Jason Short
efc74a87aa
commands.pde: fixed unit error for distance check
2012-06-25 23:06:28 -07:00
Jason Short
7a5347fb1f
Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm
2012-06-25 23:06:28 -07:00
Jason Short
81c684664b
GCS Mavlink.pde: change reference to nav_bearing to target_bearing.
2012-06-25 23:06:28 -07:00
Jason Short
50b3ef66a7
Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s
2012-06-25 23:06:28 -07:00
Jason Short
2fdbbb87f2
inertia.pde: WIP don't fly with inertia enabled until FN.
2012-06-25 23:06:28 -07:00
Jason Short
900f169c44
Log.pde: removed nav_bearing reference and replaced with target_bearing ref
2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos
678b12af25
AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane
...
http://code.google.com/p/arducopter/issues/detail?id=430
2012-06-24 17:01:25 -07:00
Robert Lefebvre
7eae382a22
Open up constraint on Rate Yaw Output for all copters.
2012-06-22 10:06:01 -04:00
Jason Short
014f0f9a99
Config.h - returned low to original 120
2012-06-20 15:22:35 -07:00
Jason Short
95f3041d25
Parameters.h: throttle_min and throttle_max now have defaults from Config.h
2012-06-20 15:02:00 -07:00
Jason Short
b8016dfe48
changed define to a param for throttle_min and throttle_max
2012-06-20 15:00:53 -07:00
Jason Short
ef847eecbb
changed define to param for throttle_min
2012-06-20 15:00:05 -07:00
Jason Short
8ef60f2d75
Added throttle_min as a user definable param
2012-06-20 14:58:34 -07:00
Jason Short
25a67c9953
lowered minimum throttle
2012-06-20 08:47:47 -07:00
Jason Short
0ccf5724aa
Small fix to angle boost - increases by about 20% to deal with inefficiencies of non-downward thrust
2012-06-20 08:47:47 -07:00
Jason Short
d7fab41234
decreased I term based on the tests last weekend in high winds
2012-06-20 08:47:47 -07:00
Jason Short
a0978e06e5
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
Andrew Tridgell
5525180814
MAVLink: make usage of MAVLink defines more consistent
2012-06-15 16:27:11 +10:00
rmackay9
6b16ca190f
ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release
2012-06-15 00:42:59 +09:00
Jason Short
e261c62e6b
Inertial Nav disabled by default
2012-06-13 22:37:52 -07:00
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
rmackay9
3618ac62e0
ArduCopter: made Robert's new yaw method optional (off by default).
...
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
2012-06-13 21:50:16 +09:00
Jason Short
ee78818f5a
Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch.
2012-06-12 13:58:49 -07:00
rmackay9
c9093a1609
ArduCopter: updated firmware version to 2.6 Epsilon
2012-06-12 23:22:57 +09:00
rmackay9
1b9ed1444e
ArduCopter: updated standard loiter pids.
...
Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
2012-06-12 20:56:31 +09:00
Jason Short
ebff84d41e
Added Angel's name to contrib list
2012-06-10 12:38:22 -07:00
Andrew Tridgell
8f1121c980
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
2012-06-10 16:36:18 +10:00
rmackay9
df72f70aba
ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release)
2012-06-08 21:54:09 +09:00
Andrew Tridgell
bfb2c1ee87
GPS: open the GPS serial port with a 256 byte buffer
...
the UBLOX needs more than 128 bytes for reliable parsing
2012-06-08 16:42:03 +10:00
Robert Lefebvre
3e6f37d540
Opening up the Yaw Rate constraint for Trad Heli.
2012-06-07 22:40:25 -04:00
Robert Lefebvre
1b789b7928
Yaw Fix
...
Modified Nav_Yaw controller to better track intended heading changes.
2012-06-07 17:15:33 -04:00
Jason Short
71111a5816
Stabilization patches
...
removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
2012-06-05 16:41:44 -07:00
rmackay9
cad76d4e0f
ArduCopter: updated firmware description to 2.6 Gamma
2012-06-05 21:28:13 +09:00
Andrew Tridgell
af1573ad30
ACM: prevent link flood with "Low Battery" warnings
...
thanks to Marco for noticing this
2012-06-05 11:31:40 +10:00
Michael Oborne
1423810247
AC: add hilstate message
2012-06-04 16:24:08 +08:00
Jason Short
9cadd8c1db
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
Jason Short
60c89ee117
Updates to Flip:
...
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
2012-06-03 22:15:19 -07:00
Andrew Tridgell
13ae16e0c5
ACM: MAVLINK10 uses HIL_STATE
...
thanks to Michael for noticing this
2012-06-04 13:31:07 +10:00
Andrew Tridgell
8d28cb51fc
added mavlink09 targets
...
allows easier building with mavlink0.9
2012-06-04 13:14:52 +10:00
Andrew Tridgell
0721089acd
ACM: fixed HIL build for MAVLINK10
2012-06-04 13:14:52 +10:00
Michael Oborne
45c3c101fe
fix AC hil build
2012-06-04 11:12:52 +08:00
Michael Oborne
7d2532450a
enable mavlink10 by default
2012-06-04 08:02:08 +08:00
Jason Short
f2edc87797
Added note to remove this unused param
2012-06-03 11:13:50 -07:00
Jason Short
9723e52a01
using current PWM rather than a re-read of the PWM.
2012-06-03 11:13:50 -07:00
Jason Short
5ce93faf51
Moved PID logging counter into define
2012-06-03 11:13:50 -07:00
rmackay9
826cffe688
ArduCopter: Ensure update_GPS does nothing when gps is disabled.
...
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
2012-06-03 23:48:45 +09:00
rmackay9
68de4e0259
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 17:02:35 +09:00
rmackay9
09695602d2
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
2012-06-03 16:59:23 +09:00
rmackay9
8f8e91a620
ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives.
...
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
2012-06-03 16:58:19 +09:00
rmackay9
df3fb5c041
ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx).
2012-06-02 12:51:12 +09:00
