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ArduCopter/ArduCopter.pde
View file @ 62e7778b
......@@ -449,13 +449,6 @@ static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.si
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4);
#endif
////////////////////////////////////////////////////////////////////////////////
// PIDs
////////////////////////////////////////////////////////////////////////////////
// This is used to hold radio tuning values for in-flight CH6 tuning
float tuning_value;
////////////////////////////////////////////////////////////////////////////////
// GPS variables
////////////////////////////////////////////////////////////////////////////////
......@@ -1116,8 +1109,8 @@ static void three_hz_loop()
update_events();
if(g.radio_tuning > 0)
tuning();
// update ch6 in flight tuning
tuning();
}
// one_hz_loop - runs at 1Hz
......@@ -1340,197 +1333,5 @@ static void update_altitude()
}
}
static void tuning(){
// exit immediately when radio failsafe is invoked so tuning values are not set to zero
if (failsafe.radio || failsafe.radio_counter != 0) {
return;
}
tuning_value = (float)g.rc_6.control_in / 1000.0f;
g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high); // 0 to 1
switch(g.radio_tuning) {
// Roll, Pitch tuning
case CH6_STABILIZE_ROLL_PITCH_KP:
g.p_stabilize_roll.kP(tuning_value);
g.p_stabilize_pitch.kP(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KP:
g.pid_rate_roll.kP(tuning_value);
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KI:
g.pid_rate_roll.kI(tuning_value);
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KD:
g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value);
break;
// Yaw tuning
case CH6_STABILIZE_YAW_KP:
g.p_stabilize_yaw.kP(tuning_value);
break;
case CH6_YAW_RATE_KP:
g.pid_rate_yaw.kP(tuning_value);
break;
case CH6_YAW_RATE_KD:
g.pid_rate_yaw.kD(tuning_value);
break;
// Altitude and throttle tuning
case CH6_ALTITUDE_HOLD_KP:
g.p_alt_hold.kP(tuning_value);
break;
case CH6_THROTTLE_RATE_KP:
g.p_throttle_rate.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KP:
g.pid_throttle_accel.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KI:
g.pid_throttle_accel.kI(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KD:
g.pid_throttle_accel.kD(tuning_value);
break;
// Loiter and navigation tuning
case CH6_LOITER_POSITION_KP:
g.p_loiter_pos.kP(tuning_value);
break;
case CH6_LOITER_RATE_KP:
g.pid_loiter_rate_lon.kP(tuning_value);
g.pid_loiter_rate_lat.kP(tuning_value);
break;
case CH6_LOITER_RATE_KI:
g.pid_loiter_rate_lon.kI(tuning_value);
g.pid_loiter_rate_lat.kI(tuning_value);
break;
case CH6_LOITER_RATE_KD:
g.pid_loiter_rate_lon.kD(tuning_value);
g.pid_loiter_rate_lat.kD(tuning_value);
break;
case CH6_WP_SPEED:
// set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
wp_nav.set_speed_xy(g.rc_6.control_in);
break;
// Acro roll pitch gain
case CH6_ACRO_RP_KP:
g.acro_rp_p = tuning_value;
break;
// Acro yaw gain
case CH6_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value;
break;
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
motors.ext_gyro_gain(g.rc_6.control_in);
break;
case CH6_RATE_PITCH_FF:
g.pid_rate_pitch.ff(tuning_value);
break;
case CH6_RATE_ROLL_FF:
g.pid_rate_roll.ff(tuning_value);
break;
case CH6_RATE_YAW_FF:
g.pid_rate_yaw.ff(tuning_value);
break;
#endif
case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value);
break;
case CH6_AHRS_KP:
ahrs._kp.set(tuning_value);
break;
case CH6_DECLINATION:
// set declination to +-20degrees
compass.set_declination(ToRad((2.0f * g.rc_6.control_in - g.radio_tuning_high)/100.0f), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
break;
case CH6_CIRCLE_RATE:
// set circle rate
circle_nav.set_rate(g.rc_6.control_in/25-20); // allow approximately 45 degree turn rate in either direction
break;
case CH6_SONAR_GAIN:
// set sonar gain
g.sonar_gain.set(tuning_value);
break;
#if 0
// disabled for now - we need accessor functions
