Jason Short
70d7a1f5d0
Added slow_wp default in AP mode
2012-02-19 13:15:40 -08:00
Jason Short
434b059586
reset slow_WP option at mode switch
2012-02-19 13:13:42 -08:00
Jason Short
151e710668
Added slow wp option in calc_desired_speed
2012-02-19 13:13:21 -08:00
Jason Short
4b52dde882
set Slow WP option for RTL in Auto mode
2012-02-19 13:12:23 -08:00
Jason Short
79a9665c9d
Added "slow WP" option for RTL.
2012-02-19 13:11:59 -08:00
Jason Short
ba2cfee2fb
Updated manual throttle control during throttle hold
2012-02-19 12:40:51 -08:00
Jason Short
a4b8119c24
added workaround for resetting alt.
2012-02-19 12:40:08 -08:00
Jason Short
2a5a7fa245
Added SW test for Manual Boost
2012-02-19 12:39:40 -08:00
Randy Mackay
b4ee111c49
TradHeli - change throttle range back to 0~1000 (was temporarily changed to be 1250~850 which limited the range of the swash plate's vertical movements)
2012-02-20 00:27:12 +09:00
Randy Mackay
7c4ef140b9
ArduCopter - remove unnecessary block for next GPS value before saving home location
2012-02-19 15:38:40 +09:00
Andrew Tridgell
1fc24b506e
AP_Param: update users of AP_Param for ParamToken
2012-02-19 17:05:28 +11:00
Andrew Tridgell
b06f35eaa2
Heli: fixed some 'used before initialised' warnings
2012-02-19 16:34:43 +11:00
Jason Short
f86e1ed63f
Axis lock beta (off by default)
2012-02-18 21:16:19 -08:00
Jason Short
aeed144180
updated max throttle define
2012-02-18 21:14:13 -08:00
Jason Short
5d658e5743
Change 800 to a define
2012-02-18 21:13:28 -08:00
Jason Short
83ad721b73
added Axis_Lock params
2012-02-18 21:13:06 -08:00
Jason Short
0517ed5199
updated throttle range
2012-02-18 21:11:06 -08:00
Jason Short
669e8e34ea
added a limit to range output
2012-02-18 21:08:17 -08:00
Jason Short
aa57fce9f4
some better defaults for JDrones
2012-02-18 14:23:21 -08:00
Randy Mackay
e3c24fbce8
ArduCopter - fix for yaw control on Octa Quad Plus frame.
2012-02-18 22:04:09 +09:00
Randy Mackay
b55db247ca
TradHeli - fixed small parameter bug affecting helis. The servo parameters were declared as GSCALAR instead of GGROUP in Parameters.pde.
...
also renamed heli parameters from _coll_ to the more descriptive _collective_
2012-02-18 20:57:51 +09:00
Randy Mackay
cd89258294
ArduCopter - updated version to 2.4
2012-02-18 18:44:29 +09:00
Andrew Tridgell
db4fef174b
ACM: expanded EEPROM parameter area by 256 bytes
2012-02-18 10:51:57 +11:00
Andrew Tridgell
6b357fc66b
AP_Param: fixed saving of sensor calibration
...
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
2012-02-18 10:51:57 +11:00
Jason Short
677df0fe1c
added Rate_D tuning value
2012-02-17 15:23:59 -08:00
Jason Short
0d5f7ca072
upped rate loop to 250hz
2012-02-17 15:23:59 -08:00
Jason Short
03aa28224b
re-implemented WII Dampening filter for Marco.
2012-02-16 22:38:23 -08:00
Jason Short
9c7b8586d5
Adjusted gains to move closer to Marco's tests
2012-02-16 22:19:39 -08:00
Jason Short
75919436ac
added extra gain logging
2012-02-16 22:09:22 -08:00
Jason Short
cbe297b634
scaled X velocity
2012-02-16 22:09:22 -08:00
Jason Short
6732f0934a
cast to float
2012-02-16 22:09:21 -08:00
Jason Short
6913400221
cast D term to float just in case
2012-02-16 22:09:21 -08:00
Jason Short
43e695b1ac
removed some unused vars,
...
formatting, made loop speed same as PIDT1 to eliminate variable.
2012-02-16 22:09:21 -08:00
Jason Short
b070225366
CH 6 Range setup
2012-02-15 11:47:54 -08:00
Jason Short
bb4c02fbff
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
f2b6b86265
allow auto-land if failsafe is triggered
2012-02-15 10:53:54 -08:00
Jason Short
efb451e475
Marco's updated Motor testing code
2012-02-15 10:49:35 -08:00
Jason Short
f9296796fd
Added lengthy note about motor testing
2012-02-15 10:49:11 -08:00
Jason Short
0b011e3cd3
added option in code for Loiter specific gains
2012-02-15 09:10:15 -08:00
Jason Short
101979ed7b
AP slew rate
2012-02-15 09:10:15 -08:00
Jason Short
f20952df49
new defaults for params
2012-02-15 09:10:15 -08:00
Jason Short
11d1973abd
Added Acro_P
2012-02-15 09:10:14 -08:00
Jason Short
67892cd8df
synced params
2012-02-15 09:10:14 -08:00
Jason Short
c916a87a78
added RTL_land_enabled
...
added auto_pilot slew rate
2012-02-15 09:10:14 -08:00
Jason Short
eee43608de
Added new params for CH6 Tuning
...
moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
2012-02-15 09:10:14 -08:00
Jason Short
4ecbb19dcd
Added range setting via a parameter for CH6 tuning
2012-02-15 09:10:14 -08:00
Jason Short
ff627a8986
removed unused Vars
2012-02-13 15:25:23 -08:00
Jason Short
a69dc32020
Lowered for Jani
2012-02-13 15:25:23 -08:00
Andrew Tridgell
153575a01c
token is 16 bits now
2012-02-13 16:22:53 +11:00
Andrew Tridgell
16a5b5c3ee
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
Andrew Tridgell
781617cae0
token size for first()/next() is now 16 bits
2012-02-13 16:22:52 +11:00
Andrew Tridgell
50f9d12ad5
go back to 1024 bytes for variables in EEPROM
2012-02-13 16:22:52 +11:00
Andrew Tridgell
f5f6e2d4ec
added group indexes to GCS_MAVLINK class
2012-02-13 16:22:52 +11:00
Andrew Tridgell
d2a4091716
fixed apm2beta build with AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
1bf832de2d
the ACM parameters have a max size of 1114 bytes
...
to ensure that all parameters can be saved, expand parameter area by
256 bytes
2012-02-13 16:22:52 +11:00
Andrew Tridgell
1af6f08b1c
adapted main ACM code for AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
da1526ced2
update ACM MAVLink code for AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
f363d0542c
fixed warning in Log build
2012-02-13 16:22:52 +11:00
Andrew Tridgell
55d0ad3255
update main parameter code for AP_Param in ACM
2012-02-13 16:22:52 +11:00
Andrew Tridgell
2133b9fb08
log: fixed some integer size errors
...
need to be careful with the types passed to printf()
2012-02-12 20:38:37 +11:00
Pat Hickey
abd85f99a7
Makefile: extra convenience target for apm2hexa
2012-02-11 16:05:51 -08:00
Pat Hickey
0ad15e4fff
ArduCopter Hexa output_motor_test: individually select all 6 motors
...
* each of the 6 hexacopter motors can be selected individually
by moving the joystick to extremes.
* previously, this was built from the quadcopter output_motor_test
and some motors (left/right motors on +, front/back motors on X)
were only selectable as pairs.
2012-02-11 16:05:51 -08:00
Pat Hickey
81ce8d346e
ArduCopter setup motors: print basic instructions.
2012-02-11 16:05:51 -08:00
Pat Hickey
2022c1bab0
ArduCopter APM_Config.h: add sample custom channel config
...
