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46 Commits

Author SHA1 Message Date
jphelirc f2d3c0a246 added relay control to CH6 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2943 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-26 03:37:41 +00:00
tridge60@gmail.com 7b83bbf47b make a lot more functions and variables static 
this saves about 1k of code space through better compiler optimisation

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2889 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:32:00 +00:00
tridge60@gmail.com 6467338f10 fixed a bunch of compiler warnings 
mostly signed/unsigned warnings

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2884 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 10:30:21 +00:00
jasonshort 6d3bccf85a 2.0.35 
Added camera reversing parameters in AP_Var
Added RTL Throttle Hold set/check
Added dynamic speed control to slow down as you reach waypoints and RTL Home
upped Yaw Dead zone slightly.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2841 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-12 20:04:15 +00:00
jasonshort ed5c7d01b1 New PIDs - I rewrote the control laws from scratch to add a PI Rate function. The end result should fly nearly identically to the current version. The nice detail is that we can use NG PID values for easy transition! 
Before: ->  After
Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value)
Stabilize I –> Stabilize I (Stays same value)
Stabilize D –> Rate P (Stays same value)
–> Rate I (new)
 
Added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs.
Added framework for using DCM corrected Accelerometer rates. Code is commented out for now.
Added set home at Arming.
Crosstrack is now a full PID loop, rather than just a P gain for more control. 
Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions
Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written.
Added Octa_Quad support - Max



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2836 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-11 00:47:08 +00:00
jasonshort 66798352c7 AC 2.0.32 Beta 
new Loiter PIDs
tuned down control on standard frame
shunk the mixing range for sonar from 3 meters to 2 meters
added framework for Guided mode - not tested!
removed pitch and roll deadzone
decoupled SIMPLE mode from LOITER PIDs
Synced Mavlink with APM
Logs report correct WP number now.
disabled Sonar spike filter.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2722 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-02 22:44:59 +00:00
jasonshort 7f3719086f 2.0.29 
Fixed Mavlink issue
Added look at home option for SIMPLE mode. Off be default. Untested.
Upped performance of Yaw.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2695 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-27 17:01:53 +00:00
jasonshort 39b08decf3 AC2.0.24b 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2567 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 17:03:26 +00:00
rmackay9@yahoo.com 8261ea0807 Traditional Heli - merged heli code into ACM trunk code! 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2548 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-12 12:14:10 +00:00
jasonshort 4c52712f52 2.0.16, Now that Yaw PID vs PI issue is sorted, this is reverting back to Rate based Yaw. 
Made minor change in Loiter to check something.
Motor LEDs enabled. Let me know if they work OK.
Armed Motors is now Solid to match GPS behavior.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2421 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-27 18:21:55 +00:00
jasonshort 0c2ffd30b3 Yaw Alternate enabled by default. 
Yaw dead_zone minimized
revved to 2.0.11


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2394 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 05:04:48 +00:00
jasonshort 39a7276c9c Added resetting of Loiter location based on stick input. Fly it to a location and let it stick. 
Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2389 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 02:14:18 +00:00
jasonshort 2c2c4c882c Moved PitchMax back to 18° 
raised the Yaw deadband.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2305 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-15 22:34:10 +00:00
jasonshort 12357746a9 better Baro hold - Baro_KD was way too high. 
Clean up with WP processing
moved crosstrack call to more logical location

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2259 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-14 04:30:42 +00:00
jasonshort 3dea060983 new ESC calibration routine 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2121 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-06 22:46:57 +00:00
jasonshort 05a24c070a temp removed altitude requirement 
change PWM scaling technique for Ch1, Ch2, Ch4

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2094 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-05 17:47:11 +00:00
jasonshort 0c61e9dd79 Lots of little things. Yaw control is updated based on Jani's logs. Thanks! 
Takeoff now works well.
better logging.
tuned down kD for Yaw - was causing some bad behavior.
Auto mission now resets when entering mode.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1914 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-21 05:15:45 +00:00
jasonshort 0063c8e60d Added rudimentary tuning with CH6. Assign this to your Flaps knob on your radio. in APM_config.h set your desired option, then upload. The knob will adjust the value in real time. Enter the CLI and run test, tune to see the output value. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1902 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-17 23:08:16 +00:00
jasonshort 860adeb812 added a limit to throttle_input = 800 for stability insurance 
found an odd bug in SIMPLE mode that broke LOITER mode. Fixed



