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2147 Commits

Author SHA1 Message Date
Randy Mackay
a185fa950c Copter: Jason's fix to auto disarming 
Added check so that it only starts counting down when motors are armed.
This removes the issue in which the copter sometimes disarms shortly
aftering being armed.
 2013-04-15 23:36:45 +09:00
Randy Mackay
8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay
b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
Andrew Tridgell
cf6ae4a746 Copter: remove ahrs.set_barometer() 2013-04-15 10:52:32 +10:00
Randy Mackay
8c7a1597dc Copter: remove debug comment from RTL 2013-04-14 18:28:13 +09:00
Randy Mackay
629d23b7e2 Copter: remove WP_SPEED and WP_RADIUS parameters 
AC_WPNav library has equivalent params with very similar names
 2013-04-14 13:27:37 +09:00
Randy Mackay
b58c26bcd5 Copter: remove pid_nav_lat, pid_nav_lon 2013-04-14 12:12:51 +09:00
Randy Mackay
bffe4fa412 Copter: remove NAV_LAT and NAV_LON 
Loiter and navigation controllers now combined
 2013-04-14 12:09:45 +09:00
Randy Mackay
700fb1b179 Copter: replace sin_yaw_y, cos_yaw_x in circle mode 2013-04-14 10:39:30 +09:00
Randy Mackay
366616e32c Copter: reduce default loiter PIDs 2013-04-14 10:39:28 +09:00
Randy Mackay
1ee825ee9a Copter: move alt and wp checking to AC_WPNAV 
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
 2013-04-14 10:39:23 +09:00
Randy Mackay
2db8365c90 Copter: add AC_WPNav to parameters list 2013-04-14 10:39:02 +09:00
Randy Mackay
bc87118062 AC_WPNav: add get_target_alt method 2013-04-14 10:39:00 +09:00
Randy Mackay
6dbcbdcb43 AC_WPNav: limit max loiter position error 
move interpretation of pilot input to wpnav lib
 2013-04-14 10:38:58 +09:00
Randy Mackay
7c559333f5 Copter: get_throttle_rate's target_speed a float 2013-04-14 10:38:51 +09:00
Randy Mackay
926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +09:00
Randy Mackay
ee7f40cfe9 Copter: Leonard's alt-hold feed forward 2013-04-14 10:38:37 +09:00
Randy Mackay
f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay
553f40a99c Copter: bug fix to loiter delay 
change delay to seconds to allow delays longer than 65seconds
 2013-04-14 10:38:30 +09:00
Randy Mackay
a65960a009 Copter: use velocity based set_loiter_target 2013-04-14 10:38:28 +09:00
Randy Mackay
e592baae11 Copter: remove remnants of fast_corner 2013-04-14 10:38:20 +09:00
Randy Mackay
4de5f67a91 Copter: replace wp_nav.get_target_alt with get_destination_alt 2013-04-14 10:38:17 +09:00
Randy Mackay
5b93990e41 Copter: removed next_WP 
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
 2013-04-14 10:38:07 +09:00
Randy Mackay
1516972eaa Copter: add panorama to CIRCLE mode 
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
 2013-04-14 10:38:01 +09:00
Randy Mackay
58ed8cd544 Copter: replace set_next_WP with direct call to wp_nav 2013-04-14 10:37:55 +09:00
Randy Mackay
49828eba7d Copter: integrate AC_WPNav 2013-04-14 10:37:48 +09:00
Randy Mackay
cdb532a594 Copter: bug fix for loiter target 2013-04-11 18:24:20 +09:00
Randy Mackay
e637a8fb29 Copter: remove old commented out code from setup.pde 2013-04-11 10:12:21 +09:00
tobias
217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Randy Mackay
9036b97a16 Copter: fix build error 
Removed last print_test_disabled call