case CH6_EKF_VERTICAL_POS:
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
break;
case CH6_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
break;
case CH6_EKF_ACCEL_NOISE:
// EKF's accel noise (lower means trust accels more, gps & baro less)
ahrs.get_NavEKF()._accNoise = tuning_value;
break;
#endif
case CH6_RC_FEEL_RP:
// roll-pitch input smoothing
g.rc_feel_rp = g.rc_6.control_in / 10;
break;
case CH6_RATE_PITCH_KP:
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_PITCH_KI:
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_RATE_PITCH_KD:
g.pid_rate_pitch.kD(tuning_value);
break;
case CH6_RATE_ROLL_KP:
g.pid_rate_roll.kP(tuning_value);
break;
case CH6_RATE_ROLL_KI:
g.pid_rate_roll.kI(tuning_value);
break;
case CH6_RATE_ROLL_KD:
g.pid_rate_roll.kD(tuning_value);
break;
}
}
AP_HAL_MAIN();
ArduCopter/control_drift.pde
View file @ 62e7778b
......@@ -5,7 +5,10 @@
*/
#ifndef DRIFT_SPEEDGAIN
# define DRIFT_SPEEDGAIN 14.0f
# define DRIFT_SPEEDGAIN 8.0f
#endif
#ifndef DRIFT_SPEEDLIMIT
# define DRIFT_SPEEDLIMIT 560.0f
#endif
#ifndef DRIFT_THR_ASSIST_GAIN
......@@ -38,6 +41,7 @@ static bool drift_init(bool ignore_checks)
static void drift_run()
{
static float breaker = 0.0;
static float roll_input = 0.0;
int16_t target_roll, target_pitch;
float target_yaw_rate;
int16_t pilot_throttle_scaled;
......@@ -63,16 +67,21 @@ static void drift_run()
float roll_vel = vel.y * ahrs.cos_yaw() - vel.x * ahrs.sin_yaw(); // body roll vel
float pitch_vel = vel.y * ahrs.sin_yaw() + vel.x * ahrs.cos_yaw(); // body pitch vel
float pitch_vel2 = min(fabs(pitch_vel), 800);
// gain sceduling for Yaw
float pitch_vel2 = min(fabs(pitch_vel), 2000);
target_yaw_rate = ((float)target_roll/1.0f) * (1.0f - (pitch_vel2 / 5000.0f)) * g.acro_yaw_p;
// simple gain scheduling for yaw input
target_yaw_rate = (float)(target_roll/2.0f) * (1.0f - (pitch_vel2 / 2400.0f)) * g.acro_yaw_p;
roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
roll_input = roll_input * .96 + (float)g.rc_4.control_in * .04;
roll_vel = constrain_float(roll_vel, -322, 322);
pitch_vel = constrain_float(pitch_vel, -322, 322);
//convert user input into desired roll velocity
float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
// always limit roll
target_roll = roll_vel * -DRIFT_SPEEDGAIN;
// Roll velocity is feed into roll acceleration to minimize slip
target_roll = roll_vel_error * -DRIFT_SPEEDGAIN;
target_roll = constrain_int16(target_roll, -4500, 4500);
// If we let go of sticks, bring us to a stop
if(target_pitch == 0){
......
ArduCopter/tuning.pde 0 → 100644
View file @ 62e7778b
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* tuning.pde - function to update various parameters in flight using the ch6 tuning knob
* This should not be confused with the AutoTune feature which can bve found in control_autotune.pde
*/
// tuning - updates parameters based on the ch6 tuning knob's position
// should be called at 3.3hz
static void tuning() {
// exit immediately if not tuning of when radio failsafe is invoked so tuning values are not set to zero
if ((g.radio_tuning <= 0) || failsafe.radio || failsafe.radio_counter != 0) {
return;
}
float tuning_value = (float)g.rc_6.control_in / 1000.0f;
g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high);
switch(g.radio_tuning) {
// Roll, Pitch tuning
case CH6_STABILIZE_ROLL_PITCH_KP:
g.p_stabilize_roll.kP(tuning_value);
g.p_stabilize_pitch.kP(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KP:
g.pid_rate_roll.kP(tuning_value);
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KI:
g.pid_rate_roll.kI(tuning_value);
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KD:
g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value);
break;
// Yaw tuning
case CH6_STABILIZE_YAW_KP:
g.p_stabilize_yaw.kP(tuning_value);
break;
case CH6_YAW_RATE_KP:
g.pid_rate_yaw.kP(tuning_value);
break;
case CH6_YAW_RATE_KD:
g.pid_rate_yaw.kD(tuning_value);
