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13,870 Commits 71 Branches 509 Tags 763 MiB
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487 Commits

Author SHA1 Message Date
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
Randy Mackay ff32b27272 Copter: integrate parachute lib 2014-04-07 13:36:44 +09:00
Andrew Tridgell 640b64f5e4 Copter: convert to new GPS API 2014-04-01 06:38:24 +11:00
Jonathan Challinger 2601ac9959 Copter: Remove 80m altitude limit on RTL 2014-03-31 20:34:19 +09:00
Andrew Tridgell 3de574e5dc Copter: disable GPS2 in HIL 2014-02-27 08:16:20 +11:00
Andrew Tridgell 37394b30ee Copter: added support for 2nd GPS 2014-02-26 09:40:29 +11:00
Randy Mackay 00913ffe1b Copter: throttle rate to simple P controller 
Saves at least 15bytes of RAM
 2014-02-16 13:35:40 +11:00
Randy Mackay aab9b30bf6 Copter: replace APM_PI with AC_P 
Saves about 90bytes of RAM
 2014-02-15 06:09:08 +11:00
Randy Mackay ea1158a9d5 Copter: remove unused config 2014-02-15 05:27:47 +11:00
Randy Mackay aec67cd3df Copter: integrate control_autotune 2014-02-15 05:27:44 +11:00
Randy Mackay ef666c73ab Copter: remove Position mode 2014-02-15 05:27:42 +11:00
Robert Lefebvre c561d6bb9e Small comment change. 2014-02-15 05:27:42 +11:00
Randy Mackay 2253cf9769 Copter: run main loop at 400hz for pixhawk 2014-02-15 05:27:33 +11:00
Andrew Tridgell 0a3476bbf1 Copter: change to new board_voltage() API 2014-02-14 21:50:59 +11:00
Randy Mackay dee5fb212a Copter: remove dup definition of FRAME_ORIENTATION 
Ideally the frame orientation parameter should be moved to the motors
class
 2014-01-21 21:44:17 +09:00
Randy Mackay a9f1a2ee5e Copter: disarm on land even if pilot throttle not zero 
default behaviour remains as before, this is an compile time option only
 2014-01-15 11:31:00 +09:00
Randy Mackay a3527ade61 Copter: move EARTH_FRAME definition to defines.h 
defines.h is for defining enumerations and other unchanging values while
config.h is for changeable values like parameter defaults, enabling or
disabling sensors.
 2014-01-14 21:53:13 +09:00
Randy Mackay 138c2803be Copter: combine NTUN and INAV dataflash msgs 2014-01-13 22:00:11 +09:00
Randy Mackay 5e0ddd299f Copter: disable OPTFLOW for SITL 2014-01-13 17:11:27 +09:00
Randy Mackay 61f319ce38 Copter: disable OPTFLOW for PX4/Pixhawk 2014-01-13 12:02:03 +09:00
Randy Mackay b3d20bb8aa TradHeli: Drift mode to use heli manual throttle 2014-01-10 11:06:06 +09:00
Robert Lefebvre 531a9f4f25 TradHeli: disable AutoTune for Tradheli compile 
We need the flash space, and this probably won't work for tradheli anyway since tradheli needs most of the control from Feedforward rather than P term.  And D-term is very very bad.
