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8,692 Commits 71 Branches 510 Tags 772 MiB
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2356 Commits

Author SHA1 Message Date
Robert Lefebvre
cea0812b82 TradHeli: Rate PID Improvement. Limit Integrator wind-up when PID output is saturated. Also a little bit of general clean-up for readability. 2013-07-19 16:16:01 +09:00
Craig3DR
e25b8933f3 Copter: Remove CH7 & CH8 Enable / Disable of GeoFence 2013-07-18 17:06:53 +09:00
Andrew Tridgell
0b27bb05d4 Copter: fixed FENCE and WPNAV parameter doc generation 2013-07-18 14:58:24 +10:00
Randy Mackay
41ba4a1ed2 Copter: initialise ch7 and ch8 aux switches 
This ensures that if you have simple mode or sonar attached to an
auxiliary switch it will be enabled or disabled according to the switch
immediately after start-up
 2013-07-16 22:05:59 +09:00
Randy Mackay
1dcc5886d0 Copter: ensure take-off alt is at least 1m 
fixes issue #377
 2013-07-16 15:51:18 +09:00
Randy Mackay
e6412b6996 Copter: do not spin motors during arming process 2013-07-16 12:47:57 +09:00
Jonathan Challinger
9f51a4a4f7 Copter: Cancel arming if throttle input above cruise_throttle. 2013-07-16 12:47:55 +09:00
Jonathan Challinger
2725f219cb Copter: Warn user with motors while copter is arming 2013-07-16 12:47:51 +09:00
Randy Mackay
02b64e259d Copter: bug fix for descent during loiter_turns 2013-07-15 20:44:56 +09:00
Andrew Tridgell
9a159a5e23 Copter: make wp_distance static 
removed hack with AP_Camera library
 2013-07-15 09:56:45 +10:00
Randy Mackay
47ab02d686 Copter: bug fix to ROI to pull target from conditional command queue 2013-07-14 17:37:06 +09:00
Randy Mackay
f1969d5662 Copter: switch from NAV_ROI to DO_SET_ROI 2013-07-14 17:37:05 +09:00
Randy Mackay
2b5f6e2668 Copter: pre-arm checks for rc ch 1~4 min and max 2013-07-13 21:38:22 +09:00
Randy Mackay
213472102c Copter: pre-arm check of throttle failsafe value 
Check throttle min is above throttle failsafe trigger and that trigger
is above ppm encoder's loss-of-signal value of 900
 2013-07-13 20:25:34 +09:00
Randy Mackay
6bfcd28ade Copter: thr failsafe will not RTL if in batt failsafe 
resolves issue #413
 2013-07-13 19:49:25 +09:00
Randy Mackay
5a40ee7a38 Copter: fix to gps present check in mavlink extended status 1 msg 2013-07-13 10:27:50 +09:00
Randy Mackay
66d7f7b026 Copter: GCS_mavlink only send waypoints to gcs3 if initialised 
Also Load parameter defaults at initialisation (although defaults are
all zero anyway so should have no effect)
 2013-07-13 10:12:01 +09:00
Randy Mackay
aefb38e486 Copter: remove param to disable accel based throttle controller 2013-07-12 22:57:30 +09:00
Randy Mackay
d5b4c44926 Copter: comment fix for flight mode switch delay const 2013-07-12 22:29:14 +09:00
Rayjan Wilson
07ca8ef87a attempt to change from 1/10th second to 2/10th second on flight mode switch 2013-07-12 21:57:35 +09:00
Randy Mackay
53bff2b63e Copter: cli to report ch8 radio values 2013-07-12 21:46:03 +09:00
Randy Mackay
2f4221391e Copter: set_dead_zone renamed to set_default_dead_zone 
Dead zones now set as part of rc initialisation instead of only after
eeprom is erased.
Change in use of parameter means value passed in should be 1/2 what it
was previously
 2013-07-12 11:44:23 +09:00
Randy Mackay
1685ff274d TradHeli: compile error fix related to new ACRO 
The motors_runup_complete must be a feature that Rob has implemented in
his clone which has not yet reached master.  We will need to restore
these lost few trad-heli specific lines once Rob's changes make it to
master.
