Commit Graph

1068 Commits

Author SHA1 Message Date
Andrew Tridgell
8ccf3a05f0 Mavlink: fixed warnings about limits on int32 values 2012-03-27 15:37:25 +11:00
Andrew Tridgell
409c147ce3 ACM: fixed heli build 2012-03-27 15:37:25 +11:00
Andrew Tridgell
5d7c571fb1 ACM: fixed the build on the 1280 2012-03-27 15:37:24 +11:00
Andrew Tridgell
4821eb4807 ACM: enable the new compass offset nulling in ACM 2012-03-27 15:37:24 +11:00
rmackay9
441413f1c6 ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers. 2012-03-25 16:09:08 +09:00
rmackay9
eb55234809 ArduCopter - updated firmware version to 2.5.3 2012-03-25 09:13:51 +09:00
rmackay9
1f253c5217 ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter 2012-03-23 23:48:24 +09:00
rmackay9
19981d4864 ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area 2012-03-23 23:12:49 +09:00
Robert Lefebvre
872ec65afa Fix Auto_Trim to allow it to actually be called when setup on Ch7 pulldown menu in MP. 2012-03-23 09:17:58 -04:00
Jason Short
74893f6959 Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator 2012-03-22 10:01:24 -07:00
rmackay9
be22deb56f ArduCopter - motors_quad.pde - corrected test sequence for + configuration 2012-03-21 22:04:50 +09:00
rmackay9
7dc18b53ad ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint 2012-03-20 17:11:22 +09:00
rmackay9
198ac97914 ArduCopter - updated version to 2.5.1 2012-03-20 17:08:18 +09:00
rmackay9
0ba48a8556 ArduCopter - increased default THROTTLE_CRUISE to 450 2012-03-20 16:34:07 +09:00
rmackay9
ce6b1ccc75 ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!) 2012-03-20 16:13:38 +09:00
Andrew Tridgell
dc71191f25 MAVLink: constrain variable changes to the datatype range
if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
2012-03-19 17:29:02 +11:00
Andrew Tridgell
690ad58a64 AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short
223a6f80c8 ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes. 2012-03-18 22:31:22 -07:00
Jason Short
722a4d01e8 ACM: Attitude.pde - consolidated wind I term resets 2012-03-18 22:31:21 -07:00
Jason Short
e42c64f94e ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset. 2012-03-18 22:31:21 -07:00
rmackay9
bed667c62e ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero)
- remove incorrect comments about when loiter target position is reset.
2012-03-18 15:16:04 +09:00
rmackay9
7bf4e22c7b ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore 2012-03-18 14:53:19 +09:00
rmackay9
485cebf85c ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations) 2012-03-18 12:11:12 +09:00
Jason Short
27f276a066 ACM: Lowered gains from flight tests today with 3DR Quad 2012-03-17 11:04:01 -07:00
Jason Short
f6638d00d6 ACM: Smoother Speed calcs 2012-03-16 14:10:19 -07:00
Jason Short
09995aed62 ACM: Softer Loiter Gains 2012-03-16 14:10:19 -07:00
Jason Short
234a5dc65e ACM: Small fix to nav_throttle to prevent too fast of a landing. 2012-03-16 14:10:19 -07:00
Jason Short
d52b93849e ACM: Fixed comment 2012-03-16 14:10:19 -07:00
Jason Short
1ecca36dd0 Fixed Scaling bug in Sonar mixing 2012-03-16 14:10:19 -07:00
Jason Short
0c6a87db3f ACM: Disabled D term experiment for Loiter until more testing 2012-03-15 19:20:03 -07:00
Jason Short
ce14ef1b2b Tune down Loiter_P a hair 2012-03-15 19:17:27 -07:00
Robert Lefebvre
0bc40f51fb Small fix on the Traditional Helicopter Collective-Yaw compensation calculation. 2012-03-15 20:14:18 -04:00
rmackay9
eea8d67a1e ArduCopter - removed #define AUTOMATIC_DECLINATION ENABLED line to ensure users don't try and enable it because it needs a bit more work before it's ready for general use 2012-03-15 21:58:42 +09:00
analoguedevices
eb530a2045 Rev'ed version number to 2.5. Added more credits 2012-03-15 02:38:54 +00:00
Jason Short
59fb1f3542 ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system. 2012-03-13 21:31:16 -07:00
Jason Short
50b4c07261 Lowering the D filter for less latency and less oscillation. 2012-03-13 12:58:46 -07:00
Jason Short
72d03a8046 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
Jason Short
0edc1020ac ACM: Loiter D performance updates 2012-03-13 10:23:31 -07:00
Jason Short
6edad4d9ef ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short
953b93293e ACM: removing old define 2012-03-12 13:11:30 -07:00
Jason Short
580c5e109e ACM: Got the sign wrong. I'm using the derivative of the error now and not the sensor, so the sign was reversed. 2012-03-12 13:11:05 -07:00
Jason Short
38153f15e0 ACM: Made Loiter_D 0 by default. Accidentally left it on by default. 2012-03-12 10:37:15 -07:00
Jason Short
56d2b9ef05 ACM: Broke out the D term for the PID loop to add custom filtering. The current AC_PID filtering wasn't working for this application and we needed more smoothing. Bad pitch oscillations were being transmitted to the copter. 2012-03-11 23:21:49 -07:00
Jason Short
5c3cb1c5d0 ACM: removed Filtering code for motors in Quad for testing 2012-03-11 23:21:49 -07:00
Jason Short
d9ccd4f6bd ACM: made same as Loiter I 2012-03-11 23:21:49 -07:00
Jason Short
e279106b44 ACM: Tuning based on flights today 2012-03-11 23:21:49 -07:00
Jason Short
38a60df189 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short
2ac29effe9 ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time. 2012-03-11 23:21:49 -07:00
rmackay9
7cf635889d ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees 2012-03-12 12:09:04 +09:00
Andrew Tridgell
1e47ab26f2 AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
2012-03-11 21:46:41 +11:00
