restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
Before: -> After
Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value)
Stabilize I –> Stabilize I (Stays same value)
Stabilize D –> Rate P (Stays same value)
–> Rate I (new)
Added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs.
Added framework for using DCM corrected Accelerometer rates. Code is commented out for now.
Added set home at Arming.
Crosstrack is now a full PID loop, rather than just a P gain for more control.
Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions
Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written.
Added Octa_Quad support - Max
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2836 f9c3cf11-9bcb-44bc-f272-b75c42450872
new Loiter PIDs
tuned down control on standard frame
shunk the mixing range for sonar from 3 meters to 2 meters
added framework for Guided mode - not tested!
removed pitch and roll deadzone
decoupled SIMPLE mode from LOITER PIDs
Synced Mavlink with APM
Logs report correct WP number now.
disabled Sonar spike filter.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2722 f9c3cf11-9bcb-44bc-f272-b75c42450872
updated motor setup test to be sequencial pulses of the motors in CW order.
Fixed Mission scripting logic
fixed Free yaw error in neutral throttle
fixed D term issue with Baro hold - was too high
incremented firmware revision, removed frame var
removed setup show from startup
removed unused EEPROM functions
fixed broken demo mission
fixed non working loiter with delay
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2275 f9c3cf11-9bcb-44bc-f272-b75c42450872
The trunk is unstable, so please be careful. I've made a lot of changes based on the Sparkfun challange. Most include how we handle things like altitude, but the mission scripting has also been updated as well.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1920 f9c3cf11-9bcb-44bc-f272-b75c42450872
removed FBW mode - no longer needed
added set_throttle_cruise_flag to auto set the throttle value for alt hold
added altitude minimum option for waypoints
added support for relative WPs
added support for Yaw tracking per WP in options bitmask
lowered default sonar kD value
increased minimal value to set the throttle cruise value with CH7 switch
updated README.txt
added additional stock test missions available in CLI
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1856 f9c3cf11-9bcb-44bc-f272-b75c42450872
this fixes the build with HIL_MODE_ATTITUDE and MAVLink enabled. Basic
MAVLink operation works.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1737 f9c3cf11-9bcb-44bc-f272-b75c42450872
Jason Short
Jason Short
Jason Short
Andrew Tridgell
jasonshort
tridge60@gmail.com