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13,351 Commits 71 Branches 509 Tags 743 MiB
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479 Commits

Author SHA1 Message Date
Randy Mackay 0d2954b5a4 Copter: landing detector checks baro climb rate 
Barometer climb rate must be -150cm/s ~ +150cm/s
This threshold is generous because we already use the inertial
navigation climb rate so this is just to catch cases where inertial nav
is very incorrect in it's climbrate estimates
 2014-10-22 17:40:53 +09:00
Jonathan Challinger 0335138683 Copter: print frame type in log headers 2014-10-22 14:57:31 +09:00
Randy Mackay 470fcc2077 Copter: add DCM_CHECK_THRESH parameter 2014-10-16 17:27:15 +09:00
Randy Mackay a95b8f1b0e Copter: Rate Pitch IMAX default to 1000 
Spotted by Jonathan Challinger, thanks!
 2014-10-07 21:07:40 +09:00
Randy Mackay 5891cd3078 Copter: disable sonar on APM1 and TradHeli on APM2 2014-10-07 14:13:35 +09:00
Randy Mackay a1e707b7f9 Copter: cleanup enabling of cli and frsky telem for APM 2014-10-07 12:57:09 +09:00
Randy Mackay 1cf7f7eaa9 Copter: increase Alt Disparity check to 2m 2014-09-20 12:27:40 +09:00
Randy Mackay 7f9709300c Copter: soften loiter target when maybe landed 
Applies to auto's land, land, loiter, pos hold and rtl flight modes
 2014-09-19 22:41:35 +09:00
Randy Mackay a1ea43461a Copter: typo fix for baro vs inav alt disparity definition 2014-09-19 22:41:28 +09:00
Randy Mackay b8c74b7363 Copter: define limit for baro vs inav alt disparity 2014-09-19 22:41:25 +09:00
Randy Mackay 0a3ec84e86 Copter: THR_ACCEL_IMAX default to 800 2014-09-12 15:04:29 +09:00
Randy Mackay 4b47a618a4 Copter: reduce alt hold defaults 
Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
 2014-09-09 16:45:11 +09:00
Randy Mackay 62a4e66481 Copter: increase EKF_CHECK_THRESH default to 0.8 
Also remove unused #define related to inertial nav check (now removed)
 2014-09-09 15:18:15 +09:00
Randy Mackay cdc4038f27 Copter: pre-arm consistency check of gyros 2014-09-04 15:23:56 +09:00
Randy Mackay dbb0283dba Copter: land check gets overall throttle and rotation rate check 
add check that overall throttle level is below the non-takeoff throttle
instead of just checking that it's motors have hit their lower limits
because low limits can also be caused by high yaw rotation requests.
Absolute climb rate requirement reduced to 30cm/s
 2014-09-04 15:23:53 +09:00
Randy Mackay 8e7b93d1b7 Copter: pre-arm consistency check of accels 2014-09-03 13:52:58 +09:00
Randy Mackay 15508c49ef Copter: default LAND_REPOSITION to 1 2014-08-31 11:40:06 +09:00
Randy Mackay 68df421484 Copter: throttle deadzone parameter 
Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
 2014-08-31 10:19:03 +09:00
Randy Mackay 7802c85b5f Copter: pre-arm check of internal vs ext compass 2014-08-26 22:44:20 +09:00
Randy Mackay 6fc5014a84 Copter: increase sonar timeout to 1sec 
Contributed by Julien Dubois.
 2014-08-14 19:37:00 +09:00
Randy Mackay f3fd79597f Copter: add ACRO_EXPO parameter 2014-08-14 11:47:37 +09:00
Randy Mackay 7b9fa1ea79 Copter: rate IMAX increase to 1000 2014-08-04 11:31:02 +09:00
Randy Mackay 4e2683421c Copter: disable parachute and rally on APM1 2014-08-01 15:14:40 +09:00
Randy Mackay b52f8351e8 Copter: rename EKFCHECK_COMPASS to EKFCHECK_THRESH 
Renamed because this threshold is now used for both compass and velocity
variance.
Also minor reorganisation of ekfcheck but no functional change.
