* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
a separate macro expansion for the MSK value.
when we clip a motor output we need to decrease the opposite motor by
the same amount, otherwise we lose the ability to control the quad
when the servo outputs are extreme
Found using the quad HIL test. Thanks to Jani for testing this on a
real quad!
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2929 f9c3cf11-9bcb-44bc-f272-b75c42450872
Added Yaw control when descending in Alt hold
lowered kP & kD for Alt hold a tad
Adjusted RTL behavior to do speed control up to 4m to home, then go into Loiter
Fixed issue with AUTO not getting proper input.
Added Limit to high side of motors
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2874 f9c3cf11-9bcb-44bc-f272-b75c42450872
Fixed GCS updates,
Clear GCS Streamrates by default.
moved fast PWM functions to run all the time (for quads, experiment)
cleaned up Mavlink a bit.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2678 f9c3cf11-9bcb-44bc-f272-b75c42450872
changed Yaw to be offset from current angle to avoid the kick back.
Made minimum motor speed user settable, upped to 13% (130)
tweaked alt hold D to be higher and P to be slightly lower.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2579 f9c3cf11-9bcb-44bc-f272-b75c42450872
Includes updated motor tests. These need to be verified.
Nav loiter D was added (.03) - verify this helps.
Nav_lat is now filtered for Rate control. This is to keep jerky pitching to a minimum.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2448 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
Pat Hickey
Jason Short
Andrew Tridgell
Jason Short
Olivier ADLER
jasonshort
tridge60@gmail.com