 2013-07-11 22:33:55 +09:00
Leonard Hall
64ce9b017d Copter: Body frame ACRO upgrade 2013-07-11 17:53:25 +09:00
Randy Mackay
6dd446ac79 Copter: firmware version to 3.0.1 2013-07-11 16:45:05 +09:00
Andrew Tridgell
5ae62f4f04 Copter: fixed build with specified GPS driver 2013-07-11 14:27:42 +10:00
Randy Mackay
ac5d925115 Copter: revert Loiter Pos P to 1.0 (was 0.8) 2013-07-11 12:20:31 +09:00
Randy Mackay
1590a5d58a Copter: increase Yaw Rate I 0.02 2013-07-11 12:20:29 +09:00
Randy Mackay
ab1a7baf71 Copter: project stopping point for loiter command 2013-07-11 11:39:47 +09:00
Randy Mackay
d77f7bc803 Copter: default Loiter Pos P to 0.8 (was 0.2) 2013-07-11 08:13:17 +09:00
Randy Mackay
ec65764750 Copter: typo in release notes 2013-07-11 08:04:45 +09:00
Randy Mackay
ab09dc46fb Copter: update release notes 2013-07-10 21:20:01 +09:00
Randy Mackay
345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter 
Also removed unused _lean_angle_max variable
 2013-07-10 20:00:32 +09:00
Randy Mackay
8cb7bd628e Copter: change firmware version to 3.0.1-rc2 2013-07-10 15:52:21 +09:00
Randy Mackay
f459d35e3e Copter: roll-pitch fix to allow I to reduce 
Contributed by Leonard Hall
 2013-07-10 15:52:15 +09:00
Andrew Tridgell
da4137b731 Copter: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell
c544a076ca Copter: enable camera logging by default 
these messages only happen on user defined camera triggering, so
should be low rate
 2013-07-10 12:24:02 +10:00
Craig@3DR
bbd4fbd2fb Copter: trigger + logging on camera update_location() 2013-07-10 08:39:59 +10:00
Tobias
cf426fcb3e Copter: fixed a compiler warning 
* removed useless comparison: if (int8_t t >= 255) ...
* revealed by -Wtype-limits
* saved 6 bytes
 2013-07-08 14:53:30 +10:00
Randy Mackay
ed3bf2c1e7 Copter: relax pre-arm checks for mag field 
previously it was 50% ~ 150% of expected mag field but now expanded to
35% ~ 165%.
 2013-07-07 18:00:36 -10:00
tobias
4e73cf810e Copter: added cast to remove compiler warning 2013-07-08 12:07:50 +10:00
Randy Mackay
45f47de98d Copter: reduce default Loiter Pos P to 0.2 (was 1.0) 2013-07-07 16:00:09 -10:00
Randy Mackay
9361e9fe32 Coper: compile error fix when FENCE disabled 2013-07-05 17:22:05 -10:00
Randy Mackay
227185fd0f Copter: remove constraint on rate yaw controller 2013-07-05 14:18:58 -10:00
Randy Mackay
40612ed551 Copter: yaw limit fix to allow I to reduce 
We now allow the I term even if we've hit the yaw limits as long as
updating the I term will reduce it
 2013-07-05 13:52:03 -10:00
Randy Mackay
0cf4ac088a Copter: restore LEDs to off state when auto-trim completes 2013-07-04 16:38:28 -10:00
Randy Mackay
79d2fe6271 Copter: double flash arming light when pre-arm checks fail 
Hardly my finest work but it's temporary because we're going to replace
all the led, buzzer etc with a library called AP_Notify in the near
future.