* uses new config variables introduced in 8a19543fd1e09621ba
2012-02-11 16:05:51 -08:00
Pat Hickey
db4195b7a0
ArduCopter Channel Config: config vars for user override of MOT_n mapping
...
* config variable CONFIG_CHANNELS has possible values
CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
2012-02-11 16:05:51 -08:00
Jason Short
0315221bd1
Cosmetic tweaks for tuning
2012-02-11 15:29:11 -08:00
Jason Short
f369a02aab
Gain adjustments for 3d frame.
2012-02-11 15:29:11 -08:00
Jason Short
c39cafc3c5
reset All for Auto takeoff
2012-02-10 22:54:29 -08:00
Jason Short
7c45d2bdc3
reset Rate_I for takeoff
2012-02-10 22:50:56 -08:00
Jason Short
8cc480f7e6
upped max target speed to center of loiter
2012-02-10 22:46:27 -08:00
Jason Short
1851dd541b
Made Yaw Hold universal for Acro
2012-02-10 22:32:55 -08:00
Jason Short
32e7b075d9
Moved to Rate_I by default for Jani to test
2012-02-10 22:32:55 -08:00
Jason Short
4f44ccc182
get_acro_yaw added
2012-02-10 22:32:55 -08:00
Jason Short
927fc25421
made Yaw work like Roll and Pitch
2012-02-10 22:32:55 -08:00
Jason Short
480be14eb0
Minimize the Yaw Deadzone
2012-02-10 22:32:55 -08:00
Jason Short
b29384581a
Up Nav_Rate_P
2012-02-09 22:38:36 -08:00
Jason Short
7cb4711e8e
reverted to Save_WP now that CH7 triggering is fixed
2012-02-09 22:33:01 -08:00
Jason Short
8a1c2165b2
Fix for disabled CH7 value triggering WP saving
2012-02-09 22:32:04 -08:00
Jason Short
a27bd9db46
2.3.1v
2012-02-09 22:22:01 -08:00
Jason Short
fb003e9742
Enabled PWM test
2012-02-09 22:22:01 -08:00
Jason Short
e5a0959394
Found missing Break in Switch statement.
2012-02-09 22:22:01 -08:00
Jason Short
471bd12799
faster FS timer
2012-02-09 22:22:00 -08:00
Jason Short
0f3c3bb563
Loiter update - removed compensation curve. Did some more math and its's not worth the effort, harder to tune.
2012-02-09 22:22:00 -08:00
Jason Short
d00d6b8c64
Added safety to prevent shutdown of motors during Auto-land
2012-02-09 22:22:00 -08:00
Jason Short
f3547a04a5
Acro fix - we had lost the scaling of Acro mode in 2.1. This restores that.
2012-02-09 22:22:00 -08:00
Randy Mackay
7745239c13
ArduCopter - CH7 - changed default to CH7_DO_NOTHING
2012-02-09 20:26:01 +09:00
levinemax
0d3369af45
Motor mix update for X8 (octo quad),
...
diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
2012-02-09 03:57:40 +00:00
Randy Mackay
31ff9a9318
ArduCopter - Camera.pde - turn off camera pitch control (which uses channel 6) when channel 6 is being used for tuning.
2012-02-08 23:51:53 +09:00
Randy Mackay
e9ef79c42d
Arducopter - reduced rate of decent when landing using sonar
2012-02-08 22:46:32 +09:00
Randy Mackay
54fe857236
ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments
2012-02-05 16:56:51 +09:00
Randy Mackay
bde1ebb56e
TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction.
2012-02-05 11:04:38 +09:00
Andrew Tridgell
c95a295fd6
allow for lower serial baud rates
...
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
2012-02-04 19:07:18 +11:00
Jason Short
d161c0451f
fix issue with low throttle in air
2012-02-03 13:29:59 +00:00
Michael Oborne
484b688700
fix issue 502
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to identify quad over mavlink
2012-02-03 06:53:08 +08:00
Pat Hickey
b65eb110bd
Revert all changes to ArduCopter Motors MOT mappings.
...
Revert "Arducopter Motors Octa: Change V frame MOT_ output ordering."
This reverts commit bdab02f408ddc5451fcb4c6390b2475d31ac657f.
Revert "hexa frame FRAME_CONFIG fixup"
This reverts commit d15e692df613cb728ec671a54dce166f6f1940a0.
Revert "Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME"
This reverts commit cb0a8c62fbd07a8ae9dcb8d4fffce337ace1aa1c.
Revert "Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame"
This reverts commit 120d7f9050d5ec9f8fbe02c0ed4f38621949f4ee.
Revert "Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME"
This reverts commit 7d65ec311fd2e1222a36d0b34c366e21f3869fcc.
Revert "Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines."
This reverts commit 47c6e8662f4d5e8fb920f2049338541343d8d18e.
Revert "Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types."
This reverts commit 8259c90ec7cb29dedac19890cd9a4449b7399e36.
2012-02-01 10:14:46 -08:00
analoguedevices
256893f385
credits
2012-02-01 04:44:36 +00:00
analoguedevices
d86dbd1c6f
Incremented version number to 2.3
2012-02-01 04:39:15 +00:00
Pat Hickey
48b152d642
ArduCopter Octa: fix yaw motors for Octa V.
...
* I based this off the APM1 Octa V diagram at
http://code.google.com/p/arducopter/wiki/AC2_Multi
2012-01-31 19:37:49 -08:00
Pat Hickey
ca18eb3f8f
Arducopter Motors Octa: Change V frame MOT_ output ordering.
...
* I backed this out from Max's changes, but I'm not sure whether its correct.
2012-01-31 18:19:41 -08:00
Pat Hickey
417d75eb50
hexa frame FRAME_CONFIG fixup
2012-01-31 18:19:41 -08:00
Pat Hickey
41ea9079be
Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME
2012-01-31 18:19:41 -08:00
Pat Hickey
7d264d1150
Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame
...
* This will change the output order for APM2, but not APM1.
2012-01-31 18:18:13 -08:00
Pat Hickey
5cee2b674b
Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME
2012-01-31 18:18:13 -08:00
Pat Hickey
8463acc978
Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines.
...
* HEXA_X_FRAME and HEXA_PLUS_FRAME merged back into HEXA_FRAME
* OCTA_V_FRAME merged back into OCTA_FRAME
2012-01-31 18:18:13 -08:00
Pat Hickey
f32d089f33
Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types.
...
* HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and
HEXA_PLUS_FRAME
* OCTA_FRAME stays the same name for X and +, but the V frame
configuration requires new OCTA_V_FRAME name.
2012-01-31 18:18:13 -08:00
Randy Mackay
1a1f6cac5d
OptFlow - reenable OF_LOITER pid controller and reduce I term
2012-02-01 08:04:18 +09:00
Jason Short
4402a92e85
Loiter PIDs
2012-01-30 21:13:03 -08:00
Jason Short
5de459a160
tweaks to Loiter
2012-01-30 21:13:03 -08:00
Jason Short
06d54bf0e8
ATT tuning update
2012-01-30 21:13:03 -08:00
Jason Short
c181186690
tuning
2012-01-30 21:13:03 -08:00
Jason Short
90ee552bd1
cosmetic
2012-01-30 21:13:03 -08:00
Jason Short
3050c1d765
tuning fixes
2012-01-30 21:13:03 -08:00
Jason Short
f2afa39bbd
Cosmetic
2012-01-30 21:13:03 -08:00
Jani Hirvinen
b3dd07038b
Minor changes for PID for jDrones motors due latest changes on control laws.
2012-01-31 09:00:31 +07:00
Jason Short
ba81e2aa69
pid_nav_lat incorrectly labeled
2012-01-29 23:02:00 -08:00
Jason Short
cc45bd47fe
cosmetic
2012-01-29 21:55:17 -08:00
Jason Short
d93e259289
Added more attributions
2012-01-29 21:53:44 -08:00
Jason Short
25c2c9b437
removed filter. Don't need it.
