7b9137fe
ACM: Added max RTL altitude
2012-11-09 22:15:15 -08:00
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
73bc90f9b8
ACM: config.h cleanup
...
Added LOG_ITERM default to enabled
2012-10-27 09:59:57 -07:00
5e8043fd9c
ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters
...
Changes on behalf of Leonard Hall
2012-10-23 21:30:50 +09:00
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
bfade7d0ed
Fixed that last commit
...
#define Stupid_Mistake
2012-10-18 16:50:42 -04:00
592f4040fd
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
583f2e49a3
ArduCopter: integrated Leonard Hall's improved ACRO mode
2012-10-18 23:24:34 +09:00
7d7de976c3
ArduCopter: reduced optical flow's I and IMAX terms
2012-10-17 17:47:43 +09:00
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
ee5dab9647
ArduCopter: enable ACRO mode's AXIS_LOCK by default
2012-10-14 19:50:45 +09:00
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
4a41a3d210
ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor
2012-10-13 18:40:46 +09:00
dae81d2068
Added #define for Tilt_Compensation.
...
Also added some detail to WP_Speed_Max parameter.
2012-10-12 14:51:31 -04:00
03933df5b7
ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015
...
Updated after discussing with Marco
2012-10-11 17:25:01 +09:00
35fa50234f
ArduCopter: move I terms from stabilize to rate controllers
2012-10-11 17:20:05 +09:00
af1d6a9b82
ArduCopter: reduce Stabilize Yaw P term to 4.5
2012-10-03 14:19:49 +09:00
ea4f256f8e
ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements
...
To save a parameter, the current sensor pin is assumed to always be 1 higher than the voltage pin.
2012-10-02 22:16:19 +09:00
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
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
fff5d51694
ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08)
2012-09-25 19:08:31 +09:00
a71aa21514
ArduCopter: increase default Loiter Rate P to 5.0
2012-09-25 12:19:44 +09:00
9e66b555cb
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
42406c827a
ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU.
2012-09-10 11:37:48 +09:00
274b2e2143
Arducopter: Release 2.7.2
2012-08-31 19:18:10 -07:00
e8d928cca4
ACM: added TELEM_DELAY to ArduCopter
2012-08-30 09:03:01 +10:00
4ad516c445
Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
...
Arduplane: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover: increased MAVLINK delay to 6s to reduce the chance of xBee bricking
2012-08-28 20:09:10 -07:00
2ad6dcb7c4
ArduCopter: increased Stabilize Roll and Pitch I term to 0.05 (was 0.01) based on feedback from Jason
2012-08-29 11:34:53 +09:00
b4b394e67e
ArduCopter: reduced Rate Roll and Pitch PID values
...
RATE_ROLL_P, RATE_PITCH_P reduced to 0.165 (was 0.185)
RATE_ROLL_D, RATE_PITCH_D reduced to 0.004 (was 0.008)
2012-08-26 10:45:45 +09:00
429c41155c
uncrustify ArduCopter/config.h
2012-08-21 19:19:50 -07:00
6d11940ada
AHRS: removed Quaternion build support from APM/ACM/rover
2012-08-22 10:42:21 +10:00
1d32e03f61
ArduCopter: added ACCEL_ALT_HOLD and INERTIAL_NAV to config.h and commented out of APM_Config.h.
...
Reduces possibility of difference between arduino ide compiled code and script built code (i.e. autotester, mission planner)
2012-08-19 12:31:02 +09:00
3ee2fd3fb6
ACM: Config.h - added default for toy mixer
2012-08-16 15:40:28 -07:00
9a568385b0
ACM increase the minimum speed at WP
2012-08-10 10:01:40 -07:00
3e57f8afd8
ACM: config.h = updated default gains
...
More yaw rate control
2012-08-09 16:59:43 -07:00
d34549f386
Add an optional second mount to ArduPlane and ArduCopter
2012-08-08 23:22:24 +02:00
9cc705939a
Add a second mount instance
2012-08-08 23:07:25 +02:00
aa3cc63b15
ArduCopter: Make the code fit in a 1280 chip again
...
Even allows to control a camera/antenna mount, if the user explicitly wants to.
2012-08-06 00:23:48 +02:00
0106c133cf
Default CLI_SLIDER_ENABLED to DISABLED
...
Chris asked for this on the mailing list
2012-08-06 00:22:33 +02:00
afd96025a7
ArduCopter: Save more space in APM1280
2012-08-05 23:05:52 +02:00
d29f7023cc
Merge from ArduPlane
2012-08-04 18:38:50 +02:00
77b1785bc6
ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values
2012-07-30 11:01:45 +09:00
014f5aae99
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +09:00
96aabb7712
ACM: Lowered default Alt hold P
2012-07-21 16:45:00 -07:00
3b496ff229
Arducopter: Upped D rate to .005 by default
2012-07-19 22:35:21 -07:00
49c7579079
Arducopter: Config.h defaults adjustments
2012-07-19 17:48:48 -07:00
3401bd3583
Arducopter: Clarified units in comment
2012-07-19 09:49:13 -07:00
dcf9f9dab1
Arducopter
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for rate altitude changes
2012-07-18 22:57:10 -07:00
a976a59c88
AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.
2012-07-16 11:46:43 -07:00
36ecdff593
ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library)
2012-07-15 16:38:52 +09:00
7a5544051d
Arducopter
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Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
2012-07-11 17:46:07 -07:00
c04bff67de
Arducopter: Config.h, default gain tweaks from flight tests.