 2013-07-04 16:26:22 -10:00
tstellanova
459c47fa46 Fix test_ins 
Fix output format of test_ins and fix the number of parameters passed
to printf
 2013-07-02 23:42:48 -10:00
Randy Mackay
404cd5f3da Copter: rename g.pid_throttle to g.pid_throttle_rate 
Small code clean-up to make throttle rate controller's pid more obvious
 2013-06-30 00:04:21 -10:00
Randy Mackay
b3da8a462f Copter: CH6 tuning definition clean-up 
Renamed and reorganised the CH6 #defines and parameter definitions
 2013-06-29 23:51:43 -10:00
Dr Gareth Owen
e0dcd680f7 proposed radio failsafe bug fix 2013-06-27 17:13:01 -10:00
Randy Mackay
917ae883a0 Copter: revert prev changes to battery failsafe 
The battery failsafe should remain independent of any throttle failsafe
behaviour settings
 2013-06-27 10:30:46 -10:00
Robert Gayle
917edcab11 Copter: added FS_THR_ENABLED_ALWAYS_LAND (=3) option: don't attempt RTL, just land 2013-06-27 10:19:38 -10:00
Olivier-ADLER
eaa0e36954 Copter: CompassMot current calibration 
Was using a hardcoded (330) value instead of COMPASS_MAGFIELD_EXPECTED define
 2013-06-26 20:54:03 -10:00
Jonathan Challinger
b21bc5a85a Copter: Fixed bug in battery current integration 2013-06-26 17:22:37 +09:00
Randy Mackay
0592475959 Copter: change firmware version to 3.0.0-rc1 2013-06-26 14:03:28 +09:00
Randy Mackay
cb0e262e24 Copter: GPS Failsafe switch to LAND if circular fence enabled 2013-06-26 11:57:59 +09:00
Randy Mackay
45dfbecaba Copter: update 3.0.1 version and release notes 2013-06-26 00:09:36 +09:00
Randy Mackay
022148ec0d Copter: LAND only control horizontal position if we have GPS lock 2013-06-25 22:34:58 +09:00
Randy Mackay
66cecbfdc3 Copter Fence: bug fix to avoid repeatedly invoking LAND mode 2013-06-25 22:23:31 +09:00
Olivier-ADLER
24e1f074d0 Copter: Fence missing GPS 3D fix check 
Fence was missing GPS 3D fix check before selecting recovery decision.
 2013-06-25 22:23:29 +09:00
Randy Mackay
facd8fc89f Copter: calculate home position and bearing when we have 2D Fix 2013-06-25 22:23:26 +09:00
Olivier-ADLER
f1bedc70ac Copter: SuperSimple mode bug 
SuperSimple bearing was updated without checking for GPS 3D Fix availability.
 2013-06-25 22:23:13 +09:00
Andrew Tridgell
3e82f644ea Copter: enabled CAM_TRIGG_DIST parameter 2013-06-25 12:52:44 +10:00
Andrew Tridgell
76d1791073 Copter: CONFIG_RELAY is not used 2013-06-25 12:47:07 +10:00
Andrew Tridgell
23eade8f74 Copter: enable RELAY_* parameters 2013-06-25 12:46:53 +10:00
Randy Mackay
a48a7f9775 Copter: minor param definition unit changes 2013-06-23 15:52:46 +09:00
Randy Mackay
cd30103b76 Copter: increase default CIRCLE_RATE to 20deg/sec 2013-06-19 12:40:33 +09:00
Randy Mackay
245bc3d3fd Copter: show pilot input in dataflash ATT message even when in AUTO 
AUTO mode ignores pilot input but we still want to be able to see the
pilot's input in the Roll-In and Pitch-In columns of the dataflash's ATT
message
 2013-06-19 12:37:13 +09:00
Randy Mackay
acb4907313 Copter: update FS_THR_VALUE parameter description 
One user was setting FS_THR_VALUE too low, below 900 which means
ArduCopter would not trigger when the ppmencoder pulled ch3 low after
updates from the ppmencoder stopped
 2013-06-18 15:56:39 +09:00
Randy Mackay
b1a014e12e Copter: update firmware version to 3.0.0 2013-06-18 10:03:40 +09:00
Randy Mackay
