Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
10,436 Commits 71 Branches 509 Tags 814 MiB
Commit Graph

813 Commits

Author SHA1 Message Date
Randy Mackay 19ddb8e5f3 TradHeli: integrate constructor changes to main code 2013-11-15 22:58:15 +09:00
Robert Lefebvre bba7fdc7c3 TradHeli: ch6 tuning of ext gyro to use control_in 
This could also be used to control the other Heli Ch7 functions (direct drive tail rotor control).  This should be tidied up.

Credit: Jolyon Saunders
 2013-11-15 22:58:08 +09:00
Robert Lefebvre 9ae66c1773 TradHeli: add support for drive tail rotors 
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
 2013-11-15 22:58:04 +09:00
Randy Mackay 3ce16113b5 TradHeli: use landing collective when landed or landing 2013-11-15 22:58:00 +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
Randy Mackay 46118b59d7 TradHeli: integrate motor lib changes 2013-11-15 22:57:43 +09:00
Robert Lefebvre f67d95ac75 TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly. 2013-11-15 22:57:28 +09:00
Randy Mackay 8f2c9591ff TradHeli: dynamic_flight flag based on inertial nav speed 
Created new heli.pde for heli_integrated_swash and check_dynamic_flight
 2013-11-15 22:57:20 +09:00
Robert Lefebvre e23e4bc7d8 TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector 2013-11-15 22:57:18 +09:00
Robert Lefebvre 324c866ae1 TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started. 2013-11-15 22:57:16 +09:00
Robert Lefebvre f7c63be357 TradHeli: leaky-I-term based on dynamic_flight_detector 2013-11-15 22:57:14 +09:00
Jason Short 371dc8c616 Copter: Drift Mode 
Changes Toy mode declarations to Drift mode.
Requires GPS, Mode 2 transmitter
Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.
 2013-11-14 14:43:15 +09:00
ssq870424 07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00
Andrew Tridgell 2f6cfd1ff8 Copter: update for AHRS API changes 2013-11-04 21:21:42 +11:00
Jason Short 520a535c21 Copter: TOY mode updates 2013-11-02 21:34:48 +09:00
Randy Mackay aaf642c223 Copter: disable autotune if pilot moves yaw stick 2013-11-02 12:12:46 +09:00
Randy Mackay de08116320 Copter: disable some aux channels on hexa and octas 
Resolves issue #324
 2013-10-31 15:22:34 +09:00
Randy Mackay 2326b2e5f5 Copter: crash checker 
Crash is determined to have happened when the copter is 20deg more than
the ANGLE_MAX parameter continuously for more than 2 seconds
Not activated when in ACRO mode or while flipping
 2013-10-29 22:15:12 +09:00
Randy Mackay 36832aaa61 Copter: remove ins from InertialNav object instantiation 2013-10-27 13:41:52 +09:00
Tobias 4d4b419d25 Copter: add comment (unit of G_Dt) 2013-10-27 13:39:17 +09:00
Randy Mackay d86ac9041e Copter: report RC receiver health to GCS 2013-10-24 16:32:55 +09:00
Andrew Tridgell 6138dca2b2 Copter: set system time on GPS lock 2013-10-24 14:22:48 +11:00
Andrew Tridgell 92bf4b9c89 Copter: added MAVLink SYSTEM_TIME message 2013-10-24 14:22:47 +11:00
Randy Mackay 030f479ac1 Copter: firmware update to AC3.1-rc5 2013-10-22 16:04:13 +09:00
Randy Mackay bbc4cb263f Copter: only allow autotuning when flying 2013-10-21 17:58:10 +09:00
Randy Mackay 5499c6ea6d Copter: autotune bug fix for starting autotune 
log completion to dataflash
 2013-10-20 13:54:36 +09:00
Michael Oborne 78c4e03fd5 sensor hil fix 2013-10-19 23:04:22 +09:00
Randy Mackay 6c0cb5f84d AutoTune: bug fix and GCS messages 2013-10-19 21:54:18 +09:00
Randy Mackay c59dee045c Copter: autotune restore orig pids if user changes flight mode 2013-10-17 10:56:53 +09:00
