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6,156 Commits 71 Branches 509 Tags 747 MiB
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6156 Commits

Author SHA1 Message Date
Randy Mackay 391236416b Copter: bug fix for autotrim's roll axis backwards 2013-01-30 22:09:07 +09:00
Randy Mackay 21ff3853f1 Copter: bug fix to set sonar_alt_health to zero when disabled 2013-01-30 21:17:43 +09:00
Randy Mackay 5b50f31b8f Copter: integrate automatic roll and pitch trims 2013-01-30 20:48:42 +09:00
Randy Mackay ccdbfefb73 AP_InertialSensor: return roll and pitch trim angles 2013-01-30 20:47:57 +09:00
Randy Mackay f4e1424bd1 ArduCopter: bug fix to ppm encoder failsafe 
A new radio frame could arrive just as the frame time vs current time
check was being executed causing a false positive
 2013-01-30 00:17:54 +09:00
Randy Mackay defeb76e47 Copter: update firmware version to 2.9 ahead of release 2013-01-17 12:50:49 +09:00
Randy Mackay 570624f5c8 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 12:13:04 +09:00
Randy Mackay 03733e284c Copter: bug fix to altitude check of verify takeoff 
set_next_WP function was not setting the alt_change_flag properly
 2013-01-15 01:19:23 +09:00
Randy Mackay c74821078b Copter: update firmware version to rc5 2013-01-14 14:28:18 +09:00
Randy Mackay aa8e5b0aef Copter: constrain auto roll and pitch to 45 degrees 2013-01-14 14:26:26 +09:00
Randy Mackay e362844532 Copter: added CH7 switch to enabling/disable the sonar in flight 
This indirectly switches surface tracking on/off which is useful to
avoid tracking the tops of uneven objects when far above the ground
 2013-01-14 13:58:53 +09:00
Randy Mackay bd05ea84cc Copter: constrain loiter so that it never commands more than 45 degrees of lean in lat or lon directions 2013-01-14 13:30:25 +09:00
Randy Mackay 0830eaf363 Copter: added experimental LOITER_REPOSITIONING #define to config.h 
APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
 2013-01-14 13:07:52 +09:00
Randy Mackay 381bd28518 Copter: relax altitude check in verify_takeoff 
Previously we checked if the alt > target_alt but because there is
little to no overshoot with the new accel based alt controller this
check was failing for some users.
 2013-01-14 12:40:59 +09:00
Randy Mackay 05eecd9ade ArduCopter: updated release notes for 2.9-rc4 2013-01-12 15:29:52 +09:00
Randy Mackay d90b7dbfe1 ArduCopter: update firmware version to 2.9-rc4 2013-01-12 15:27:10 +09:00
Randy Mackay 36f15c9555 ArduCopter: move setting of land's yaw mode to the do_land function 2013-01-12 14:49:26 +09:00
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
Randy Mackay dbb4a9fce6 AP_Baro_BMP085: increase ratio of pressure reads again to be 5:1 (was 4:1) 2013-01-11 14:46:34 +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 8657071919 DataFlash: removed debug message 2013-01-11 16:23:46 +11:00
Andrew Tridgell d6ac02139f GCS_MAVLink: use AVR assembler CRC function if available 2013-01-11 16:07:28 +11:00
Andrew Tridgell 82b036282b MPU6000: use expected sample time, not actual sample time 
this avoids problems in the scheduler turning up as errors in the DCM
calculation. The MPU6k produces samples with more reliable timing than
our scheduler does!
 2013-01-11 16:02:21 +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
Andrew Tridgell 8297d1927f AP_Param: added copy_name_token() interface 2013-01-11 16:02:21 +11:00
Andrew Tridgell a6250ee02b GCS_MAVLink: fixed const in buffer based send call 2013-01-11 16:02:21 +11:00
Andrew Tridgell e8ef484e81 FastSerial: make interface 8 bit and add write_buffer_nonblock() call 
this saves a fair bit of CPU for ArduCopter
 2013-01-11 15:56:57 +11:00
Andrew Tridgell c3ae125332 MAVLink: moved CRC table into program 
this saves 256 bytes of memory
 2013-01-11 10:38:43 +11:00
Andrew Tridgell 0c1912565a Build: fixes for building with avr-g++ 4.7.0 2013-01-11 10:34:28 +11:00
Andrew Tridgell 51bb2a3b8d AP_GPS: put SIRF init_messages in progmem 
this saves 32 bytes of memory
 2013-01-10 22:02:57 +09:00
rmackay9 4d21571d92 ArduCopter: changed alt hold to use the sonar if enabled and healthy 2013-01-10 21:43:13 +09:00
Randy Mackay 4f00c1d8b2 AP_InertialNav: added constraint to how large local accelerometer offset corrections can become 2013-01-10 16:56:21 +09:00
rmackay9 4a5908c2ad AP_Baro_BMP085: increase ratio of pressure reads to temperature reads to be 5:1 which is same as APM2's baro 
previously the ratio was 1:1
 2013-01-08 14:40:50 -08:00
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 a46f90e3bf FastSerial: use pullups on the RX pins on all UARTs 
this fixes a problem with phantom GPS detection, which caused us to
receive the config bytes we send to the GPS on bootup back as valid
packets. This caused us to detect a phantom GPS.
 2013-01-06 14:31:34 +09:00
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