aepko/Ardupilot2
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187 Commits

Author SHA1 Message Date
Jason Short
3401bd3583 Arducopter: Clarified units in comment 2012-07-19 09:49:13 -07:00
Jason Short
dcf9f9dab1 Arducopter 
for rate altitude changes
 2012-07-18 22:57:10 -07:00
Andreas M. Antonopoulos
a976a59c88 AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling. 2012-07-16 11:46:43 -07:00
rmackay9
36ecdff593 ArduCopter: removed unused config for CAM_ROLL_GAIN and CAM_ROLL_PITCH now in AP_Mount library) 2012-07-15 16:38:52 +09:00
Jason Short
7a5544051d Arducopter 
Lowered WP speed default to 500. 600 was quite high once the nav routines were fixed and quad could achieve that speed.
 2012-07-11 17:46:07 -07:00
Jason Short
c04bff67de Arducopter: Config.h, default gain tweaks from flight tests. 2012-07-10 21:53:38 -07:00
Amilcar Lucas
dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Jason Short
038116f521 Airspeed patch: 
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
 2012-07-09 13:13:32 -07:00
Andrew Tridgell
60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Adam M Rivera
6e93ab6af6 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Jason Short
37685756df Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short
2d572461ec Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short
8a08a74cc6 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short
8ab1acfb92 Config.h 
Removed Approach delay redundancy - using land timer instead
Removed Retro loiter mode param
 2012-07-01 13:40:11 -07:00
rmackay9
78fa903e17 ArduCopter: updated STABILIZE_ROLL_I to 0.01 (was 0.1) as instructed by Marco 2012-06-30 19:26:14 +09:00
Jason Short
4450d80ea3 Config.h: Optimizing Nav gains 2012-06-29 21:20:28 -07:00
Jason Short
c76ac4543b Added user editable define for Super simple radius 2012-06-26 10:38:46 -07:00
Jason Short
a0dc1f7ab1 Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm 2012-06-25 23:06:28 -07:00
Jason Short
7e0708ca36 Config.h - returned low to original 120 2012-06-20 15:22:35 -07:00
Jason Short
4f18e7f80b lowered minimum throttle 2012-06-20 08:47:47 -07:00
Jason Short
39a253a273 decreased I term based on the tests last weekend in high winds 2012-06-20 08:47:47 -07:00
rmackay9
65050775e1 ArduCopter: made Robert's new yaw method optional (off by default). 
Add this line to APM_Config.h to enable Robert's yaw
#define ALTERNATIVE_YAW_MODE ENABLED
 2012-06-13 21:50:16 +09:00
Jason Short
ff0659535e Raised the Max throttle to 1000, min to 200. Worked good in SIM with Tridge's motor safety patch. 2012-06-12 13:58:49 -07:00
rmackay9
c6f1d93849 ArduCopter: updated standard loiter pids. 
Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
 2012-06-12 20:56:31 +09:00
Jason Short
a9610a0761 Stabilization patches 
removed Angle error limit for stabilization
constricted Iterm to +- 5° error and limited the implementation to when the quad is +- 5° from center
doubled the output limit for Rate controller.
increased default Rate_P gain to .18 with matching Rate_D of .004
Tested in the SIM and in backyard. dramatically increases performance and quad no longer overshoots and flips when pushed hard.
 2012-06-05 16:41:44 -07:00
Michael Oborne
a71ed6c5ce enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Jason Short
9310d613e1 Lowered I term - causes oscillations in SIM 2012-05-29 12:43:01 -07:00
Jason Short
7f3e142fa8 Loiter Gains based on new SIM 2012-05-15 22:01:01 -07:00
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
Robert Lefebvre
a285e2779f CopterLEDS changes for APM2 2012-05-15 10:07:03 -04:00
Adam M Rivera
8e580729b7 config.h: Removed comment. 2012-04-23 00:16:41 -05:00
Adam M Rivera
97040a7b3a Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-23 00:03:37 -05:00
rmackay9
090f5aaa6f ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame 2012-04-21 23:46:36 +09:00
rmackay9
919f004b27 ArduCopter - changed Optical Flow for APM2 to use A3 pin 2012-04-21 20:15:16 +09:00
Adam M Rivera
c233defbe6 Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera
24363ccb83 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera
d29f1ef331 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
James Goppert
0e7e77760a Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
Adam M Rivera
7b277d7044 config.h: Added RTL_APPROACH_DELAY config value. 2012-04-16 14:00:08 -05:00
rmackay9
84b07b5e6a ArduCopter - LEDS - added new COPTER_LEDS definition 
Code by Robert Lefebvre
 2012-04-12 22:55:32 +09:00
Andrew Tridgell
0bc604f030 ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE 
we now have the EEPROM option COMPASS_AUTODEC instead
 2012-03-30 14:25:27 +11:00
Adam M Rivera
51b70e4d36 ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM. 2012-03-30 14:25:06 +11:00
rmackay9
1f4cfb9333 ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers. 2012-03-25 16:09:08 +09:00
Jason Short
e2560c5865 Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator 2012-03-22 10:01:24 -07:00
rmackay9
0773a25b5d ArduCopter - increased default THROTTLE_CRUISE to 450 2012-03-20 16:34:07 +09:00
rmackay9
dc92da818c ArduCopter - remove reference to AUTO_RESET_LOITER that is not used anymore 2012-03-18 14:53:19 +09:00
Jason Short
491af02d8a ACM: Lowered gains from flight tests today with 3DR Quad 2012-03-17 11:04:01 -07:00
Jason Short
3038da1dc3 ACM: Softer Loiter Gains 2012-03-16 14:10:19 -07:00
Jason Short
a52a14bf12 Tune down Loiter_P a hair 2012-03-15 19:17:27 -07:00
Jason Short
48ba24a810 ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned. 2012-03-13 10:23:31 -07:00