2012-07-10 21:53:38 -07:00
dfe0983e1e
Merge the changes from APM_Camera branch into ArduCopter
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Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
2012-07-11 00:39:13 +02:00
038116f521
Airspeed patch:
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pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
2012-07-09 13:13:32 -07:00
60caaa4b04
MAVLink: remove MAVLink 0.9 protocol support
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this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
6e93ab6af6
Parameters: Added flag for camera pitch/roll servos (continuous or regular)
2012-07-04 21:06:21 -05:00
37685756df
Config.h:
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decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
2012-07-03 17:37:37 -07:00
2d572461ec
Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise.
2012-07-03 17:18:33 -07:00
8a08a74cc6
Config.h : shortening the landing time to 10s
2012-07-02 17:52:38 -07:00
8ab1acfb92
Config.h
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Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
2012-07-01 13:40:11 -07:00
78fa903e17
ArduCopter: updated STABILIZE_ROLL_I to 0.01 (was 0.1) as instructed by Marco
2012-06-30 19:26:14 +09:00
4450d80ea3
Config.h: Optimizing Nav gains
2012-06-29 21:20:28 -07:00
c76ac4543b
Added user editable define for Super simple radius
2012-06-26 10:38:46 -07:00
a0dc1f7ab1
Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm
2012-06-25 23:06:28 -07:00
7e0708ca36
Config.h - returned low to original 120
2012-06-20 15:22:35 -07:00
4f18e7f80b
lowered minimum throttle
2012-06-20 08:47:47 -07:00
39a253a273
decreased I term based on the tests last weekend in high winds
2012-06-20 08:47:47 -07:00
65050775e1
ArduCopter: made Robert's new yaw method optional (off by default).
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Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
2012-06-13 21:50:16 +09:00
ff0659535e
Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch.
2012-06-12 13:58:49 -07:00
c6f1d93849
ArduCopter: updated standard loiter pids.
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Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
2012-06-12 20:56:31 +09:00
a9610a0761
Stabilization patches
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removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
2012-06-05 16:41:44 -07:00
a71ed6c5ce
enable mavlink10 by default
2012-06-04 08:02:08 +08:00
9310d613e1
Lowered I term - causes oscillations in SIM
2012-05-29 12:43:01 -07:00
7f3e142fa8
Loiter Gains based on new SIM
2012-05-15 22:01:01 -07:00
c8fb9a6635
More CopterLEDS changes.
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Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2. Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2. Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code. Legacy users should see no difference.
2012-05-15 12:00:21 -04:00
a285e2779f
CopterLEDS changes for APM2
2012-05-15 10:07:03 -04:00
8e580729b7
config.h: Removed comment.
2012-04-23 00:16:41 -05:00
97040a7b3a
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
090f5aaa6f
ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame
2012-04-21 23:46:36 +09:00
919f004b27
ArduCopter - changed Optical Flow for APM2 to use A3 pin
2012-04-21 20:15:16 +09:00
c233defbe6
Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach
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Conflicts:
Tools/ArdupilotMegaPlanner/Common.cs
2012-04-19 11:08:34 -05:00
24363ccb83
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter
2012-04-19 10:17:36 -05:00
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
0e7e77760a
Updated ArduPlane/ArduCopter cmake options.
2012-04-18 15:16:02 -04:00
7b277d7044
config.h: Added RTL_APPROACH_DELAY config value.
2012-04-16 14:00:08 -05:00
84b07b5e6a
ArduCopter - LEDS - added new COPTER_LEDS definition
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Code by Robert Lefebvre
2012-04-12 22:55:32 +09:00
0bc604f030
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
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
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
e2560c5865
Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator
2012-03-22 10:01:24 -07:00
0773a25b5d
ArduCopter - increased default THROTTLE_CRUISE to 450
2012-03-20 16:34:07 +09:00
dc92da818c
ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore
2012-03-18 14:53:19 +09:00
491af02d8a
ACM: Lowered gains from flight tests today with 3DR Quad
2012-03-17 11:04:01 -07:00
3038da1dc3
ACM: Softer Loiter Gains
2012-03-16 14:10:19 -07:00
a52a14bf12
Tune down Loiter_P a hair
2012-03-15 19:17:27 -07:00
48ba24a810
ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.
2012-03-13 10:23:31 -07:00
7034b709d1
ACM: removing old define
2012-03-12 13:11:30 -07:00
0b51d9b8b0
ACM: Made Loiter_D 0 by default. Accidentally left it on by default.
2012-03-12 10:37:15 -07:00
a989b88680
ACM: made same as Loiter I
2012-03-11 23:21:49 -07:00
0d434ca92c
ACM: Tuning based on flights today
2012-03-11 23:21:49 -07:00
2524f9c8df
AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
83729d0f75
ACM: decreased rate P for alt hold to remove bumpy repsonse
2012-03-10 12:41:06 -08:00
220d5a1c6e
ACM: Increased the altitude error P for smoother alt hold response
2012-03-10 12:40:44 -08:00
4b703e8842
decreased the loiter rate P for overshoot
2012-03-10 12:40:07 -08:00
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
730476fdfd
ACM -
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Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
2012-03-06 22:22:14 -08:00
c26eb6afcc
ACM: Updated config values
2012-03-06 22:12:24 -08:00
Randy Mackay
Andrew Tridgell
Bill Bonney
Robert Lefebvre
James Bielman
Pat Hickey
Jason Short
LeonardTHall
Craig Elder
uncrustify
Amilcar Lucas
Andreas M. Antonopoulos
Adam M Rivera
Michael Oborne
James Goppert