Randy Mackay deb171a869 Copter: correct UserHooks typos 2013-10-15 11:18:00 +09:00
Randy Mackay aa7a1a5af3 Copter: correct GCS send times task estimates 2013-10-13 20:53:51 +09:00
Randy Mackay 959f59f623 Copter: correct mount tasks scheduler time 
Having the estimate too high would mean it would likely never run
 2013-10-13 14:13:59 +09:00
Randy Mackay f344c77cca Copter: AC3.1-rc4 version and release notes 2013-10-13 14:12:18 +09:00
Randy Mackay 32f53624d6 Copter: rename low_battery to failsafe.battery 2013-10-13 13:52:52 +09:00
Randy Mackay 6876107a15 Copter: autotune disables rate output from stab controller 2013-10-13 11:56:01 +09:00
Andrew Tridgell 09a1d35e62 Copter: fixed build for no COPTER_LEDS 2013-10-13 11:03:33 +09:00
Andrew Tridgell d38d9ea88f Copter: changes for AP_Mount API 2013-10-13 11:03:26 +09:00
Randy Mackay 8706810d55 Copter: scheduler times corrections 2013-10-13 11:03:22 +09:00
Randy Mackay 6be6bd5aed Copter: remove unused battery analog sources 2013-10-13 11:03:20 +09:00
Randy Mackay d2bda8c235 Copter: split up medium loop 2013-10-13 11:03:15 +09:00
Randy Mackay e9cefbafd1 Copter: higher priority for throttle loop, lower telemetry 2013-10-13 11:03:10 +09:00
Randy Mackay fc47e05105 Copter: update firmware version to AC3.1-rc3 2013-10-09 11:13:15 +09:00
Andrew Tridgell 450323f4ae Copter: enable logging on Linux 2013-10-08 19:20:35 +11:00
Andrew Tridgell 4b68dd48f7 Copter: use ins.wait_for_sample() for main loop 
this takes advantage of the INS specific method to wait for a sample
 2013-10-08 19:20:34 +11:00
Randy Mackay 9435eb4a15 Copter: remove unused flags and consolidate ap and ap_system 2013-10-08 15:25:14 +09:00
Andrew Tridgell 6145924481 Copter: switch Linux to L3G4200D ins driver 2013-10-08 11:50:54 +11:00
Randy Mackay 0c0de7c53e Copter: simple mode speedup 
super simple and simple mode headings separated
g.super_simple converted into a bitmap by flight mode switch position
 2013-10-05 18:26:56 +09:00
Randy Mackay ba92c4891a Copter: make AutoTune a compile-time option 2013-10-04 15:50:50 +09:00
Randy Mackay 31cea0140d Copter: Leonard's AutoTuning for Roll and Pitch 2013-10-04 15:50:47 +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
Andrew Tridgell 9e42e536a7 Copter: make the scheduling a bit more multi-tasking OS friendly 
we can afford to sleep a bit in the main loop
 2013-09-28 22:04:16 +10:00
Andrew Tridgell 234eaceb14 Copter: update for Stub -> HIL 2013-09-28 22:04:15 +10:00
Randy Mackay c3f7146f03 Copter: improve check of frame type to catch spelling errors 2013-09-27 14:35:16 +09:00
Randy Mackay a53d28e018 Copter: remove support for dmp ahrs 2013-09-27 10:42:49 +09:00
Andrew Tridgell 394645560a Copter: update for new INS API 2013-09-27 10:49:00 +10:00
Andrew Tridgell a0b6481dfd Copter: removed SMACCM support 2013-09-26 22:38:31 +10:00
Randy Mackay fd2e87b710 Copter: disable tuning during radio failsafe 2013-09-26 20:05:25 +09:00
Randy Mackay 7cc8a9038f Copter: move failsafe flags into structure 2013-09-26 19:37:15 +09:00
Randy Mackay 8a886c0e19 Copter: remove err msg for undefined throttle mode 
Printing errors like this to the console are unlikely to ever be seen
 2013-09-24 21:45:51 +09:00
Randy Mackay e5535e35b3 Copter: remove unused reset_stability_I 2013-09-24 21:42:05 +09:00
Randy Mackay c596b27719 Copter: add dataflash error for GPS glitch 2013-09-24 21:41:48 +09:00
Randy Mackay 4c8227c050 Copter: update AP_Notify for gps failsafe and glitching 2013-09-24 21:41:28 +09:00
