83fe6733d4
Defines: Added new control mode (APPROACH).
13 years ago
7ba8c291bd
Parameters: Added new APPROACH_ALT params (g.rtl_approach_alt) which stored the users desired target altitude after RTL is complete.
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
c337df11c8
ArduCopter - LEDS - set new output pins to OUTPUT to support COPTER_LEDS.
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Code by Robert Lefebvre
13 years ago
d70f5da5e0
ArduCopter - LEDS - define pins to be used for COPTER_LEDS.
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Code by Robert Lefebvre
13 years ago
84b07b5e6a
ArduCopter - LEDS - added new COPTER_LEDS definition
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Code by Robert Lefebvre
13 years ago
0a3bc9a66a
ArduCopter - LEDS - two new parameters to support COPTER_LEDS.
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Code by Robert Lefebvre.
13 years ago
fad162989f
ArduCopter - navigation.pde - added logging of Loiter PID controllers
13 years ago
f8210b164c
ArduCopter - Parameters.h - changed initialisation order to remove compiler warning (have not changed enum values so shouldn't require eeprom format id update)
13 years ago
df85051574
ArduCopter - added dataflash logging of roll and pitch rate controllers
13 years ago
998058ec07
ArduCopter - removed unused motor pde files including heli.pde, motors_hexa.pde, motors_octa.pde, motors_octa_quad.pde, motors_tri.pde and motors_y6.pde
13 years ago
ad9a8acbab
ArduCopter - test.pde - changed references "motor_armed" to "motors.armed()" as part of move to AP_Motors library.
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Change to ESC initialisation calls to use motors.throttle_pass_through method of AP_Motors class.
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
4aa40bdf10
ArduCopter - setup.pde - changed cli for helicopter to call the new AP_Motors class's parameters instead of the global parameters.
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changed init_esc to call the AP_Motor's class's "throttle_pass_through" function.
13 years ago
473126581d
ArduCopter - radio.pde - changed motor initialisation to set update rate, frame orientation, min and max throttle to AP_Motors class.
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Note: perhaps the motors speed at least should be moved to a parameter within the motors class.
output_min function greatly simplified as this is handled by the AP_Motors class.
13 years ago
905a445391
ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class.
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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.
13 years ago
aa54458dcf
ArduCopter - leds.pde - changed refrences to "motor_armed" to "motors.armed()"
13 years ago
7df17e9b3b
ArduCopter - removed references to MOT_1 etc as these are now within the AP_Motors class (i.e. MOT_1 has become AP_MOTORS_MOT_1)
13 years ago
ee308ea06c
ArduCopter - increased firmware version to 118. Removed nearly all heli parameters as these are all created by the AP_MotorHeli class now.
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Note: we cannot move the heli_servos to the AP_MotorHeli class yet because of a small issue in the parameters class.
13 years ago
8402a3d837
ArduCopter - Log.pde - changed MOT output to dataflash to take values from AP_Motors class's motor_out array instead of the global motor_out array.
13 years ago
e5710958bc
ArduCopter - GCS_Mavlink.pde - changed output to ground station to use new AP_Motor's class motors array inplace of the global "motor_out" array.
13 years ago
aa4085183c
ArduCopter - Attitude.pde - moved heli_get_angle_boost from heli.pde (which will be removed) to Attitude.pde. In fact we should combine heli_get_angle_boost and the regular get_angle_boost.
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
e0bb7e2777
MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
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the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.
This makes MAVLink work better at low baud rates
13 years ago
7634f541b9
ACM: use set_blocking_writes(false) when we arm motors
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
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
0efb0e5b4d
ArduCopter - added CH6_STABILIZE_KD tuning value
13 years ago
599cea21bb
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
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#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
13 years ago
34506b170f
Mavlink: fixed warnings about limits on int32 values
13 years ago
e0c9ab5a29
ACM: fixed heli build
13 years ago
47f9dfd125
ACM: fixed the build on the 1280
13 years ago
e956e21e7d
ACM: enable the new compass offset nulling in ACM
13 years ago
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
13 years ago
67cf7b9eed
ArduCopter - updated firmware version to 2.5.3
13 years ago
63b96c0153
ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter
13 years ago
89576a281a
ArduCopter - updated to firmware version to 2.5.2 to avoid confusion with post 2.5.1 versions posted to downloads area
13 years ago
84d8414a2e
Fix Auto_Trim to allow it to actually be called when setup on Ch7 pulldown menu in MP.
13 years ago
e2560c5865
Throttle_hold was in APM_Config - which is ignored by the Mission planner Hex generator
13 years ago
ad4a2aa9f3
ArduCopter - motors_quad.pde - corrected test sequence for + configuration
13 years ago
66c4f752e3
ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint
13 years ago
1dd554c333
ArduCopter - updated version to 2.5.1
13 years ago
0773a25b5d
ArduCopter - increased default THROTTLE_CRUISE to 450
13 years ago
22315cd41a
ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!)
13 years ago
458d55e5bc
MAVLink: constrain variable changes to the datatype range
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if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
13 years ago
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
13 years ago
Adam M Rivera
rmackay9
Andrew Tridgell
Robert Lefebvre
Jason Short