2012-01-29 17:10:52 -08:00
Jason Short
c855c81d2a
limiting alt hold rate error to 1m/s
2012-01-29 17:08:34 -08:00
Jason Short
370d633f51
Lowering the throttle_P values by default
2012-01-29 16:27:13 -08:00
Jason Short
af0b0d5a7f
made Loiter over ride exit dependent not on speed, but centered sticks.
2012-01-29 16:15:02 -08:00
Randy Mackay
cff6799d18
TradHeli - fix to servo limits. They had been unnecessarily limited to the collective pitch's min and max but actually there are cases (for example when the swash is leaning over 45degrees) where one servo goes well beyond the collective pitch's min or max.
2012-01-29 21:14:37 +09:00
Randy Mackay
1cbbe7bc7d
Optflow - minor fix to D term defaulting
2012-01-29 21:06:41 +09:00
Jason Short
2a8044c666
Landing update for better baro landing
2012-01-28 22:35:57 -08:00
Jason Short
9dd1730cce
reduce test.pde size for 1280 users
2012-01-28 22:16:24 -08:00
Jason Short
0213f4dd88
2.2B6 - Please verify Heli still functions properly.
...
Added AC_PID lib
Updated landing code
bug fixes
2012-01-28 22:00:05 -08:00
Jason Short
e94ac68e4d
formatting
2012-01-28 21:19:46 -08:00
Jason Short
8fcb2931d7
Cosmetic changes
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GPS LED lock waits for home_is_set to be true
2012-01-28 21:19:46 -08:00
Jason Short
a685510c38
changed tuning range
2012-01-28 21:18:43 -08:00
Randy Mackay
000acac9f8
Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup
2012-01-28 10:13:58 +09:00
Randy Mackay
2db4d2bfe6
OpticalFlow - added OF_LOITER flightmode
2012-01-28 09:27:16 +09:00
Pat Hickey
38d83d6cf0
ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2
2012-01-27 07:39:01 -08:00
Randy Mackay
f27b41179b
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Pat Hickey
70825e0e1c
ArduCopter Heli: add motors_output_enable function
2012-01-25 22:41:09 -08:00
Randy Mackay
2f84b54bbb
OpticalFlow - replaced PI controller with PID controller.
...
Modified optical flow hold to use aggregated position instead of speed.
2012-01-25 21:55:14 +09:00
Randy Mackay
cd21c5905b
Optical flow - updated standard frame rate to 2000hz and increased resolution to 1600cpi
2012-01-25 21:53:20 +09:00
Jason Short
86c7742dc0
added loiter_d to allow users to configure alternate Loiter alg
2012-01-22 14:19:27 -08:00
Jason Short
32241319c1
Revert "test to switch loiter controls"
...
This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
2012-01-22 14:19:27 -08:00
Jason Short
04a2eee410
test to switch loiter controls
2012-01-22 12:28:34 -08:00
Pat Hickey
05246bf3b4
ArduCopter: Call APM_RC.enable_out for camera channels in init_camera()
2012-01-22 12:03:11 -08:00
Pat Hickey
368e736a61
ArduCopter: Call motors_output_enable at correct spot during init
2012-01-22 12:03:11 -08:00
Pat Hickey
2bd2e9c774
ArduCopter: Add implementation of motors_output_enable to each motors_ frame type
2012-01-22 12:03:11 -08:00
Jason Short
acf43341da
Causes Aero_SIM to fail
2012-01-22 09:34:43 -08:00
Jason Short
8c4b955282
added Beta 4 tag
2012-01-21 22:15:23 -08:00
Jason Short
a213e05eb9
converted to cm
...
Signed-off-by: Jason Short <jasonshort@mac.com>
2012-01-21 22:14:08 -08:00
Jason Short
7616c3b5a1
Converted distance gains to CM
...
added loiter_d for rate control, equal to old Nav_P gain
2012-01-21 22:13:57 -08:00
Jason Short
e1f7fa34ea
Fixed speed governor which was letting speed get to 0.
...
added Loiter_d to replace Nav_P for rate control
wp_distance calc now returns CM
2012-01-21 22:12:57 -08:00
Jason Short
8bd6cabdf1
recording nav_bearing rather than target bearing
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recording x and y speed rather than Iterms for nav since they are always 0 now
2012-01-21 22:10:28 -08:00
Jason Short
14a8d8a471
added conversions of CM to M
2012-01-21 22:09:39 -08:00
Jason Short
a3daae1530
Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.
...
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
2012-01-21 22:09:13 -08:00
Jason Short
9ecd091f79
convert command into CM from M
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Making Landing boost be one at minimum to trigger better navthrottle output
2012-01-21 22:06:35 -08:00
Jason Short
6377cf8549
better default for speed governer
2012-01-21 22:05:48 -08:00
Jason Short
02d6adb21f
slightly less filtering for less latency
2012-01-21 22:04:54 -08:00
Jason Short
275815a7c9
Converted to cm for distance
2012-01-21 22:04:35 -08:00
Jason Short
ab8bf0b560
increasing the velocity near WP
2012-01-21 11:59:49 -08:00
Jason Short
8f86caa3ff
limiting the pitch throttle compensation
2012-01-21 11:59:49 -08:00
Jason Short
fa06d4a2e3
Calc error for logs
2012-01-21 11:59:49 -08:00
Jason Short
d444051eb3
Enabled auto throttle hold
2012-01-20 22:52:31 -08:00
Jason Short
e9a4253cd1
added note
2012-01-20 22:52:31 -08:00
Jason Short
3921fb7880
formatting
2012-01-20 22:52:31 -08:00
Jason Short
2fa8a343ac
Added cast for comparison
2012-01-20 22:52:30 -08:00
Jason Short
525f7cd40f
cleanup
2012-01-20 22:52:30 -08:00
Jason Short
a087d84734
error on comparison operator
2012-01-20 22:52:30 -08:00
Jason Short
84937b4f69
Added Auto_land_timeout to params
2012-01-20 22:52:30 -08:00
Jason Short
bf8774c2f8
AutoLanding timeout for Mission Planner
2012-01-20 22:52:30 -08:00
Jason Short
c5dd970026
Max throttle output was to high
2012-01-20 22:52:30 -08:00
Jason Short
99b71434da
Updated Firmware version
2012-01-20 22:52:30 -08:00
Jason Short
9c912b2573
reset all I terms at Arming
2012-01-20 22:52:30 -08:00
Jason Short
63a1cf75df
enabled Mavlink Land command
2012-01-20 22:52:30 -08:00
Jason Short
0475dbf8ae
relocated reset_I term functions to central location
2012-01-20 22:52:30 -08:00
Jason Short
f504c79fb0
Stab_D changes units with the new dampening controller updates
...
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
2012-01-20 22:52:30 -08:00
Jason Short
3a4a80c650
renamed function
2012-01-20 22:52:30 -08:00
Jason Short
c2496948fb
Verify land updates from JLN
...
Effectively a throttle control for landing that mimics a person lowering the throttle.
2012-01-20 22:52:29 -08:00
Jason Short
d991a22453
Refined the D term for stabilize
...
moved all the rest_I terms from code into 1 central place
2012-01-20 22:52:29 -08:00
Jason Short
ba535ed956
B3
2012-01-20 22:52:29 -08:00
Jason Short
556d646cad
set dampening range from 0 - .08 from 0 to .6. The new dampening code has changed units.
...
added the ability to force nav_throttle so we don't get ground effects screwing up baro sensor.
