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1720 Commits

Author SHA1 Message Date
Robert Lefebvre b29e85dc0a ACM: TradHeli 
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 
Prevent helis from arming while RSC control is switched on.
 2012-11-26 19:03:28 -05:00
Robert Lefebvre 311d190494 ACM: TradHeli 
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 
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 
Removing this "throttle" output restriction for TradHelis.
 2012-11-26 18:44:03 -05:00
Andrew Tridgell 901a5326a4 Copter: fixed build error 
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 
useful for getting out of CLI
 2012-11-24 18:20:37 +11:00
Andrew Tridgell 386ef45fbb Copter: ported RSSI_PIN option from ArduPlane 
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() 
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 
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 
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
Andrew Tridgell 202513e327 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
rmackay9 e0f85f63fb ArduCopter: performance monitoring - changed loop counters to uint16_t. 
Removed an unused items from dataflash logging of Performance.
 2012-11-19 11:55:47 +09:00
Andrew Tridgell fc72b86304 SITL: disable optical flow on the desktop build 
it doesn't work yet, as no sensor emulator is available
 2012-11-19 09:04:03 +11:00
Andrew Tridgell b3ffea0ad2 ACM: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
rmackay9 38fdacd93b ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
Andrew Tridgell 604ec021ec MAVLink: improve usefulness of logged GPS velocities 
we need them to align with time to use them for accelerations
 2012-11-17 17:45:30 +11:00
Jason Short ab215838a6 ACM Nav_throttle- removed sign inversion 2012-11-16 17:38:57 -08:00
Robert Lefebvre 6c407e5770 Added Leonard to Contributor List. 2012-11-16 15:43:03 -05:00
rmackay9 3a4d122e32 ArduCopter: low baterry failsafe 2012-11-15 23:35:41 +09:00
rmackay9 414f9b9759 ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
rmackay9 cd5da84698 ArduCopter: flight mode changes ignored while in throttle failsafe 
reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
 2012-11-13 12:50:51 +09:00
rmackay9 6a2cca3610 ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap' 
Changed ArduPlane to keep function consistent with ArduCopter
 2012-11-12 13:30:04 +09:00
rmackay9 dab975301b ArduCopter: remove some variables no longer required with introduction of AP_state 2012-11-12 12:41:25 +09:00
rmackay9 702dd1fb2e ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables 2012-11-12 12:35:58 +09:00
Jason Short 1049381dbe ACM: Added fast descent with Bill P's equation for managed accerlation 2012-11-11 18:23:45 -08:00
Jason Short 27a41c294b ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller. 2012-11-11 18:22:54 -08:00
Jason Short e32491d749 ACM: Added a speed filter for throttle cruise, increased alt change rate for alt hold, increased the max climb_rate reporting 2012-11-11 18:17:33 -08:00
Jason Short a7d8ca8f52 ACM: Allow greater than 45° pitch and roll in Stab 2012-11-11 18:07:58 -08:00
Jason Short add51f110d ACM : Logging.pde formatting 2012-11-11 18:06:50 -08:00
Jason Short ee9ac7ab2c ACM : loging ApState at faster rate 2012-11-11 18:00:10 -08:00
Jason Short a6bda80064 ACM: Allow for user defined roll and pitch input max 2012-11-11 18:00:10 -08:00
Andrew Tridgell b556ebf8b2 MAVLink: update compass health in SYS_STATUS 
this will make it easier to tell if a I2C error occurred in flight
 2012-11-12 11:26:54 +11:00
rmackay9 eb25b917ad ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues 2012-11-11 22:42:10 +09:00
rmackay9 41c0cee292 ArduCopter: failsafe improvements 
resolves momentary throttle drop to zero before failsafe engages
resolves motor cut after 30seconds if flying in stabilize without GPS (now switches to ALT_HOLD with target altitude zero)
disables motors if throttle was zero before failsafe event
 2012-11-11 22:11:12 +09:00
rmackay9 95771692f0 ArduCopter: remove unnecessary debug print mesage from save_trim function 2012-11-10 23:10:29 +09:00
rmackay9 c8bc64be61 ArduCopter: fix APM2 build 2012-11-10 22:06:23 +09:00
Jason Short a7360af180 ACM formatting 2012-11-09 22:15:16 -08:00
Jason Short b10975baaf ACM : climb rate option using Bill P's equation 2012-11-09 22:15:16 -08:00
Jason Short f17c63062e ACM crosstrack min distance 2012-11-09 22:15:16 -08:00
Jason Short 6a2ba899cb ACM Logging Events 2012-11-09 22:15:16 -08:00
Jason Short 3539a6817f ACM Log, formatting 2012-11-09 22:15:16 -08:00
Jason Short 40a1f647f6 ACM : Setup, format 2012-11-09 22:15:16 -08:00
Jason Short 7fab9d940f ACM | removing old files 2012-11-09 22:15:16 -08:00
Jason Short 3e905ec750 Ap state updates 2012-11-09 22:15:15 -08:00
Jason Short 81b1ebd011 ACM: Added max RTL altitude 2012-11-09 22:15:15 -08:00
Jason Short c415830e81 ACM: added ap_state.pde 2012-11-09 22:15:15 -08:00
Jason Short d527d19635 ACM : Attitude : added nav param reset 2012-11-09 22:15:15 -08:00
