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545 Commits

Author SHA1 Message Date
Jason Short 8d075015e1 added check for duplicate time-stamped GPS messages. 2012-05-18 09:54:18 -07:00
Jason Short 7e190c6f5c Arducopter.pde : 
removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
 2012-05-17 11:05:05 -07:00
Jason Short d1cd04486a removed retro loiter code since Angel has a branch now. 
shrank speed filter to avoid latency
removed unused forward estimator code

placed code for switchover to gps.groundspeed at 1.5m/s

added clamp for D term when below .5m/s to eliminate noise

added hybrid I-term based on speed error and position

changes Loiter D term to use position rather than acceleration to avoid noise
 2012-05-15 22:14:23 -07:00
rmackay9 357d6c2d9b ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
rmackay9 2f74004fcb ArduCopter: updated version to 2.5.5 2012-05-13 08:47:43 +09:00
Andrew Tridgell 4fee26437b MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI 2012-04-24 22:24:58 +10:00
Adam M Rivera b2a7227ae7 ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define. 2012-04-23 00:19:18 -05:00
Adam M Rivera 97040a7b3a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
Jason Short e22832a832 Added a union for casting floats to ints and back when storing Floats to the DataFlash 2012-04-21 15:17:09 -07:00
rmackay9 c993049c48 ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion 2012-04-21 23:24:57 +09:00
rmackay9 3e95ade004 ArduCopter - changed optflow object to be APM2 version if necessary 2012-04-21 20:15:55 +09:00
Adam M Rivera 7d13371acf Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-20 11:45:38 -05:00
rmackay9 f0a9209935 ArduCopter - regressed version back to 2.5.4 2012-04-20 21:58:32 +09:00
Adam M Rivera c233defbe6 Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera 24363ccb83 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera 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
Adam M Rivera a7bc3d2cc6 Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity. 2012-04-18 23:07:35 -05:00
Adam M Rivera f6d81a16c2 ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter. 2012-04-16 16:29:54 -05:00
Adam M Rivera 56a00fa1f7 ArduCopter: Changed millis compare to use new config value for approach delay. 2012-04-16 14:04:30 -05:00
Adam M Rivera f9affb3295 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 
Conflicts:
	ArduCopter/Parameters.h
 2012-04-16 10:23:01 -05:00
Adam M Rivera 41702aca94 ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s). 2012-04-16 10:07:57 -05:00
rmackay9 870b5e5f75 ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM 2012-04-16 23:47:57 +09:00
Adam M Rivera 77d6f22864 ArduCopter, commands_logic: Updated logic to allow as low as 5m. 2012-04-15 19:50:05 -05:00
Adam M Rivera 2954bf6f76 ArduCopter: Added check to make sure user defined approach alt is at least 5. 2012-04-15 16:58:22 -05:00
Adam M Rivera a24b7bcf14 ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land. 2012-04-15 16:54:43 -05:00
rmackay9 a71ed6abec ArduCopter - updated firmware version to "2.6 Beta" 2012-04-14 14:26:44 +09:00
rmackay9 24b81db20e ArduCopter - LEDS - main code to support COPTER_LEDS. 
Code by Robert Lefebvre
 2012-04-12 22:55:44 +09:00
rmackay9 54a0709759 ArduCopter - add includes for new AP_Motors classes. 
Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
 2012-04-04 22:50:43 +09:00
Andrew Tridgell c0a54762c6 MAVLink: port the new adaptive flow control to ArduCopter 
This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
 2012-04-02 11:18:53 +10:00
rmackay9 75d7308fb4 ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100. 
also changed heli_ext_gyro_gain to make it use the tuning range directly.
