Randy Mackay
02d0b05926
Copter: minor format fix
2015-01-22 14:40:05 +09:00
Randy Mackay
4185d17915
Copter: fix to RTL, PosHold and Loiter's use of filter status
2015-01-22 14:40:02 +09:00
Randy Mackay
cc52bbbffb
Copter: update current loc once home is set
2015-01-22 14:39:59 +09:00
Randy Mackay
f1a6b06586
Copter: remove redundant filter status checks
2015-01-22 14:39:57 +09:00
Randy Mackay
3641d3d508
Copter: send inav velocities in global position message
...
Also absolute alt now calculated from home alt + current alt above home
instead of using GPS absolute alt
2015-01-22 14:39:54 +09:00
Randy Mackay
e464909ddf
Copter: position_ok true when EKF predicts it will be ok
...
This resolves the chicken and egg problem of the EKF filter status's
position flags not becoming true until after the vehicle has been armed
at least once.
2015-01-22 14:39:52 +09:00
Randy Mackay
58ac9de94b
Copter: update home position when disarmed
...
This resolves the issue in which the vehicle's position jumped back to
it's home location when disarmed and using the EKF. This also makes
copter consistent with plane.
2015-01-22 14:39:50 +09:00
Randy Mackay
fd0b82f669
Copter: add optflow_position_ok and use for loiter
...
This allows entering Loiter flight mode with only optical flow based
position
2015-01-22 14:39:47 +09:00
Randy Mackay
199dc3454d
Copter: replace GPS_ok with position_ok
...
position_ok uses the EKF's filter status if the EKF is being used
otherwise it falls back to the GPS based checks used by inertial nav
2015-01-22 14:39:45 +09:00
Randy Mackay
a4f71e5946
Copter: replace inav's position_ok with get_filter_status
2015-01-22 14:39:42 +09:00
Randy Mackay
e94693e8ac
Copter: remove unused throttle integrator
2015-01-21 14:38:06 +09:00
Robert Lefebvre
b8822a42b6
Copter: Change Compass logging to new DataFlash method that handles instances.
2015-01-21 14:37:52 +09:00
Robert Lefebvre
37304fd5ed
Copter: Minor formatting changes in Log.pde
2015-01-21 14:37:23 +09:00
Robert Lefebvre
4b86a4aeec
Arducopter: Change mode logging to use common-vehicle DataFlash library.
2015-01-21 14:37:20 +09:00
Robert Lefebvre
422970a1b1
Arducopter: Change compass logging to use common-vehicle DataFlash library.
2015-01-21 14:37:16 +09:00
Robert Lefebvre
1b152cf2bf
ArduCopter: Change Current logging to use common-vehicle logging in DataFlash library.
2015-01-21 14:37:04 +09:00
Robert Lefebvre
c9d5b6aa7f
Arducopter: Change Attitude logging to use common-vehicle logging in DataFlash library.
2015-01-21 14:36:59 +09:00
Randy Mackay
0065b3b224
Copter: tighten accel and gyro pre-arm consistency check
...
Accel diff threshold to 0.7m/s/s (was 1.0 m/s/s)
Gyro diff threshold to 5deg/sec (was 20deg/sec)
2015-01-20 12:44:02 +09:00
Randy Mackay
4059e02a8c
Copter: move ch6 tuning to tuning.pde
2015-01-16 15:12:58 +09:00
Jason Short
fe74a11b4e
Copter: Drift mode gain changes and roll control through ch4
2015-01-15 11:55:24 +09:00
Randy Mackay
d6c48e422a
Copter: restore baro climb rate check to land_detector
2015-01-14 16:08:57 +09:00
Randy Mackay
1c25c00f5b
Copter: move land_detector to separate file
2015-01-14 16:08:55 +09:00
Jonathan Challinger
36410a5131
Copter: clean up land detector and modify to use desired velocity
2015-01-14 16:08:50 +09:00
Randy Mackay
0c44b5f4fe
Copter: fix typo in AC3.2.1 Release Notes
2015-01-10 22:29:46 +09:00
Andrew Tridgell
557f4df77e
Copter: use barometer.all_healthy() for health check in SYS_STATUS and arming
2015-01-09 11:51:51 +11:00
Andrew Tridgell
c151f24672
Copter: updates for new AP_Baro API
2015-01-09 11:50:55 +11:00
Randy Mackay
781f2b7ddc
Copter: update AC3.2.1-rc1 Release Notes
2015-01-09 05:06:36 +09:00
Randy Mackay
ce9b87c101
Copter: AC3.2.1-rc1 Release Notes
2015-01-08 21:53:47 +09:00
Randy Mackay
80f59694d0
Copter: remove deprecated Guided-Spline
...
