Randy Mackay
05e59f6f4d
ArduCopter: bug fix to LAND flight mode not actually landing if initiated from failsafe
...
An hidden bit of failsafe functionality in the set_mode function was
switching the throttle mode back to THROTTLE_AUTO instead of
THROTTLE_LAND
2013-01-12 14:48:41 +09:00
Randy Mackay
a18892229c
ArduCopter: smooth throttle when switching from manual throttle to alt hold
...
new set_accel_throttle_I_from_pilot_throttle function copies the
difference between the pilot's throttle and hover throttle to the
accelerometer based throttle controller's I term.
2013-01-12 12:20:37 +09:00
Randy Mackay
cad9533398
ArduCopter: replace FS_THR_RTL_MIN_DISTANCE with wp_radius
...
This effectively means that an RTL kicked off by a failsafe will
immediately switch to LAND mode only if within 2 meters. Previously the
radius was much wider (15m).
2013-01-12 11:40:03 +09:00
Randy Mackay
37b66700b4
ArduCopter: update release notes for rc3
2013-01-11 16:41:57 +09:00
Randy Mackay
f3550801d1
ArduCopter: disable ITERM logging by default
...
This message takes 1ms to write and we are running over our limits on
some loops.
2013-01-11 16:23:54 +09:00
Randy Mackay
35ced65e4f
ArduCopter: alphabetized the contributors list
...
Jonathan Challinger added
2013-01-11 15:28:08 +09:00
Randy Mackay
785cda0792
ArduCopter: increase firmware version to 2.9-rc3
2013-01-11 14:49:20 +09:00
Andrew Tridgell
49a5b664cc
Copter: move read_AHRS() before run_rate_controllers()
...
this ensures the rate controllers use the latest data
2013-01-11 16:32:40 +11:00
Andrew Tridgell
4a9e3a068a
Copter: don't log events with LOG_BITMASK==0
2013-01-11 16:32:23 +11:00
Andrew Tridgell
e0197a3f7c
Copter: minor mavlink cleanup
2013-01-11 16:02:21 +11:00
Andrew Tridgell
593d689dc8
Copter: use AP_Param::copy_name_token()
2013-01-11 16:02:21 +11:00
Andrew Tridgell
3ec0381904
Copter: ensure we process deferred mavlink messages
2013-01-11 16:02:21 +11:00
rmackay9
4d21571d92
ArduCopter: changed alt hold to use the sonar if enabled and healthy
2013-01-10 21:43:13 +09:00
rmackay9
b58a89e71e
ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes
...
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
2013-01-08 14:40:47 -08:00
Andrew Tridgell
578b1b68ad
Copter: remove GPS_STATUS message
...
this message is huge and slow, and is pointless as we have
num_satellites in GPS_RAW_INT
2013-01-05 20:54:57 +11:00
rmackay9
152ae7d737
ArduCopter: save 10bytes by replacing multiple static instances of log_counter with a single global variable called pid_log_counter
...
pid_log_counter is used to limit the rate at which we log PID controller values
2013-01-05 13:42:01 +09:00
rmackay9
5df4295ebc
ArduCopter: write failsafe error to logs before switching flight modes
2013-01-05 12:33:30 +09:00
rmackay9
0a101162c2
ArduCopter: update altitude_error reported to GCS
2013-01-05 10:59:07 +09:00
Robert Lefebvre
cbbba3a359
TradHeli: Fixing bug that causes Alt_Hold mode to use the Stab_Throttle scaling. It should not have this scaling, it should have access to full swashplate range.
2013-01-03 15:19:38 -05:00
rmackay9
6f0868a9f8
ArduCopter: increase throttle rate P to 6.0 (was 1.0) and alt hold P to 2.0 (was 1.0)
2012-12-31 14:42:13 +09:00
rmackay9
c2fb2eb21e
ArduCopter: update firmware version to 2.9-rc2
2012-12-31 14:32:14 +09:00
rmackay9
8b497cc61d
ArduCopter: log watchdog event to dataflash
2012-12-31 13:32:27 +09:00
rmackay9
607aa7c098
ArduCopter: fix to sub system used to record failsafe in dataflash ERR message
2012-12-30 12:18:45 +09:00
rmackay9
bc4cd41a33
ArduCopter: added ERR dataflash message
...
Failsafe events changed to errors so they are more obvious.