c42ed1e5eb Copter: add @Increment to PID parameters descriptions 2013-06-16 21:53:50 +09:00
Randy Mackay
069bd17928 Copter: reduce default AltHold P to 1.0 (was 2.0) 
This helps reduce jumpiness due to althold feed forward
 2013-06-16 15:32:25 +09:00
Randy Mackay
b1e089fe29 Copter: update AC3.0-rc6 version and release notes 2013-06-16 11:48:03 +09:00
Randy Mackay
272f0e5032 Copter: reduce twitch when entering CIRCLE mode 
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
 2013-06-15 18:18:30 +09:00
Andrew Tridgell
3ec381094e Copter: fix VOLT_DIVIDER docs 2013-06-07 08:40:37 +10:00
Andrew Tridgell
8703d39475 Copter: the INS object is needed for HIL_MODE_SENSORS 
otherwise we can't level, so can't arm
 2013-06-04 18:09:06 +10:00
Randy Mackay
181beb004d Copter: update AC3.0-rc5 release notes 2013-06-04 15:26:02 +09:00
Randy Mackay
fcf2429e39 Copter: remove throttle controller's ability to limit lean angle 2013-06-04 15:25:59 +09:00
Randy Mackay
dd92a2ba07 Copter: AC3.0-rc5 version and release notes 2013-06-04 15:25:56 +09:00
Andrew Tridgell
ba959fd594 Copter: remove unused define 2013-06-04 10:36:34 +10:00
Randy Mackay
1b08f12d53 Circle: allow counter clockwise rotation 2013-06-03 22:12:56 +09:00
Randy Mackay
40f5226518 Copter: reset yaw angle only when motors not spinning 2013-06-03 22:12:52 +09:00
Andrew Tridgell
340c451caf Copter: fixed off-by-one in rcmapper 
oops ...
 2013-06-03 22:22:26 +10:00
Andrew Tridgell
595d3c694a Copter: make it possible to change board orientation at runtime 2013-06-03 16:52:52 +10:00
Andrew Tridgell
725293b9c3 Copter: removed use of rc_ch[] global array 2013-06-03 16:23:48 +10:00
Randy Mackay
213eaa8db6 Copter: integrate draft RCMapper 2013-06-03 16:23:47 +10:00
Randy Mackay
993bccc60e Copter: point nose at landing point if specified 2013-06-03 15:20:37 +09:00
Randy Mackay
9f59f2724f Copter: bug fix for take-off when throttle is zero 
Verify_takeoff was always returning false if throttle was zero.  The
pilot should be able to move their throttle back to zero immediately
after initiating the mission
 2013-06-03 14:18:56 +09:00
Randy Mackay
13c41e74f2 Copter: reduce pre-arm board voltage check to 4.3V 2013-06-02 20:47:58 +09:00
Randy Mackay
036e6f4f2c Copter: updated AC3-rc4 release notes 2013-06-02 12:21:06 +09:00
Randy Mackay
9e91def774 Copter: update firmware version and release notes 2013-06-02 12:19:36 +09:00
Olivier-ADLER
735406fa77 Copter : POSITION_HOLD mode -> allow user position control 2013-06-02 11:49:18 +09:00
Olivier-ADLER
68470c9176 Copter : Land submode - Check for GPS 3D Fix instead of checking for available home position 2013-06-02 11:49:12 +09:00
Dr Gareth Owen
18e566ccc5 failsafe gps lost bug fix 2013-06-02 11:41:59 +09:00
Randy Mackay
b462bfed84 Copter: remove unused print_wp function 2013-06-02 11:32:38 +09:00
Dr Gareth Owen
4c6d6ea96e changed yaw reset to when armed to not use initial_simple_bearing 2013-06-02 11:29:30 +09:00
Dr Gareth Owen
79bd8b4fd0 rtl resets yaw to same as when armed - unless user specifies otherwise 2013-06-02 11:29:27 +09:00
Randy Mackay
0460147a15 Copter: guided mode yaw fix 
Nose of copter now points at next guided point if it is more than 10m
away
 2013-06-02 11:25:35 +09:00
Randy Mackay
5203ba9fe3 Copter: alt hold feed forward filter 2013-06-01 21:13:47 +09:00