Added more descriptive Rest_I functions
2012-01-20 22:52:29 -08:00
Jason Short
0f24860552
Altitude no longer resets when moving loiter WP
2012-01-20 22:52:29 -08:00
Jason Short
7468889bb7
slowed down slightly
2012-01-20 22:52:29 -08:00
Jason Short
aa1f09af83
Lowered range to more sensible values
2012-01-20 22:52:29 -08:00
Jason Short
3797c25867
Off by default
2012-01-20 22:52:29 -08:00
Michael Oborne
c2f3cf0cf5
AC fix attitude level hil
2012-01-21 07:52:52 +08:00
Michael Oborne
b94c80059b
fix scale error
2012-01-21 06:33:18 +08:00
Michael Oborne
3b93418d67
AC sync battery code with arduplane
2012-01-21 06:29:09 +08:00
Michael Oborne
7f272b4c4b
fix SITL attitude hil AC
2012-01-20 16:32:25 +08:00
Doug Weibel
2ea9db84e0
Update battery monitoring code for ArduCopter
...
Fixes compatibility for APM2. Also a significant update to the battery monitoring code: We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos. These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere). Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs. The CLI battery and current monitoring tests were consolidated into 1 test.
changed
2012-01-15 17:10:02 -07:00
Doug Weibel
17b3e514dc
Just a little more commenting work on global variables
2012-01-15 16:11:02 -07:00
Jason Short
f326a5a9ea
APM2 Channel assignments
2012-01-15 10:24:16 -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
Jason Short
3879e79898
b2
2012-01-14 11:37:00 -08:00
Jason Short
cf51967bbb
Fix for SIMPLE mode
2012-01-14 11:32:48 -08:00
Jason Short
6714ab49ad
Tweak to make circle mode scripting more accurate
2012-01-14 11:21:50 -08:00
Jason Short
e7ad08e209
adjusted GPS watch dog not to be so aggressive,
...
removed unneeded flag clearing
2012-01-14 11:20:40 -08:00
Jason Short
11e1df497d
lowered Loiter I, commented out unused var
2012-01-14 11:20:40 -08:00
Jason Short
f25d741f62
temp removed alt D term until more testing
2012-01-14 11:20:40 -08:00
Jason Short
e6ec80bb21
Clarified the Increment for WP total
2012-01-14 11:20:40 -08:00
Jason Short
6d0329b08c
added notes, removed redundant save wp_total
2012-01-14 11:20:40 -08:00
Jason Short
24b760d48f
added update throttle cruise function
2012-01-13 16:48:05 -08:00
Jason Short
414a2581a0
Made RTL always the current Altitude
2012-01-13 16:47:38 -08:00
Jason Short
c970ba4f93
made resetting throttle cruise a function
2012-01-13 16:47:08 -08:00
Jason Short
589f8bc557
Disabled Ryans filter until we get real-world testing in.
2012-01-13 12:48:02 -08:00
Jason Short
05dce91c24
fixed GPS bug - moved to fast loop location
2012-01-13 12:47:22 -08:00
Jason Short
8de6e0e223
made landing shoot for below home by 2 meters to avoid bounce up.
2012-01-13 12:46:40 -08:00
Jason Short
9a0539f39e
tuned down Alt hold D gain
2012-01-13 09:36:51 -08:00
Jason Short
81413d2a76
re-enabled relay test
2012-01-13 08:55:02 -08:00
Jason Short
09c4bbe46e
Added simple constrain for Alt d term
2012-01-13 08:49:55 -08:00
Jason Short
b9419e0123
moved GPS routines to 50hz loop to avoid delay.
2012-01-12 22:59:47 -08:00
Jason Short
b81f9a5d77
Version 2.2
2012-01-12 22:37:33 -08:00
Jason Short
b884462ce3
removed wind comp code,
...
Added Landing boost code
2012-01-12 22:28:58 -08:00
Jason Short
5418d330f6
Added a small D term on alt hold
2012-01-12 22:28:58 -08:00
Jason Short
6d0f078fdd
Added Landing throttle control to force down the copter
2012-01-12 22:28:58 -08:00
Jason Short
b493cb1e55
removed unused defines
...
lowered default Loiter gain
2012-01-12 22:28:58 -08:00
Jason Short
8416de7e9c
Added Ryan's GPS lag filter
...
Removed unused code
refined alt change
2012-01-12 22:28:58 -08:00
Jason Short
400d080d12
added notes
2012-01-12 22:28:58 -08:00
Doug Weibel
622217357c
Bug fix for compass.
...
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge.
If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.
To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
analoguedevices
c00bcc58d9
Eliminated second instance of APM2 #defines
2012-01-12 20:38:41 +00:00
Jason Short
33fe4db3fc
R10
2012-01-11 22:41:51 -08:00
Jason Short
464038b3ea
New Loiter control
2012-01-11 22:41:51 -08:00
Jason Short
2566f1fb95
New Loiter Gains for new Loiter methods
2012-01-11 22:41:51 -08:00
Jason Short
55cb0ad476
moved to verify_land
2012-01-11 22:41:51 -08:00
Jason Short
7978a2a21a
attempting to force down without using Manual boost.
2012-01-11 22:41:51 -08:00
Jason Short
db1fafaaec
R9
2012-01-10 23:46:08 -08:00
Jason Short
22ebe00773
comma
2012-01-10 23:45:33 -08:00
Jason Short
7933492fec
Switched to set_next_WP for mode switches
2012-01-10 23:43:44 -08:00
Jason Short
30f5ecda54
Fixed Type Error
2012-01-10 23:43:44 -08:00
Jason Short
ed903c6cd3
Fixed type error
2012-01-10 23:43:44 -08:00
Jason Short
36516161b5
Climb rate control
2012-01-10 23:43:44 -08:00
Jason Short
78925d57c2
added set_new_altitude call()
2012-01-10 23:43:44 -08:00
Jason Short
0c9dc11ac1
Added ending for auto landing
2012-01-10 23:42:27 -08:00
Jason Short
7d4067a6ed
updated climb rate control
...
Land detector
2012-01-10 23:42:27 -08:00
Jason Short
f683371508
added set_new_altitude call
2012-01-10 23:42:27 -08:00
Jason Short
581657ab7a
climb rate control
2012-01-10 23:42:26 -08:00
Jason Short
439c15f3fc
Added climb rate control
...
removed unused vars
2012-01-10 23:42:26 -08:00
Jason Short
c385db412e
Added altitude change flags
2012-01-10 23:42:26 -08:00
Jason Short
9cbfcac802
Made timer unsigned
2012-01-10 23:42:26 -08:00
Jason Short
9d1b1dba77
Added comments
2012-01-10 23:42:26 -08:00
Jason Short
5b00928b15
added location error calc to get better data. Otherwise we'll be 1 GPS read off.
2012-01-10 23:42:26 -08:00
Jason Short
0744179970
Added comments
...
moved out failsafe check. otherwise the reporting was erroneous.
2012-01-10 23:42:26 -08:00
Jason Short
5d28e97339
Moved failsafe check to more logical place
2012-01-10 23:42:26 -08:00
Jason Short
f240888b49
added #if to wind compensation code
2012-01-10 23:42:26 -08:00
Pat Hickey
7961021895
ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros
2012-01-09 22:06:49 -08:00
Pat Hickey
397aef9c2a
ArduCopter motors_y6: rewrite loop in terms of motors
2012-01-09 22:06:49 -08:00
Pat Hickey
2f11c3f17a
ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros
...
* Third Tricopter motor was on CH_4, so it is called MOT_4. This
will be changed in a subsequent commit.
2012-01-09 22:06:49 -08:00
Pat Hickey
757471c3a3
ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros
2012-01-09 22:06:48 -08:00
Pat Hickey
ee7356c1a7
ArduCopter motors_octa_quad: rewrite loop in terms of motors
2012-01-09 22:05:01 -08:00
Pat Hickey
f8aa1456cc
ArduCopter motors_octa: rewrite remainder from CH_ macros to MOT_ macros
2012-01-09 21:57:02 -08:00
Pat Hickey
ad5c31cd38
ArduCopter motors_octa: rewrite janky loops to use ch_of_mot
...
