rmackay9
e13cea03ea
ArduCopter: restore auto-trim method but now use AHRS.add_trim
2012-12-20 00:06:20 +09:00
Craig@3DR
ae72238beb
Removed 2 more degree symbols from comments
2012-12-18 13:42:42 -08:00
rmackay9
465d54e541
ArduCopter: change GPS dataflash message to output unfiltered gps lat and lon
2012-12-18 23:44:51 +09:00
rmackay9
a193cbb812
AP_InertialNav: Jason's bug fix to inertial nav velocity and position calculations
2012-12-18 16:38:56 +09:00
rmackay9
ee50e63705
AP_AHRS: remove debug messages
2012-12-17 23:51:47 +09:00
rmackay9
200389dcc2
ArduCopter: ensure RTL performs a land if a failsafe has been triggered
2012-12-17 22:12:24 +09:00
Robert Lefebvre
f48ec39cfa
ACM: Precision Loiter RePositioning code.
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Protected behind a #define
2012-12-17 07:42:28 -05:00
rmackay9
323d7fac43
Filter: #include AP_Buffer.h no longer needed now that completementary filter has been moved to InertialNav library
2012-12-17 20:52:53 +09:00
rmackay9
7bf3296425
ArduCopter: remove unused wait_for_yes function
2012-12-17 17:52:04 +09:00
rmackay9
3be100469b
ArduCopter: remove unused rc_override variables to save 21 bytes
2012-12-17 17:04:51 +09:00
rmackay9
889a19f790
ArduCopter: move scaleLongUp and scaleLongDown initialisation to init_home
2012-12-17 16:54:03 +09:00
rmackay9
c8c13046e3
ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log
2012-12-17 16:34:20 +09:00
rmackay9
1332ed3b5c
ArduCopter: restore initial climb to RTL
2012-12-17 16:17:49 +09:00
rmackay9
c1abd96ef2
ArduCopter: limit output throttle to 800 only for TRI which does not have the new stability patch
2012-12-17 15:29:11 +09:00
rmackay9
b10d61b2c2
AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch)
2012-12-17 15:28:42 +09:00
rmackay9
68d6eee1e7
ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle
2012-12-17 14:46:30 +09:00
rmackay9
d4b73e7b07
AP_InertialNav: increase time constant for Z axis to 7 seconds
2012-12-17 14:46:02 +09:00
rmackay9
e3ee865dc0
ArduCopter: Leonard Hall's changes to alt hold including adding low pass filter to climb rate
...
get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
2012-12-17 14:36:05 +09:00
rmackay9
1726744b5d
AP_InertialSensor: resolved compile warning re uninitialised variable
2012-12-16 16:23:17 +09:00
rmackay9
ce63d7a77a
AP_GPS_MTK16: saved 22 bytes of ram by moving error message into program space.
...
Perhaps there's no point in writing an error message to a console that likely nobody will be viewing anyway.
2012-12-16 16:21:53 +09:00
rmackay9
2da0ef4183
AP_GPS_MTK19: small bug fix re "==" vs "="
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Also saved 22 bytes of RAM by moving error message into program space.
2012-12-16 16:20:33 +09:00
rmackay9
d8ea210019
ArduCopter: allow tuning of the Throttle Rate D term
2012-12-15 13:32:07 +09:00
Craig@3DR
867192de0a
Added support for Mediatek firmware Rev 1.9
2012-12-14 18:47:35 -08:00
Robert Lefebvre
b83049bdda
ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work.
2012-12-13 14:54:14 -05:00
rmackay9
2656997714
ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts
2012-12-13 23:09:26 +09:00
rmackay9
7b4f311f28
ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters
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Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
2012-12-13 20:30:23 +09:00
rmackay9
2e78977499
ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled
2012-12-13 16:07:34 +09:00
rmackay9
d2c8abe491
ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h
2012-12-13 00:15:30 +09:00
rmackay9
59b20c6fe4
AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm
2012-12-12 23:30:52 +09:00
rmackay9
ad14e727e2
ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue)
2012-12-12 23:29:57 +09:00
rmackay9
8d75022d58
ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden
2012-12-12 23:28:26 +09:00
rmackay9
31fd9a22a3
ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode
2012-12-12 23:27:45 +09:00
rmackay9
66133f4e59
AP_AHRS: save trim to eeprom when set_trim is called
2012-12-12 17:24:28 +09:00
rmackay9
e9c1500f33
ArduCopter: clear ahrs roll and pitch trims after an accel level command
2012-12-12 17:17:09 +09:00
rmackay9
ff9902c5d6
ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method
...
Also removed slow low pass filter meant to correct for accelerometer calibration. This is no longer required now that we have the improved calibration method.
2012-12-12 16:29:46 +09:00
rmackay9
50bd21d548
AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles
2012-12-12 16:27:27 +09:00
rmackay9
2b6fbe5c01
AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle
2012-12-12 16:22:56 +09:00
Craig@3DR
cbcc1437b8
Updated the MediaTek configuration
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to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
2012-12-12 11:13:24 +09:00
rmackay9
ee164b6073
ArduCopter: remove weird character from navigation.pde
2012-12-12 11:05:16 +09:00
Robert Lefebvre
0537dcd4cc
ACM: TradHeli
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Change name of attitude rate feed-forward parameters.
2012-12-10 21:02:16 -05:00
rmackay9
d9bec28c02
ArduCopter: create 2.9 branch and update firmware version
2012-12-11 00:24:34 +09:00
rmackay9
b170da34ec
ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised
2012-12-11 00:14:29 +09:00
rmackay9
628fb1da15
ArduCopter: fix Failed to Init Optflow message at startup
2012-12-11 00:09:45 +09:00
rmackay9
770e1b97f2
ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE
2012-12-10 23:47:14 +09:00
rmackay9
44773d1f2a
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
rmackay9
0b815d9afb
AC_PID, AP_AHRS: added descriptions to some parameters
2012-12-10 22:28:39 +09:00
rmackay9
93fa3fbc69
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
rmackay9
29f040acba
ArduCopter: added descriptions for most parameters that did not have them
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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
rmackay9
037efef3fb
AP_Motors: add comments for parameters
2012-12-10 21:37:20 +09:00
rmackay9
34724719d9
ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude
2012-12-10 17:30:50 +09:00