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27 Commits

Author SHA1 Message Date
Jason Short 6dc1e02f76 Inertial Control 
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
Robert Lefebvre df4246597f Updates to CopterLEDS 
Creation of Nav Blink Function.
 2012-05-22 09:58:37 -04:00
Robert Lefebvre a9349a6e87 More CopterLEDS changes. 
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
rmackay9 0f4203a755 ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class. 
Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
 2012-04-04 22:58:42 +09:00
Andrew Tridgell 0985327331 ACM: use set_blocking_writes(false) when we arm motors 2012-03-30 17:46:20 +11:00
Jason Short 8fcb2931d7 Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short 9c912b2573 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short 7e411f5fb6 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Pat Hickey b8b6e3c25b ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Jason Short 1883d0c1a8 Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Andrew Tridgell 0f39336801 ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Jason Short fa2fa37f3b initing z dampener at arming 2011-12-23 14:46:08 -08:00
Andrew Tridgell c007fb49b8 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Jason Short 718af404ed Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short 2e0b55d887 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Andrew Tridgell 6c57cda17a desktop: report motors armed in desktop build too 
this helps in autotest
 2011-11-25 20:00:19 -08:00
Jason Short 34a53f6f7d Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Jason Short 80c7e135d5 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
Jason Short 7b88499579 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Jason Short 4ee8d52db0 Motor arming delays 
Speeding up delays for motor arming commands - Level and Inflight leveling.
 2011-10-27 11:54:46 -07:00
Jason Short a37d95634a lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Andrew Tridgell 661b6c4508 merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Jason Short 7c72f13702 Adjusted DCM Gains to normal levels. Added a check to stop navigating when landing and to land faster. 2011-09-23 13:52:10 -07:00
Jason Short 4425e72034 Added Piezo Support, code from Oliver. 2011-09-18 17:12:28 -07:00
Amilcar Lucas c9d9ee0d3b Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Jason Short db331efbae Circle Mode now working 
250Hz loop implemented
 2011-09-11 11:22:01 -07:00
Andrew Tridgell be8864f424 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00