 2013-04-05 23:03:17 +09:00
Randy Mackay
fc0c451b69 Copter: remove #ifdef checks for Atmega1280 2013-04-05 22:48:10 +09:00
Randy Mackay
1dcd46bffc Copter: reduce compiler warnings 2013-04-05 22:25:58 +09:00
Randy Mackay
95d944f610 Copter: Jason's bug fix for loiter's set_next_WP_latlon 2013-04-05 13:46:07 +09:00
Randy Mackay
777c6a308e AP_InertialNav: use shared GRAVITY_MSS constant 2013-04-05 11:48:41 +09:00
Randy Mackay
d1afd2fb9b Copter: make guided mode start at current location 2013-04-03 23:06:46 +09:00
Randy Mackay
0be23c8090 Copter: fix THR_ALT_P documentation 2013-04-03 22:38:34 +09:00
Randy Mackay
3bf847f675 Copter: Jason's faster cos_yaw, sin_yaw 2013-04-02 15:50:29 +09:00
Randy Mackay
40f6416b3d Copter: update Log_Read_Compass comment 2013-04-02 11:02:14 +09:00
Randy Mackay
7cf2255822 Copter LEDs: replace bitRead with bitmask 
Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
 2013-04-01 13:10:12 +09:00
Randy Mackay
a9eb626cb8 Copter: update default Rate Yaw P to 0.20 (was 0.25) 2013-04-01 11:49:50 +09:00
Randy Mackay
7ccb14344c Copter: update version to 2.9.1b-dev 2013-04-01 11:47:56 +09:00
Randy Mackay
7d4eea271f Copter: update Release notes again for 2.9.1b release 
Missed item re increasing max inav accel correction to 3 m/s
 2013-04-01 11:46:42 +09:00
Randy Mackay
49e3e040b6 Copter: update Release notes ahead of 2.9.1b release 2013-04-01 11:46:37 +09:00
Randy Mackay
24dd167607 Copter: ACRO bug fix from Jason 2013-04-01 11:44:28 +09:00
Michael Oborne
541fa13291 cleanup comments 2013-03-31 17:14:54 +08:00
Michael Oborne
e80f2c094e HIL fix location, alt, mag from hil state message 2013-03-31 16:42:16 +08:00
Michael Oborne
59f80410d5 Add ability to compile sensor hil with sitl 2013-03-31 16:35:23 +08:00
Andrew Tridgell
b280857025 Copter: use common angle wrap code 2013-03-29 13:14:31 +11:00
Randy Mackay
f7d977fe37 Copter: add support for GPS fix type 2D 2013-03-27 11:41:47 +09:00
Andrew Tridgell
b955aed976 Copter: fixed GPS test (detection of uBlox needs 10Hz poll) 2013-03-21 22:45:07 +11:00
Andrew Tridgell
d22a7c64c9 Copter: only enter CLI is link is idle when 3 enters are hit 
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
 2013-03-21 21:56:02 +11:00
Andrew Tridgell
ce8313e8fb Copter: only allow CLI within 20s of startup and when motors not armed 2013-03-21 17:34:11 +11:00
Randy Mackay
80bd593814 Copter: disarm motors when entering CLI 2013-03-21 12:07:00 +09:00
Randy Mackay
dcf21eee8f Copter: only allow entering the CLI within 30 seconds of start-up 2013-03-21 11:54:04 +09:00
Andrew Tridgell
ae96c77add Copter: added shell command in CLI test menu 2013-03-20 12:35:50 +11:00
Randy Mackay
38e81adae0 InertialNav: remove unnecessary "virtual" from function definitions 
This saves about 30bytes of RAM
 2013-03-19 17:51:16 +09:00
Randy Mackay
a17421da27 Copter: scale HIL accels consistently with Plane code 2013-03-19 15:07:15 +09:00
Randy Mackay
b4b9d80c2f Copter: bug fix to accept HIL accel values correctly 2013-03-19 11:33:58 +09:00
John Stäck
46a831fc03 Copter: add parameter "set" and "show" commands to setup menu. 
Squashed commit of the following:

commit 4243a0bb89de2f850606c623aac6a5b583c333ae
Author: John Stack <stack@spotify.com>
Date:   Thu Mar 7 09:28:16 2013 +0100

