38239c652a
Copter: ch8 aux switch
...
Ch8 can be used as an aux switch like ch7. Has all the same options as
ch7 and there is a safety check to ensure both switches aren't set to
the same function so as to avoid interfering with each other
2013-05-17 14:42:28 +09:00
566daf883a
Copter: remove unused MODE bit from LOG_BITMASK
...
We always log the mode so no need for this bit
2013-05-17 12:26:42 +09:00
33d1129904
Copter: remove unused TB_RATIO parameter
2013-05-14 16:56:55 +09:00
e130c8041c
Copter: remove unused event definitions
2013-05-13 18:07:44 +09:00
bb7aec2600
Copter: log compass failur to dataflash
2013-05-13 18:01:30 +09:00
ad656c7e8a
Copter: allow lat/lon to be specified for land
2013-05-10 22:37:15 +09:00
95120ed43d
Copter: use library gcs_severity
2013-05-09 09:28:49 +10:00
bab9fa25e5
Copter: add GCS failsafe
2013-04-29 21:30:22 +09:00
58d1da2d80
Copter: integrate AC_Fence in place of limits
...
Lesser functionality than limits but saves more than 150 bytes and it
works
2013-04-27 11:14:07 +09:00
a53e5f747b
Copter: add fourth yaw behaviour, look-at-home
...
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
2013-04-20 15:36:24 +09:00
67484a2ea1
Copter: make copter code compatible with the new logging system
...
not fully converted yet
2013-04-20 13:52:36 +10:00
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
...
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
2013-04-20 12:03:55 +09:00
0fc9c8739e
Copter: add WP_YAW_BEHAVE parameter
...
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose. Almost nobody
ever knew about or used this parameter.
2013-04-18 15:30:18 +09:00
2b4a7d60a9
Copter: remove unused throttle modes
...
These were useful for testing the alt-hold when it was first introduced
but now they just add complexity
2013-04-17 22:14:22 +09:00
b48864e1ad
Copter: allow CH6 tuning of compass declination
2013-04-15 21:50:44 +09:00
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
2013-04-14 13:27:37 +09:00
bffe4fa412
Copter: remove NAV_LAT and NAV_LON
...
Loiter and navigation controllers now combined
2013-04-14 12:09:45 +09:00
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
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RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
2013-04-14 10:39:23 +09:00
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
2013-04-14 10:38:01 +09:00
597a4b912a
Copter: fix to allow building HIL_MODE_SENSORS
2013-03-18 13:41:52 +09:00
f9539384a1
Copter: rename failsafe to failsafe_radio
...
Makes way for separation of failsafes for throttle, gps and gcs
2013-03-16 17:14:21 +09:00
cb84ec9d9b
Copter: add current based compass compensation
2013-03-03 23:02:36 +09:00
c2fd1512ff
Copter: use voltage_average() so as to avoid INPUT_VOLTS
2013-03-03 16:16:01 +11:00
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
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
609676e26c
Copter: add logging of compass values
...
Removed rarely used ITERM because we didn't have enough bits in the log
mask
2013-02-24 14:41:48 +09:00
1410063a14
Copter: new ROLL_PITCH_WP_INAV roll-pitch mode
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small corrections to allow waypoints to work with new inertial nav wp
controller
2013-02-24 14:41:40 +09:00
fcf102b2cf
Copter: inertial nav waypoint controller
...
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
2013-02-24 14:41:09 +09:00
ce370bab0c
Copter: rename CUR and CURR to CURRENT for logging
...
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
2013-01-26 17:20:41 +09:00
0056bfadd7
Copter: rename ROLL_PITCH_LOITER
...
new name ROLL_PITCH_LOITER_INAV makes it more clear that it should only
be used with the new inertial nav loiter controllers
2013-01-25 23:27:31 +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
...
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
9a09f086d2
Copter: Leonard Hall's inertial nav ver 2
2013-01-23 12:34:49 +09:00
ab1978ad50
Copter: Leonard Hall's inertial nav based loiter
2013-01-22 18:38:00 +09:00
dde713aaa5
Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this.
2013-01-20 21:32:00 +09:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
8bbc93bb04
Copter: added CH7 switch to enabling/disable the sonar in flight
...
This indirectly switches surface tracking on/off which is useful to
avoid tracking the tops of uneven objects when far above the ground
2013-01-14 14:00:08 +09:00
f25f1cb3bf
ArduCopter: changed alt hold to use the sonar if enabled and healthy
2013-01-13 19:56:19 +11:00
87627d883b
ArduCopter: use new logging method for remaining packet types
...
Additional changes include renaming RAW dataflash type to IMU
2013-01-13 00:17:44 +09:00
ab37f833db
MS5611: Fix CONFIG_MS5611_SERIAL definitions.
...
- Make sure the values are defined as integers. We were always using
SPI rather than using I2C when desired.
2013-01-09 11:19:51 -08:00
b079a96eaf
Copter: removed GPS_STATUS message
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this message is huge, and completely pointless now that we have
num_satellites in GPS_RAW_INT
2013-01-05 20:39:31 +11:00
c48714be16
Copter: enabled PX4 sensors
2013-01-05 20:39:31 +11:00
2181ec2ab0
ArduCopter: log watchdog event to dataflash
2013-01-02 09:55:37 +11:00
672fdfbf71
ArduCopter: added ERR dataflash message
...
Failsafe events changed to errors so they are more obvious.
Errors recorded to dataflash for failure to init compass and optical flow sensor.
