aepko/Ardupilot2
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7f92d702ab
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1195 Commits

Author SHA1 Message Date
Jason Short
7f92d702ab commands.pde: fixed unit error for distance check 2012-06-25 23:06:28 -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
c71c503c84 GCS Mavlink.pde: change reference to nav_bearing to target_bearing. 2012-06-25 23:06:28 -07:00
Jason Short
53d2a46cd6 Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s 2012-06-25 23:06:28 -07:00
Jason Short
92d481c08c inertia.pde: WIP don't fly with inertia enabled until FN. 2012-06-25 23:06:28 -07:00
Jason Short
28829b0d60 Log.pde: removed nav_bearing reference and replaced with target_bearing ref 2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos
bef005b5f2 AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane 
http://code.google.com/p/arducopter/issues/detail?id=430
 2012-06-24 17:01:25 -07:00
Robert Lefebvre
1064dcbd34 Open up constraint on Rate Yaw Output for all copters. 2012-06-22 10:06:01 -04:00
Jason Short
7e0708ca36 Config.h - returned low to original 120 2012-06-20 15:22:35 -07:00
Jason Short
839b8865aa Parameters.h: throttle_min and throttle_max now have defaults from Config.h 2012-06-20 15:02:00 -07:00
Jason Short
efdf0a7fc8 changed define to a param for throttle_min and throttle_max 2012-06-20 15:00:53 -07:00
Jason Short
e8510faf5d changed define to param for throttle_min 2012-06-20 15:00:05 -07:00
Jason Short
6020f6d9fa Added throttle_min as a user definable param 2012-06-20 14:58:34 -07:00
Jason Short
4f18e7f80b lowered minimum throttle 2012-06-20 08:47:47 -07:00
Jason Short
27e0aee03f Small fix to angle boost - increases by about 20% to deal with inefficiencies of non-downward thrust 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
Jason Short
8b212d8baa Adjustments to the Inertial_nav 
lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
 2012-06-20 08:47:47 -07:00
Andrew Tridgell
58379b928f MAVLink: make usage of MAVLink defines more consistent 2012-06-15 16:27:11 +10:00
rmackay9
c62cc4844e ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release 2012-06-15 00:42:59 +09:00
Jason Short
e31a1d969f Inertial Nav disabled by default 2012-06-13 22:37:52 -07:00
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
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
e1acf21381 ArduCopter: updated firmware version to 2.6 Epsilon 2012-06-12 23:22:57 +09:00
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
f5a85d48a0 Added Angel's name to contrib list 2012-06-10 12:38:22 -07:00
Andrew Tridgell
940d994efb GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover 2012-06-10 16:36:18 +10:00
rmackay9
aeaebb21d5 ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release) 2012-06-08 21:54:09 +09:00
Andrew Tridgell
a684bddbda GPS: open the GPS serial port with a 256 byte buffer 
the UBLOX needs more than 128 bytes for reliable parsing
 2012-06-08 16:42:03 +10:00
Robert Lefebvre
c5916a8b4d Opening up the Yaw Rate constraint for Trad Heli. 2012-06-07 22:40:25 -04:00
Robert Lefebvre
e2496181ff Yaw Fix 
Modified Nav_Yaw controller to better track intended heading changes.
 2012-06-07 17:15:33 -04:00
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
rmackay9
70b04d9427 ArduCopter: updated firmware description to 2.6 Gamma 2012-06-05 21:28:13 +09:00
Andrew Tridgell
8b258e23e7 ACM: prevent link flood with "Low Battery" warnings 
thanks to Marco for noticing this
 2012-06-05 11:31:40 +10:00
Michael Oborne
14be88dd55 AC: add hilstate message 2012-06-04 16:24:08 +08:00
Jason Short
71f80f3a77 Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false. 2012-06-03 22:25:27 -07:00
Jason Short
1b9f75c844 Updates to Flip: 
Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
 2012-06-03 22:15:19 -07:00
Andrew Tridgell
7c63d2c17b ACM: MAVLINK10 uses HIL_STATE 
thanks to Michael for noticing this
 2012-06-04 13:31:07 +10:00
Andrew Tridgell
e7cf643386 added mavlink09 targets 
allows easier building with mavlink0.9
 2012-06-04 13:14:52 +10:00
Andrew Tridgell
3f4e87cccc ACM: fixed HIL build for MAVLINK10 2012-06-04 13:14:52 +10:00
Michael Oborne
9303a89573 fix AC hil build 2012-06-04 11:12:52 +08:00
Michael Oborne
a71ed6c5ce enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Jason Short
15aea320cb Added note to remove this unused param 2012-06-03 11:13:50 -07:00
Jason Short
12ab875d58 using current PWM rather than a re-read of the PWM. 2012-06-03 11:13:50 -07:00
Jason Short
9ab06c5542 Moved PID logging counter into define 2012-06-03 11:13:50 -07:00
rmackay9
72d76558a7 ArduCopter: Ensure update_GPS does nothing when gps is disabled. 
This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
 2012-06-03 23:48:45 +09:00
rmackay9
fd6b21d0c7 ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 17:02:35 +09:00
rmackay9
4544b37fec ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing 2012-06-03 16:59:23 +09:00
rmackay9
dcdeae412e ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
 2012-06-03 16:58:19 +09:00
rmackay9
2a216ce900 ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx). 2012-06-02 12:51:12 +09:00