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
f055cbc720
ArduCopter motors_hexa: rewrite remainder from CH_ macros to MOT_ macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
2cf935e2d2
ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot
...
* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
2012-01-09 21:57:02 -08:00
Pat Hickey
b8b6e3c25b
ArduCopter: add ch_of_mot lookup to motors.pde
2012-01-09 21:57:02 -08:00
Pat Hickey
87735fef24
ArduCopter test.pde: translate from CH_ to MOT_ notation
2012-01-09 21:57:02 -08:00
Pat Hickey
20b0e4cd33
ArduCopter setup.pde: translate from CH_ to MOT_ notation
2012-01-09 21:57:02 -08:00
Pat Hickey
38c2a052be
ArduCopter radio.pde: translate CH_ to MOT_ outputs
2012-01-09 21:57:02 -08:00
Pat Hickey
8d4db05f50
Rename ArduCopter/config_motors.h to config_channels.h
2012-01-09 21:57:02 -08:00
Pat Hickey
b22920c0ea
ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define
2012-01-09 21:57:02 -08:00
Pat Hickey
ccff9041f8
ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation.
2012-01-09 21:57:02 -08:00
Pat Hickey
8d595d7c53
motors_quad: translate from CH_ to MOT_ notation.
2012-01-09 21:57:02 -08:00
Pat Hickey
7b056f208d
ArduCopter: include config_motors.h in sketch
2012-01-09 21:57:01 -08:00
Pat Hickey
e969e0dc55
ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL
2012-01-09 21:57:01 -08:00
Pat Hickey
eb345c009b
ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8]
2012-01-09 21:57:01 -08:00
Pat Hickey
bcb43ec9b5
ArduCopter config.h: add standard ifndef/define header macro wrappers
2012-01-09 21:57:01 -08:00
Pat Hickey
a1cc77f41e
ArduCopter: add config_motors.h with MOT_n to CH_m mapping
...
* APM1 values are not valid, but hopefully APM2 will stay that way?
2012-01-09 21:57:01 -08:00
Pat Hickey
d015e0d6d9
APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
...
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
Jason Short
ba72a98345
Slowed Auto Descent
...
Don't return true in Landing code to prevent flyways in Stabilize
2012-01-08 23:01:22 -08:00
Randy Mackay
7b9701fdd5
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
...
Removed optical flow from regular loiter for now until it's tested.
2012-01-09 13:53:54 +09:00
analoguedevices
8b68da3105
Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves
2012-01-09 01:59:55 +00:00
Jason Short
fda12c8902
Added Acro to Rate_P
2012-01-08 14:52:10 -08:00
Randy Mackay
598593e1fc
ArduCopter - changed Sonar to use A1 (was AN4)
2012-01-08 17:48:30 +09:00
Jason Short
a8574e813d
R8
2012-01-07 22:28:03 -08:00
Jason Short
0a7378856d
Added finish to missions - auto-land or stabilize
2012-01-07 22:27:26 -08:00
Jason Short
cf5e0b3a1b
converted auto land to use the mission planner version
...
Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
2012-01-07 22:27:26 -08:00
Jason Short
12493d6431
Moved wind comp into a define
2012-01-07 22:27:26 -08:00
Jason Short
7e96e0f7fa
Quad frame - X is default
...
added wind comp stability option to config - off by default
2012-01-07 22:27:26 -08:00
Jason Short
250545f31d
Auto-land updates - removed sonar option - not needed
...
updates from JLN
2012-01-07 22:27:26 -08:00
Jason Short
ca80dc549c
Made RTL hold position until it reaches altitude
2012-01-07 22:27:26 -08:00
Jason Short
b8bcd81b39
Cleanup
2012-01-07 22:27:26 -08:00
Jason Short
048532ae98
scaled to 0-1023
2012-01-06 21:43:37 -08:00
Jason Short
058a3275c3
Revved to R7
2012-01-06 10:22:53 -08:00
Jason Short
056a08d838
Forced Faildafe throttle mode to throttle Auto
2012-01-06 10:21:50 -08:00
Jason Short
57c3405658
Added check for armed motors in failsafe
2012-01-06 10:21:23 -08:00
Jason Short
a640311f58
Added Note
2012-01-06 10:20:59 -08:00
Jason Short
e908390c64
Made RTL go up 10m for failsafe
2012-01-06 10:20:48 -08:00
Jason Short
d430c847fa
Changed default throttle type for failsafe to avoid checking
...
changed timer to 20 seconds.
2012-01-06 10:20:31 -08:00
Jason Short
de912b5054
Auto_land update
2012-01-05 21:57:34 -08:00
Jason Short
beac2930c9
Added auto_land to RTL
2012-01-05 21:15:12 -08:00
Jason Short
9d9bef37a8
Clears Auto_land timer
2012-01-05 21:15:12 -08:00
Jason Short
a8af509517
timer set to unsigned
2012-01-04 17:31:20 -08:00
Andrew Tridgell
600a5680f8
ACM: reset all I terms on gyro calibration
2012-01-05 10:15:14 +11:00
Andrew Tridgell
a6808162d6
ACM: fixed a warning
...
comment out some unused debug code
2012-01-05 10:14:53 +11:00
Andrew Tridgell
734b0a02be
ACM: fixed a alt hold bug
...
== instead of =
2012-01-05 10:14:30 +11:00
Andrew Tridgell
3c965ff1a2
ACM: fixed a signed/unsigned warning
2012-01-05 10:14:12 +11:00
Andrew Tridgell
9ee3431928
ACM-simple: don't use uninitialised simple trig values
2012-01-05 10:13:36 +11:00
Jason Short
8341a080ce
Disabled stable mode wind comp by default for release
2012-01-04 09:28:38 -08:00
Jason Short
5aa0861ec2
Added Xplane output option
2012-01-04 09:28:38 -08:00
Jason Short
6b9d35cc34
Added home offset for altitude
2012-01-04 09:28:38 -08:00
Jason Short
f74e265bb9
Made landing disarm the motors
2012-01-04 09:28:38 -08:00
Jason Short
3ac37c09a9
Upped Revision
2012-01-04 09:28:38 -08:00
Jason Short
a70fdc58a1
Cleaned up and documented each global vavriable
...
Added Wind compensation for Stability
Acro mode fixes
2012-01-04 09:28:37 -08:00
Jason Short
123ce533bb
Added precalc for wind compensation when entering Stabilze mode
2012-01-04 09:28:37 -08:00
Jason Short
bf8e3975ec
Added Wind compensation for Stabilize
...
moved speed calc to it's own function
decreased acceleration from WPs
2012-01-04 09:28:37 -08:00
Jason Short
6b3094e053
removed PM test field 1 - not needed
2012-01-04 09:28:37 -08:00
Jason Short
7858976407
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
22c3853020
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
e5994c578a
removed unused vars
2012-01-04 09:28:37 -08:00
Jason Short
3d7f3f6b77
removed unused var
2012-01-04 09:28:37 -08:00
Jason Short
8d63af2a89
removed airspeed
2012-01-04 09:28:37 -08:00
Jason Short
a1c3ce88a0
calc_wind_compensation called when exiting AP modes
...
Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
2012-01-04 09:28:37 -08:00
Jason Short
e6887aa3ec
added Reset_Rate_I function
...