Guided-Spline has been replaced by Guided-PosVel
2015-01-07 14:03:50 +09:00
Randy Mackay
be5bf91e92
Copter: add ekf velocity scaler to posvel controller
...
Also set auto-yaw-mode to yaw-hold only when posvel controller is
started instead of on every iteration.
added GUIDED_POSVEL_TIMEOUT_MS definition.
removed deprecated trigger_xy call.
Also use wp_nav.get_speed_xy in place of get_speed_param
2015-01-07 14:03:08 +09:00
Jonathan Challinger
474456e349
Copter: use guided_posvel for set_position_target messages
2015-01-07 14:02:24 +09:00
Jonathan Challinger
bc29008233
Copter: add guided_posvel
2015-01-07 14:02:21 +09:00
Randy Mackay
06d1a4c59f
Copter: use LandingGear command mode enum
2015-01-07 11:58:23 +09:00
Randy Mackay
d26fa6d827
Copter: minor format fix
...
no functional change
2015-01-07 11:58:23 +09:00
Randy Mackay
5f3c2bcd11
Copter: rename landing_gear.pde
2015-01-07 11:58:21 +09:00
Robert Lefebvre
62b5f32643
Copter: Use landinggear.force_deploy method when auto-landing
2015-01-07 11:58:20 +09:00
Robert Lefebvre
20fce5c9ff
Copter: Move landing gear code into new file
2015-01-07 11:58:20 +09:00
Robert Lefebvre
fd61c3179a
Copter: Remove relay pointer from LandingGear object
2015-01-07 11:58:18 +09:00
Robert Lefebvre
e10e020062
Copter: Add Landing Gear functionality to main code
2015-01-07 11:58:16 +09:00
Staroselskii Georgii
84a15304a1
Copter: added AK8963 support
2015-01-07 08:41:13 +11:00
Randy Mackay
f54a13f24b
Copter: report NAV_CONTROLLER_OUTPUT in RTL, Guided
...
This allows the GCS to display to the user where the vehicle is flying
to in RTL and Guided flight modes
2015-01-06 16:38:34 +09:00
Robert Lefebvre
d7ba808400
ArduCopter: Bug fix, int8t should be uint16t.
2015-01-06 15:02:48 +09:00
Robert Lefebvre
205b312789
Copter: GCS Failsafe comments and format changes
2015-01-05 10:34:17 +09:00
Robert Lefebvre
5f19a43104
Copter: GCS Failsafe to trigger if using Guided mode
2015-01-05 10:33:50 +09:00
Andrew Tridgell
c268d7252f
Copter: fixed flymaple build
2015-01-05 07:36:40 +11:00
Andrew Tridgell
cb5552f0e3
Copter: fixed build with optflow disabled
2015-01-04 12:29:22 +11:00
Andrew Tridgell
ab62105afe
Copter: use common send_opticalflow()
2015-01-03 15:53:49 +11:00
Andrew Tridgell
788bb8ab9f
Copter: make optflow available to AHRS
2015-01-03 14:16:34 +11:00
Andrew Tridgell
c784ee717b
Copter: update for new OptFlow API
2015-01-03 14:16:33 +11:00
Randy Mackay
f1f71ef605
Copter: cli uses has_current method
2014-12-31 15:22:50 +09:00
Randy Mackay
3ccc61c163
Copter: use battery.has_current method
2014-12-31 15:22:49 +09:00
Randy Mackay
d6b4bfd97f
Copter: move underscore in BATT_ parameters
2014-12-31 15:22:48 +09:00
Randy Mackay
2e7435df52
Copter: remove unused OF_LOITER pid defines
2014-12-31 13:16:18 +09:00
Randy Mackay
3e34e7ed7e
Copter: remove logging dependency on optflow
2014-12-31 13:16:17 +09:00
priseborough
695f12bec0
Copter: Don't log EKF optical flow data if not required
2014-12-31 13:16:12 +09:00
Randy Mackay
f2b0fc3566
Copter: disarm on landing regardless of pilot input
2014-12-27 13:33:06 +09:00
Randy Mackay
72127cde35
Copter: remove broken support for do-change-alt
...
