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'
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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
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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
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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
Andrew Tridgell
33d9ae23ff
battery: use set_pin() to allow pins to be changed at runtime
2012-10-16 17:20:49 +11:00
Robert Lefebvre
1e01a642bc
Adding some comments to parameters.
2012-10-15 09:37:02 -04:00
rmackay9
025cc05cab
ArduCopter: update version information ahead of testing
2012-10-15 18:15:38 +09:00
LeonardTHall
4203655646
New Yaw controller using rate feed forward and stabilize.
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Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
2012-10-15 11:37:49 +09:00
rmackay9
ee41f3be6c
ArduCopter: enable ACRO mode's AXIS_LOCK by default
2012-10-14 19:50:45 +09:00
rmackay9
254fff6acd
ArduCopter: fixed acro mode
...
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
2012-10-14 17:47:46 +09:00
rmackay9
c201b3c35e
ArduCopter: small comment fixes related to battery monitoring
2012-10-13 20:52:14 +09:00
rmackay9
71c773801a
ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor
2012-10-13 18:40:46 +09:00
Robert Lefebvre
8e19e7d0b2
Added #define for Tilt_Compensation.
...
Also added some detail to WP_Speed_Max parameter.
2012-10-12 14:51:31 -04:00
Robert Lefebvre
446d8ee934
Added comment detail for Tilt_Comp Parameter.
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Reduced parameter default value for TradHeli.
2012-10-11 13:17:39 -04:00
rmackay9
9052b4152b
ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read
...
The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
2012-10-11 18:31:10 +09:00
rmackay9
b5c1e23549
ArduCopter: changed sin_pitch and sin_roll to faster equivalents
2012-10-11 17:54:42 +09:00
rmackay9
a5feda6b1f
ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015
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Updated after discussing with Marco
2012-10-11 17:25:01 +09:00
rmackay9
94d16d426f
ArduCopter: move I terms from stabilize to rate controllers
2012-10-11 17:20:05 +09:00
rmackay9
be25e75d75
ArduCopter: freeze I terms if motor limits breached
2012-10-11 17:20:00 +09:00
Andrew Tridgell
2af5ff896d
ACM-HIL: fixed optflow declaration
2012-10-11 11:51:25 +11:00
Pat Hickey
24dcbe1b0e
ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors
...
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
mavelous <mavelous@googlegroups.com>
Michael,
Per our discussion today,
In a MAVLINK_MSG_ID_COMMAND_LONG
A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
uses param index 1 to specify an arm/disarm motors event: 1 to arm,
0 to disarm
Thanks for working this out with me. Sorry to get it so completely
wrong the first time around!
Best
Pat
2012-10-10 18:59:55 +08:00