Removed I term from Throttle rate calc
Added some basic constrains to Acro
2012-01-04 09:28:37 -08:00
Jason Short
dd4b4c723a
removed airspeed
2012-01-04 09:28:37 -08:00
Jason Short
7bef298a46
cleanup - removed unused functions, made pressure reading Float to avoid extra cast
2012-01-04 09:28:36 -08:00
Jason Short
d7f4328441
cosmetic
2012-01-04 09:28:36 -08:00
Jason Short
1883d0c1a8
Added takeoff state and ground state variable
2012-01-04 09:28:36 -08:00
Jason Short
c629795050
Cosmetic
2012-01-04 09:28:36 -08:00
Jason Short
801b3a8e8f
removed unused Airspeed config
2012-01-04 09:28:36 -08:00
Jason Short
fcd18d5538
Removed unused options
2012-01-04 09:28:36 -08:00
Jason Short
525ac4df88
Cosmetic
2012-01-04 09:28:36 -08:00
Jason Short
c450cc4e92
removed unused Airspeed config
2012-01-04 09:28:36 -08:00
Jason Short
4a50e08ac1
change how Reset Nav params work - no longer clear I terms
2012-01-04 09:28:36 -08:00
Jason Short
fe265b3040
Added JLN's landing patch, moved some variables local such as Jump counter
2012-01-04 09:28:36 -08:00
Jason Short
5de709ceea
removed unused functions
2012-01-04 09:28:36 -08:00
Andrew Tridgell
54b91ce2f4
sitl: added build targets for different ACM frames
2012-01-04 21:45:46 +11:00
Andrew Tridgell
d6ccffc71b
ACM: don't set defaults in APM_Config.h
...
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
2012-01-04 19:35:05 +11:00
Andrew Tridgell
645eac6f38
I2c: default to 5ms timeout, and faster bus speed
...
we will slow down the speed when we get a failure
2012-01-04 16:36:47 +11:00
Jason Short
24bddb1c47
Added more constraints around velocity
2011-12-31 10:59:59 -08:00
Jason Short
86e01fce17
Cosmetic
2011-12-31 10:54:31 -08:00
Jason Short
bfd7608f4d
Lowered Yaw to prevent overshoot based on feedback
2011-12-31 10:10:45 -08:00
Jason Short
e8db2225dd
upped to r5
2011-12-31 10:05:13 -08:00
Jason Short
e17c8705ba
Loiter I reset
2011-12-31 09:45:25 -08:00
Jason Short
e9d41897df
R4
2011-12-30 23:54:02 -08:00
Jason Short
1d636219f9
New Style WP navigation for high wind
2011-12-30 23:48:05 -08:00
Jason Short
fc93a73ad7
no longer calling reset_nav
2011-12-30 23:48:04 -08:00
Jason Short
170a646ecf
removing I term clearance
2011-12-30 23:48:04 -08:00
Jason Short
4b2979743f
no longer calling reset_nav
2011-12-30 23:48:04 -08:00
Jason Short
62ca68cdbb
Reverted to Crosstrack like in Arduplane, requires Degrees * 100
2011-12-30 23:48:04 -08:00
Jason Short
27d3564eab
Sync with Arduplane
2011-12-30 23:48:04 -08:00
Jason Short
f5ffa7bd7e
Updated Configs based on field testing.
2011-12-30 23:48:04 -08:00
Jason Short
e08b550f44
Added a default Yaw tracking setting
...
Added Nav_Bearing
2011-12-30 23:48:04 -08:00
Jason Short
09db32ee02
Added Nav_bearing, just like APlane
...
added fix for LOITER in missions so we don't Yaw in circles
2011-12-30 23:48:04 -08:00
Jason Short
758a5240f2
removed old loiter method option
2011-12-30 23:48:04 -08:00
Randy Mackay
c39ebde9de
ArduCopter - init_compass - fixed HIL build issue
2011-12-31 12:29:54 +09:00
Jason Short
57b2d17d8a
updated rev
2011-12-29 23:02:41 -08:00
Jason Short
8fc73844ee
Yaw Performance tweaks
2011-12-29 23:02:03 -08:00
Jason Short
4535bc4fd9
lowered to nav_lat and nav_lon int16
...
added a version that didn't have I term added to get a better indication of velocity estimation
2011-12-29 23:02:03 -08:00
Jason Short
89c705c8b9
removed loiter I from Reset Nav
2011-12-29 23:02:03 -08:00
Jason Short
723adffc48
updated Loiter gains
2011-12-29 23:02:03 -08:00
Jason Short
4bfa5def76
removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position.
2011-12-29 23:02:03 -08:00
Jason Short
2f657ebdbf
cosmetic
2011-12-29 23:02:03 -08:00
Jason Short
aa2e474b80
Added 5 sec Takeoff Timer to clear i terms when lifting
...
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
2011-12-29 23:02:03 -08:00
Jason Short
8a1b9df325
Added Stabilize_D parameter
2011-12-29 23:02:02 -08:00
Jason Short
ce990f3050
Upped Yaw speed to deal with performance complaints
...
Added new Stabilize D term default of .25
2011-12-29 23:02:02 -08:00
Jason Short
83d52899b0
Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have.
2011-12-29 23:02:02 -08:00
Jason Short
e42d5cb4f9
Fixes for Smooth Loiter
2011-12-29 23:02:02 -08:00
Jason Short
c4ad864ed0
Set Define for Max throttle
2011-12-29 23:02:02 -08:00
Jason Short
737feabc6c
Fixed a 1280 only test
2011-12-29 23:02:02 -08:00
Jason Short
f94727ed02
added define for Max throttle
2011-12-29 23:02:02 -08:00
Jason Short
200f7da103
Added Dampening term for tuning
2011-12-29 23:02:02 -08:00
Jason Short
80e1715b12
updated Loiter PIDs
2011-12-29 23:02:02 -08:00
Jason Short
db0a7be233
Enable Magnetometer by default
2011-12-29 23:02:02 -08:00
Jason Short
3202f1cf64
Missing ;
2011-12-29 23:02:01 -08:00
Jason Short
9832d8eccb
removed takeoff complete flag from missions, not used and would be useful elsewhere.
2011-12-29 23:02:01 -08:00
Jason Short
9f7aae5945
removed unused function
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Simplified the baro init filter
2011-12-29 23:02:01 -08:00
Randy Mackay
ff66a3417c
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
...
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
2011-12-30 12:06:31 +09:00
Andrew Tridgell
1cc38b0701
ACM: check compass health before using it
2011-12-28 20:41:53 +11:00
Andrew Tridgell
c27277c7f1
ACM: use new I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
8df91ea885
ACM: enable compass by default on APM2
2011-12-28 20:30:35 +11:00
Andrew Tridgell
ef1d8eaeac
ACM: update for DataFlash changes
2011-12-28 16:00:49 +11:00
Jason Short
a8070d86df
Fix for 11 channels of motors.
2011-12-26 14:39:01 -08:00
Andrew Tridgell
0f39336801
ACM: use LED_OFF/LED_ON instead of LOW/HIGH
2011-12-26 19:32:53 +11:00
Andrew Tridgell
7520315475
ACM: fixed HIL build again
2011-12-26 19:17:11 +11:00
Andrew Tridgell
cb48bfd054
ACM-log: use DataFlash.df_NumLogs
...
this fixes the flash size on APM2
2011-12-26 19:17:11 +11:00
Randy Mackay
85167be181
TradHeli - modified the default collective min/max values to restrict movement to about half the full range.
2011-12-26 16:59:01 +09:00
Jason Short
a4e00f7459
Tweaks to fix Loiter
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Changed save location to int32
added some filtering and smoothing
2011-12-25 15:44:49 -08:00
Randy Mackay
c3ea1ca5dc
AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch
2011-12-25 12:33:06 +09:00
Andrew Tridgell
da87622a5f
removed "Please run setup" loop from ArduCopter
...
Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
2011-12-24 18:12:51 +11:00
Jason Short
9e6ea0b167
disabled some tests with warnings
2011-12-23 18:54:38 -08:00
Jason Short
359d186798
added define for optflow
2011-12-23 18:45:01 -08:00
Jason Short
bf29f09107
Getting rid of Simple Logging
2011-12-23 18:44:30 -08:00
Jason Short
c9a30ccf1f
Made WP radius 1 by default
2011-12-23 15:01:53 -08:00
Jason Short
f2d6708058
Fixed merge issues
2011-12-23 14:51:40 -08:00
Jason Short
a40a026220
added ability to enter Loiter with only optflow available
2011-12-23 14:46:32 -08:00
Jason Short
da903d2c3e
moved some defines around
2011-12-23 14:46:32 -08:00
Jason Short
c8ca841bd7
Fixed resolution issue with Xtrack
...
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
2011-12-23 14:46:32 -08:00
Jason Short
ce11f48809
This is the test to deal with big props with lots of inertia. We use a low pass filter on positive acceleration.
2011-12-23 14:46:32 -08:00
Jason Short
fa2fa37f3b
initing z dampener at arming
2011-12-23 14:46:08 -08:00
Jason Short
8aa6429b1e
Too complicated
2011-12-23 14:46:08 -08:00
Jason Short
778c9cd1db
added back in the Disabled log - gave up on Log Simple idea
2011-12-23 14:45:56 -08:00
Jason Short
7963a73816
used for testing
2011-12-23 14:42:50 -08:00
Jason Short
f892e0b00d
increased crosstrack thanks to float math fix
...
decreased loiter iterm, decreased throttle iterm based on simulator runs
2011-12-23 14:42:50 -08:00
Jason Short
7820d96f4c
No longer blocking before initing home
2011-12-23 14:42:50 -08:00
Jason Short
dc2103d67f
the second accel test is just for fun.
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Filtered output for Nav_throttle
2011-12-23 14:42:50 -08:00
Jason Short
6c5f41fe58
Begin to better integrate OptFlow, added necessary globals for Loiter estimation
2011-12-23 14:42:50 -08:00
Jason Short
885548e693
removed some unneeded HIL #defines
2011-12-23 14:42:49 -08:00
Pat Hickey
343228c8cc
Log_simple uses identical implementation of do_erase_logs.
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* fix build1280.ArduCopter
2011-12-22 13:31:28 -08:00
Pat Hickey
74530de4bb
ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added
...
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
2011-12-19 21:04:51 -08:00
Randy Mackay
73ff5138c6
Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer
2011-12-19 22:57:00 +09:00
Jani Hirvinen
9d7eb9cd1a
config settings for jD motors
2011-12-19 09:29:05 +07:00
Jason Short
a98a0b636a
Hexa stability patch bug fix by borna.segulin
2011-12-18 16:38:07 -08:00
Jason Short
2f5da31a05
change Alpha name
2011-12-18 16:38:07 -08:00
Andrew Tridgell
1807585b98
ACM: run mavlink loop while erasing logs
2011-12-18 10:19:41 +11:00
Jason Short
35f0d31b9d
Sync logging
2011-12-16 22:02:41 -08:00
Jason Short
ed818e4ccf
Cleanup
...
removed Iterm experiment - no noticeable effect in actual flight
2011-12-16 20:47:23 -08:00
Andrew Tridgell
4bbd5392ef
removed AperiodicProcess code
...
this code was never being used, and was more complex than it was
worth.
2011-12-17 07:29:09 +11:00
Jason Short
027b710816
renamed super simple, added framework for auto calc of throttle cruise
2011-12-15 20:51:41 -08:00
Jason Short
2b5c039eae
turned off iterm for traverse
2011-12-15 20:51:41 -08:00
Jason Short
b484fdab05
added some more throttle imax range
...
renamed Super Simple
2011-12-15 20:51:41 -08:00
Jason Short
fa908795d9
renamed super simple
2011-12-15 20:51:41 -08:00
Jason Short
6a55fe18f6
added altitude to circle mission
2011-12-15 20:51:40 -08:00
Jason Short
4b52b61563
Allows user to specify just an altitude for Circle Mode
2011-12-15 20:51:40 -08:00
Jason Short
05e921f5d0
More power to descend
2011-12-15 20:51:40 -08:00
Jason Short
958693ee5e
Addition of nav mode that tries to maintain level
2011-12-14 22:08:42 -08:00
Jason Short
b4aafcce05
dupe of landing logic for scripting
2011-12-14 22:08:41 -08:00
Jason Short
96ce429537
made the last step of landing stop navigating so we can drop straight down.
2011-12-14 22:08:41 -08:00
Jason Short
66c974a949
Added failsafe check
2011-12-14 22:08:41 -08:00
Jason Short
c7da9c63f1
updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing
2011-12-14 22:08:41 -08:00
Jason Short
d5666f287c
added loiter control to reset nav
2011-12-14 22:08:41 -08:00
Jason Short
2a7f981fb0
added failsafe check,
...
enable loiter repositioning
2011-12-14 22:08:41 -08:00
Doug Weibel
737447c8cf
Change logging to default on for 2560
2011-12-13 20:53:44 -07:00
Doug Weibel
2687f1c77d
Changes to logging file system to avoid problems with 0 and 1 page logs
2011-12-13 20:09:07 -07:00
Michael Oborne
be9a741c88
add method of detecting if motors are armed
2011-12-14 06:18:29 +08:00
Randy Mackay
68d1fa6ec7
Arducopter - Attitude.pde - fixed small bug in pitch stabilise
2011-12-13 22:10:51 +09:00
Andrew Tridgell
c007fb49b8
IMU: update ACM and APM for flash_leds change in IMU init
2011-12-13 18:19:41 +11:00
Andrew Tridgell
4e4a4a685c
fixed two more CONFIG_HARDWARE #ifdef bugs
2011-12-13 17:05:48 +11:00
Jason Short
29788b98bd
Adjustments for High Wind enviroments
2011-12-12 17:47:45 -08:00
Jason Short
424a11d269
Stability patch2 - Jose style.
2011-12-12 17:47:45 -08:00
Jason Short
6b1bedc381
Gain updates
2011-12-12 17:47:45 -08:00
Jason Short
a386ea5e06
Added a simplified Log that is just GPS for my 1280 board
2011-12-12 17:47:45 -08:00
Jason Short
6bac318def
Added param option for Simple mode reset
2011-12-12 17:47:45 -08:00
Jason Short
3edd471983
Upped the max pitch to deal with wind - based on T3 testing
2011-12-12 10:10:33 -08:00
Jason Short
e1146b6df6
Just upped the nav_imax value
2011-12-12 10:10:33 -08:00
Andrew Tridgell
6857d9af14
fixed LOGGING_ENABLED default on ArduCopter
2011-12-12 23:40:43 +11:00
Andrew Tridgell
e184d1dfe4
quad: fixed the comments on the + motors
2011-12-12 21:01:58 +11:00
Andrew Tridgell
ae1ec05dd4
fixed barometer detection on APM2
2011-12-12 15:45:36 +11:00
Andrew Tridgell
483754cb70
fixed == that should be =
2011-12-12 15:19:50 +11:00
Andrew Tridgell
cadc5bde1d
fixed hil ArduCopter build
2011-12-12 15:14:55 +11:00
Andrew Tridgell
dd4498d113
desktop: fixed Wire.begin() build problem
2011-12-12 15:14:55 +11:00
Andrew Tridgell
65ed8cc2c3
added sitl build target
2011-12-12 15:14:55 +11:00
Andrew Tridgell
faf58a355b
airspeed: use floating point values and better averaging in zero_airspeed()
...
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
2011-12-12 15:14:55 +11:00
Pat Hickey
067724b4f1
ArduCopter: update AP_Baro constructors & initializers
2011-12-11 15:21:10 -08:00
Pat Hickey
6710cf5c5a
Wire and SPI Init: move to sketch system.pde from libraries
...
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin removed from AP_Baro_MS5611::init()
* SPI.begin removed from AP_InertialSensor_MPU6000::hardware_init()
* Both Wire.begin and SPI.begin added very early in init_ardupilot in
ArduCopter/system.pde and ArduPlane/system.pde
2011-12-11 15:21:10 -08:00
Pat Hickey
67436d7ff2
ArduCopter: Get barometer data in terms of AP_Baro interface
...
