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939 Commits

Author SHA1 Message Date
Andrew Tridgell
2e9105c68a AP_Param: added special handling for Vector3f 
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
 2012-02-25 11:37:20 +11:00
Jason Short
1e254cbca0 Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
rmackay9
57e5eee8c8 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short
385828824d updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short
24345d4f43 Loiter updates 2012-02-23 22:03:26 -08:00
Andrew Tridgell
1cd3172954 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Jason Short
364afe8da0 added a constraint to D term 2012-02-23 09:14:44 -08:00
Andrew Tridgell
95ef9206dc DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Jason Short
c7c16a5b0f Emile's Fixes 2012-02-22 10:27:34 -08:00
Jason Short
4483f19f85 Marco's Hexa Motors 2012-02-22 09:55:44 -08:00
Jason Short
242f54793c revved a version 2012-02-22 09:00:42 -08:00
Jason Short
729c824809 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short
42b5d47f7b commented out control mode debug print 2012-02-21 21:48:07 -08:00
Jason Short
30efbae0e9 removed old comments 2012-02-19 14:21:27 -08:00
Jason Short
265c5255a3 Added slow_wp default in AP mode 2012-02-19 13:15:40 -08:00
Jason Short
336441b109 reset slow_WP option at mode switch 2012-02-19 13:13:42 -08:00
Jason Short
81a861c8ac Added slow wp option in calc_desired_speed 2012-02-19 13:13:21 -08:00
Jason Short
33d4d52a6b set Slow WP option for RTL in Auto mode 2012-02-19 13:12:23 -08:00
Jason Short
cae49b3543 Added "slow WP" option for RTL. 2012-02-19 13:11:59 -08:00
Jason Short
b54d08f410 Updated manual throttle control during throttle hold 2012-02-19 12:40:51 -08:00
Jason Short
bcd5129f9b added workaround for resetting alt. 2012-02-19 12:40:08 -08:00
Jason Short
fa32b084bd Added SW test for Manual Boost 2012-02-19 12:39:40 -08:00
Randy Mackay
9fabdb5797 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
e146f225b1 ArduCopter - remove unnecessary block for next GPS value before saving home location 2012-02-19 15:38:40 +09:00
Andrew Tridgell
df8a557630 AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell
12327eb2a9 Heli: fixed some 'used before initialised' warnings 2012-02-19 16:34:43 +11:00
Jason Short
028de5d2c5 Axis lock beta (off by default) 2012-02-18 21:16:19 -08:00
Jason Short
885710fce6 updated max throttle define 2012-02-18 21:14:13 -08:00
Jason Short
05024cc06c Change 800 to a define 2012-02-18 21:13:28 -08:00
Jason Short
04b70ffdc2 added Axis_Lock params 2012-02-18 21:13:06 -08:00
Jason Short
ff2b4ecb7a updated throttle range 2012-02-18 21:11:06 -08:00
Jason Short
1e37a0ec17 added a limit to range output 2012-02-18 21:08:17 -08:00
Jason Short
1b46daa12e some better defaults for JDrones 2012-02-18 14:23:21 -08:00
Randy Mackay
b92d7aaad5 ArduCopter - fix for yaw control on Octa Quad Plus frame. 2012-02-18 22:04:09 +09:00
Randy Mackay
232359186e 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
b64c0da003 ArduCopter - updated version to 2.4 2012-02-18 18:44:29 +09:00
Andrew Tridgell
6929226b96 ACM: expanded EEPROM parameter area by 256 bytes 2012-02-18 10:51:57 +11:00
Andrew Tridgell
718a5b70e3 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
b532cb91b1 added Rate_D tuning value 2012-02-17 15:23:59 -08:00
Jason Short
0075901f77 upped rate loop to 250hz 2012-02-17 15:23:59 -08:00
Jason Short
5218220f0f re-implemented WII Dampening filter for Marco. 2012-02-16 22:38:23 -08:00
Jason Short
b052dab80d Adjusted gains to move closer to Marco's tests 2012-02-16 22:19:39 -08:00
Jason Short
17c6c7b294 added extra gain logging 2012-02-16 22:09:22 -08:00
Jason Short
908ca4e915 scaled X velocity 2012-02-16 22:09:22 -08:00
Jason Short
bc1593e89c cast to float 2012-02-16 22:09:21 -08:00
Jason Short
632cc783a1 cast D term to float just in case 2012-02-16 22:09:21 -08:00
Jason Short
36a120d8df removed some unused vars, 
formatting, made loop speed same as PIDT1 to eliminate variable.
