Commit Graph

1317 Commits

Author SHA1 Message Date
jasonshort 6d3039793d Yaw Alternate enabled by default.
Yaw dead_zone minimized
revved to 2.0.11


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2394 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-24 05:04:48 +00:00
jasonshort bd69d3f014 Adjusted gains for alt hold.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2393 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-24 04:58:53 +00:00
jasonshort bd64dd9770 Added resetting of Loiter location based on stick input. Fly it to a location and let it stick.
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2392 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-24 02:23:26 +00:00
jasonshort 1f222a4a5c Added resetting of Loiter location based on stick input. Fly it to a location and let it stick.
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2391 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-24 02:23:02 +00:00
jasonshort 2a3b994d51 Added resetting of Loiter location based on stick input. Fly it to a location and let it stick.
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2390 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-24 02:18:30 +00:00
jasonshort 2118931cdc Added resetting of Loiter location based on stick input. Fly it to a location and let it stick.
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2389 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-24 02:14:18 +00:00
jasonshort c0ae14cc5c Minor Gain fix. Roll and Pitch were sligtly different. Not enough to merit any point revision.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2383 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-23 19:33:18 +00:00
jasonshort 78f02b51a0 updates to get alt hold from 2.0.7.
Cleanups, better logs for Alt hold, yaw debugging
I tuned up Hein's Hexa Yaw. I think we may need to adjust Yaw gains based on Frame type.
Crossing fingers, the next rev is the final.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2381 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-23 05:53:00 +00:00
rmackay9@yahoo.com c2ff95371c AP_OpticalFlow - fixed some bugs in get_position
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2380 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-22 14:44:51 +00:00
jasonshort 855761a4ef Minor log formatting
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2379 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-22 06:23:10 +00:00
jasonshort b76745470d 2.0.8 - Mavlink fixes. Works much better now with M.Oborne's planner
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2378 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-22 02:49:57 +00:00
jasonshort 16df94168f refinement of alt hold and Hein's Yaw hold fix
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2377 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-21 16:24:07 +00:00
jasonshort b8d3b12b35 added in RTL failsafe option for AUTO mode.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2372 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-21 06:52:52 +00:00
jasonshort 26655d47ad removed unneeded RTL modes
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2371 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-21 06:52:18 +00:00
jasonshort 0ecab03e16 removed unused descriptions
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2370 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-21 06:51:37 +00:00
jasonshort ba724655b2 Missing , in test
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2369 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-21 06:51:16 +00:00
jasonshort bc5b3caa58 lowered Yaw D value
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2368 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-21 06:50:46 +00:00
jasonshort f7f101d2b4 added NG analog pin definitions
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2364 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-20 17:40:11 +00:00
jasonshort 005947ea61 Fixed motors test for quads.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2363 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-20 17:34:15 +00:00
jasonshort 707210a514 Disabled I term for yaw. not working right.
Changes log step default to zero by recommendation from John C. Not sure why it works, Compiler should init to 0 by default.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2362 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-20 17:08:04 +00:00
jasonshort 9241691b44 trying to improve Yaw issues. Enabled I term for yaw. This was mistakenly Imaxed to 0
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2359 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-20 05:33:35 +00:00
jasonshort e334332682 v2.0.7 Minor adjustments to Loiter behavior.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2358 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-20 05:23:51 +00:00
jasonshort 89714078dc Minor adjustments to Loiter behavior.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2357 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-20 05:23:12 +00:00
mich146@hotmail.com ed790dad71 make sure things are saved from cli
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2348 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-19 12:40:17 +00:00
jasonshort 9b05369f1e Missed saving frame orientation.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2346 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-19 01:02:03 +00:00
jasonshort acdba5bfd7 2.0.6 Beta updates. Frame options + X moved to AP_Var.
Updated nav code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2345 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-18 23:38:24 +00:00
james.goppert 938ab0ac56 Synced with mavlink dev branch, RC_CHANNELS_OVERRIDE packet added.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2344 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-18 03:24:31 +00:00
jasonshort 5a22080484 I am Adding A "PI" loop to the mix. This is a need for AC2. We can optimize the internals later, but I basically duped the get_PID and removed the D term internals.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2338 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 16:05:49 +00:00
jasonshort 5489585ae3 separated the PID values based on chosen Nav PID, Temporary until we get rate control tested.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2337 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 15:55:32 +00:00
jasonshort 02fe0ff13f added nav_WP I term reset at WP. Would like to consider scaling it with a trig function to keep continuity during nav.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2336 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 06:23:21 +00:00
jasonshort 66b8cebb14 added comments for frame types
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2330 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 06:05:08 +00:00
jasonshort 9153e448db kD for WP nav does not seem to be doing anything but causing trouble.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2323 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 05:48:25 +00:00
jasonshort 0617d58d4f Fixed bad output of GPS ground course.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2318 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 05:28:20 +00:00
jasonshort 73129c52b9 Some nice updates to Rate based nav according to the simulation.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2316 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 04:59:06 +00:00
jasonshort 41fc9d60ca Log_Read_Startup removed
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2306 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 22:36:41 +00:00
jasonshort 164b93479c Moved PitchMax back to 18°
raised the Yaw deadband.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2305 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 22:34:10 +00:00
jasonshort 93b187333c Alignment with APM
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2293 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 17:42:32 +00:00
mich146@hotmail.com c95419fbf5 GCS Alt fix.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2287 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 06:14:55 +00:00
jasonshort 873d7bb5d5 updated relative altitude in nav_wp
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2284 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 06:04:16 +00:00
jasonshort 0554c42c08 updated to new orientation from Jani
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2282 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 04:32:20 +00:00
jasonshort 93b5e984b1 updated alternative rate nav function.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2281 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 04:28:54 +00:00
jasonshort 8840dd3dc2 moved back navigation into original loop - was for debugging
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2280 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 03:00:05 +00:00
jasonshort e5a93a81cf added reference to FRAME_TYPE
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2277 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 02:04:52 +00:00
jasonshort 9a0cabb71d added reference to FRAME_TYPE
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2276 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 02:03:23 +00:00
jasonshort 8f17f95cbc Moved motors to individual files.
updated motor setup test to be sequencial pulses of the motors in CW order.
Fixed Mission scripting logic
fixed Free yaw error in neutral throttle
fixed D term issue with Baro hold - was too high
incremented firmware revision, removed frame var
removed setup show from startup
removed unused EEPROM functions
fixed broken demo mission
fixed non working loiter with delay



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2275 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-15 02:02:09 +00:00
jasonshort fda05ca4d0 moved rudder servo control out of 200hz loop to test if it will reduce servo noise.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2260 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-14 04:45:28 +00:00
jasonshort 5ca72eb8b2 better Baro hold - Baro_KD was way too high.
Clean up with WP processing
moved crosstrack call to more logical location

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2259 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-14 04:30:42 +00:00
jasonshort 40e22316ce log NTUN missing \newline
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2258 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-14 01:28:58 +00:00
jasonshort 957133e940 incremented 2.0.3
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2255 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-13 19:30:14 +00:00
jasonshort fe9243285b Slight increase to loop speed - for Max
removed throttle integrator until I have more time to deal with the data
tweaked control loops to be more like RC1 for Max to try. They fly great BTW
tweaked config to be more better.
Mavlink - only cosmetic tweaks

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2254 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-13 19:29:45 +00:00