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
2011-12-11 15:21:10 -08:00
Pat Hickey
bd00b629e7
ArduCopter Init: different call to barometer.init based on CONFIG_BARO
...
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
2011-12-11 15:21:10 -08:00
Pat Hickey
82b8f4d7b7
ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO
2011-12-11 15:21:09 -08:00
Pat Hickey
5fd8fea957
ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define
...
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
config.h takes care of this default.
2011-12-11 15:21:09 -08:00
Pat Hickey
0b0922d04c
ArduCopter: added config.h and defines.h to support CONFIG_BARO
2011-12-11 15:21:09 -08:00
Pat Hickey
698a231dd6
ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes.
2011-12-11 15:21:09 -08:00
Pat Hickey
05b6f4be81
ArduCopter CLI: Add imu.init before imu.init_accel for "level"
...
* Depending on when you entered the CLI, the imu might not be
initialized yet, and init_accel would hang.
2011-12-11 15:19:46 -08:00
Pat Hickey
273492bc66
ArduCopter: Revert "Switched to Gyro only startup"
...
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.
I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.
It is no longer valid to call IMU::init_gyro() before IMU::init().
2011-12-11 14:50:02 -08:00
Jason Short
4efbae4a1c
Hack to prevent fly aways
...
Cleanup to remove SIMPLE mode switch note
2011-12-11 12:01:06 -08:00
Jason Short
c01361a79d
removed CLI switch by default, decreased Nav I
2011-12-11 09:53:44 -08:00
Jason Short
b442a1b23c
added debug prints, broke out Angle val to debug
2011-12-11 09:53:44 -08:00
Jason Short
4ff5d5016a
fix for navigation scaleLongUp
2011-12-11 09:53:44 -08:00
Randy Mackay
26705111e1
ArduCopter - small fixes to fix HIL compile errors
2011-12-11 23:25:03 +09:00
Randy Mackay
62a7b19600
Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types
2011-12-11 16:40:59 +09:00
Jason Short
a0cef1cc88
made it so nav is called in Simple mode
2011-12-10 23:31:37 -08:00
Jason Short
995727383b
Adjust Simple mode on the fly.
2011-12-10 23:29:29 -08:00
Jason Short
37f1a574fa
Set Nav_WP as home
2011-12-10 23:26:10 -08:00
Jason Short
64cb2a54cf
eased up on the i term blocker
2011-12-10 23:25:52 -08:00
Jason Short
9c3475f168
Made landing slower
2011-12-10 19:33:19 -08:00
Jason Short
2b06a54fc5
Allows you to clear the stored mission when in Auto
2011-12-10 19:32:46 -08:00
Jason Short
6228dfb37c
Will add a landing command to last WP if we are on the ground.
2011-12-10 19:29:42 -08:00
Jason Short
146d52d650
Switched to Gyro only startup
2011-12-10 15:13:20 -08:00
Jason Short
2defbe818f
rework of inflight trim.
2011-12-10 15:05:53 -08:00
Jason Short
37f3875968
Removed Instant PWM from disarmed output
2011-12-10 10:33:25 -08:00
Jason Short
34213e745c
Ground course saved as long for SIM compat
2011-12-10 10:19:20 -08:00
Jason Short
f444aac706
Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling.
2011-12-10 10:19:20 -08:00
Jason Short
7c1a975a71
Made Baro_alt int32_t
...
Added home to copter bearing, home to copter distance
Added Land mode
2011-12-10 10:19:20 -08:00
Jason Short
a9e82e3fbd
Debugging some motor issues
2011-12-10 10:19:20 -08:00
Jason Short
22e4ed67aa
Added Home Bearing
2011-12-10 10:19:20 -08:00
Jason Short
9afd99b834
Added notes to Imu.ax, ay, az
2011-12-10 10:19:20 -08:00
Jason Short
9ef902d4a5
Added enumeration for Land
2011-12-10 10:19:20 -08:00
Jason Short
718af404ed
Increased slightly the Auto_trim time
2011-12-10 10:19:20 -08:00
Jason Short
0969bf3146
Added Bearing to home, distance to home calcs
2011-12-10 10:19:20 -08:00
Jason Short
b659d35f18
Added Land FLight mode definition
2011-12-10 10:19:20 -08:00
Randy Mackay
f77131db94
OptFlow - turning on optical by default
2011-12-10 23:22:40 +09:00
Randy Mackay
f4ac36bd8b
ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2.
...
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
2011-12-10 18:33:30 +09:00
Pat Hickey
2a7013f7e2
ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280
...
Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
2011-12-09 15:06:10 -08:00
Randy Mackay
f4fd6e0910
Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i
2011-12-09 22:13:37 +09:00
Randy Mackay
ced26d7ba2
TradHeli - Attitude.pde - made yaw contol use jason's stability patch
...
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
2011-12-08 22:23:50 +09:00
Randy Mackay
ee8986c463
TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled
2011-12-08 21:30:47 +09:00
Doug Weibel
4f6f9a6be4
Add hook to dump log filesystem index for debugging
2011-12-07 08:13:30 -07:00
Jason Short
e3700365d4
Stability patch updates,
...
Cleanup
2011-12-06 21:03:56 -08:00
Jason Short
118a232b13
made RateP range a little more sensible
...
removed unused var
2011-12-06 21:03:07 -08:00
Jason Short
ad94166c22
Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise
2011-12-04 21:32:33 -08:00
Jason Short
55b2e5339a
simple patch to improve alt hold based on stability patch
2011-12-04 21:32:33 -08:00
Jason Short
50afa16f31
Function call defs commented with // so the preprocessor doesn't get confused
2011-12-03 17:55:44 -08:00
Jason Short
11363a26cb
Added new gain and clamp value for DCM
2011-12-03 17:55:11 -08:00
Jason Short
fdcf9aecd5
Fixing reversed Simple mode switch
2011-12-03 17:54:57 -08:00
Jason Short
be3dba817b
Stability patch from 55
2011-12-03 17:54:38 -08:00
Jason Short
3dc43c21af
Enabled the compass test
2011-12-03 15:39:02 -08:00
Jason Short
ffa69f43ec
disabled Flash logs in 1280 by default
...
Added stability patch I values and limits
2011-12-03 15:38:46 -08:00
Jason Short
8e0d8a860b
Formatting, swicth Omega to raw IMU rates
2011-12-03 15:29:33 -08:00
Jason Short
06341cb1dc
Added Deg to rad, rad to deg * 100 to save a float calc
2011-12-03 15:29:33 -08:00
Jason Short
8af8badcec
formatting
2011-12-03 15:29:33 -08:00
Michael Oborne
1b63af896e
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-12-04 06:32:27 +08:00
Michael Oborne
21143d87b5
add 1hz mavlink loop.
2011-12-04 06:32:08 +08:00
Andrew Tridgell
c1569e49a8
fixed the "reboot on GPS lock" bug
...
the problem was that with APM2 we may not have a 2nd GCS instance. The
"gps alt: xxx" message was being unconditionally sent to both GCS
instances, which caused a crash
2011-12-04 09:06:58 +11:00
Andrew Tridgell
63126ece83
MAVLink: use the configured system ID for ArduCopter
2011-12-03 07:54:36 +11:00
Jason Short
9b47e376d5
Enabled Ch7 simple mode switching
2011-11-28 22:41:12 -08:00
Jason Short
a7e0135cd4
adding flag for finished mission
2011-11-28 22:28:51 -08:00
Jason Short
8a1fcfd0f4
cleanup
2011-11-28 21:40:22 -08:00
Jason Short
7e1d41be14
Fix error with calc_nav_pitch_roll
2011-11-28 21:27:29 -08:00