 2012-03-31 09:28:25 +09:00
Andrew Tridgell 0bc604f030 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE 
we now have the EEPROM option COMPASS_AUTODEC instead
 2012-03-30 14:25:27 +11:00
Adam M Rivera 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
rmackay9 0efb0e5b4d ArduCopter - added CH6_STABILIZE_KD tuning value 2012-03-29 21:09:41 +09:00
rmackay9 599cea21bb Added multiple new tuning parameters to the inflight channel 6 tuning feature: 
#define CH6_YAW_KI 24
        #define CH6_ACRO_KP 25
        #define CH6_YAW_RATE_KD 26
        #define CH6_LOITER_KI 27
        #define CH6_LOITER_RATE_KI 28
 2012-03-28 23:58:58 +09:00
Andrew Tridgell e956e21e7d ACM: enable the new compass offset nulling in ACM 2012-03-27 15:37:24 +11:00
rmackay9 67cf7b9eed ArduCopter - updated firmware version to 2.5.3 2012-03-25 09:13:51 +09:00
rmackay9 63b96c0153 ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter 2012-03-23 23:48:24 +09:00
rmackay9 89576a281a 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
rmackay9 1dd554c333 ArduCopter - updated version to 2.5.1 2012-03-20 17:08:18 +09:00
Andrew Tridgell 547b4ed55b AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short c5344a2a85 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
rmackay9 9841cb0335 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
Jason Short 48a0c9a818 ACM: Small fix to nav_throttle to prevent too fast of a landing. 2012-03-16 14:10:19 -07:00
Jason Short 1c0b28c956 Fixed Scaling bug in Sonar mixing 2012-03-16 14:10:19 -07:00
analoguedevices 86eff20d5d Rev'ed version number to 2.5. Added more credits 2012-03-15 02:38:54 +00:00
Jason Short 6f8b97bf6a 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 4315c06f34 Lowering the D filter for less latency and less oscillation. 2012-03-13 12:58:46 -07:00
Jason Short 7953808d14 ACM: Larger filter for Loiter D 2012-03-13 10:23:30 -07:00
Jason Short 0ab6b6e592 ACM: Rate_d filter for PID loop of Loiter. 2012-03-11 23:21:49 -07:00
Jason Short 77fe7de55d 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
Andrew Tridgell 2a03a0584f 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 d3667faef4 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
Jason Short 62c2aa4924 ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short 0671bb9168 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short 29d6085bab added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short 4ba600c0c5 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
Andrew Tridgell ef771fecdc ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell 69c29d35ce 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 7e4c8592ff ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell 9bff4e2c4c 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
Jason Short 486c56ce41 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 730476fdfd 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 46d7da4d14 Added define for throttle range for altitude changes, updated it to 250 2012-03-05 22:12:53 -08:00
Jason Short ceef8070ac added stab_d gain scheduling 2012-02-28 20:16:40 -08:00
Robert Lefebvre 76c3cd88f0 Added heli_collectiveFactor array 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-02-28 10:49:28 -05:00
rmackay9 744e5b8c60 ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine) 2012-02-28 22:56:26 +09:00
rmackay9 17d94b61ed ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
Jason Short 517172ba20 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
rmackay9 8193c786ef ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9 69132e0fe7 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
Jason Short a924c3685e Based on Jani's latest logs I've made two tweaks to alt hold. 
The first is to remove the filter on the throttle output for alt_hold.

The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
 2012-02-25 13:31:21 -08:00
Andrew Tridgell e2bbc795ad ACM: use a NULL gps pointer in DCM init 
current DCM API does need a GPS reference passed in, but it can be
NULL
 2012-02-25 15:08:49 +11:00
Andrew Tridgell 698749dd92 ACM: don't pass a gps pointer to DCM 
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell 1cd3172954 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Jason Short 242f54793c revved a version 2012-02-22 09:00:42 -08:00
Jason Short 729c824809 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short 30efbae0e9 removed old comments 2012-02-19 14:21:27 -08:00
Jason Short cae49b3543 Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short b54d08f410 Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Randy Mackay e146f225b1 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Jason Short 028de5d2c5 Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Randy Mackay b64c0da003 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Jason Short b532cb91b1 added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short 0075901f77 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short 36a120d8df removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short e8b6f5ecee allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short e249c8466d AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short 05abe44f32 Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short c9b432955d removed unused Vars 2012-02-13 15:25:23 -08:00
Andrew Tridgell d4305e0ae2 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell 3b4cae3cc3 adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Jason Short 2c65fc9ddf Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short b1d52da431 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short 19ab0f481e made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short 4313d19bc5 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short f40d40b0f9 Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that. 2012-02-09 22:22:00 -08:00
Jason Short ef9418c2de fix issue with low throttle in air 2012-02-03 13:29:59 +00:00
analoguedevices 3288b518c0 credits 2012-02-01 04:44:36 +00:00
analoguedevices 6dbcac855a Incremented version number to 2.3 2012-02-01 04:39:15 +00:00
Jason Short 5934b503b8 tuning fixes 2012-01-30 21:13:03 -08:00
Jason Short 46e08fb46a Added more attributions 2012-01-29 21:53:44 -08:00
Jason Short 650c0ed3f1 made Loiter over ride exit dependent not on speed, but centered sticks. 2012-01-29 16:15:02 -08:00
Jason Short 7833cea9d4 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short d1fcebb5ca Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short 326a663c6b changed tuning range 2012-01-28 21:18:43 -08:00
Randy Mackay 122623f64b OpticalFlow - added OF_LOITER flightmode 2012-01-28 09:27:16 +09:00
Randy Mackay 2c906b7b27 OpticalFlow - replaced PI controller with PID controller. 
