rmackay9
e1a351552f
ArduCopter: maintain loiter control even below 1m while landing
2012-12-06 12:40:53 +09:00
rmackay9
c734a42e15
ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz)
2012-12-06 10:32:12 +09:00
rmackay9
9c0984c505
ArduCopter: bug fix - initialise inertial nav
2012-12-06 10:32:07 +09:00
rmackay9
5551f092be
ArduCopter: disable INERTIAL_NAV_XY by default
2012-12-06 10:32:02 +09:00
rmackay9
bdf236ef38
ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter.
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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
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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
9447d08fdd
ArduCopter: increase CONTROL_SWITCH_COUNTER so that flight mode switch must be changed for at least 1/10th of a second
2012-12-06 10:31:46 +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
450b6e13a4
ArduCopter: switch on INS in APM_Config.h (i.e. on by default for users uploading through Arduino IDE)
2012-12-06 10:31:36 +09:00
rmackay9
8a0faebb21
ArduCopter: pass linear altitude error to throttle rate controllers.
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Previously the requested rate used the square root of the altitude error.
Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
2012-12-06 10:31:31 +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.
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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
b26f2861ff
ArduCopter: removed unused AUTO_THROTTLE_HOLD #define
2012-12-06 10:31:15 +09:00
rmackay9
ea9f357dc0
ArduCopter: remove unused get_desired_climb_rate function
2012-12-06 10:31:09 +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
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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
6f8958289f
ACM: Small fix to Yaw Look Ahead
2012-12-04 14:50:14 -05:00
Robert Lefebvre
5863c737a1
ACM: TradHeli
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Fixes for Attitude rate controllers.
2012-12-04 14:42:04 -05:00
Robert Lefebvre
b225bc8cb8
ACM: TradHeli
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Creating Rate Feed-Forward Parameters
2012-12-04 13:47:38 -05:00
Robert Lefebvre
45e6e2bc9a
ACM: TradHeli APM_Config.h changes
2012-12-04 13:32:40 -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
Michael Oborne
da3398d41d
AC add ability to start new accel_scale via mavlink
2012-11-28 21:38:58 +08:00
Andrew Tridgell
b3f93eab7d
Copter: re-enable sending of GLOBAL_POSITION_INT message
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this gives important raw GPS velocity information, plus relative and
absolute height
2012-11-28 11:26:19 +11:00
Robert Lefebvre
4463150122
ACM: TradHeli
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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.
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This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
Robert Lefebvre
332b728ebf
ACM: TradHeli
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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.
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May affect Multi-Rotors.
2012-11-26 21:02:41 -05:00
Robert Lefebvre
ca23a7ba76
ACM: TradHeli
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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
b29e85dc0a
ACM: TradHeli
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Move some TradHeli #defines into one place in APM_Config to clean up config.h and defines.h
2012-11-26 19:09:55 -05:00
Robert Lefebvre
069749e49c
ACM: TradHeli
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Prevent helis from arming while RSC control is switched on.
2012-11-26 19:03:28 -05:00
Robert Lefebvre
311d190494
ACM: TradHeli
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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
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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
Robert Lefebvre
31ea32dc9c
ACM: TradHeli
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Removing this "throttle" output restriction for TradHelis.
2012-11-26 18:44:03 -05:00
Andrew Tridgell
901a5326a4
Copter: fixed build error
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thanks to Marco for pointing this out
2012-11-24 20:39:35 +11:00
Andrew Tridgell
62edd146a3
Copter: added reboot in CLI and over MAVLink
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useful for getting out of CLI
2012-11-24 18:20:37 +11:00
Andrew Tridgell
386ef45fbb
Copter: ported RSSI_PIN option from ArduPlane
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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
rmackay9
ed38440f5b
ArduCopter: added ReleaseNotes.txt
2012-11-22 09:51:04 +09:00
Robert Lefebvre
211f964553
Changes to get_throttle_rate()
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Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
2012-11-21 17:11:38 -05:00
Andrew Tridgell
f9892fac60
ACM: allow fetch of parameters by index
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this makes it more efficient to re-fetch parameters that are missing
2012-11-22 00:16:57 +11:00
Andrew Tridgell
76e9adb8d4
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
Andrew Tridgell
7436974e2f
MAVLink: make it possible to enter the CLI over the radio
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this only works on the APM2, where UART0 is also the radio port
2012-11-21 14:11:05 +11:00
Michael Oborne
9ba3dd735b
remove cli planner mode - no longer used
2012-11-21 07:45:45 +08:00
Michael Oborne
a9531082e0
fix unit max. and unit type
2012-11-21 07:42:53 +08:00
Andrew Tridgell
d1ab9f59fd
ACM: support 16 character parameter names
2012-11-20 21:38:58 +11:00
Andrew Tridgell
7a9ef49ea7
ACM: fixed documentation of disabling voltage/current pins for ArduCopter
2012-11-20 20:26:14 +11:00