 2014-01-10 10:50:09 +09:00
Randy Mackay 9f2f44f0f6 Copter: integrate shrunken optflow 2014-01-09 12:31:53 +09:00
ctech4285 2b5d8aa5b7 Copter: integrate EPM library 2013-12-17 15:36:42 +09:00
Randy Mackay c7dc351609 Copter: remove unnecessary MPU6K filter definition 
This should also help kick off the AC3.1 rebuild
 2013-12-15 11:01:31 +09:00
Randy Mackay 2a61053634 Copter: reduce default logging for SITL 2013-12-12 22:19:12 +09:00
Randy Mackay 58788d2934 Copter: increasd default logging for PX4, Pixhawk 2013-12-05 16:04:52 +09:00
Randy Mackay 2ba233942d Copter: pre arm mag offset limit to 600 for PX4 2013-12-03 23:23:26 +09:00
Randy Mackay 0cda3c9a71 Copter: reduce SONAR_GAIN to 0.8 (was 2.0) 2013-12-01 16:25:47 +09:00
Robert Lefebvre dbbe0f960a Copter: remove LED_ON/OFF defines 2013-11-30 18:20:58 +09:00
Randy Mackay 59cea4b88c Copter: remove CopterLED from main code 2013-11-30 18:20:55 +09:00
Randy Mackay 10d6a9a34e Copter: replace Log_Write_Motors with Log_Write_RCOU 2013-11-27 20:18:18 +09:00
Randy Mackay af657d58b9 Copter: RCIN dataflash logging 2013-11-27 16:46:25 +09:00
Andrew Tridgell 9c812d5028 Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:05:32 +11:00
Randy Mackay 87127f0ab8 Copter: allow battery failsafe to trigger RTL 2013-11-16 14:46:57 +09:00
Randy Mackay bc1e06757b Copter: allow GPS failsafe to trigger AltHold 
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO.  This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
 2013-11-16 13:55:59 +09:00
Randy Mackay 8c9ab50ba2 TradHeli: restore CC_COMP and PIRO_COMP 2013-11-15 22:58:43 +09:00
Randy Mackay 0f67e25d37 TradHeli: set throttle_min to zero by default 2013-11-15 22:58:38 +09:00
Randy Mackay c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay 633e91b7d4 Copter: initialise roll, pitch, yaw modes to stabilize 
This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
 2013-11-15 22:57:56 +09:00
Randy Mackay ae87759e6d TradHeli: add THROTTLE_MANUAL_HELI 
Move check_dynamic_flight to run as scheduled task
 2013-11-15 22:57:53 +09:00
Andrew Tridgell 6b1f59372c Copter: show git and firmware version in tlog 2013-11-09 10:09:20 +11:00
Randy Mackay 620109d894 Copter: formatting fix to config.h 2013-11-03 12:57:02 +09:00
Robert Lefebvre 8868af7c2f TradHeli: Change default Auto-Yaw to Yaw Look Ahead 
This leads to smoother flight in Auto modes, particularly with fast waypoints.
 2013-11-03 12:56:57 +09:00
Jason Short 520a535c21 Copter: TOY mode updates 2013-11-02 21:34:48 +09:00
Randy Mackay babc54ec60 Copter: default Ch7 to DO_NOTHING 
Ch7/Ch8 Save_WP feature triggers when switch is brought high (instead of
low) to be consistent with other aux features
 2013-11-01 11:42:33 +09:00
Randy Mackay 8386b658e9 Copter: add ANGLE_RATE_MAX param 
Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes
 2013-10-29 11:27:05 +09:00
Randy Mackay 9df7185075 Copter: remove unused #defines from config.h 2013-10-28 12:37:41 +09:00
Randy Mackay f52c6add89 Copter: reenable optical flow by default 
correct optflow test compile error
 2013-10-23 20:42:03 +09:00
Randy Mackay 6b9b5c5617 Copter: pre-arm check speed is less than 50cm/s 2013-10-20 21:56:00 +09:00
Randy Mackay d2bbc06502 Copter: allow throttle deadband to be redefined in APM_Config.h 2013-10-13 20:41:11 +09:00
Randy Mackay 0e740bd4e1 Copter: enable AUTOTUNE for mission planner build 2013-10-13 11:57:50 +09:00
Randy Mackay 6876107a15 Copter: autotune disables rate output from stab controller 2013-10-13 11:56:01 +09:00
Randy Mackay 8d1085feea Copter: pre-arm expects mag len of 330 for APM1 (was 530) 2013-10-09 14:10:16 +09:00
Andrew Tridgell 6145924481 Copter: switch Linux to L3G4200D ins driver 2013-10-08 11:50:54 +11:00
Randy Mackay ba92c4891a Copter: make AutoTune a compile-time option 2013-10-04 15:50:50 +09:00
Randy Mackay dab4f032f9 Copter: integrate BattMonitor 2013-10-03 11:16:28 +09:00
Andrew Tridgell 3665bec26d Copter: fixed build for Linux 2013-09-28 22:04:16 +10:00