Modified optical flow hold to use aggregated position instead of speed.
 2012-01-25 21:55:14 +09:00
Jason Short 1d9783652a added Beta 4 tag 2012-01-21 22:15:23 -08:00
Jason Short 9003b95499 Converted to cm for distance 2012-01-21 22:04:35 -08:00
Jason Short ab5716c42d Calc error for logs 2012-01-21 11:59:49 -08:00
Jason Short 7fb641ab77 added note 2012-01-20 22:52:31 -08:00
Jason Short 127544b833 Added cast for comparison 2012-01-20 22:52:30 -08:00
Jason Short 5141534ea9 B3 2012-01-20 22:52:29 -08:00
Jason Short db6db1ab91 set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units. 
added the ability to force nav_throttle so we  don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
 2012-01-20 22:52:29 -08:00
Jason Short 6e94b21d67 Altitude no longer resets when moving loiter WP 2012-01-20 22:52:29 -08:00
Jason Short 017364fc5b Lowered range to more sensible values 2012-01-20 22:52:29 -08:00
Michael Oborne 52a9bb3cd1 fix SITL attitude hil AC 2012-01-20 16:32:25 +08:00
Doug Weibel ed9f7cb1b6 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Doug Weibel 0306bf97a0 Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Jason Short 3ebed0b278 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Jason Short 46ef246e67 b2 2012-01-14 11:37:00 -08:00
Jason Short 0ae82da0fd Fix for SIMPLE mode 2012-01-14 11:32:48 -08:00
Jason Short 89343ae306 adjusted GPS watch dog not to be so aggressive, 
removed unneeded flag clearing
 2012-01-14 11:20:40 -08:00
Jason Short ec9880f725 made resetting throttle cruise a function 2012-01-13 16:47:08 -08:00
Jason Short 8d909f6eed fixed GPS bug - moved to fast loop location 2012-01-13 12:47:22 -08:00
Jason Short b0810e054e moved GPS routines to 50hz loop to avoid delay. 2012-01-12 22:59:47 -08:00
Jason Short 648a404ee1 Version 2.2 2012-01-12 22:37:33 -08:00
Jason Short 91e05834c8 removed wind comp code, 
Added Landing boost code
 2012-01-12 22:28:58 -08:00
Jason Short a7bce15365 R10 2012-01-11 22:41:51 -08:00
Jason Short f35411ac45 R9 2012-01-10 23:46:08 -08:00
Jason Short 5a91396f63 Added climb rate control 
removed unused vars
 2012-01-10 23:42:26 -08:00
Jason Short 351be7c305 Made timer unsigned 2012-01-10 23:42:26 -08:00
Pat Hickey 2f63c636ad Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey f5b6746ad7 ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey 0b40f55334 ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Randy Mackay f68d23d91e ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
Jason Short d45c0ce9f2 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Jason Short f4b530ebb1 R8 2012-01-07 22:28:03 -08:00
Jason Short 76dd79e7b5 Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short ee0551037e Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short 17873eb09c Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short e116636fe9 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short e3c16fc1b1 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short 20661e5020 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell 596a1f43f4 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short ed1ff0b171 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short 76cfdca6cc Cleaned up and documented each global vavriable 
Added Wind compensation for Stability
Acro mode fixes
 2012-01-04 09:28:37 -08:00
Jason Short b3cea96970 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short ea832c0818 upped to r5 2011-12-31 10:05:13 -08:00
Jason Short 1ef7f9fe62 Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short 0ace8474d7 R4 2011-12-30 23:54:02 -08:00
Jason Short 28984a72e4 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short c7f93f8718 Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short 84d3e3135f Added Nav_bearing, just like APlane 
added fix for LOITER in missions so we don't Yaw in circles
 2011-12-30 23:48:04 -08:00
Jason Short 3ea49e1415 updated rev 2011-12-29 23:02:41 -08:00
Jason Short 95a70cf32e lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short 6f42442e57 Added 5 sec Takeoff Timer to clear i terms when lifting 
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
 2011-12-29 23:02:03 -08:00
Randy Mackay bbe6dea980 OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell 955dfe0226 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell 03a16c6e45 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Jason Short 234121f3c3 Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Jason Short 0491d4feca added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short d9590a44d6 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short 62cb407558 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short 239eb53983 change Alpha name 2011-12-18 16:38:07 -08:00
Jason Short 47e4c875e1 Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
Andrew Tridgell f6f808357c removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Jason Short 2fc25d963d renamed super simple, added framework for auto calc of throttle cruise 2011-12-15 20:51:41 -08:00
