49828eba7d
Copter: integrate AC_WPNav
2013-04-14 10:37:48 +09:00
d1afd2fb9b
Copter: make guided mode start at current location
2013-04-03 23:06:46 +09:00
7cf2255822
Copter LEDs: replace bitRead with bitmask
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Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
2013-04-01 13:10:12 +09:00
80bd593814
Copter: disarm motors when entering CLI
2013-03-21 12:07:00 +09:00
dcf21eee8f
Copter: only allow entering the CLI within 30 seconds of start-up
2013-03-21 11:54:04 +09:00
952c56e990
Copter: fixed barometer init in HIL sensors mode
2013-03-18 16:20:25 +11:00
36834e77b5
Copter: remove support for CLI Slider
2013-03-18 14:07:04 +09:00
f9539384a1
Copter: rename failsafe to failsafe_radio
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Makes way for separation of failsafes for throttle, gps and gcs
2013-03-16 17:14:21 +09:00
0d5e731a65
Copter: add compassmot to cli
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Allows user to setup compensation for motor's interference on the
compass
2013-03-02 17:54:18 +09:00
cbde042ec5
Copter: remove non-inav loiter and wp controllers
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lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
2013-02-24 14:41:52 +09:00
67c69a19ee
Copter: remove baro-only alt hold
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Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
b74fe10aa9
Copter: set each flight mode's nav_mode
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Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
2013-01-25 15:57:55 +09:00
aaecc25ac7
Copter: leonard's inav2
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Moved loiter controller to navigation.pde
2013-01-25 15:16:35 +09:00
fd02cfe706
Copter: added set_nav_mode to control initialisation of nav controllers
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Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
2013-01-25 15:16:29 +09:00
911e090e07
Copter: typo fixed for trad heli config
2013-01-23 12:35:10 +09:00
08dc730d40
ArduCopter: bug fix to LAND flight mode not actually landing if initiated from failsafe
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An hidden bit of failsafe functionality in the set_mode function was
switching the throttle mode back to THROTTLE_AUTO instead of
THROTTLE_LAND
2013-01-13 20:01:03 +11:00
36e38eeef7
Copter: ensure ahrs.init() is called
2013-01-13 17:32:48 +11:00
87627d883b
ArduCopter: use new logging method for remaining packet types
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Additional changes include renaming RAW dataflash type to IMU
2013-01-13 00:17:44 +09:00
585459ece9
Copter: tweak the serial buffer sizes
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we only need the large buffers for HIL
2013-01-11 10:31:55 +11:00
17a63dc76a
Copter: fixes for AP_HAL merge
2013-01-02 09:55:55 +11:00
68b62abd38
ArduCopter with the new Camera and Relay classes for APM1 and APM2.
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All changes by Sandro Benigno
2013-01-02 09:55:37 +11:00
e77b54c7dc
ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete.
2013-01-02 09:24:31 +11:00
6e64b1b357
ACM: Precision Loiter RePositioning code.
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Protected behind a #define
2013-01-02 09:19:39 +11:00
6da68c53a5
ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled
2013-01-02 09:13:42 +11:00
50d46898fb
ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden
2013-01-02 09:12:17 +11:00
cf8e648558
CLI: fixed accel setup
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disable mavlink callback in CLI
2012-12-24 08:51:33 +11:00
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
08b1c2d590
Copter: fixed GPS init
2012-12-20 14:52:33 +11:00
2aa4657315
ArduCopter: changes to use CONFIG_HIL_BOARD
2012-12-20 14:52:28 +11:00
5bd7046a95
ArduCopter: sketch cpp builds!
2012-12-20 14:52:28 +11:00
4b84e99f85
remove dumb user hooks comments
2012-12-20 14:52:28 +11:00
901c692ee3
arducopter: type fix
2012-12-20 14:52:28 +11:00
d9e0bbbbab
ArduCopter: first pass at AP_HAL porting
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* changed all the byte types to uint8_t
* fixed up much of the serial stuff
2012-12-20 14:52:27 +11:00
19ae5c30eb
ACM : Formatting
2012-12-13 20:12:39 -08:00
b36eb406d4
ArduCopter: allow alt hold to be engaged with alt < 1m because sometimes we get baro drift.
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Also initialisation of target altitude is done in set_throttle_mode function.
2012-12-09 14:48:01 +09:00
aa4d4f8c24
ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.
2012-12-08 20:41:05 -05:00
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
269e02ee93
ArduCopter: bug fix - initialise inertial nav
2012-12-06 10:32:07 +09:00
a5bb54e36e
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
a94826f182
ArduCopter: add set_throttle_mode to better control initialisation of variables
2012-12-06 10:31:04 +09:00
3cbef57c64
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
6fbf5ec8f2
Copter: update ArduCopter for new ins interface
2012-11-30 07:15:18 +11:00
07d7d90882
ACM: TradHeli
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Bringing in Low Pass Filter for Rate Controllers
2012-11-26 21:51:23 -05:00
3f0e8dd358
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
f6ec932d63
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
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
a5e3ce4655
remove cli planner mode - no longer used
2012-11-21 07:45:45 +08:00
07a7a1acd8
ArduCopter: replaced digitalRead and digitalWrite with faster calls
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improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
bcb9519fd7
ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues
2012-11-11 22:42:10 +09:00
d2a5928c06
Ap state updates
2012-11-09 22:15:15 -08:00
1f801714e8
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
e138b0a1d7
ACM: Added simple mode bearing logging for bug hunting
2012-10-28 12:12:38 -07:00
1713279ace
ACM: Formatting
2012-10-27 14:13:46 -07:00
cebcc226ee
ArduCopter: change TOY_M throttle mode to THROTTLE_HOLD
2012-10-26 10:56:06 +09:00
78316adf75
ArduCopter: replace Serial.print with Serial.print_P to save memory.