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1871 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-10 23:07:24 +00:00
jasonshort a2e02c4a02 RC_3 - the throttle channel dead zone upped to 60 to avoid noise issues 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1825 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-28 16:11:08 +00:00
jasonshort e9c894215a Revved the firmware version. 
Updated the motor spin up issue - this is the I've not set my radio up properly issue.
updated 200ms motor spin up issue with the Libraries - for those who have ESC's that don't do sanity checks.





git-svn-id: https://arducopter.googlecode.com/svn/trunk@1816 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-26 21:03:20 +00:00
tridge60@gmail.com d09800f6f9 disabled tabs in emacs formatting markers 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1790 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-19 10:20:11 +00:00
jasonshort 1fe9a84e2c bug fixes and updates 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1751 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-07 06:00:27 +00:00
jasonshort 97107d89d2 bug fixes and updates 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1750 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-07 00:57:06 +00:00
jasonshort b59474fc1a Big changes in the way commands are parsed and mission tasks are done. Not tested at all. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1736 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-03 02:32:50 +00:00
jasonshort e51be3328b Should be flyable now. Please Use Reset in setup before flying. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1726 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-25 05:33:39 +00:00
jasonshort 2555abcf1d git-svn-id: https://arducopter.googlecode.com/svn/trunk@1719 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-02-24 05:56:59 +00:00
jasonshort 6a34bef020 in progress updates, don't fly 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1710 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-21 20:58:10 +00:00
jasonshort 765e3d2935 updated to AP_Var 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1681 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 07:21:42 +00:00
jasonshort d481503937 updated Param gen - won't compile yet. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1666 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-17 07:09:13 +00:00
jasonshort fe9bd03d20 debug code updated 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1625 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-10 07:13:16 +00:00
jasonshort 749ac8c69d radio flaps set to 1000 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1593 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-05 19:00:36 +00:00
jasonshort aecc9db68e added ch7,8 to init for hexa quads 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1584 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-01 05:01:19 +00:00
jasonshort b4abbacbd8 fixed FBW bugs 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1560 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-26 07:14:54 +00:00
jasonshort 22d0e922d3 Moved output to motors.pde 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1551 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-24 02:04:44 +00:00
jphelirc 021746fd0a hexa frame setp 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1536 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 16:40:03 +00:00
jasonshort 64d061a79f cleaning up the instructions for use 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1519 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-21 06:10:26 +00:00
jasonshort 5c7b99fe33 Added Tri-copter support for Max 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1421 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-04 17:55:03 +00:00
jasonshort e8cc8e08fb Added Tri-copter support for Max 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1412 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-04 06:06:26 +00:00
jasonshort 95baa14ecd Big update - motors re-assigned to new positions. 
New, fabulous Yaw control.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1398 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-02 20:34:42 +00:00
jasonshort d95e8539d9 git-svn-id: https://arducopter.googlecode.com/svn/trunk@1373 f9c3cf11-9bcb-44bc-f272-b75c42450872 2010-12-30 07:40:57 +00:00
jasonshort 250920edba fixed a bug on Yaw. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1309 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-28 01:45:43 +00:00
jasonshort 8847a8c698 fixed a bug on Yaw. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1308 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-28 01:26:05 +00:00
jasonshort 4bd32750a4 some bug fixes, added basic camera leveling example for pitch only. Added DCM test. Added better Yaw gain defaults. Split radio and RC inits into two calls. Removed inappropriate auto_trim function. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1306 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-27 23:09:08 +00:00
jasonshort 9e0ad4301a latest updates 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1267 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-26 05:25:52 +00:00
analoguedevices 95d683d043 git-svn-id: https://arducopter.googlecode.com/svn/trunk@1191 f9c3cf11-9bcb-44bc-f272-b75c42450872 2010-12-19 16:40:33 +00:00