 2012-02-16 22:09:21 -08:00
Jason Short
a43ee36bee CH 6 Range setup 2012-02-15 11:47:54 -08:00
Jason Short
3d63bb6cd4 Added acro_p to the params 2012-02-15 11:29:25 -08:00
Jason Short
e8b6f5ecee allow auto-land if failsafe is triggered 2012-02-15 10:53:54 -08:00
Jason Short
fabeccad4a Marco's updated Motor testing code 2012-02-15 10:49:35 -08:00
Jason Short
73591a0ca5 Added lengthy note about motor testing 2012-02-15 10:49:11 -08:00
Jason Short
9a3e862b55 added option in code for Loiter specific gains 2012-02-15 09:10:15 -08:00
Jason Short
e249c8466d AP slew rate 2012-02-15 09:10:15 -08:00
Jason Short
21856e7696 new defaults for params 2012-02-15 09:10:15 -08:00
Jason Short
fcb24ee17d Added Acro_P 2012-02-15 09:10:14 -08:00
Jason Short
574b86b02e synced params 2012-02-15 09:10:14 -08:00
Jason Short
91edeeeef2 added RTL_land_enabled 
added auto_pilot slew rate
 2012-02-15 09:10:14 -08:00
Jason Short
aa0662008b 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
05abe44f32 Added range setting via a parameter for CH6 tuning 2012-02-15 09:10:14 -08:00
Jason Short
c9b432955d removed unused Vars 2012-02-13 15:25:23 -08:00
Jason Short
4faba2048c Lowered for Jani 2012-02-13 15:25:23 -08:00
Andrew Tridgell
ecdbfd257a token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell
d55a0c3a71 added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
0f9adbdae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell
617082769a go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
0b3e3ec5c8 added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell
d4305e0ae2 fixed apm2beta build with AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
16417b651e 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
3b4cae3cc3 adapted main ACM code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
c9c422539e update ACM MAVLink code for AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
a2d0900460 fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell
bf1eb670e3 update main parameter code for AP_Param in ACM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f1a41b041f 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
306a3bb4f9 Makefile: extra convenience target for apm2hexa 2012-02-11 16:05:51 -08:00
Pat Hickey
84dd0d2fda 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
739317276d ArduCopter setup motors: print basic instructions. 2012-02-11 16:05:51 -08:00
Pat Hickey
6573cec611 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
470fd8788e 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
2c65fc9ddf Cosmetic tweaks for tuning 2012-02-11 15:29:11 -08:00
Jason Short
0a63f104ab Gain adjustments for 3d frame. 2012-02-11 15:29:11 -08:00
Jason Short
969ac70000 reset All for Auto takeoff 2012-02-10 22:54:29 -08:00
Jason Short
b1d52da431 reset Rate_I for takeoff 2012-02-10 22:50:56 -08:00
Jason Short
efce991bfb upped max target speed to center of loiter 2012-02-10 22:46:27 -08:00
Jason Short
8ae53bffd2 Made Yaw Hold universal for Acro 2012-02-10 22:32:55 -08:00
Jason Short
dc15fe4c5d Moved to Rate_I by default for Jani to test 2012-02-10 22:32:55 -08:00
Jason Short
c64d781dce get_acro_yaw added 2012-02-10 22:32:55 -08:00
Jason Short
19ab0f481e made Yaw work like Roll and Pitch 2012-02-10 22:32:55 -08:00
Jason Short
9f8d7d5076 Minimize the Yaw Deadzone 2012-02-10 22:32:55 -08:00
Jason Short
50aaa09348 Up Nav_Rate_P 2012-02-09 22:38:36 -08:00
Jason Short
62627e9b57 reverted to Save_WP now that CH7 triggering is fixed 2012-02-09 22:33:01 -08:00
Jason Short
3afaf2689c Fix for disabled CH7 value triggering WP saving 2012-02-09 22:32:04 -08:00
Jason Short
4313d19bc5 2.3.1v 2012-02-09 22:22:01 -08:00
Jason Short
71d57a5371 Enabled PWM test 2012-02-09 22:22:01 -08:00
Jason Short
b315e23bbd Found missing Break in Switch statement. 2012-02-09 22:22:01 -08:00
Jason Short
2335b74bc3 faster FS timer 2012-02-09 22:22:00 -08:00
Jason Short
c35ad2d493 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
6848dc17e5 Added safety to prevent shutdown of motors during Auto-land 2012-02-09 22:22:00 -08:00
Jason Short
f40d40b0f9 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
fe7a0a97ab ArduCopter - CH7 - changed default to CH7_DO_NOTHING 2012-02-09 20:26:01 +09:00