95763e610b
ArduCopter: allow DMP to run in parallel with DCM
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Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
13 years ago
8c6fd340d7
AP_AHRS: added scheduler parameter to init
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Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
13 years ago
b2f12c4854
ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5
13 years ago
5fd39bb928
ACM: updates for new GPS detection
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a GPS can now be attached after startup
13 years ago
303ca11c4c
HIL: changes to fix HIL for ArduCopter after recent timing changes.
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Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
13 years ago
b6d2d4723f
ArduCopter: print firmware version of code instead of zero.
13 years ago
2e9e3ce5a6
ArduCopter: increase SPI bus speed to 2Mhz after IMU initialisation has completed (MPU6000 accepts maximum of 1Mhz for some registers but up to 20Mhz for main sensor and interrupt registers)
13 years ago
969166c4e3
uncrustify ArduCopter/system.pde
13 years ago
1b0f5ac84f
ACM: use ahrs.set_fast_gains() on arm/disarm
13 years ago
1e0ab8768e
ACM: Toy mode updates
13 years ago
f641c5d077
ACM system.pde - toy mode update, cleanup of throttle cruise code
13 years ago
94cb325184
ArduCopter: added ahrs.ini() to system.pde to allow offsets to be pushed into MPU6000's DMP
13 years ago
a7b1252b51
arducopter
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alt hold state reset
13 years ago
bb99bd4626
Arducopter: INS
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removed zero accells call
13 years ago
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
13 years ago
1dbde3f803
Arducopter: Added note
13 years ago
dfe0983e1e
Merge the changes from APM_Camera branch into ArduCopter
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Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
13 years ago
9a30270879
System.pde - RTL
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removed Approach mode, fixed RTL to loiter until desired altitude is reached
13 years ago
82ede937e7
AnalogSource: convert analogRead() calls to the new API
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this should give us much better analog values, plus save a bunch of
CPU time
13 years ago
031830b5fe
System.pde: Toy mode details for set_mode()
13 years ago
cd93c40f09
Added Toy Mode control
13 years ago
8b212d8baa
Adjustments to the Inertial_nav
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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
13 years ago
940d994efb
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
13 years ago
a684bddbda
GPS: open the GPS serial port with a 256 byte buffer
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the UBLOX needs more than 128 bytes for reliable parsing
13 years ago
71f80f3a77
Bug fix: When adjusting altitude, RTL then land will fail unless this var is reset to false.
13 years ago
0ce883b96a
Removed unused variable
13 years ago
5754f97433
reversed circle_WP calculation so the next_WP refers to the destination around the circle and circle_WP refers to the center. The intent is to make it easier to see via ground station.
13 years ago
c8fb9a6635
More CopterLEDS changes.
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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.
13 years ago
0c3d6614cd
system.pde: Updated param name to loiter_timer.
13 years ago
a2b338c052
System: Added handler for the new APPROACH flight mode which will initiate an approach to a target alt as defined by the user.
13 years ago
c337df11c8
ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS.
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Code by Robert Lefebvre
13 years ago
1d086c83f0
ArduCopter - system.pde - changed references to "motor_armed" to "motors.armed()" as part of the move to use AP_Motors library.
13 years ago
b4107d35e8
MAVLink: raise the serial transmit buffer size to 256 bytes
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the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
13 years ago
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
13 years ago
fe7ca98701
ACM: system.pde - removed reset_nav_I() to consolidate the wind control reset.
13 years ago
f9d0dc9daa
ACM: disabled auto_calibration until more testing can be done
13 years ago
5ad7320505
ACM: changed alt hold initialization of altitude to be immediate
13 years ago
828ad7625b
ACM: removed the ADC filtering code
13 years ago
8393c0299b
ACM: removed the DCM tuning overrides
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not needed now that DCM scales with deltat
13 years ago
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
13 years ago
367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
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this will tell us if board_voltage() is really working
13 years ago
64cc04ae09
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
13 years ago
730476fdfd
ACM -
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Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
13 years ago
cb874d6097
ACM: added board_voltage()
13 years ago
eac77504a3
Added more Logging for PIDs.
13 years ago
f27e9f9ca1
added a simple rest of nav_throttle just in case
13 years ago
42b5d47f7b
commented out control mode debug print
13 years ago
336441b109
reset slow_WP option at mode switch
13 years ago
17c6c7b294
added extra gain logging
13 years ago
3b4cae3cc3
adapted main ACM code for AP_Param
13 years ago
rmackay9
Andrew Tridgell
uncrustify
Jason Short
Andreas M. Antonopoulos
Amilcar Lucas
Robert Lefebvre
Adam M Rivera