6dc1e02f76
Inertial Control
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I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.
This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.
Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.
The Log should record RAW messages with special debugging values.
2012-06-13 22:34:45 -07:00
c9093a1609
ArduCopter: updated firmware version to 2.6 Epsilon
2012-06-12 23:22:57 +09:00
ebff84d41e
Added Angel's name to contrib list
2012-06-10 12:38:22 -07:00
df72f70aba
ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release)
2012-06-08 21:54:09 +09:00
cad76d4e0f
ArduCopter: updated firmware description to 2.6 Gamma
2012-06-05 21:28:13 +09:00
60c89ee117
Updates to Flip:
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Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
2012-06-03 22:15:19 -07:00
826cffe688
ArduCopter: Ensure update_GPS does nothing when gps is disabled.
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This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
2012-06-03 23:48:45 +09:00
68de4e0259
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 17:02:35 +09:00
09695602d2
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 16:59:23 +09:00
bafb478924
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
abb426aec3
When RTLing, force home as the final location for loiter.
2012-05-30 11:06:41 -07:00
c45209eaff
Broken timer - removed
2012-05-29 12:56:38 -07:00
33d1b5a137
Speed up automatic disarming to 25 seconds for safety.
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renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
2012-05-29 12:41:35 -07:00
3ba6e1db7a
Removed references to a takeoff timer
2012-05-29 11:28:40 -07:00
394f8c6eb0
pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle.
2012-05-29 11:25:04 -07:00
a3a90287f4
changed the way takeoff complete is figured. Looking for high throttle.
2012-05-29 11:25:04 -07:00
4ed48510dc
reversed circle_WP calculation so the next_WP refers to the destination around the circle and circle_WP refers to the center. The intent is to make it easier to see via ground station.
2012-05-27 09:21:20 -07:00
e2086decc6
Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled.
2012-05-23 22:00:56 -07:00
df4246597f
Updates to CopterLEDS
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Creation of Nav Blink Function.
2012-05-22 09:58:37 -04:00
99dee97385
Added note
2012-05-21 09:58:23 -07:00
f8ceec2b4b
added check for duplicate time-stamped GPS messages.
2012-05-18 09:54:18 -07:00
be71cbfcc8
Arducopter.pde :
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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
7278e8d1e5
removed retro loiter code since Angel has a branch now.
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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
eaeaa3811a
ArduCopter: bug fix for reversing tri servo
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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
47ea92aa7f
ArduCopter: updated version to 2.5.5
2012-05-13 08:47:43 +09:00
7866740d62
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
2012-04-24 22:24:58 +10:00
2ee8237b5f
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
692bbee233
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
2aca6c64ab
Added a union for casting floats to ints and back when storing Floats to the DataFlash
2012-04-21 15:17:09 -07:00
114e6a3551
ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion
2012-04-21 23:24:57 +09:00
53ddb58c7b
ArduCopter - changed optflow object to be APM2 version if necessary
2012-04-21 20:15:55 +09:00
edf15c1b9b
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-20 11:45:38 -05:00
c323efc2d4
ArduCopter - regressed version back to 2.5.4
2012-04-20 21:58:32 +09:00
d09916422a
Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach
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Conflicts:
Tools/ArdupilotMegaPlanner/Common.cs
2012-04-19 11:08:34 -05:00
9181eedf5a
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter
2012-04-19 10:17:36 -05:00
ad13854ab7
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
3995381800
Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity.
2012-04-18 23:07:35 -05:00
baf8218b58
ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter.
2012-04-16 16:29:54 -05:00
b891622210
ArduCopter: Changed millis compare to use new config value for approach delay.
2012-04-16 14:04:30 -05:00
8128fb2d5f
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
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Conflicts:
ArduCopter/Parameters.h
2012-04-16 10:23:01 -05:00
637f778dd0
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
4dadd888d8
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
f27b5d538b
ArduCopter, commands_logic: Updated logic to allow as low as 5m.
2012-04-15 19:50:05 -05:00
e4940ec3bb
ArduCopter: Added check to make sure user defined approach alt is at least 5.
2012-04-15 16:58:22 -05:00
d1a7fdb9ef
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
ccb21613b5
ArduCopter - updated firmware version to "2.6 Beta"
2012-04-14 14:26:44 +09:00
33bd558a94
ArduCopter - LEDS - main code to support COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:44 +09:00
544237d60a
ArduCopter - add includes for new AP_Motors classes.
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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
40d7b07789
MAVLink: port the new adaptive flow control to ArduCopter
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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
b0c9a25024
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
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also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
Jason Short
rmackay9
Robert Lefebvre
Andrew Tridgell
Adam M Rivera