Errors recorded for pwm failure.
Resolved a compile error when dataflash logging is disabled.
2013-01-02 09:55:37 +11:00
677b38a48e
ArduCopter: first implementation of surface tracking using sonar
...
Note: not yet enabled as part of any flight mode
2013-01-02 09:55:37 +11:00
68b62abd38
ArduCopter with the new Camera and Relay classes for APM1 and APM2.
...
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
0ed25cf719
Global change all references from
...
GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
2013-01-02 09:24:31 +11:00
8b62c4630b
ACM: Restore Multi-mode support
2013-01-02 09:20:08 +11:00
6e64b1b357
ACM: Precision Loiter RePositioning code.
...
Protected behind a #define
2013-01-02 09:19:39 +11:00
1b5ff6aac6
ArduCopter: restore initial climb to RTL
2013-01-02 09:19:17 +11:00
f4c50353b9
ArduCopter: allow tuning of the Throttle Rate D term
2013-01-02 09:16:48 +11:00
3c0440b0b4
Math: use common degrees() and radians() functions
2012-12-20 14:53:22 +11:00
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
d93d932831
ArduCopter: defines fixes
...
Conflicts:
libraries/AP_Common/Arduino.mk
2012-12-20 14:52:28 +11:00
2aa4657315
ArduCopter: changes to use CONFIG_HIL_BOARD
2012-12-20 14:52:28 +11:00
56ceb230cb
ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission
2012-12-09 18:04:31 +09:00
0f7bb79d89
ArduCopter: add comments to tuning parameters.
...
Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
2012-12-09 16:44:42 +09:00
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
...
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
68ca123224
ArduCopter: remove some unused #defines
2012-12-07 15:17:35 +09:00
3a90fc77f9
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
4ca27defb3
ArduCopter: update comments related to CH7 switch options
2012-12-06 17:40:36 +09:00
a5bb54e36e
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
d7f76ebd87
ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI)
2012-12-06 10:31:25 +09:00
7b4ed2d227
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
3cbef57c64
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
6b8c39dd10
ACM: Creating Yaw_Look_Ahead yaw mode.
...
This function is not fully tested yet.
2012-11-26 21:37:13 -05:00
bcf740a82f
ACM: support 16 character parameter names
2012-11-20 21:38:58 +11:00
d2a5928c06
Ap state updates
2012-11-09 22:15:15 -08:00
1f801714e8
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
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
9592be5af7
ACM: saved some more memory for strings
2012-10-22 18:57:08 +11:00
592f4040fd
Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups.
2012-10-18 16:39:05 -04:00
95763e610b
ArduCopter: allow DMP to run in parallel with DCM
...
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
bae53807b2
ArduCopter: tiny formatting change in defines.h
2012-09-27 17:40:54 +09:00
34e07c826f
ACM : Added centralized Iterm logging at a lower rate. Logs all iterms.
2012-09-10 20:26:48 -07:00
b9ba41c12a
uncrustify ArduCopter/defines.h
2012-08-21 18:57:21 -07:00
11b7475ff9
ACM : Added CH7 multimode triggers, split Toy mode into two
2012-08-11 22:37:26 -07:00
07bd1940e7
ACM Defines.h -added Toy mixer enums
2012-08-09 16:59:43 -07:00
014f5aae99
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +09:00
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
ab564b8a86
defines.h
...
removed Approach mode enumeration
2012-07-01 13:40:11 -07:00
0011190880
defines.h: Toy Mode defines for flight modes
2012-06-29 21:20:28 -07:00
5e4d28baf0
Added Toy mode to navigation
2012-06-29 21:20:27 -07:00
807c4ced34
Added Toy Mode defines
2012-06-25 23:08:25 -07:00
30e55533dc
Change to increase Parameter space as we have run out.
...
This will decrease the max number of waypoints from 186
to 169.
2012-05-30 20:41:53 -04:00
a285e2779f
CopterLEDS changes for APM2
2012-05-15 10:07:03 -04:00
4fee26437b
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
2012-04-24 22:24:58 +10:00
97040a7b3a
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
2012-04-23 00:03:37 -05:00
c993049c48
ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion
2012-04-21 23:24:57 +09:00
a3842734a9
Planner/defines.h: Updated the enumeration value for APPROACH so as not to disturb the order of the universe.
2012-04-18 10:32:01 -05:00
f9affb3295
Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach
...
Conflicts:
ArduCopter/Parameters.h
2012-04-16 10:23:01 -05:00
870b5e5f75
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
83fe6733d4
Defines: Added new control mode (APPROACH).
2012-04-15 16:52:32 -05:00
d70f5da5e0
ArduCopter - LEDS - define pins to be used for COPTER_LEDS.
...
Code by Robert Lefebvre
2012-04-12 22:55:36 +09:00
0efb0e5b4d
ArduCopter - added CH6_STABILIZE_KD tuning value
2012-03-29 21:09:41 +09:00
599cea21bb
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
...
#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
cb8729109c
ACM: Added Loiter_D for tuning as #23
2012-03-10 14:17:16 -08:00
9a06d35772
make 'ENABLE' and 'ENABLED' mean the same things
...
users get this wrong far too often!
2012-03-10 10:34:33 +11:00
Randy Mackay
Andrew Tridgell
Robert Lefebvre
James Bielman
Craig@3DR
Jason Short
Pat Hickey
uncrustify
Andreas M. Antonopoulos
Adam M Rivera