Errors recorded to dataflash for failure to init compass and optical flow sensor.
Errors recorded for pwm failure.
Resolved a compile error when dataflash logging is disabled.
2012-12-30 12:08:25 +09:00
rmackay9
b9dbdadc80
ArduCopter: first implementation of surface tracking using sonar
...
Note: not yet enabled as part of any flight mode
2012-12-29 13:51:14 +09:00
rmackay9
07a3a7d4bb
AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1
2012-12-28 16:21:13 +09:00
rmackay9
57702b7c31
ArduCopter: turn on INERTIAL_NAV_Z in the config.h file so that it takes effect when built for the mission planner
2012-12-27 19:33:12 +09:00
rmackay9
71f6a116be
ArduCopter: get_throttle_althold - add check to avoid divide by zero
2012-12-26 21:18:16 +09:00
rmackay9
3ff091efb6
ArduCopter: inertial nav - only initialise horizontal position when home is initialised
2012-12-25 12:39:25 +09:00
rmackay9
e859549814
ArduCopter: update release notes for 2.9-rc1
2012-12-23 12:24:14 +09:00
rmackay9
c10af02c4a
ArduCopter: bug fix to althold desired rate calculation. Fix from Jonathan.
2012-12-23 11:17:26 +09:00
rmackay9
a80f065188
ArduCopter: Battery failsafe triggers RTL only if we are more than 15m from home, otherwise it performs a LAND
2012-12-22 18:16:50 +09:00
rmackay9
dad2d2b800
ArduCopter: alt hold bug fix - should use 2x linear distance when calculating the desired rate
...
Bug fix from Leonard.
2012-12-22 17:57:11 +09:00
rmackay9
d9873dcd7b
ArduCopter with the new Camera and Relay classes for APM1 and APM2.
...
All changes by Sandro Benigno
2012-12-22 17:26:27 +09:00
rmackay9
4749789bc2
ArduCopter: bug fix (attempt #2 ) for accel based throttle controller
...
Thanks to Jonathan for this.
2012-12-22 14:56:22 +09:00
rmackay9
53fc4a9287
ArduCopter: remove unused g_gps_null pointer to save 2 bytes
2012-12-22 14:22:13 +09:00
rmackay9
085425fdbf
ArduCopter: bug fix to accel based throttle controller (was using m/s instead of cm/s)
2012-12-22 14:21:25 +09:00
rmackay9
c2b01e0d63
ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete.
2012-12-22 14:04:47 +09:00
rmackay9
ecb388059e
ArduCopter: add AUTO_VELZ_MIN, AUTO_VELZ_MAX and PILOT_VELZ_MAX to allow better control of climb/descent rate in auto and manual throttle modes
2012-12-22 12:52:49 +09:00
Craig@3DR
e882a19bb7
Global change all references from
...
GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
2012-12-21 11:19:32 -08:00
rmackay9
ac66d7cac2
ArduCopter: on throttle failsafe, only initiate RTL if we are at least 15m from home
2012-12-21 14:39:48 +09:00
rmackay9
c7a0a64eae
ArduCopter: use inertial nav for current altitude and climb rate
2012-12-21 14:07:18 +09:00
rmackay9
93063a812a
ArduCopter: move gcs_check function (which sends to ground station) to run when 50hz loop is not running
...
Also removed redundant heartbeat message
2012-12-20 15:54:19 +09:00
rmackay9
d430903fcd
ArduCopter: remove duplicate (?) send of MSG_EXTENDED_STATUS1
2012-12-20 12:57:07 +09:00
rmackay9
9706193463
ArduCopter: remove unused variable last_5hz
2012-12-20 11:37:06 +09:00
rmackay9
415029fdf5
ArduCopter: remove unnecessary "Initialising APM message..."
2012-12-20 11:35:04 +09:00
Jason Short
53acb324db
ACM: Restore Multi-mode support
2012-12-19 08:08:59 -08:00
rmackay9
e13cea03ea
ArduCopter: restore auto-trim method but now use AHRS.add_trim
2012-12-20 00:06:20 +09:00
Craig@3DR
ae72238beb
Removed 2 more degree symbols from comments
2012-12-18 13:42:42 -08:00
rmackay9
465d54e541
ArduCopter: change GPS dataflash message to output unfiltered gps lat and lon
2012-12-18 23:44:51 +09:00
