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6,065 Commits 71 Branches 509 Tags 756 MiB
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6065 Commits

Author SHA1 Message Date
Robert Lefebvre f48ec39cfa ACM: Precision Loiter RePositioning code. 
Protected behind a #define
 2012-12-17 07:42:28 -05:00
rmackay9 323d7fac43 Filter: #include AP_Buffer.h no longer needed now that completementary filter has been moved to InertialNav library 2012-12-17 20:52:53 +09:00
rmackay9 7bf3296425 ArduCopter: remove unused wait_for_yes function 2012-12-17 17:52:04 +09:00
rmackay9 3be100469b ArduCopter: remove unused rc_override variables to save 21 bytes 2012-12-17 17:04:51 +09:00
rmackay9 889a19f790 ArduCopter: move scaleLongUp and scaleLongDown initialisation to init_home 2012-12-17 16:54:03 +09:00
rmackay9 c8c13046e3 ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log 2012-12-17 16:34:20 +09:00
rmackay9 1332ed3b5c ArduCopter: restore initial climb to RTL 2012-12-17 16:17:49 +09:00
rmackay9 c1abd96ef2 ArduCopter: limit output throttle to 800 only for TRI which does not have the new stability patch 2012-12-17 15:29:11 +09:00
rmackay9 b10d61b2c2 AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch) 2012-12-17 15:28:42 +09:00
rmackay9 68d6eee1e7 ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle 2012-12-17 14:46:30 +09:00
rmackay9 d4b73e7b07 AP_InertialNav: increase time constant for Z axis to 7 seconds 2012-12-17 14:46:02 +09:00
rmackay9 e3ee865dc0 ArduCopter: Leonard Hall's changes to alt hold including adding low pass filter to climb rate 
get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
 2012-12-17 14:36:05 +09:00
rmackay9 1726744b5d AP_InertialSensor: resolved compile warning re uninitialised variable 2012-12-16 16:23:17 +09:00
rmackay9 ce63d7a77a AP_GPS_MTK16: saved 22 bytes of ram by moving error message into program space. 
Perhaps there's no point in writing an error message to a console that likely nobody will be viewing anyway.
 2012-12-16 16:21:53 +09:00
rmackay9 2da0ef4183 AP_GPS_MTK19: small bug fix re "==" vs "=" 
Also saved 22 bytes of RAM by moving error message into program space.
 2012-12-16 16:20:33 +09:00
rmackay9 d8ea210019 ArduCopter: allow tuning of the Throttle Rate D term 2012-12-15 13:32:07 +09:00
Craig@3DR 867192de0a Added support for Mediatek firmware Rev 1.9 2012-12-14 18:47:35 -08:00
Robert Lefebvre b83049bdda ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work. 2012-12-13 14:54:14 -05:00
rmackay9 2656997714 ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts 2012-12-13 23:09:26 +09:00
rmackay9 7b4f311f28 ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters 
Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
 2012-12-13 20:30:23 +09:00
rmackay9 2e78977499 ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled 2012-12-13 16:07:34 +09:00
rmackay9 d2c8abe491 ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h 2012-12-13 00:15:30 +09:00
rmackay9 59b20c6fe4 AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm 2012-12-12 23:30:52 +09:00
rmackay9 ad14e727e2 ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue) 2012-12-12 23:29:57 +09:00
rmackay9 8d75022d58 ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden 2012-12-12 23:28:26 +09:00
rmackay9 31fd9a22a3 ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode 2012-12-12 23:27:45 +09:00
rmackay9 66133f4e59 AP_AHRS: save trim to eeprom when set_trim is called 2012-12-12 17:24:28 +09:00
rmackay9 e9c1500f33 ArduCopter: clear ahrs roll and pitch trims after an accel level command 2012-12-12 17:17:09 +09:00
rmackay9 ff9902c5d6 ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method 
Also removed slow low pass filter meant to correct for accelerometer calibration.  This is no longer required now that we have the improved calibration method.
 2012-12-12 16:29:46 +09:00
rmackay9 50bd21d548 AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles 2012-12-12 16:27:27 +09:00
rmackay9 2b6fbe5c01 AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle 2012-12-12 16:22:56 +09:00
Craig@3DR cbcc1437b8 Updated the MediaTek configuration 
to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
 2012-12-12 11:13:24 +09:00
rmackay9 ee164b6073 ArduCopter: remove weird character from navigation.pde 2012-12-12 11:05:16 +09:00
Robert Lefebvre 0537dcd4cc ACM: TradHeli 
Change name of attitude rate feed-forward parameters.
 2012-12-10 21:02:16 -05:00
rmackay9 d9bec28c02 ArduCopter: create 2.9 branch and update firmware version 2012-12-11 00:24:34 +09:00
rmackay9 b170da34ec ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised 2012-12-11 00:14:29 +09:00
rmackay9 628fb1da15 ArduCopter: fix Failed to Init Optflow message at startup 2012-12-11 00:09:45 +09:00
rmackay9 770e1b97f2 ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE 2012-12-10 23:47:14 +09:00
rmackay9 44773d1f2a ArduCopter: rename throttle failsafe parameters. 
Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
 2012-12-10 23:38:43 +09:00
rmackay9 0b815d9afb AC_PID, AP_AHRS: added descriptions to some parameters 2012-12-10 22:28:39 +09:00
rmackay9 93fa3fbc69 ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees 2012-12-10 22:27:46 +09:00
rmackay9 29f040acba ArduCopter: added descriptions for most parameters that did not have them 
Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
 2012-12-10 21:45:57 +09:00
rmackay9 037efef3fb AP_Motors: add comments for parameters 2012-12-10 21:37:20 +09:00
rmackay9 34724719d9 ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude 2012-12-10 17:30:50 +09:00
rmackay9 709dc426f9 ArduCopter: remove ThirdOrderCompFilter from list of includes 2012-12-10 09:14:44 +09:00
rmackay9 d5bda7a99c AP_InertialNav_test: small change to #include in example sketch 2012-12-10 00:49:09 +09:00
rmackay9 b98f0448a3 ThirdOrderCompFilter: delete because now combined with AP_InertialNav library 2012-12-10 00:48:43 +09:00
rmackay9 b65f050b8a ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 b2b5ad4b0e AP_Buffer: add size 5 float fifo buffer to predeclared types 2012-12-10 00:41:59 +09:00
rmackay9 97153c32d0 ArduCopter: reduce Rate Roll/Pitch P to 0.150 (was 0.175) and increase I to 0.1 (was 0.01) 2012-12-09 18:08:45 +09:00