Jason Short f48e394511 made the last step of landing stop navigating so we can drop straight down. 2011-12-14 22:08:41 -08:00
Jason Short 8691b10ee9 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Andrew Tridgell 888d6226b2 fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short e4559bbf5c Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Andrew Tridgell d076fb54b5 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Pat Hickey a48c65b5b5 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey 6dbd6b4181 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey b055aa6f81 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey de6507a47d ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Randy Mackay 67855b207d Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Jason Short 4659a9ffce Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short 84b72b627b Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short 7cecca74bc Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short 76d60a2111 Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short 05409b8c1c made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short a632c49b44 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short e8a14c8d93 simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short c99da66506 Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Michael Oborne edf3195384 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Jason Short ce5ad442fc Git Test 2011-11-28 10:54:20 -08:00
Jason Short 82adf1df6b removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00
Pat Hickey 6ee477bd8d ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell 38c85c44ae ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell 3a542b3ef3 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell ffba37d599 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey 1d50bb80fd hil-sensors ArduCopter: fixes to make hil-sensors build work properly 
* requires new stub libraries for InertialSensor and PeriodicProcess.
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1c20efe4b8 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell c0898ab3b9 purple: timer_scheduler should be in all builds 2011-11-25 20:00:17 -08:00
Pat Hickey 660174e610 purple: switch ArduCopter to new sensor objects 
this uses the new sensor abstractions for the purple/APM1 hardware
choice
 2011-11-25 20:00:16 -08:00
Jason Short abe4758c3b no longer using the raw pressure 2011-11-25 11:34:05 -08:00
Jason Short c5c5884006 v number 2011-11-21 22:13:18 -08:00
Jason Short 89e014c06a Added alternate alt hold, 
New ESC Calibration Routine
 2011-11-21 22:12:19 -08:00
Jason Short fbf09dbf2d Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Randy Mackay f397bae793 ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up 
Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
 2011-11-20 22:30:42 +09:00
Jason Short 185c2a50ce added some params from Arduplane to make Mavlink upgrade easier 
made loiter radius smaller in storage
 2011-11-20 00:22:53 -08:00
Jason Short b6adfdb62f missed == 2011-11-19 14:42:57 -08:00
Jason Short 579096cd2e return to prev climb rate calc 2011-11-19 13:58:41 -08:00
Jason Short a168691eba Working implementation of Jump Command 2011-11-16 21:28:56 -08:00
Jason Short 5ed931c582 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short 3eaef4081c Added better navigation flag for more accurate dtnav timing 
Added better support for climb rate in SIM
 2011-11-16 00:22:22 -08:00
Jason Short 2ad1294514 scaling width of circle mode to make it more round. 2011-11-13 23:09:42 -08:00
Jason Short be1007d032 Moved updated alt to GPS so the climb rate is sane 2011-11-13 22:54:57 -08:00
Jason Short 349ab7e0c6 slowed Circle flight 2011-11-13 13:41:23 -08:00
Jason Short e1315b1ab8 Update and fix for Circle mode 
HIL updates for altitude
 2011-11-12 21:43:21 -08:00
Jason Short 8ad94b9993 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-09 22:56:52 -08:00
Jason Short ae1684a37c crosstrack angle variable 2011-11-09 22:56:38 -08:00
Andrew Tridgell c056c4f0cb HIL: allow for fast HIL attitude update in HIL_MODE_ATTITUDE 
this runs it at the full loop rate
 2011-11-10 13:17:06 +11:00
Jason Short 1ab1d8bab4 Fixes for Sim - Missing climb rate calculation 2011-11-08 10:46:52 -08:00
Andrew Tridgell 28634f51b7 ArduCopter: use specific sized data types in a lot of places 
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
 2011-11-08 11:05:36 +11:00
Andrew Tridgell 3176d4ffc5 HIL: enable CTUN log message in ATTITUDE HIL 2011-11-08 07:58:35 +11:00
Jason Short 3a37e7fe60 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-06 22:46:57 -08:00
Jason Short a37fadbedb moved to 200hz update 
Zccel Z updates from Aurelio in attitude.pde
lowered baro_alt sanity check
moved user hooks to the medium 10hz loop.
