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27 Commits

Author SHA1 Message Date
Jason Short c42f9ece43 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
Robert Lefebvre 4e4ff84cf1 Updates to CopterLEDS 
Creation of Nav Blink Function.
 2012-05-22 09:58:37 -04:00
Robert Lefebvre c8fb9a6635 More CopterLEDS changes. 
Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2.  Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2.  Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code.  Legacy users should see no difference.
 2012-05-15 12:00:21 -04:00
rmackay9 905a445391 ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class. 
Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
 2012-04-04 22:58:42 +09:00
Andrew Tridgell 7634f541b9 ACM: use set_blocking_writes(false) when we arm motors 2012-03-30 17:46:20 +11:00
Jason Short d1fcebb5ca Cosmetic changes 
GPS LED lock waits for home_is_set to be true
 2012-01-28 21:19:46 -08:00
Jason Short f5fd3a0597 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short 3ebed0b278 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Pat Hickey b907c1fd5c ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Jason Short e7b750074b Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Andrew Tridgell 4fe527aefa ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Jason Short 58ad9faf6d initing z dampener at arming 2011-12-23 14:46:08 -08:00
Andrew Tridgell 483bef35e5 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Jason Short 307723960d Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short b3bd4bd3c9 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Andrew Tridgell a99bcec762 desktop: report motors armed in desktop build too 
this helps in autotest
 2011-11-25 20:00:19 -08:00
Jason Short 6bf0c32173 Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Jason Short c8304114a3 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
Jason Short 27fc6eea10 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Jason Short dd23883097 Motor arming delays 
Speeding up delays for motor arming commands - Level and Inflight leveling.
 2011-10-27 11:54:46 -07:00
Jason Short 43b3015963 lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Andrew Tridgell d89ae696ef merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Jason Short ba7abd62d8 Adjusted DCM Gains to normal levels. Added a check to stop navigating when landing and to land faster. 2011-09-23 13:52:10 -07:00
Jason Short 73fd0084be Added Piezo Support, code from Oliver. 2011-09-18 17:12:28 -07:00
Amilcar Lucas 227ce0a92d Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Jason Short e6b7c57d26 Circle Mode now working 
250Hz loop implemented
 2011-09-11 11:22:01 -07:00
Andrew Tridgell 1456a2a912 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00