    Undo change to system.pde, not needed.

commit dae2dbbbd6e13621fccc1d0a221aae8d83240417
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 22:47:50 2013 +0100

    Remove leftover bits of old menu setup

commit ccefc8fe0d237364b06a1478348f8552720d7598
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 22:40:30 2013 +0100

    Roll the param menu into setup.

commit c61dad17bf32a3080d8eca2389c6e25f98767545
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 08:08:42 2013 +0100

    Make the param menu a compile-time option, by defining PARAM_MENU

commit 0f35c4e88ec7aba5035b4880e9994e4783da75a9
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 07:57:22 2013 +0100

    Use find(), which works well.

commit 3b81b29597fcee49193330d7b6d3f3aed99a476c
Author: John Stack <stack@spotify.com>
Date:   Tue Mar 5 07:57:33 2013 +0100

    Whitespace fixes

commit 6b9ccc5fe1de1e40a24eb9ff89006b9bd80e3662
Author: John Stack <stack@spotify.com>
Date:   Tue Mar 5 07:28:20 2013 +0100

    Add cli menu to change any parameter.
 2013-03-18 15:49:41 +09:00
Andrew Tridgell
952c56e990 Copter: fixed barometer init in HIL sensors mode 2013-03-18 16:20:25 +11:00
Andrew Tridgell
ac06b5e62d Copter: remove unused function 2013-03-18 16:20:25 +11:00
Randy Mackay
36834e77b5 Copter: remove support for CLI Slider 2013-03-18 14:07:04 +09:00
Randy Mackay
597a4b912a Copter: fix to allow building HIL_MODE_SENSORS 2013-03-18 13:41:52 +09:00
Randy Mackay
d1344e8c39 Copter: remove #define for CROSSTRACK_GAIN 
Note: the cross track is still calculated inside the inertial nav based
loiter and wp controls but it's no longer requires a tunable parameter
 2013-03-17 16:56:18 +09:00
Randy Mackay
1b6fcad90a Copter: remove tilt compensation parameter 
Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
 2013-03-17 16:53:32 +09:00
Randy Mackay
61e29173e3 Copter: remove unused crosstrack variables and parameters 
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
 2013-03-17 16:46:31 +09:00
Randy Mackay
a1295c042b Copter: fix init of wp_verify_byte so wp alt is always required 2013-03-17 16:37:30 +09:00
Randy Mackay
fdcb78ccf7 Copter: leonard's smoother alt-hold transition 
Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
 2013-03-17 13:24:49 +09:00
Randy Mackay
37040adfaa Copter: bug fix for auto missions over 320m 
get_throttle_althold_with_slew's target_alt parameter defined as int16_t
(instead of int32_t) meaning missions with altitudes >320m could wrap
around and become negative.
 2013-03-17 11:14:35 +09:00
Randy Mackay
150046f2b8 Copter: GPS Failsafe implemented 
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
 2013-03-16 17:27:46 +09:00
Randy Mackay
f9539384a1 Copter: rename failsafe to failsafe_radio 
Makes way for separation of failsafes for throttle, gps and gcs
 2013-03-16 17:14:21 +09:00
Randy Mackay
f263e81ed7 Copter: remove unused GPS and baro filters 
Saves 24bytes of RAM
Removing the baro filter leads to noisier Baro Alt appearing in the log
so we should make the inertial nav altitude appear in the CTUN message
 2013-03-16 00:20:15 +09:00
Randy Mackay
5380973225 Copter: only start delay timer after reaching wp location and altitude 2013-03-06 12:50:41 +09:00
Randy Mackay