Randy Mackay 2f5b32bada Copter: integrate GPS_Glitch's check_position 2013-09-24 21:41:16 +09:00
Andrew Tridgell 3378c7901a Copter: added support for the flymaple board 2013-09-24 13:51:28 +10:00
Andrew Tridgell 754bdbd25f Copter: use new usb_connected() HAL function 2013-09-19 16:24:23 +10:00
Randy Mackay 79399e4fb4 Copter: AC3.1-rc2 version and release notes 2013-09-18 13:30:26 +09:00
Randy Mackay daa0cb7914 Copter: enable motor slow start in auto mode 2013-09-13 14:32:19 +09:00
Andrew Tridgell 3720efc7c9 Copter: changed to AP_Vehicle.h 2013-09-13 11:47:03 +10:00
Randy Mackay 43c4ba304d Copter: update Release Notes for AC3.1-rc1 2013-09-09 20:04:30 +09:00
Randy Mackay 1abb439051 Copter: move acro's var initialisation to roll-pitch and yaw controller initialisation 2013-09-09 10:54:13 +09:00
Randy Mackay 942ba0476b Copter: remove manual_attitude and throttle flags 2013-09-09 10:44:53 +09:00
Randy Mackay 4842335a24 Copter: add #include for AC_Sprayer 2013-09-09 10:18:06 +09:00
Andrew Tridgell 52f5b1e5a7 Copter: update to GPLv3 license headers 2013-08-30 13:01:39 +10:00
Andrew Tridgell e1e32fcf08 Copter: fixed build with AP_AHRS changes 2013-08-30 13:01:35 +10:00
Andrew Tridgell 25d517f5d6 Copter: updates for new notify API 2013-08-30 13:01:35 +10:00
Randy Mackay 4aef49a006 Copter: re-order #defines of AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay 52ef77393c Copter: integrate Toshiba_LED_PX4 2013-08-30 13:01:35 +10:00
Randy Mackay 46c24fdf39 Copter: integrate ToshibaLED 2013-08-30 13:01:35 +10:00
Randy Mackay e985253f1a Copter: integrate notify 2013-08-30 13:01:35 +10:00
Randy Mackay 45aeb1a921 Copter: split up loiter into 4 steps 
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
 2013-08-28 11:33:10 +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 88332b4acb Copter: revert to 3 element sonar's mode filter 2013-08-19 09:47:48 +09:00
Randy Mackay 3a5a15a15f Copter: allow CH6 tuning of sonar gain 2013-08-18 15:44:54 +09:00
Randy Mackay 6a2daf1a33 Copter: reduce sonar sensitivity to spikes 2013-08-15 16:04:17 +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 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 82082e044c Copter: remove ACRO's axis enabled parameter 
Acro is now body frame (with earth frame leveling) while Sport is earth
frame acro
 2013-08-05 21:04:57 +09:00
Randy Mackay e32342163d Copter: rename ACRO variables 2013-08-05 21:04:50 +09:00
Leonard Hall d2deaaa686 Copter: Acro add rate constrain and combine limit calc 2013-08-05 21:04:47 +09:00
Randy Mackay 39ab4f62ef Copter: add SPORT mode 2013-08-05 21:04:41 +09:00
Randy Mackay a18d55a9d3 Copter: update version to 3.1-dev 2013-08-05 14:26:52 +09:00
Andrew Tridgell 2690edfc5f Copter: ask for IMU samples at 100Hz 
this produces the same result, but makes things simpler in the driver
 2013-08-02 21:37:15 +10:00
Andrew Tridgell 01e19a32fe Copter: use the new scheduler load_average() call 
this also simplifies the main loop
 2013-08-02 18:46:34 +10:00
Randy Mackay 0f8f5bc048 Copter: remove unused ap.gps_status flag 2013-07-29 16:46:05 +09:00
Olivier-ADLER 87d062905e Copter: 3 positions switch support for CH7 and CH8 - new 3 positions SIMPLE / SUPERSIMPLE mode 
3 positions modes must use mode number >= 100
pre-arm check correction for CH7 - CH8 check
 2013-07-29 15:12:10 +09:00
Randy Mackay 3b59cde1b8 Copter: deactivate accel throttle controller when landed 2013-07-28 18:19:01 +09:00
Randy Mackay da37089dc2 Copter: remove landing checks in loiter controller 2013-07-28 18:18:57 +09:00