This command was not implemented fully removing this code resolves a
compiler warning
2014-12-26 22:17:45 +09:00
Randy Mackay
2bc1b7e4d6
Copter: skip pre-arm checks when already armed
2014-12-26 22:01:43 +09:00
Randy Mackay
990a34cb75
Copter: remove support for do-set-home mission command
...
This avoids the chance of an arithmetic exception in cases where the
position is moved too far
2014-12-26 15:55:26 +09:00
Randy Mackay
2ea9b8a5a8
Copter: set pre_arm_gps_check flag
2014-12-26 12:32:36 +09:00
Randy Mackay
05fedbf98f
Copter: minor formatting fixes
2014-12-18 16:38:34 +09:00
Jonathan Challinger
91bff63267
Copter: Fix LAND overshoot issue
2014-12-18 16:38:31 +09:00
Randy Mackay
b6bcf841e1
Copter: remove second camera mount
2014-12-16 21:26:20 +09:00
Jonathan Challinger
cafb38e923
Copter: allow radio failsafe while disarmed so that user can be notified
2014-12-15 14:10:29 +09:00
Randy Mackay
79e40b4f6a
Copter: do not send mode_change event before init complete
...
This avoids a beep as the flight mode is set during start-up
2014-12-15 14:10:23 +09:00
Randy Mackay
562f3e7382
Copter: set notify event when failsafe changes flight mode
2014-12-15 14:10:19 +09:00
Randy Mackay
6a15d21704
Copter: minor format change
2014-12-15 14:10:13 +09:00
Jonathan Challinger
f045c75bfe
Copter: play various tones
2014-12-15 14:09:12 +09:00
Randy Mackay
fd55a2d9c4
Copter: increase GPS_HDOP_GOOD default to 2.3
2014-12-15 10:45:50 +09:00
Andrew Tridgell
e73f8b8e40
Copter: removed use of mavlink_check_target()
2014-12-11 12:32:34 +09:00
Randy Mackay
67f48168a8
Copter: send OPTICAL_FLOW msg to GCS
2014-12-08 14:58:31 +09:00
Randy Mackay
641c770726
Copter: send optflow health in extended status
2014-12-08 14:58:28 +09:00
Randy Mackay
882546aa8e
Copter: optflow logging minor format change
2014-12-08 14:58:27 +09:00
Randy Mackay
3127dd94c1
Copter: add OPTFLOW to default logging
2014-12-08 14:58:27 +09:00
Randy Mackay
aba829678a
Copter: optflow instantiation format change
...
No functional change
2014-12-08 14:58:26 +09:00
Randy Mackay
c93c7af20c
Copter: move update_optflow to sensors.pde
...
No functional change
2014-12-08 14:58:25 +09:00
Randy Mackay
67fdfffc2a
Copter: remove OF_Loiter PIDs and tuning
2014-12-08 14:58:18 +09:00
Randy Mackay
0994529624
Copter: remove OF_Loiter from FLTMODE param descriptions
...
Also remove OF_Loiter reference in comments
No functional change
2014-12-08 14:57:04 +09:00
Andrew Tridgell
fba02479b7
Copter: fixed build with no EKF
2014-12-06 18:43:38 +11:00
priseborough
963cc4d60a
Copter: Add velocity gain scaler to interfaces
...
Allows nav gain to be scaled to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
priseborough
9e7709fa09
Copter: Expand EKF speed limit public method to handle control limits
2014-12-06 18:16:50 +11:00
priseborough
9844dacf40
Copter: Add EKF ground speed limit to loiter speed control
...
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
2014-12-06 18:16:50 +11:00
priseborough
715d64dce9
Copter: Check for new optical flow updates at 200Hz
...
Supports use of higher flow read rates if required.
2014-12-06 18:16:48 +11:00
priseborough
468c83c074
Copter : Check for new optical flow readings every 10ms
...
The driver polls the sensor asynchronously every 100 msec, so we need to continually check for new data.
2014-12-06 18:16:48 +11:00
priseborough
be54f2d6ee
Copter : Don't force pre-compiler inclusion of optical flow
2014-12-06 18:16:48 +11:00
priseborough
6d5fb33d1a
Copter : enable optical flow by default
2014-12-06 18:16:47 +11:00
priseborough
45c007d216
Copter : Correct comment on required optical flow update rate
2014-12-06 18:16:47 +11:00
priseborough
a72b6b179b
Copter : Modify EKF optical flow data interface
2014-12-06 18:16:46 +11:00
priseborough
311206017c
Copter : Update EKF optical flow data interface
...