a73f50494c TradHeli: remove duplicate RC_FAST_SPEED definition 2013-03-04 23:45:23 +09:00
Randy Mackay
cb6ffc7acf Copter: minor formatting fix for report_ins 2013-03-04 23:14:14 +09:00
Randy Mackay
998511f506 Copter: use unsigned long for dataflash log for gps time 
Updated some formatting of comments in the same file
 2013-03-04 23:13:06 +09:00
Randy Mackay
33bd984a91 Copter: remove unused input_voltage parameter 2013-03-03 23:23:54 +09:00
Randy Mackay
cb84ec9d9b Copter: add current based compass compensation 2013-03-03 23:02:36 +09:00
Andrew Tridgell
c2fd1512ff Copter: use voltage_average() so as to avoid INPUT_VOLTS 2013-03-03 16:16:01 +11:00
Randy Mackay
0d5e731a65 Copter: add compassmot to cli 
Allows user to setup compensation for motor's interference on the
compass
 2013-03-02 17:54:18 +09:00
Randy Mackay
476a6d0164 Copter: fix for acro throttle bug 2013-03-02 10:28:44 +09:00
Randy Mackay
6b2b69535f Copter: Compass log stores/retrieves motor offsets 2013-03-02 00:03:20 +09:00
Randy Mackay
d8515ff85e Compass: basic compensation for motor interference 2013-03-02 00:03:16 +09:00
Andrew Tridgell
637ecd5279 Copter: updates for new dataflash API 2013-03-01 07:18:26 +11:00
Andrew Tridgell
9a3bd17cfb Copter: fixes for new DataFlash API 2013-03-01 07:18:25 +11:00
Randy Mackay
e0506bd622 Copter: inav circle initial implementation 2013-02-26 11:35:35 +09:00
Randy Mackay
c8f09ac219 Copter: fix compile error for PX4 re Compass logging 2013-02-25 13:26:58 +09:00
Randy Mackay
d6ff5ae261 Copter: add roll-pitch slew for auto modes 
Added reporting of roll, pitch inputs for ACRO, AUTO
 2013-02-24 14:42:04 +09:00
Randy Mackay
e297ba7d18 Copter: update default loiter gains for inertial nav 2013-02-24 14:42:00 +09:00
Randy Mackay
102b5da59d Copter: remove unnecessary #defines from APM_Config.h 2013-02-24 14:41:56 +09:00
Randy Mackay
cbde042ec5 Copter: remove non-inav loiter and wp controllers 
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
 2013-02-24 14:41:52 +09:00
Randy Mackay
609676e26c Copter: add logging of compass values 
Removed rarely used ITERM because we didn't have enough bits in the log
mask
 2013-02-24 14:41:48 +09:00
Randy Mackay
6f27bc7ae5 Copter: remove filters from inav loiter 2013-02-24 14:41:44 +09:00
Randy Mackay
1410063a14 Copter: new ROLL_PITCH_WP_INAV roll-pitch mode 
small corrections to allow waypoints to work with new inertial nav wp
controller
 2013-02-24 14:41:40 +09:00
Randy Mackay
574756908d Copter: set wpinav controller targets in nav calls 
All navigation commands now properly set wpinav controller targets
except CIRCLE related commands.
 2013-02-24 14:41:36 +09:00
Randy Mackay
00bc28adcc Copter: take-off code cleanup 
remove redundant setting of loiter target.
explicitely set throttle mode to THROTTLE_AUTO
 2013-02-24 14:41:32 +09:00
Randy Mackay
67c69a19ee Copter: remove baro-only alt hold 
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
 2013-02-24 14:41:29 +09:00
Randy Mackay
37d3e1d7e4 Copter: add zero slope checks to wpinav 
also added RTL fix to set wpinav target explicitly
 2013-02-24 14:41:25 +09:00
Randy Mackay
b74da54c98 Copter: enable inav xy by default 2013-02-24 14:41:21 +09:00
Randy Mackay
53ab1d5d9b Copter: add advance track call to actually move towards waypoint 