 2014-07-31 22:58:43 +09:00
Matthias Badaire 147e91877e Copter: Add SERIAL2_PROTOCOL for GCS and FRsky telemtry 
this allows selection of protocol type on telem2. The default is
MAVLink, but can be selected as FrSky protocol
 2014-07-29 17:08:19 -07:00
akdslr dc67058771 ArduCopter: Removed CONFIG_SONAR_SOURCE, SONAR_SOURCE_ADC, and SONAR_SOURCE_ANALOG_PIN since no longer used 2014-07-24 14:41:55 +10:00
Randy Mackay a4a4334b13 Copter: add EKFCHECK_COMPASS parameter 2014-07-22 23:13:22 +09:00
Craig Elder 07d43534c1 Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 19:41:43 -07:00
Craig Elder e85c9f078d Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:02:32 -07:00
Andrew Tridgell 49954a3a61 Copter: use sensors from board subtypes 2014-07-14 09:44:35 +10:00
Randy Mackay 65e5367619 Copter: rename hybrid to poshold 2014-07-11 14:09:01 +09:00
Jonathan Challinger 09a01a4668 Copter: Wait 4 seconds before beginning to land during failsafes 2014-07-06 20:25:04 +09:00
Jonathan Challinger 5b36e65cb9 Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents 2014-07-06 19:20:25 +09:00
Randy Mackay fdc0ec837b Copter: add nav_guided suport to Auto mode 2014-07-06 17:00:31 +09:00
Randy Mackay db000f2287 Copter: remove setting rate and thr D term filters 2014-05-29 17:40:24 +09:00
Robert Lefebvre 5eb206e6bb Copter: Add 'handle' to allow #define updating of AC_PID filter rate for Throttle Accel. 2014-05-29 17:39:16 +09:00
Robert Lefebvre df1de4260d Copter: Set Rate PID D-term filter rates on initialization. 2014-05-29 17:39:12 +09:00
Randy Mackay 20719e23fd Copter: enable PARACHUTE and RALLY for all but APM 2014-05-27 14:43:33 +09:00
Randy Mackay ff1a58e078 Copter: increase LOITER_RATE_IMAX to 1000 
This allows us to load up the I term with the vehicle's current
acceleration during mode transitions

pair programmed with Randy
 2014-05-08 16:15:34 +09:00
Randy Mackay d857427444 Copter: disable RALLY points by default 
This saves 2k of flash which allows the code to fix on the APM1/2
 2014-04-30 21:46:21 +09:00
Randy Mackay a4c675c23e Copter: add PILOT_ACCEL_Z parameter 
Allows configurable z-axis acceleration when pilot is controlling
altitude
 2014-04-30 21:46:13 +09:00
Randy Mackay 19f1e7fec4 Copter: disable Parachute by default 
This saves 1k of flash and we are desperately low on the APM1/APM2.
Hopefully we can find savings somewhere and re-enable it by default.
 2014-04-24 19:02:32 +09:00
Randy Mackay 287af8f66e Copter: disable optical flow by default 
We have run out of flash on the APM2, it was a choice between Hybrid
flight mode and OF_Loiter
 2014-04-23 15:27:08 +09:00
Randy Mackay 55e7e1eb3e Copter: allow HYBRID to be disabled to save flash 
Hybrid flight mode costs 4.5k of flash which currently puts us over the
limit for APM1 and APM2 unless optical flow or other features are
disabled
 2014-04-23 15:27:05 +09:00
Ju1ien f8e8d4024d Copter: Hybrid's max brake angle to 30deg 2014-04-23 14:59:53 +09:00
Randy Mackay f467d7bc20 Copter: add Hybrid parameters 2014-04-23 14:59:25 +09:00
Randy Mackay 5fc071f5f9 Copter: restore SITL to run at 100hz 2014-04-21 21:46:22 +09:00
Randy Mackay 8ac14023b4 Copter: set main loop rate from CPU class 
Previously this was determined by the board
 2014-04-21 13:32:00 +09:00
Andrew Chapman fa3732ac6d Copter: integrate AP_Rally 2014-04-19 15:00:23 +09:00
Emile Castelnuovo 9e31f032c2 Copter: added VRBRAIN board #includes and #defines 2014-04-08 16:19:20 +10:00