80d15368bc
Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with.
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Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
13 years ago
6020f6d9fa
Added throttle_min as a user definable param
13 years ago
c62cc4844e
ArduCopter: updated firmware to simply 2.6 (i.e. removed Epsilon) ahead of the release
13 years ago
c42f9ece43
Inertial Control
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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.
13 years ago
e1acf21381
ArduCopter: updated firmware version to 2.6 Epsilon
13 years ago
f5a85d48a0
Added Angel's name to contrib list
13 years ago
aeaebb21d5
ArduCopter: updated firmware version to 2.6 Delta ahead of the next round of testing (and hopefully soon a release)
13 years ago
70b04d9427
ArduCopter: updated firmware description to 2.6 Gamma
13 years ago
1b9f75c844
Updates to Flip:
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Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted
13 years ago
72d76558a7
ArduCopter: Ensure update_GPS does nothing when gps is disabled.
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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.
13 years ago
fd6b21d0c7
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
13 years ago
4544b37fec
ArduCopter: updated firmware version to 2.6Beta in preparation for beginning of testing
13 years ago
5f058fb9b2
TradHeli: Incorporating Ext ESC Control
13 years ago
dec6f0ca62
When RTLing, force home as the final location for loiter.
13 years ago
22065e3f3f
Broken timer - removed
13 years ago
7c6f766251
Speed up automatic disarming to 25 seconds for safety.
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renamed AUTO_ARMING_DELAY to AUTO_DISARMING_DELAY
13 years ago
f491f5e9ca
Removed references to a takeoff timer
13 years ago
08bf04dd08
pulling throttle low in flight turns out to be more common than thought. Removed clearing of takeoff_complete flag. This is still cleared during disarm which is automatic after 30 seconds of no throttle.
13 years ago
09f4a16bfb
changed the way takeoff complete is figured. Looking for high throttle.
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
7df1aa2914
Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled.
13 years ago
4e4ff84cf1
Updates to CopterLEDS
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Creation of Nav Blink Function.
13 years ago
f6d8a18182
Added note
13 years ago
8d075015e1
added check for duplicate time-stamped GPS messages.
13 years ago
7e190c6f5c
Arducopter.pde :
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removed unneeded d_rate_filters
updated Nav routine to handle faster GPS updates
moved calc_XY_velocity to GPS read
added check for duplicate GPS reads
13 years ago
d1cd04486a
removed retro loiter code since Angel has a branch now.
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shrank speed filter to avoid latency
removed unused forward estimator code
placed code for switchover to gps.groundspeed at 1.5m/s
added clamp for D term when below .5m/s to eliminate noise
added hybrid I-term based on speed error and position
changes Loiter D term to use position rather than acceleration to avoid noise
13 years ago
357d6c2d9b
ArduCopter: bug fix for reversing tri servo
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Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
13 years ago
2f74004fcb
ArduCopter: updated version to 2.5.5
13 years ago
4fee26437b
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
13 years ago
b2a7227ae7
ArduCopter/Navigation: Updated code to reference the new g.retro_loiter param instead of the compile define.
13 years ago
e22832a832
Added a union for casting floats to ints and back when storing Floats to the DataFlash
13 years ago
c993049c48
ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion
13 years ago
3e95ade004
ArduCopter - changed optflow object to be APM2 version if necessary
13 years ago
f0a9209935
ArduCopter - regressed version back to 2.5.4
13 years ago
d29f1ef331
Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff.
13 years ago
a7bc3d2cc6
Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity.
13 years ago
f6d81a16c2
ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter.
13 years ago
56a00fa1f7
ArduCopter: Changed millis compare to use new config value for approach delay.
13 years ago
41702aca94
ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s).
13 years ago
870b5e5f75
ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. Now you can easily set the amount that the mag is used to correct the gyro based yaw estimate in the DCM
13 years ago
77d6f22864
ArduCopter, commands_logic: Updated logic to allow as low as 5m.
13 years ago
2954bf6f76
ArduCopter: Added check to make sure user defined approach alt is at least 5.
13 years ago
a24b7bcf14
ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land.
13 years ago
a71ed6abec
ArduCopter - updated firmware version to "2.6 Beta"
13 years ago
24b81db20e
ArduCopter - LEDS - main code to support COPTER_LEDS.
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Code by Robert Lefebvre
13 years ago
54a0709759
ArduCopter - add includes for new AP_Motors classes.
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Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
13 years ago
c0a54762c6
MAVLink: port the new adaptive flow control to ArduCopter
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This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
13 years ago
75d7308fb4
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
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also changed heli_ext_gyro_gain to make it use the tuning range directly.
13 years ago
0bc604f030
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
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we now have the EEPROM option COMPASS_AUTODEC instead
13 years ago
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.
13 years ago
Jason Short
rmackay9
Robert Lefebvre
Andrew Tridgell
Adam M Rivera