Makes it compatible with the new PX4Flow interface
2014-12-06 18:16:46 +11:00
priseborough
267ef48026
Copter : disable tilt correction of range finder data for use by EKF
...
This is a temporary fix. We need to make separate range and altitude measurements available.
2014-12-06 18:16:45 +11:00
priseborough
27f9289391
Copter : Add range finder measurements to EKF optical flow data
2014-12-06 18:16:44 +11:00
priseborough
635e593d55
Copter : temporary mods to test use of flow sensor internal gyro data
2014-12-06 18:16:44 +11:00
priseborough
34249ffa42
Copter : EKF optical flow fusion support preliminary changes
...
Assumes optflow sensor has been modified to push data at a low rate, eg 10Hz
and velocity data is angular velocity, not linear velocity
2014-12-06 18:16:44 +11:00
Randy Mackay
8b80e58861
Copter: enable OPTFLOW - do not merge to master
2014-12-06 18:16:44 +11:00
priseborough
60527a023a
Copter : Update optical flow test for new PX4Flow interface
2014-12-06 18:16:43 +11:00
priseborough
0d7555b259
Copter : Remove legacy optical flow control mode
...
This mode is not compatible with the new PX4Flow interface
2014-12-06 18:16:43 +11:00
priseborough
900519b35b
Copter : Remove legacy optical flow control mode
...
This mode is not compatible with the new PX4Flow interface
2014-12-06 18:16:43 +11:00
priseborough
23953b459e
Copter : Update logging for new PX4Flow sensor interface
2014-12-06 18:16:43 +11:00
priseborough
20e715aa13
Copter : Remove ADNS3080 flow sensor support
2014-12-06 18:16:43 +11:00
priseborough
5ef2208017
Copter: Change flow sensor read sample rate to 10Hz
2014-12-06 18:16:43 +11:00
Randy Mackay
7be78621f4
Copter: run_nav_updates at 50hz on Pixhawk, 25hz on APM2
...
Based on work by Jon Challinger (see earlier commit)
2014-12-05 14:01:16 +09:00
Jonathan Challinger
203b713f0d
Copter: run_nav_updates at 100hz on pixhawk
2014-12-05 14:01:14 +09:00
Andrew Tridgell
dcdfff66e8
Copter: setup pwm esc scaling
2014-11-26 11:14:44 +11:00
Randy Mackay
13b8159fb5
Copter: only allow one preflight calibration at a time
2014-11-21 22:00:45 +09:00
Randy Mackay
330b52194f
Copter: change to switch order in guided spline
...
No functional change
2014-11-19 12:06:30 -08:00
Arthur Benemann
db89bd6f03
Copter: correct frame/location of guided spline
2014-11-19 11:59:13 -08:00
Randy Mackay
84f82dd129
Copter: correct get_pilot_desired_throttle calc
...
Also minor format and commenting addition
2014-11-17 18:16:14 -08:00
Jonathan Challinger
3a529b2cef
Copter: utilize get_control_mid for throttle calculations
2014-11-17 18:16:11 -08:00
Andrew Tridgell
b6c06ab691
Copter: fix build with new mavlink repo
2014-11-18 11:20:04 +11:00
Randy Mackay
c6e70179d2
Copter: move MOUNT_STATUS lower in GCS_MAVLink
...
No functional change
2014-11-17 15:59:41 -08:00
Arthur Benemann
6bee8969a1
Copter: append MOUNT_STATUS message to STREAM_EXTRA3 messages
...
The msg is now periodically sent to the GCS, instead of only on request.STREAM_EXTRA3
2014-11-17 15:59:26 -08:00
Jonathan Challinger
387f3276cb
Copter: handle SET_POSITION_TARGET mavlink messages
2014-11-17 14:38:55 -08:00
Jonathan Challinger
1b1327dc93
Copter: add Guided_Spline mode
2014-11-17 14:38:48 -08:00
Jonathan Challinger
e7939cca01
Copter: change function definitions in guided to static
2014-11-17 14:38:43 -08:00
Jonathan Challinger
c7a38c4350
Copter: use force_descend option on auto landings
2014-11-13 18:40:42 -08:00
Craig Elder
f7d0a930c2
Copter: Updated GCS_FAILSAFE Parameter Description
2014-11-13 13:10:06 -08:00
Arthur Benemann
f24f5a6a32
Copter: remove call to camera.configure and control
...