 2011-11-06 22:46:39 -08:00
unknown 9c59fdfdd6 AltHold - another correction to the manual boost. Hopefully properly transferring building up I terms to g.throttle_cruise 2011-11-06 19:06:13 +08:00
unknown 32057fb3c9 AltHold - made TradHeli code also use manual_boost 2011-11-06 18:25:13 +08:00
unknown 755cb4b201 Altitude hold bug fix - changed g.throttle_cruise to be updated to steal I term from correct controller 2011-11-06 17:47:24 +08:00
Jason Short c8304114a3 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
Jason Short 3f211121fe Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:18:56 -07:00
Jason Short 27fc6eea10 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Andrew Tridgell acc03753ab fixed HIL build 2011-11-02 08:14:07 +11:00
Jason Short c32a707632 cleanup 2011-11-01 09:28:36 -07:00
Jason Short ab1de277dc altered the interactive throttle to be more aggressive and proportional. 
reworked baro reading strategy.
 2011-11-01 09:24:51 -07:00
unknown c253996ea9 TradHeli - added TUNE value 13 to allow adjusting of external gyro gain using channel 6 2011-10-29 20:34:21 +09:00
unknown ea66c74ff0 TradHeli - added throttle scaling and heli specific angle_boost function that takes into account that heli's main blades can have -ve pitch. 2011-10-29 17:27:43 +09:00
Jason Short 07daf34ccc Added a slew rate to the alt change rate. 
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
 2011-10-28 21:29:10 -07:00
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 c8c26d8193 added boost scalar arguments 
removed accel math from Trig function into Attitude.pde
 2011-10-27 12:33:19 -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
Michael Oborne e85e3b87a8 AC2 fix guide mode fly off 2011-10-13 18:34:32 +08:00
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 97b3ced7aa fixed a signed/unsigned warning 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
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
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 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
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 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
Michael Oborne 108a89f617 heli hil 2011-09-27 07:30:28 +08:00
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 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 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 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 2ae163ef75 Trying to make Alt hold more aggressively change altitudes. 2011-09-23 13:58:39 -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 991279851a Refined Throttle Timer reset 
Reduced Loiter I gain to decrease overshoot.
 2011-09-22 17:38:39 -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 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 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 b9b5c57662 added contributor 2011-09-18 17:12:59 -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
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 227ce0a92d Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
rmackay9 c825e76a88 ArduCopter - small changes to fix compile errors when optical flow enabled 2011-09-17 22:09:18 +09:00
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 f79b8de5e8 removed DCM reference from OPT FLOW 2011-09-16 19:17:50 -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
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
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
Jason Short 885ec18182 Removed last of Xtrack 2011-09-11 20:40:05 -07:00
Jason Short e6b7c57d26 Circle Mode now working 
250Hz loop implemented
 2011-09-11 11:22:01 -07:00
Jason Short b4a51806bc Added Nav Rate tuning 2011-09-10 18:37:28 -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
jasonshort 8870e2f309 circle mode patch 2011-09-09 11:59:42 +10:00
Andrew Tridgell d95e454609 rename main pde file for arduino requirements 2011-09-09 11:51:21 +10:00