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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
a0752dc7dc
ACM Acceleration management
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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
592f4040fd
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
a2a3eed063
ArduCopter: bug fix for telemetry not working on APM1.
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SPI3 is also UART3. On APM1 we use UART3 for telemetry and don't need SPI3.
2012-10-18 19:15:21 +09:00
997fe85880
ArduCopter: fixed acro mode
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Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
2012-10-14 17:47:46 +09:00
c0ad98be31
ArduCopter: failsafe added to shutdown motors if mainloop fails
2012-10-09 12:30:17 +09:00
95763e610b
ArduCopter: allow DMP to run in parallel with DCM
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Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
2012-09-30 00:25:40 +09:00
8c6fd340d7
AP_AHRS: added scheduler parameter to init
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Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
b2f12c4854
ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5
2012-09-24 18:39:33 +09:00
5fd39bb928
ACM: updates for new GPS detection
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a GPS can now be attached after startup
2012-09-17 14:45:47 +10:00
303ca11c4c
HIL: changes to fix HIL for ArduCopter after recent timing changes.
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Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
b6d2d4723f
ArduCopter: print firmware version of code instead of zero.
2012-09-13 21:49:11 +09:00
2e9e3ce5a6
ArduCopter: increase SPI bus speed to 2Mhz after IMU initialisation has completed (MPU6000 accepts maximum of 1Mhz for some registers but up to 20Mhz for main sensor and interrupt registers)
2012-08-28 17:29:48 +09:00
969166c4e3
uncrustify ArduCopter/system.pde
2012-08-21 19:19:50 -07:00
1b0f5ac84f
ACM: use ahrs.set_fast_gains() on arm/disarm
2012-08-21 15:38:31 +10:00
1e0ab8768e
ACM: Toy mode updates
2012-08-11 22:37:26 -07:00
f641c5d077
ACM system.pde - toy mode update, cleanup of throttle cruise code
2012-08-09 16:59:44 -07:00
94cb325184
ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP
2012-07-28 14:21:45 +09:00
a7b1252b51
arducopter
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alt hold state reset
2012-07-18 22:57:11 -07:00
bb99bd4626
Arducopter: INS
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removed zero accells call
2012-07-18 22:57:10 -07:00
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
1dbde3f803
Arducopter: Added note
2012-07-10 21:53:37 -07:00
dfe0983e1e
Merge the changes from APM_Camera branch into ArduCopter
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Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
2012-07-11 00:39:13 +02:00
9a30270879
System.pde - RTL
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removed Approach mode, fixed RTL to loiter until desired altitude is reached
2012-07-01 13:40:12 -07:00
82ede937e7
AnalogSource: convert analogRead() calls to the new API
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this should give us much better analog values, plus save a bunch of
CPU time
2012-07-01 15:01:05 +10:00
031830b5fe
System.pde: Toy mode details for set_mode()
2012-06-29 21:20:28 -07:00
cd93c40f09
Added Toy Mode control
2012-06-25 23:08:25 -07:00
8b212d8baa
Adjustments to the Inertial_nav
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lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
2012-06-20 08:47:47 -07:00
940d994efb
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
2012-06-10 16:36:18 +10:00
a684bddbda
GPS: open the GPS serial port with a 256 byte buffer
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the UBLOX needs more than 128 bytes for reliable parsing
2012-06-08 16:42:03 +10:00
71f80f3a77
Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false.
2012-06-03 22:25:27 -07:00
0ce883b96a
Removed unused variable
2012-05-29 12:43:23 -07:00
5754f97433
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
c8fb9a6635
More CopterLEDS changes.
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Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2. Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2. Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code. Legacy users should see no difference.
2012-05-15 12:00:21 -04:00
0c3d6614cd
system.pde: Updated param name to loiter_timer.
2012-04-16 10:12:30 -05:00
a2b338c052
System: Added handler for the new APPROACH flight mode which will initiate an approach to a target alt as defined by the user.
2012-04-15 16:55:34 -05:00
c337df11c8
ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS.
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Code by Robert Lefebvre
2012-04-12 22:55:40 +09:00
1d086c83f0
ArduCopter - system.pde - changed references to "motor_armed" to "motors.armed()" as part of the move to use AP_Motors library.
2012-04-04 23:03:21 +09:00
b4107d35e8
MAVLink: raise the serial transmit buffer size to 256 bytes
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the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
fe7ca98701
ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset.
2012-03-18 22:31:21 -07:00
f9d0dc9daa
ACM: disabled auto_calibration until more testing can be done
2012-03-10 12:44:49 -08:00
5ad7320505
ACM: changed alt hold initialization of altitude to be immediate
2012-03-10 12:44:18 -08:00
828ad7625b
ACM: removed the ADC filtering code
2012-03-10 10:34:32 +11:00
8393c0299b
ACM: removed the DCM tuning overrides
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not needed now that DCM scales with deltat
2012-03-10 10:34:31 +11:00
Randy Mackay
Andrew Tridgell
Robert Lefebvre
Pat Hickey
Jason Short
Michael Oborne
uncrustify
Andreas M. Antonopoulos
Amilcar Lucas
Adam M Rivera