Also added unrelated check that waypoint is valid before updating
waypoint distance.
 2013-02-24 14:41:17 +09:00
Randy Mackay
766ccdf6f8 Copter: add selection of inertial nav wp controller to APM_Config.h 2013-02-24 14:41:13 +09:00
Randy Mackay
fcf102b2cf Copter: inertial nav waypoint controller 
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
 2013-02-24 14:41:09 +09:00
Jason Short
4c3ee76900 AC: Moving flip speed back to 400°/s to prevent oscillation around change in speed. 
Would like to add a more gradual speed change in the finish. Might require a new state as the copter passes -90°
 2013-02-23 13:14:15 +09:00
Jason Short
7d5b975da2 AC: Flip code fix 
Flight tested it today and made some flips. Throttle adjusted in Manual throttle modes. Not tested in AP throttle modes such as alt hold.
 2013-02-23 13:14:11 +09:00
Randy Mackay
8e4c9518ea Copter: increase low voltage check to 10.5v 
Change requested by Rob Lefebvre and Richie Wilson
 2013-02-23 00:36:51 +09:00
Jason Short
abd0fb9099 AC : global static variables should not be initialized to zero 2013-02-22 17:34:18 +09:00
Andrew Tridgell
4c7a1a1806 Copter: change PX4 main baud rate back to 115200 
we now use USB console
 2013-02-22 07:04:23 +11:00
Randy Mackay
2ecf34e509 Copter: update version to 2.9.1 ahead of release 2013-02-19 13:52:04 +09:00
Randy Mackay
d48aebea8e Copter: updated release notes for 2.9.1-rc2 2013-02-19 13:49:53 +09:00
Randy Mackay
9904e9f4db Copter: update firmware version to 2.9.1-rc1 2013-02-19 13:43:36 +09:00
Randy Mackay
6601bd37cf Copter: integrate automatic roll and pitch trims 2013-02-19 12:51:24 +09:00
Michael Oborne
61e5b09f28 Send FS state to gcs for AC 2013-02-09 10:11:36 +08:00
Andrew Tridgell
19a282dad0 Copter: removed use of ins.temperature() 2013-02-07 15:05:47 +11:00
Pat Hickey
d418197898 ArduCopter: fixed memory unsafe member access in GCS_MAVLINK 
* Smokey, this is not 'Nam. this is bowling. there are rules
 2013-02-02 22:43:56 -08:00
Randy Mackay
9d34ead486 Copter: fix up some casting issues for wp_distance 2013-02-01 22:42:50 +09:00
Randy Mackay
df1c0d92bd Copter: manual throttle scaling fix 
Scaling of bottom half of throttle was changed from THR_MIN ~ 500.
Previously it was from 0 ~ 500.
 2013-02-01 22:37:33 +09:00
Randy Mackay
a0b65a262b Copter: use scaled throttle for accel-throttle's I term 
Accel throttle's I term is taken from scaled manual throttle
 2013-02-01 22:37:25 +09:00
Randy Mackay
06a71af12f Copter: THR_MID used to scale manual throttle 2013-02-01 22:37:16 +09:00
Randy Mackay
4813526725 Copter: bug fix for autotrim's roll axis backwards 2013-01-31 17:42:29 +09:00
rmackay9
9c3b9907dd Copter: bug fix to set sonar_alt_health to zero when disabled 2013-01-31 17:00:28 +09:00
Randy Mackay
70371be4a1 Copter: use AP_Math's longitude_scale 
bug fix to base scaling on home location instead of next_WP which may
not have been initialised
 2013-01-27 23:35:12 +09:00
Randy Mackay
6f5050a8b9 Copter: minor casting fixup for wp_distance 2013-01-27 11:27:43 +09:00
Randy Mackay
ce370bab0c Copter: rename CUR and CURR to CURRENT for logging 
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
 2013-01-26 17:20:41 +09:00
Randy Mackay