break;
// Altitude and throttle tuning
case CH6_ALTITUDE_HOLD_KP:
g.p_alt_hold.kP(tuning_value);
break;
case CH6_THROTTLE_RATE_KP:
g.p_throttle_rate.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KP:
g.pid_throttle_accel.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KI:
g.pid_throttle_accel.kI(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KD:
g.pid_throttle_accel.kD(tuning_value);
break;
// Loiter and navigation tuning
case CH6_LOITER_POSITION_KP:
g.p_loiter_pos.kP(tuning_value);
break;
case CH6_LOITER_RATE_KP:
g.pid_loiter_rate_lon.kP(tuning_value);
g.pid_loiter_rate_lat.kP(tuning_value);
break;
case CH6_LOITER_RATE_KI:
g.pid_loiter_rate_lon.kI(tuning_value);
g.pid_loiter_rate_lat.kI(tuning_value);
break;
case CH6_LOITER_RATE_KD:
g.pid_loiter_rate_lon.kD(tuning_value);
g.pid_loiter_rate_lat.kD(tuning_value);
break;
case CH6_WP_SPEED:
// set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
wp_nav.set_speed_xy(g.rc_6.control_in);
break;
// Acro roll pitch gain
case CH6_ACRO_RP_KP:
g.acro_rp_p = tuning_value;
break;
// Acro yaw gain
case CH6_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value;
break;
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
motors.ext_gyro_gain(g.rc_6.control_in);
break;
case CH6_RATE_PITCH_FF:
g.pid_rate_pitch.ff(tuning_value);
break;
case CH6_RATE_ROLL_FF:
g.pid_rate_roll.ff(tuning_value);
break;
case CH6_RATE_YAW_FF:
g.pid_rate_yaw.ff(tuning_value);
break;
#endif
case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value);
break;
case CH6_AHRS_KP:
ahrs._kp.set(tuning_value);
break;
case CH6_DECLINATION:
// set declination to +-20degrees
compass.set_declination(ToRad((2.0f * g.rc_6.control_in - g.radio_tuning_high)/100.0f), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
break;
case CH6_CIRCLE_RATE:
// set circle rate
circle_nav.set_rate(g.rc_6.control_in/25-20); // allow approximately 45 degree turn rate in either direction
break;
case CH6_SONAR_GAIN:
// set sonar gain
g.sonar_gain.set(tuning_value);
break;
#if 0
// disabled for now - we need accessor functions
case CH6_EKF_VERTICAL_POS:
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
break;
case CH6_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
break;
case CH6_EKF_ACCEL_NOISE:
// EKF's accel noise (lower means trust accels more, gps & baro less)
ahrs.get_NavEKF()._accNoise = tuning_value;
break;
#endif
case CH6_RC_FEEL_RP:
// roll-pitch input smoothing
g.rc_feel_rp = g.rc_6.control_in / 10;
break;
case CH6_RATE_PITCH_KP:
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_PITCH_KI:
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_RATE_PITCH_KD:
g.pid_rate_pitch.kD(tuning_value);
break;
case CH6_RATE_ROLL_KP:
g.pid_rate_roll.kP(tuning_value);
break;
case CH6_RATE_ROLL_KI:
g.pid_rate_roll.kI(tuning_value);
break;
case CH6_RATE_ROLL_KD:
g.pid_rate_roll.kD(tuning_value);
break;
}
}
ArduPlane/ArduPlane.pde
View file @ 62e7778b
......@@ -154,7 +154,6 @@ static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
////////////////////////////////////////////////////////////////////////////////
// DataFlash
////////////////////////////////////////////////////////////////////////////////
#if LOGGING_ENABLED == ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
static DataFlash_APM1 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
......@@ -165,7 +164,6 @@ static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
// no dataflash driver
DataFlash_Empty DataFlash;
#endif
#endif
// has a log download started?
static bool in_log_download;
......
ArduPlane/GCS_Mavlink.pde
View file @ 62e7778b
......@@ -1084,7 +1084,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// run pre_arm_checks and arm_checks and display failures
if (arming.arm(AP_Arming::MAVLINK)) {
//only log if arming was successful
channel_throttle->enable_out();
channel_throttle->enable_out();
Log_Arm_Disarm();
result = MAV_RESULT_ACCEPTED;
} else {
......
