Andrew Tridgell
dae1a57dc5
ACM: adapt the ArduCopter code for new barometer interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
b676caa626
ACM: enable GPS in AHRS for ArduCopter
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this is an experiment in centripetal correction for multicopters
2012-06-27 16:01:49 +10:00
Jason Short
eeab4c5363
Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco.
2012-06-26 10:39:42 -07:00
Jason Short
c76ac4543b
Added user editable define for Super simple radius
2012-06-26 10:38:46 -07:00
rmackay9
068fe64b9b
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
2012-06-26 22:50:17 +09:00
Jason Short
812bf7d874
Attitude.pde - Added small boost to alt hold for takeoff.
2012-06-25 23:12:19 -07:00
Jason Short
46fb3b783a
GCS_Mavlink.pde : mav_nav only used in legacy Mavlink.
2012-06-25 23:08:25 -07:00
Jason Short
cd93c40f09
Added Toy Mode control
2012-06-25 23:08:25 -07:00
Jason Short
807c4ced34
Added Toy Mode defines
2012-06-25 23:08:25 -07:00
Jason Short
80d15368bc
Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with.
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Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
2012-06-25 23:08:25 -07:00
Jason Short
7f92d702ab
commands.pde: fixed unit error for distance check
2012-06-25 23:06:28 -07:00
Jason Short
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
Jason Short
c71c503c84
GCS Mavlink.pde: change reference to nav_bearing to target_bearing.
2012-06-25 23:06:28 -07:00
Jason Short
53d2a46cd6
Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s
2012-06-25 23:06:28 -07:00
Jason Short
92d481c08c
inertia.pde: WIP don't fly with inertia enabled until FN.
2012-06-25 23:06:28 -07:00
Jason Short
28829b0d60
Log.pde: removed nav_bearing reference and replaced with target_bearing ref
2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos
bef005b5f2
AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane
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http://code.google.com/p/arducopter/issues/detail?id=430
2012-06-24 17:01:25 -07:00
Robert Lefebvre
1064dcbd34
Open up constraint on Rate Yaw Output for all copters.
2012-06-22 10:06:01 -04:00
Jason Short
7e0708ca36
Config.h - returned low to original 120
2012-06-20 15:22:35 -07:00
Jason Short
839b8865aa
Parameters.h: throttle_min and throttle_max now have defaults from Config.h
2012-06-20 15:02:00 -07:00
Jason Short
efdf0a7fc8
changed define to a param for throttle_min and throttle_max
2012-06-20 15:00:53 -07:00
Jason Short
e8510faf5d
changed define to param for throttle_min
2012-06-20 15:00:05 -07:00
Jason Short
6020f6d9fa
Added throttle_min as a user definable param
2012-06-20 14:58:34 -07:00
Jason Short
4f18e7f80b
lowered minimum throttle
2012-06-20 08:47:47 -07:00
Jason Short
27e0aee03f
Small fix to angle boost - increases by about 20% to deal with inefficiencies of non-downward thrust
2012-06-20 08:47:47 -07:00
Jason Short
39a253a273
decreased I term based on the tests last weekend in high winds
2012-06-20 08:47:47 -07:00
Jason Short
8b212d8baa
Adjustments to the Inertial_nav
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lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
2012-06-20 08:47:47 -07:00
Andrew Tridgell
58379b928f
MAVLink: make usage of MAVLink defines more consistent
2012-06-15 16:27:11 +10:00
rmackay9
c62cc4844e
ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release
2012-06-15 00:42:59 +09:00
Jason Short
e31a1d969f
Inertial Nav disabled by default
2012-06-13 22:37:52 -07:00
Jason Short
c42f9ece43
Inertial Control
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I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.
This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.
Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.
The Log should record RAW messages with special debugging values.
2012-06-13 22:34:45 -07:00
rmackay9
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
Jason Short
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
rmackay9
e1acf21381
ArduCopter: updated firmware version to 2.6 Epsilon
2012-06-12 23:22:57 +09:00
rmackay9
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
Jason Short
f5a85d48a0
Added Angel's name to contrib list
2012-06-10 12:38:22 -07:00
Andrew Tridgell
940d994efb
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
2012-06-10 16:36:18 +10:00
rmackay9
aeaebb21d5
ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release)
2012-06-08 21:54:09 +09:00
Andrew Tridgell
a684bddbda
GPS: open the GPS serial port with a 256 byte buffer
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the UBLOX needs more than 128 bytes for reliable parsing
2012-06-08 16:42:03 +10:00
Robert Lefebvre
c5916a8b4d
Opening up the Yaw Rate constraint for Trad Heli.
2012-06-07 22:40:25 -04:00
Robert Lefebvre
e2496181ff
Yaw Fix
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Modified Nav_Yaw controller to better track intended heading changes.
2012-06-07 17:15:33 -04:00
Jason Short
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
rmackay9
70b04d9427
ArduCopter: updated firmware description to 2.6 Gamma
2012-06-05 21:28:13 +09:00
Andrew Tridgell
8b258e23e7
ACM: prevent link flood with "Low Battery" warnings
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thanks to Marco for noticing this
2012-06-05 11:31:40 +10:00
Michael Oborne
14be88dd55
AC: add hilstate message
2012-06-04 16:24:08 +08:00
Jason Short
71f80f3a77
Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false.
2012-06-03 22:25:27 -07:00
Jason Short
1b9f75c844
Updates to Flip:
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Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
2012-06-03 22:15:19 -07:00
Andrew Tridgell
7c63d2c17b
ACM: MAVLINK10 uses HIL_STATE
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thanks to Michael for noticing this
2012-06-04 13:31:07 +10:00
Andrew Tridgell
e7cf643386
added mavlink09 targets
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allows easier building with mavlink0.9
2012-06-04 13:14:52 +10:00
Andrew Tridgell
3f4e87cccc
ACM: fixed HIL build for MAVLINK10
2012-06-04 13:14:52 +10:00
