Andrew Tridgell
e2bbc795ad
ACM: use a NULL gps pointer in DCM init
...
current DCM API does need a GPS reference passed in, but it can be
NULL
2012-02-25 15:08:49 +11:00
Andrew Tridgell
0248b48d30
allow MAG_ENABLE to be changed in flight
...
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled
This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
2012-02-25 14:51:09 +11:00
Andrew Tridgell
864ed1a87f
ACM: check the return of compass.init()
...
if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
2012-02-25 14:51:08 +11:00
Andrew Tridgell
698749dd92
ACM: don't pass a gps pointer to DCM
...
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
2012-02-25 14:51:08 +11:00
Andrew Tridgell
690dc9052a
GCS: force scalar type in copy_name()
...
this enables access to compass offsets over MAVLink
2012-02-25 11:37:20 +11:00
Andrew Tridgell
2e9105c68a
AP_Param: added special handling for Vector3f
...
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
Jason Short
1e254cbca0
Compass heading added to ATT log
2012-02-24 12:11:15 -08:00
rmackay9
57e5eee8c8
TradHeli - increase max yaw input to 45 degrees
2012-02-24 20:18:40 +09:00
Jason Short
385828824d
updated Gains for Marco's loiter test
2012-02-23 22:03:26 -08:00
Jason Short
24345d4f43
Loiter updates
2012-02-23 22:03:26 -08:00
Andrew Tridgell
1cd3172954
ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch
...
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
2012-02-24 11:52:55 +11:00
Jason Short
364afe8da0
added a constraint to D term
2012-02-23 09:14:44 -08:00
Andrew Tridgell
95ef9206dc
DCM: renorm_sqrt_count is now called renorm_range_count
2012-02-23 08:16:08 +11:00
Jason Short
c7c16a5b0f
Emile's Fixes
2012-02-22 10:27:34 -08:00
Jason Short
4483f19f85
Marco's Hexa Motors
2012-02-22 09:55:44 -08:00
Jason Short
242f54793c
revved a version
2012-02-22 09:00:42 -08:00
Jason Short
729c824809
made timer unsigned
2012-02-21 21:49:03 -08:00
Jason Short
42b5d47f7b
commented out control mode debug print
2012-02-21 21:48:07 -08:00
Jason Short
30efbae0e9
removed old comments
2012-02-19 14:21:27 -08:00
Jason Short
265c5255a3
Added slow_wp default in AP mode
2012-02-19 13:15:40 -08:00
Jason Short
336441b109
reset slow_WP option at mode switch
2012-02-19 13:13:42 -08:00
Jason Short
81a861c8ac
Added slow wp option in calc_desired_speed
2012-02-19 13:13:21 -08:00
Jason Short
33d4d52a6b
set Slow WP option for RTL in Auto mode
2012-02-19 13:12:23 -08:00
Jason Short
cae49b3543
Added "slow WP" option for RTL.
2012-02-19 13:11:59 -08:00
Jason Short
b54d08f410
Updated manual throttle control during throttle hold
2012-02-19 12:40:51 -08:00
Jason Short
bcd5129f9b
added workaround for resetting alt.
2012-02-19 12:40:08 -08:00
Jason Short
fa32b084bd
Added SW test for Manual Boost
2012-02-19 12:39:40 -08:00
Randy Mackay
9fabdb5797
TradHeli - change throttle range back to 0~1000 (was temporarily changed to be 1250~850 which limited the range of the swash plate's vertical movements)
2012-02-20 00:27:12 +09:00
Randy Mackay
e146f225b1
ArduCopter - remove unnecessary block for next GPS value before saving home location
2012-02-19 15:38:40 +09:00
Andrew Tridgell
df8a557630
AP_Param: update users of AP_Param for ParamToken
2012-02-19 17:05:28 +11:00
Andrew Tridgell
12327eb2a9
Heli: fixed some 'used before initialised' warnings
2012-02-19 16:34:43 +11:00
Jason Short
028de5d2c5
Axis lock beta (off by default)
2012-02-18 21:16:19 -08:00
Jason Short
885710fce6
updated max throttle define
2012-02-18 21:14:13 -08:00
Jason Short
05024cc06c
Change 800 to a define
2012-02-18 21:13:28 -08:00
Jason Short
04b70ffdc2
added Axis_Lock params
2012-02-18 21:13:06 -08:00
Jason Short
ff2b4ecb7a
updated throttle range
2012-02-18 21:11:06 -08:00
Jason Short
1e37a0ec17
added a limit to range output
2012-02-18 21:08:17 -08:00
Jason Short
1b46daa12e
some better defaults for JDrones
2012-02-18 14:23:21 -08:00
Randy Mackay
b92d7aaad5
ArduCopter - fix for yaw control on Octa Quad Plus frame.
2012-02-18 22:04:09 +09:00
Randy Mackay
232359186e
TradHeli - fixed small parameter bug affecting helis. The servo parameters were declared as GSCALAR instead of GGROUP in Parameters.pde.
...
also renamed heli parameters from _coll_ to the more descriptive _collective_
2012-02-18 20:57:51 +09:00
Randy Mackay
b64c0da003
ArduCopter - updated version to 2.4
2012-02-18 18:44:29 +09:00
Andrew Tridgell
6929226b96
ACM: expanded EEPROM parameter area by 256 bytes
2012-02-18 10:51:57 +11:00
Andrew Tridgell
718a5b70e3
AP_Param: fixed saving of sensor calibration
...
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
2012-02-18 10:51:57 +11:00
Jason Short
b532cb91b1
added Rate_D tuning value
2012-02-17 15:23:59 -08:00
Jason Short
0075901f77
upped rate loop to 250hz
2012-02-17 15:23:59 -08:00
Jason Short
5218220f0f
re-implemented WII Dampening filter for Marco.
2012-02-16 22:38:23 -08:00
Jason Short
b052dab80d
Adjusted gains to move closer to Marco's tests
2012-02-16 22:19:39 -08:00
Jason Short
17c6c7b294
added extra gain logging
2012-02-16 22:09:22 -08:00
Jason Short
908ca4e915
scaled X velocity
2012-02-16 22:09:22 -08:00
Jason Short
bc1593e89c
cast to float
2012-02-16 22:09:21 -08:00