The do_take_picture() function must be called for logging to occur.
configure_msg is empty at the moment so the call to this is remove
2014-11-11 10:31:49 -08:00
Randy Mackay
ed099a73a3
Copter: minor rename of ACRO circular limits variable
2014-11-10 18:36:17 -08:00
Randy Mackay
83051c306d
Copter: minor rename of a circular limits variable
2014-11-10 18:36:15 -08:00
Jolyon Saunders
a9205e1032
Copter: Add circular limits to ACRO
2014-11-10 18:36:13 -08:00
Jolyon Saunders
d46c659d0f
Copter: Add circular limits pilot's roll/pitch inputs
2014-11-10 18:36:10 -08:00
Randy Mackay
b2badee172
Copter: reset baro glitch after baro init
2014-11-09 13:34:17 -08:00
Randy Mackay
9e12b01569
Copter: CPU failsafe set motors to min before logging error
...
This ensures that if the logging stalls the motors will have already
been reduced to zero
2014-11-08 11:37:23 +09:00
Jonathan Challinger
80ba40d149
Copter: CPU failsafe logs an error
2014-11-08 11:27:16 +09:00
Jonathan Challinger
e37337b744
Copter: remove gyro cal prearm check
2014-11-07 14:02:26 +09:00
Randy Mackay
9f2af783db
Copter: update AC3.2 ReleaseNotes
2014-11-07 14:00:00 +09:00
Randy Mackay
1b64dd2280
Copter: clarify pv_location_to_vector param name
...
Also update function description
2014-11-06 11:53:57 +09:00
Clay McClure
a897c14255
Copter: ensure lat, lon, alt all zero is handled
...
Use default position when waypoint lat/lon are zero,
and default altitude when waypoint alt is zero, for
both spline and straight-line waypoints.
Fixes #1145 .
2014-11-06 11:53:32 +09:00
Randy Mackay
07975ed564
Copter: minor reformat of control_autotune
2014-11-05 21:08:39 +09:00
Brad Bosch
74fedc0897
Copter: allow starting autotune from flightmode switch
...
ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.
2014-11-05 21:08:36 +09:00
squilter
ad3bce105c
Copter: remove abbreviations from GCS messages
2014-11-05 20:04:52 +09:00
Randy Mackay
5104d5f0fe
Copter: re-order init_sonar
...
No functional change.
2014-10-31 20:40:24 +09:00
Randy Mackay
8a61f5acd2
Copter: add comments to control switch debouncing
2014-10-31 15:48:28 +09:00
Jonathan Challinger
5c8b39562f
Copter: rework control switch debouncing
2014-10-31 15:30:27 +09:00
Jonathan Challinger
b0594e8d56
Copter: supply wp_nav with attitude_control
2014-10-31 15:23:54 +09:00
Randy Mackay
44dbf50101
Copter: fix camera feedback msg handling
...
If the camera was disabled, camera message handling would fall though to
status-text msg handling.
2014-10-31 14:46:47 +09:00
Arthur Benemann
b587025ad1
Copter: send a camera_feedback message when there is a camera trigger
2014-10-31 14:46:42 +09:00
Randy Mackay
8eb866adef
Copter: minor update to AC3.2-rc14 ReleaseNotes
2014-10-31 10:57:43 +09:00
Randy Mackay
bb85e77173
Copter: update AC3.2-rc14 ReleaseNotes
2014-10-29 18:09:46 +09:00
Randy Mackay
beb54b087b
Copter: re-enable CPU failsafe if arming fails
2014-10-29 16:00:32 +09:00
Randy Mackay
cce876c2f9
Copter: fail to arm if gyro cal fails
2014-10-29 15:36:29 +09:00
Randy Mackay
0ac3267d52
Copter: reset ahrs gyro drift after gyro calibration
2014-10-28 20:25:36 +09:00
Jonathan Challinger
25a2fa67b6
Copter: don't stop logging on disarm when LOG_WHEN_DISARMED is set
2014-10-28 15:19:01 +09:00
Randy Mackay
07a74bc39f
Copter: ReleaseNotes for AC3.2-rc14
2014-10-27 22:37:19 +09:00
Randy Mackay
28b98a170b
Copter: fix to dcm-check to be continuous
...
