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466 Commits

Author SHA1 Message Date
rmackay9 bdf236ef38 ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter. 
When disabled the original velocity based throttle controller is used.
 2012-12-06 10:31:57 +09:00
rmackay9 9750c14325 ArduCopter: RTL clean-up and slightly improved landing sensor 
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
 2012-12-06 10:31:52 +09:00
rmackay9 eb3ad15843 ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position 2012-12-06 10:31:41 +09:00
rmackay9 89e737728c ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI) 2012-12-06 10:31:25 +09:00
rmackay9 dc0b35da30 ArduCopter: restored landing detector to landing throttle mode. 
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
 2012-12-06 10:31:20 +09:00
rmackay9 e629fe2eb0 ArduCopter: add set_throttle_mode to better control initialisation of variables 2012-12-06 10:31:04 +09:00
rmackay9 1285198b71 ArduCopter: added back in angle boost and recombined for heli and multicopter 2012-12-06 10:30:55 +09:00
rmackay9 c1ce0ae752 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy 
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
 2012-12-06 10:30:49 +09:00
Robert Lefebvre 5863c737a1 ACM: TradHeli 
Fixes for Attitude rate controllers.
 2012-12-04 14:42:04 -05:00
Robert Lefebvre fdcf966df7 ACM: Yaw Look Ahead Changes 2012-12-04 13:26:41 -05:00
Robert Lefebvre ac8a6b7c3e ACM: Code Cleanup 2012-11-30 17:05:12 -05:00
rmackay9 f7a05f577e ArduCopter: bug fix - increase mpu6k sample rate to 100hz 2012-11-30 23:49:18 +09:00
Andrew Tridgell 45e62add9f Copter: update ArduCopter for new ins interface 2012-11-30 07:15:18 +11:00
Robert Lefebvre 4463150122 ACM: TradHeli 
Bringing in Low Pass Filter for Rate Controllers
 2012-11-26 21:51:23 -05:00
Robert Lefebvre c78ecc4fd1 ACM: Creating Yaw_Look_Ahead yaw mode. 
This function is not fully tested yet.
 2012-11-26 21:37:13 -05:00
Robert Lefebvre 332b728ebf ACM: TradHeli 
Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
 2012-11-26 21:21:12 -05:00
Robert Lefebvre a4ae24de6c ACM: Begin creation of TradHeli rate control. 
May affect Multi-Rotors.
 2012-11-26 21:02:41 -05:00
Robert Lefebvre ca23a7ba76 ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Robert Lefebvre 311d190494 ACM: TradHeli 
Removing Angle Boost function.
Does not make sense for helis due to aerodynamics.  Can cause more problems than it solves.
 2012-11-26 18:58:21 -05:00
Robert Lefebvre 6056d4fb7b ACM: TradHeli 
Remove Rate I-term reset when throttle stick is on the bottom.  This could be very bad for helis since it's plausible to use full downstick while flying.
There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway.
Also removed what appears to be some deadwood.
 2012-11-26 18:49:24 -05:00
Andrew Tridgell 901a5326a4 Copter: fixed build error 
thanks to Marco for pointing this out
 2012-11-24 20:39:35 +11:00
Andrew Tridgell 386ef45fbb Copter: ported RSSI_PIN option from ArduPlane 
this is useful for OSD users
 2012-11-22 20:59:33 +11:00
rmackay9 79bcdf3625 ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d 2012-11-22 12:50:39 +09:00
Andrew Tridgell 76e9adb8d4 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
rmackay9 38fdacd93b ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
Robert Lefebvre 6c407e5770 Added Leonard to Contributor List. 2012-11-16 15:43:03 -05:00
rmackay9 cd5da84698 ArduCopter: flight mode changes ignored while in throttle failsafe 
reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
 2012-11-13 12:50:51 +09:00
rmackay9 dab975301b ArduCopter: remove some variables no longer required with introduction of AP_state 2012-11-12 12:41:25 +09:00
rmackay9 702dd1fb2e ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables 2012-11-12 12:35:58 +09:00
Jason Short e32491d749 ACM: Added a speed filter for throttle cruise, increased alt change rate for alt hold, increased the max climb_rate reporting 2012-11-11 18:17:33 -08:00
Jason Short ee9ac7ab2c ACM : loging ApState at faster rate 2012-11-11 18:00:10 -08:00
rmackay9 eb25b917ad ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues 2012-11-11 22:42:10 +09:00
rmackay9 c8bc64be61 ArduCopter: fix APM2 build 2012-11-10 22:06:23 +09:00
Jason Short f48db96156 ACM : Arducopter Added ap state bitfield, system bitfield 2012-11-09 22:15:15 -08:00
Jason Short 00b41a198d ACM: Arducopter - remove the stabilize D scheduling 2012-11-09 22:15:15 -08:00
Jason Short 99cf67fc9c ACM : formatting 2012-11-09 22:15:15 -08:00
rmackay9 56f374fc7d AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 a0e69ddf27 ArduCopter: fixed HIL build caused by optical flow semaphore changes 2012-11-07 21:13:34 +09:00
rmackay9 af40201b14 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
rmackay9 0868917ff4 ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Jason Short 0a68468610 ACM: Added simple mode bearing logging for bug hunting 2012-10-28 12:12:38 -07:00
rmackay9 7fb58fce87 ArduCopter: replace Serial.print with Serial.print_P to save memory. 
Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
 2012-10-22 16:45:24 +09:00
Jason Short 96f0a32cd3 ACM Acceleration management 
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
 2012-10-21 14:32:39 -07:00
rmackay9 6a66fdace9 ArduCopter: updated firmware version to 2.8 2012-10-20 09:50:53 +09:00
Pat Hickey 0dd0bd131a Update ArduCopter and ArduPlane dependencies on AP_Menu 2012-10-18 20:53:39 -07:00
Robert Lefebvre 5f8f53ec0a Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups. 2012-10-18 16:39:05 -04:00
rmackay9 d7c80fb025 ArduCopter: updated firmware version to 2.7.4-Zeta 2012-10-18 23:30:28 +09:00
rmackay9 3b631f1edd ArduCopter: integrated Leonard Hall's improved ACRO mode 2012-10-18 23:24:34 +09:00
rmackay9 9392c8cae2 ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1 2012-10-18 17:04:44 +09:00
rmackay9 f1fe5f303b ArduCopter: updated firmware version to 2.7.4-Epsilon 2012-10-17 19:27:11 +09:00