ArduPlane/Log.pde
View file @ 62e7778b
......@@ -654,9 +654,11 @@ static void Log_Write_IMU() {}
static void Log_Write_RC() {}
static void Log_Write_Airspeed(void) {}
static void Log_Write_Baro(void) {}
static void Log_Write_Sonar() {}
#if OPTFLOW == ENABLED
static void Log_Write_Optflow() {}
#endif
static void Log_Arm_Disarm() {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {
return 0;
......
ArduPlane/system.pde
View file @ 62e7778b
......@@ -672,7 +672,9 @@ static bool should_log(uint32_t mask)
// we have to set in_mavlink_delay to prevent logging while
// writing headers
in_mavlink_delay = true;
#if LOGGING_ENABLED == ENABLED
start_logging();
#endif
in_mavlink_delay = false;
}
return ret;
......
Tools/scripts/build_all_travis.sh
View file @ 62e7778b
......@@ -16,6 +16,8 @@ for b in all apm2 sitl linux; do
make clean
make $b -j4
done
make clean
make apm1-nologging
popd
for d in ArduCopter APMrover2 ArduPlane AntennaTracker; do
......
libraries/AC_AttitudeControl/AC_PosControl.cpp
View file @ 62e7778b
......@@ -325,7 +325,6 @@ void AC_PosControl::rate_to_accel_z()
// Reset Filter
_vel_error.z = 0;
_vel_error_filter.reset(0);
desired_accel = 0;
_flags.reset_rate_to_accel_z = false;
} else {
// calculate rate error and filter with cut off frequency of 2 Hz
......
libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde
View file @ 62e7778b
......@@ -72,7 +72,7 @@ void loop()
(int)gps.ground_course_cd() / 100,
gps.num_sats(),
gps.time_week(),
gps.time_week_ms(),
(unsigned long)gps.time_week_ms(),
gps.status());
}
hal.scheduler->delay(10);
......
mk/apm.mk
View file @ 62e7778b
......@@ -16,6 +16,12 @@ include $(MK_DIR)/configure.mk
else
# short-circuit build for the help target
ifeq ($(MAKECMDGOALS),help)
include $(MK_DIR)/help.mk
else
# common makefile components
include $(MK_DIR)/targets.mk
include $(MK_DIR)/sketch_sources.mk
......@@ -53,3 +59,5 @@ endif
endif
endif
endif
mk/help.mk 0 → 100644
View file @ 62e7778b
help:
@echo ""
@echo " ArduPilot Building"
@echo " =================="
@echo ""
@echo " The following web page has detailed information on building the code"
@echo " http://dev.ardupilot.com/wiki/building-the-code/"
@echo ""
@echo " Before building a target you need to be in the target vehicle type directory"
@echo " e.g. ArduPlane, ArduCopter, APMrover2, AntennaTracker"
@echo " and run \"make configure\""
@echo ""
@echo " Most targets support a \"-upload\" extension to upload the firmware"
@echo " to a connected board. e.g. \"make px4-v2-upload\""
@echo ""
@echo " Note that the px4 builds are NOT parallel safe, NO -j flag"
@echo ""
@echo " Targets"
@echo " -------"
@echo ""
@echo " configure - Set up build for vehicle type"
@echo ""
@echo " all - Build all targets"
@echo ""
@echo " apm1 - the APM1 board"
@echo " apm2 - the APM2 board"
@echo " px4-v1 - the PX4v1 board"
@echo " px4-v2 - the Pixhawk"
@echo " pxf - the Beagle Bone Black (BBB) + PXF cape combination"
@echo " navio - the RaspberryPi + NavIO cape combination"
@echo " linux - a generic Linux build"
@echo " flymaple - the FlyMaple board"
@echo " vrbrain - the VRBrain boards"
@echo " stil - the SITL Software In The Loop simulation"
@echo " bbbmini - the Beagle Bone Black mini"
mk/targets.mk
View file @ 62e7778b
......@@ -60,8 +60,11 @@ empty: all
# cope with OBC targets
%-obc: EXTRAFLAGS += "-DOBC_FAILSAFE=ENABLED "
# cope with -nologging
%-nologging: EXTRAFLAGS += "-DLOGGING_ENABLED=DISABLED "
# cope with copter and hil targets
FRAMES = quad tri hexa y6 octa octa-quad heli single obc
FRAMES = quad tri hexa y6 octa octa-quad heli single obc nologging
BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrubrain-v51 vrhero-v10 erle pxf navio bbbmini
define frame_template
......