dcm-check was triggering after 10 bad headings but these did not need to
be continuous meaning if the vehicle was flown long enough it would
almost certainly trigger a dcm-check failure and land
2014-10-27 12:37:56 +09:00
Andrew Tridgell
4c0351a76a
Copter: convert to new AP_InertialSensor API
2014-10-24 12:10:38 +11:00
Randy Mackay
0532a4bbc3
Copter: ReleaseNotes for AC3.2-rc13
2014-10-23 22:22:28 +09:00
Randy Mackay
8fc2ccdc76
Copter: remove debug
2014-10-23 22:21:48 +09:00
Randy Mackay
f6ff1742d5
Copter: landing detector checks baro climb rate
...
Barometer climb rate must be -150cm/s ~ +150cm/s
This threshold is generous because we already use the inertial
navigation climb rate so this is just to catch cases where inertial nav
is very incorrect in it's climbrate estimates
2014-10-22 17:29:14 +09:00
benoit35690
f866bf979e
Copter: fix compiler warnings in GCS_Mavlink.pde
2014-10-21 12:00:01 +09:00
benoit35690
b63f701fd3
Copter: minor formatting fix
2014-10-21 11:59:48 +09:00
benoit35690
e22130cbc7
Copter: minor format fix
2014-10-21 11:54:35 +09:00
benoit35690
3c01353dcd
Copter: fix compiler warning in control_auto.pde
2014-10-21 11:53:17 +09:00
Jonathan Challinger
5fc02bdbc4
Copter: Reduce prearm alt disparity check back to 1m
2014-10-20 10:55:59 +09:00
Randy Mackay
3296eb24b3
Copter: add comments to auto_loiter
2014-10-20 10:54:57 +09:00
Jonathan Challinger
d7d8330303
Copter: loiter copter without accepting user input at end of auto mission
2014-10-20 10:46:14 +09:00
Jonathan Challinger
ef12ea4d3b
Copter: fix indentation mistake in motors.pde
2014-10-20 10:43:53 +09:00
squilter
343a673762
Copter: reset ROI when requested, regardless of current MOUNT_MODE
2014-10-20 10:41:06 +09:00
Randy Mackay
a8c96946eb
Copter: log DCM reported roll-pitch and yaw error
2014-10-18 20:09:39 +09:00
Randy Mackay
a559a12ea2
Copter: remove LOG_FROM_STARTUP define
...
This compile-time method is obsolete now that we have the logging while
disarmed feature
2014-10-17 16:40:18 +09:00
Randy Mackay
ebcf582f66
Copter: add NearlyAll-AC315 LOG_BITMASK description
2014-10-17 16:40:13 +09:00
Randy Mackay
dcf72e9b78
Copter: remove extra in_mavlink_delay from should_log function
...
Also return false when logging disabled
2014-10-17 16:32:39 +09:00
Andrew Tridgell
c3d839456b
Copter: support logging while disarmed
2014-10-17 16:29:59 +09:00
Andrew Tridgell
874efe95a1
Copter: fixed parameter path
...
fixes build of parameters
2014-10-17 15:54:53 +11:00
Randy Mackay
27b73fa209
Copter: enable Optflow by default for Pixhawk only
2014-10-16 21:17:54 +09:00
Randy Mackay
6becb1a722
Copter: add DCM check of yaw error
...
Triggers an "ekf" failsafe if the DCM yaw error is > 60deg
2014-10-16 17:22:14 +09:00
Randy Mackay
b0e6931ab0
Copter: add DCM_CHECK_THRESH parameter
2014-10-16 17:22:11 +09:00
Randy Mackay
b96e123480
Copter: remove unused Log_Write_IMU function
2014-10-16 15:25:34 +09:00
Randy Mackay
7bd8d48809
Copter: fence breach causes disarm if landed
...
Previously it would only disarm if the throttle was also at zero.
Pair programmed with Tridge
2014-10-16 14:09:02 +09:00
Andrew Tridgell
26f7ab49e3
Copter: fixed some build warnings
2014-10-16 14:04:11 +09:00
Randy Mackay
4e06970a1c
Copter: disable OptFlow in SITL
2014-10-15 20:46:06 +09:00
Randy Mackay
aa3e34a44a
Copter: move update_optflow to sensors.pde
...