Jason Short 9b295ca7cf ACM : Attitude.pde added ap bitfield for failsafe bit 2012-11-09 22:15:15 -08:00
Jason Short 9b16fdf182 ACM : Attitude.pde removed stabilize D 2012-11-09 22:15:15 -08:00
Jason Short f48db96156 ACM : Arducopter Added ap state bitfield, system bitfield 2012-11-09 22:15:15 -08:00
Jason Short 00b41a198d ACM: Arducopter - remove the stabilize D scheduling 2012-11-09 22:15:15 -08:00
Jason Short 99cf67fc9c ACM : formatting 2012-11-09 22:15:15 -08:00
rmackay9 fabc149f45 ArduCopter: remove unused functions wrap_360f, wrap_180f and wrap_PI 2012-11-08 15:20:08 +09:00
rmackay9 499bdc1385 ArduCopter: remove unused get_stabilize_rate_yaw 2012-11-07 23:28:25 +09:00
rmackay9 56f374fc7d AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 a0e69ddf27 ArduCopter: fixed HIL build caused by optical flow semaphore changes 2012-11-07 21:13:34 +09:00
rmackay9 07ecf8b40b ArduCopter: comment out InertialNav related Alt Hold and Loiter PID changes from APM_Config.h 2012-11-07 19:21:36 +09:00
rmackay9 af40201b14 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
rmackay9 e2b1cb7e8d AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 0868917ff4 ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Andrew Tridgell 03974fa9db ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT 
these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
 2012-11-05 15:23:41 +11:00
Jason Short 210148a432 ACM : Formatting 2012-10-28 12:12:38 -07:00
Jason Short 158c4f8d14 ACM : Formatting 2012-10-28 12:12:38 -07:00
Jason Short 0a68468610 ACM: Added simple mode bearing logging for bug hunting 2012-10-28 12:12:38 -07:00
Jason Short 9c40c11e7b ACM: Formatting 2012-10-27 14:13:46 -07:00
Jason Short 4eeaf4c984 ACM: Added notes, credit to decel code. added speed_min to calc. 2012-10-27 14:13:24 -07:00
Jason Short 1e35d3d534 ACM: config.h cleanup 
Added LOG_ITERM default to enabled
 2012-10-27 09:59:57 -07:00
rmackay9 2e6625b82c ArduCopter: change TOY_M throttle mode to THROTTLE_HOLD 2012-10-26 10:56:06 +09:00
rmackay9 e780bfd4c1 ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon. 
Increase other constraints from 3200 to 32000.  These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
 2012-10-24 22:04:35 +09:00
rmackay9 ab86eae860 ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters 
Changes on behalf of Leonard Hall
 2012-10-23 21:30:50 +09:00
Andrew Tridgell 61f85d05cc ACM: save another 20 bytes 2012-10-22 18:59:51 +11:00
Andrew Tridgell e90d2138f2 ACM: saved some more memory for strings 2012-10-22 18:57:08 +11:00
rmackay9 7fb58fce87 ArduCopter: replace Serial.print with Serial.print_P to save memory. 
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
Jason Short fb9fe2c9a5 ACM : fix compiler warning on non returning function 2012-10-21 14:37:42 -07:00
Jason Short 97d3134ff0 ACM : Cast to int32_T 
Don't think it really needs it, but I feel better with the cast.
 2012-10-21 14:36:05 -07:00
Jason Short 96f0a32cd3 ACM Acceleration management 
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
rmackay9 6a66fdace9 ArduCopter: updated firmware version to 2.8 2012-10-20 09:50:53 +09:00
rmackay9 4c7292e6ce ArduCopter: incremented eeprom format version to force users to accept the new defaults. 
Particularly important is the roll-pitch I term move from the stabilize to rate controllers.
 2012-10-19 16:14:51 +09:00
Pat Hickey 0dd0bd131a Update ArduCopter and ArduPlane dependencies on AP_Menu 2012-10-18 20:53:39 -07:00
Robert Lefebvre 9a20fe32fa Fixed that last commit 
#define Stupid_Mistake
 2012-10-18 16:50:42 -04:00
Robert Lefebvre 5f8f53ec0a Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups. 2012-10-18 16:39:05 -04:00
rmackay9 d7c80fb025 ArduCopter: updated firmware version to 2.7.4-Zeta 2012-10-18 23:30:28 +09:00
rmackay9 3b631f1edd ArduCopter: integrated Leonard Hall's improved ACRO mode 2012-10-18 23:24:34 +09:00
rmackay9 e0727e6d31 ArduCopter: bug fix for telemetry not working on APM1. 
SPI3 is also UART3.  On APM1 we use UART3 for telemetry and don't need SPI3.
 2012-10-18 19:15:21 +09:00
rmackay9 9392c8cae2 ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1 2012-10-18 17:04:44 +09:00
rmackay9 0299e2b51e ArduCopter: removed deprecated mag offset routine. 
Also removed commented-out block of code from navigation.pde.
 2012-10-17 19:47:21 +09:00
rmackay9 f1fe5f303b ArduCopter: updated firmware version to 2.7.4-Epsilon 2012-10-17 19:27:11 +09:00
rmackay9 a4a2fad798 ArduCopter: more out-of-date commented out code removed 2012-10-17 19:25:14 +09:00
rmackay9 25b3acab8c ArduCopter: bug fix in earthframe->body frame translation. 
Provided by Leonard Hall.

Also removed large unnecessary comments.
 2012-10-17 19:15:25 +09:00
rmackay9 3a26606510 ArduCopter: reduced optical flow's I and IMAX terms 2012-10-17 17:47:43 +09:00
rmackay9 7228236db6 ArduCopter: updated firmware version to 2.7.4-Delta 2012-10-17 10:20:41 +09:00
rmackay9 7787bb4fd5 ArduCopter: bug fix for get_yaw_rate_stabilized_ef 
Provided by Leonard Hall
 2012-10-17 10:18:24 +09:00