Adam M Rivera
2e1cacd67f AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
566bbed7ad AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Jason Short
8b887b77bd ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short
7b2b5e858e ACM: Added Loiter_D for tuning as #23 2012-03-10 14:17:16 -08:00
Jason Short
149a484984 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short
a9e7194e3d ACM: disabled auto_calibration until more testing can be done 2012-03-10 12:44:49 -08:00
Jason Short
3c1f4b1ad7 ACM: changed alt hold initialization of altitude to be immediate 2012-03-10 12:44:18 -08:00
Jason Short
68d210660e ACM: Added note about scaling rates 2012-03-10 12:43:28 -08:00
Jason Short
4b75f74d2c ACM: Altered the scaling speed for altitude changes for faster rises. 2012-03-10 12:43:01 -08:00
Jason Short
874f5aaef6 ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes. 2012-03-10 12:42:22 -08:00
Jason Short
9f47a79a3a ACM: decreased rate P for alt hold to remove bumpy repsonse 2012-03-10 12:41:06 -08:00
Jason Short
11e5f7d40f ACM: Increased the altitude error P for smoother alt hold response 2012-03-10 12:40:44 -08:00
Jason Short
20a3cfdcde decreased the loiter rate P for overshoot 2012-03-10 12:40:07 -08:00
Jason Short
bb56cea1ac ACM: increased the available rate error constrain, it was too low 2012-03-10 12:39:16 -08:00
Jason Short
285f2dd791 ACM: removed the experiment for rate error. 2012-03-10 12:38:29 -08:00
Jason Short
0ccfdc664d added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short
037221cd02 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
rmackay9
9986776e0d ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde 2012-03-11 01:27:58 +09:00
rmackay9
a72b20f42d ArduCopter - fix to dataflash logging of Mag heading 2012-03-11 01:27:29 +09:00
Andrew Tridgell
f39d8dbde8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00
Andrew Tridgell
4f739ea28f make 'ENABLE' and 'ENABLED' mean the same things
users get this wrong far too often!
2012-03-10 10:34:33 +11:00
Andrew Tridgell
a874f920d5 ACM: removed the ADC filtering code 2012-03-10 10:34:32 +11:00
Andrew Tridgell
e2c525434a ACM: removed quaternion special cases in CLI code 2012-03-10 10:34:31 +11:00
Andrew Tridgell
e870e7bd82 ACM: removed the DCM tuning overrides
not needed now that DCM scales with deltat
2012-03-10 10:34:31 +11:00
Andrew Tridgell
13bddf05b0 ACM: removed the special case for quaternions in GCS code 2012-03-10 10:34:31 +11:00
Andrew Tridgell
1547977e1b ACM: no need to fetch offsets at startup
AP_Param handles this
2012-03-10 10:34:31 +11:00
Andrew Tridgell
34d25ab298 ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell
e780dd2b44 ACM: change DCM loop to 100Hz
On my APM2 quad this seems to give better results
2012-03-10 10:34:31 +11:00
Andrew Tridgell
756a91a3ee ACM: removed incorrect mode definition 2012-03-10 10:34:30 +11:00
Andrew Tridgell
04826065ef Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell
1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell
bc81d8e6ac ACM: only call the fast loop if the imu has new data
this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a54d6f744e HWSTATUS: if we don't know the voltage, report it as zero
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
9393b21a8d ACM: adjust yaw drift correction constants
this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Andrew Tridgell
b07a3eb966 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +11:00
Jason Short
13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short
df812dd78a temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest. 2012-03-06 22:23:06 -08:00
Jason Short
43b3e1ccd1 ACM -
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
Jason Short
5117ddff26 ACM: Updated config values 2012-03-06 22:12:24 -08:00
rmackay9
8717d7dd7c ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down 2012-03-06 23:20:30 +09:00
rmackay9
8af43c4a19 ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down. 2012-03-06 22:19:19 +09:00
rmackay9
29aea35eae ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino 2012-03-06 22:15:02 +09:00
Jason Short
fe5612d38b Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Robert Lefebvre
a7e0fc7774 Added support for TradHeli H1 swashplate type. Added new param heli_h1_swash_enabled.
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-03-03 08:14:14 -05:00
Andrew Tridgell
3745dfd59f ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls 2012-03-02 17:57:08 +11:00
Andrew Tridgell
91c3f993b4 ACM: set default RC fast speed to 400Hz 2012-03-02 17:57:08 +11:00
Andrew Tridgell
bfca928211 ACM: added RC_SPEED MAVLink parameter
this will set the speed for APM_RC.SetFastOutputChannels()
2012-03-02 17:57:08 +11:00
Andrew Tridgell
1e2b57410c ACM: fixed Parameters.h to avoid duplicate keys
unfortunately everyone needs to reload
2012-03-02 15:48:28 +11:00
Andrew Tridgell
fcb1b9ba95 ACM: added board_voltage() 2012-03-02 15:48:28 +11:00
Robert Lefebvre
c84d864cd6 Rescale TradHeli roll_out and pitch_out into the min and max ranges to provide linear motion across the input range instead of stopping when the input hits the constrain value. These calculations are based on an assumption of the user specified roll_max and pitch_max coming into this equation at 4500 or less, and based on the original assumption of the total g.heli_servo_x.servo_out range being -4500 to 4500.
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-03-01 22:04:50 -05:00