fb1358a629 Copter: make all message output csv 2013-01-26 17:05:38 +09:00
Randy Mackay
d2767b911c AP_Math: switch get_distance_cm to return uint32_t 
Includes changes required on ArduCopter and ArduPlane side as well
 2013-01-26 17:04:12 +09:00
Randy Mackay
0056bfadd7 Copter: rename ROLL_PITCH_LOITER 
new name ROLL_PITCH_LOITER_INAV makes it more clear that it should only
be used with the new inertial nav loiter controllers
 2013-01-25 23:27:31 +09:00
Randy Mackay
b74fe10aa9 Copter: set each flight mode's nav_mode 
Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
 2013-01-25 15:57:55 +09:00
Randy Mackay
aaecc25ac7 Copter: leonard's inav2 
Moved loiter controller to navigation.pde
 2013-01-25 15:16:35 +09:00
Randy Mackay
fd02cfe706 Copter: added set_nav_mode to control initialisation of nav controllers 
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
 2013-01-25 15:16:29 +09:00
Randy Mackay
8af605cafc Copter: set update rate to 50hz during esc calibration 
Also modified some comments in the code re the esc calibration
 2013-01-25 11:34:48 +09:00
Randy Mackay
deafbf1f56 Copter: inav loiter comment changes 
removed unused get_loiter_vel function
 2013-01-24 11:14:38 +09:00
Randy Mackay
68fc9ac1d8 Copter: add "f" to end of float constants 
This is a small performance improvement for the px4
 2013-01-23 14:51:37 +09:00
Randy Mackay
911e090e07 Copter: typo fixed for trad heli config 2013-01-23 12:35:10 +09:00
Randy Mackay
9a09f086d2 Copter: Leonard Hall's inertial nav ver 2 2013-01-23 12:34:49 +09:00
Andrew Tridgell
47cc247046 Copter: limit number of bytes read per GCS check 2013-01-23 09:34:54 +11:00
rmackay9
ab1978ad50 Copter: Leonard Hall's inertial nav based loiter 2013-01-22 18:38:00 +09:00
Jonathan Challinger
6565d83e73 InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz. 2013-01-22 18:37:45 +09:00
Andrew Tridgell
f303554259 Copter: run serial0 at 57600 on PX4 2013-01-22 09:50:22 +11:00
Andrew Tridgell
ae5f46abc9 Copter: fixed mavlink fetch of 16 character parameter 2013-01-21 16:52:01 +11:00
Robert Lefebvre
dde713aaa5 Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this. 2013-01-20 21:32:00 +09:00
Andrew Tridgell
a341d59ed0 Copter: fixed test code warnings 2013-01-20 22:13:20 +11:00
Michael Oborne
74e3d64e62 AC Fix BATT_CURR_PIN number 2013-01-20 06:33:29 +08:00
Andrew Tridgell
580abf1106 Copter: fixed PX4 mag orientation 2013-01-17 17:23:34 +11:00
Randy Mackay
577bf865b3 Copter: update firmware version to 2.9-dev 
The -dev extension indicates that we are post 2.9 release
 2013-01-17 13:03:33 +09:00
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Randy Mackay
ccaa7a52ef Copter: RTL bug fix to initial step is always a climb and not a descent 
Also bug fix to hold yaw on take-off
 2013-01-15 12:17:52 +09:00
Randy Mackay
2dab40abeb Copter: bug fix to altitude check of verify takeoff 
set_next_WP function was not setting the alt_change_flag properly
 2013-01-15 12:17:45 +09:00
Randy Mackay
148c227d73 Copter: update firmware version to rc5 2013-01-15 12:17:41 +09:00
Randy Mackay
04677bfb95 Copter: constrain auto roll and pitch to 45 degrees 2013-01-15 12:17:32 +09:00
Andrew Tridgell
56f22f9226 Copter: use common log reading function 2013-01-15 14:03:51 +11:00