Also slightly shorten function name
2014-10-15 16:36:36 +09:00
Randy Mackay
67b7b2d667
Copter: enable optflow by default for Pixhawk
2014-10-15 16:36:31 +09:00
Randy Mackay
7b07b575cf
Copter: pilot override used immediately in OF_Loiter
...
Replace some hard coded numbers with definitions
2014-10-15 16:36:28 +09:00
Randy Mackay
28876b7ef6
Copter: log ground distance from optflow sensor
2014-10-15 16:35:51 +09:00
Randy Mackay
b2e167f9a5
Copter: Of_Loiter uses sensor velocity instead of integrated position
2014-10-15 16:35:45 +09:00
Randy Mackay
3201a8dbca
Copter: integrate optflow_enable param move to optflow class
2014-10-15 16:35:43 +09:00
Randy Mackay
717e63f47a
Copter: instantiate optflow on Pixhawk
...
Run sensor reads from scheduler
2014-10-15 16:35:40 +09:00
Randy Mackay
021485fffc
Copter: simpler optflow logging
...
Removed of_loiter control output from message
add TimeMS to OF dataflash log msg
2014-10-15 16:35:38 +09:00
Randy Mackay
765ce2f6ca
Copter: optflow parameters moved to optflow class
2014-10-15 16:35:36 +09:00
Randy Mackay
57229345e0
Copter: minor param description updates
2014-10-14 12:42:14 +09:00
Randy Mackay
6a225865ce
Copter: accept velocity requests in Auto-Guided mode
2014-10-14 11:27:34 +09:00
Randy Mackay
c636ea9101
Copter: support SET_POSITION_TARGET messages
2014-10-13 21:55:17 +09:00
Randy Mackay
992ce9b69c
Copter: remove nav_guided structure
...
This has been replaced by guided_limit structure
2014-10-13 21:40:26 +09:00
Randy Mackay
6659473420
Copter: support GUIDED_ENABLE and GUIDED_LIMITS
...
Split of NAV_GUIDED into these two command necessitated guided mode
store the limits
2014-10-13 21:40:24 +09:00
Randy Mackay
e5c3c306bd
Copter: remove unused pilot_yaw_override flag
2014-10-13 21:40:21 +09:00
Randy Mackay
8997c224e2
Copter: enable Guided velocity controller for Pixhawk
2014-10-13 21:40:20 +09:00
Jonathan Challinger
dd38ad6bbf
Copter: Start logging on arming attempt, rather than on successful arm
2014-10-11 17:32:27 +09:00
Randy Mackay
9d4107f1fc
Copter: allow arming in GUIDED only from GCS
...
Also changed mode_allows_arming function to accept arming_from_gcs param
Also remove AUTOTUNE from arming list
2014-10-11 16:05:32 +09:00
Jonathan Challinger
2b0cffda29
Copter: move all arm check logic into arm_checks
2014-10-11 15:34:12 +09:00
Jonathan Challinger
cc56a972d0
Copter: add mode_allows_arming function
2014-10-11 15:34:10 +09:00
Jonathan Challinger
3e1bffe9ab
Copter: auto-disarm if land complete regardless of mode
2014-10-11 15:32:29 +09:00
Jonathan Challinger
d0d26b6878
Copter: use ap.throttle_zero instead of rc_3.control_in in auto_disarm_check
2014-10-11 15:30:57 +09:00
Jonathan Challinger
a04ec79efa
Copter: add land_complete to fence disarm check
2014-10-11 15:29:41 +09:00
Jonathan Challinger
450f988a21
Copter: remove DRIFT and SPORT from manual_flight_mode function
2014-10-11 15:27:45 +09:00
Randy Mackay
5f55944e43
Copter: AC3.2-rc12 release notes
2014-10-10 14:53:25 +09:00
Randy Mackay
d7cd745cf4
Copter: auto-trim start delays auto-disarm by 15sec
...
Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
2014-10-09 22:43:44 +09:00
Randy Mackay
a8733ae8a8
Copter: support pre-flight calibration of gyro
2014-10-09 10:00:15 +09:00
Randy Mackay
9a0a83f404
Copter: report gyro unhealthy if failed calibration
2014-10-09 10:00:12 +09:00
Randy Mackay
128058362b
Copter: pre-arm check that gyro cal succeeded
2014-10-09 10:00:09 +09:00