Randy Mackay a53d28e018 Copter: remove support for dmp ahrs 2013-09-27 10:42:49 +09:00
Andrew Tridgell 566eaf7d41 Copter: fixed flymaple build with copterleds 2013-09-27 10:32:22 +10:00
Andrew Tridgell a0b6481dfd Copter: removed SMACCM support 2013-09-26 22:38:31 +10:00
Randy Mackay 2c96ed3f22 Copter: disable optical flow 
This at least allows ArduCopter to be compiled with arduino until we
find larger flash savings
 2013-09-24 21:59:19 +09:00
Andrew Tridgell 3378c7901a Copter: added support for the flymaple board 2013-09-24 13:51:28 +10:00
Andrew Tridgell 91315715fe Copter: removed CONFIG_PUSHBUTTON 
not used anywhere any more
 2013-09-23 18:10:22 +10:00
Andrew Tridgell 754bdbd25f Copter: use new usb_connected() HAL function 2013-09-19 16:24:23 +10:00
Randy Mackay 65adb78f31 Copter: increase default battery capacity to 3500mAh 2013-09-15 11:54:07 +09:00
Randy Mackay 653a5036ae Copter: #define for initial altitude jump during take-off 
Developers can add a line like to APM_Config.h to reduce the initial
jump when taking off in Loiter or AltHold flightmodes:
#define ALT_HOLD_TAKEOFF_JUMP 0
 2013-09-12 22:31:42 +09:00
Randy Mackay e985253f1a Copter: integrate notify 2013-08-30 13:01:35 +10:00
Randy Mackay 7c78936bc5 Copter: land by default at end of RTL 2013-08-30 10:34:23 +09:00
Randy Mackay 81074ebb3c Copter: update Y6 defaults 2013-08-28 13:05:01 +09:00
Randy Mackay d8eb7fb82f Copter: remove x100 from IMAX definitions 2013-08-19 22:38:34 +09:00
Randy Mackay 2696e160e6 Copter: surface tracking improvement 
Separate correction speeds for pilot input vs altitude-above-ground
errors to allow slower correction to sonar signals.
Change SONAR_GAIN parameter to be altitude error -> desired speed.  This
means it should be set 10x larger than before.
Replace hard-coded sonar cut-off percentage of 70% with
SONAR_RELIABLE_DISTANCE_PCT.
Reduce sonar cut-off percentage to 60%.
Add desired sonar altitude to dataflash log's CTUN message.
 2013-08-19 09:52:59 +09:00
Randy Mackay d000967a76 Copter: pre-arm check for gps hdop < 2 2013-08-15 13:06:36 +09:00
Randy Mackay 6969ab573d Copter: configurable max lean angle 
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
 2013-08-11 12:53:22 +09:00
Randy Mackay 5049595a2c Copter: SPORT mode to use alt hold 2013-08-10 15:42:02 +09:00
Randy Mackay d0dc5813cf Copter: move CIRCLE_RADIUS definition 2013-08-07 14:03:28 +09:00
Randy Mackay 74fb500efe Copter: integrate AC_Sprayer 2013-08-05 21:12:23 +09:00
Randy Mackay 49dbdce89c Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P 2013-08-05 21:05:00 +09:00
Randy Mackay 21e523b9ac Copter: Acro trainer separated into limited and leveled 2013-08-05 21:04:53 +09:00
Randy Mackay e32342163d Copter: rename ACRO variables 2013-08-05 21:04:50 +09:00
Randy Mackay 65276d360b Copter: SPORT to use YAW_HOLD 2013-08-05 21:04:44 +09:00
Randy Mackay 39ab4f62ef Copter: add SPORT mode 2013-08-05 21:04:41 +09:00
Randy Mackay 9672742b42 Copter: bug fix to look_ahead_yaw 
Fix received from David Dewey
Was incorrectly using the direction instead of heading when deciding
whether to point forward or not.  Reduced YAW_LOOK_AHEAD_MIN_SPEED to
1m/s because bug meant it was nearly always pointing forward and 10m/s
(the old value) seemed too high
 2013-08-01 14:12:55 +09:00
Leonard Hall 64ce9b017d Copter: Body frame ACRO upgrade 2013-07-11 17:53:25 +09:00
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 d77f7bc803 Copter: default Loiter Pos P to 0.8 (was 0.2) 2013-07-11 08:13:17 +09:00
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
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 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
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
Andrew Tridgell 76d1791073 Copter: CONFIG_RELAY is not used 2013-06-25 12:47:07 +10:00
Randy Mackay cd30103b76 Copter: increase default CIRCLE_RATE to 20deg/sec 2013-06-19 12:40:33 +09:00