Commit Graph

178 Commits

Author SHA1 Message Date
Randy Mackay a12d9109e0 Copter: remove thr check during init_arm_motors
This check is redundant now that we have a check within the arm_check()
function.
Removing this check does raise a slight danger that someone could raise
the throttle after arming but before the gyro and baro calibration has
completed but the delay has been greatly shortened from what it once was
so there is much less danger that someone could approach the vehicle
during the short arming delay.
2014-09-11 21:13:35 +09:00
Randy Mackay 0d7a999fc1 Copter: arming check that throttle is low 2014-09-09 23:02:18 +09:00
Randy Mackay 641c8317a5 Copter: pre-arm consistency check of gyros 2014-09-04 15:21:58 +09:00
Randy Mackay 05a37dd54d Copter: add short delay to arming to allow RC input
The short delay gives time for the RC inputs to be processed which
removes the chance of a false-positive on the "late frame" radio check.
A false positive could lead to an immediate disarm right after arming.
2014-09-04 15:11:57 +09:00
Randy Mackay 59404c25e3 Copter: pre-arm consistency check of accels 2014-09-03 13:51:44 +09:00
Randy Mackay d7343d5dc7 Copter: check all gyros and accels in pre-arm check 2014-09-03 11:22:49 +09:00
Randy Mackay eb51a8e5da Copter: pre-arm check of internal vs ext compass 2014-08-26 22:34:06 +09:00
Randy Mackay 2b0a7c59bc Copter: remote arming check reference to compass learning 2014-08-26 22:34:04 +09:00
Randy Mackay 7686660c73 Copter: use baro healthy() 2014-08-14 16:03:23 +09:00
Randy Mackay 2c0699c9ed Copter: auto-disarm in Drift, Sport, OF_Loiter 2014-07-31 22:58:43 +09:00
Randy Mackay c9667131dd Copter: log flight mode after arming 2014-07-29 11:43:47 +09:00
Randy Mackay 71cbcacf50 Copter: fix arming tone to sound before arming
Also fixed bug in which vehicle could appear to be armed (according to
LEDs) but is not.  This could occur if pilot had raised the throttle
very high during the calibration that happens just before arming.
2014-07-25 13:09:07 +09:00
Randy Mackay 7f9cd20377 Copter: set UARTs non-blocking at end of initialisation
Previously we were setting to non-block after arming but this reduce the
chance of bumping into a NuttX USB driver issue that can cause the uart
to become unresponsive and also makes Copter consistent with Plane
2014-07-11 15:27:29 +09:00
Randy Mackay 65e5367619 Copter: rename hybrid to poshold 2014-07-11 14:09:01 +09:00
Randy Mackay 2c085c300d Copter: only save compass offsets when learning is on 2014-07-10 20:25:16 +09:00
Randy Mackay b799020e25 Copter: pre-arm check uses compass configured method 2014-07-10 20:24:53 +09:00
Jonathan Challinger cd08ec5a5f Copter: allow auto-disarm in autotune mode 2014-07-06 19:27:27 +09:00
Jonathan Challinger ff1f54b390 Copter: allow disarm in autotune mode 2014-07-06 19:27:23 +09:00
Randy Mackay f5f206b055 Copter: set inav alt to zero when arming 2014-06-06 18:42:45 +09:00
Randy Mackay 715e9c0474 Copter: reset mission when disarming 2014-05-15 16:21:32 +09:00
Randy Mackay b4dcad725c Copter: remove unused servo_write function 2014-05-09 13:48:38 +09:00
Randy Mackay ae9477600c Copter: add mavlink motor_test
Based on original work by Nils Hogberg
2014-04-29 11:31:45 +09:00
Randy Mackay d36f137bf8 Copter: allow arming, disarming in Hybrid mode 2014-04-23 14:59:35 +09:00
Emile Castelnuovo a9bd4e9da1 VRBRAIN: added ignore board voltage check for VRBRAIN boards. 2014-04-08 16:19:20 +10:00
Andrew Tridgell 640b64f5e4 Copter: convert to new GPS API 2014-04-01 06:38:24 +11:00
Kevin Hester 5fb3b031f1 Copter: disambiguate the various causes of "Bad GPS Pos"
I've seen a fair number of user questions where they are confused by
"Bad GPS Pos" on their GCS/not being allowed to arm.  This change splits
the remaining causes of this fault into separate messages.

Hopefully this increases the odds of the user self diagnosing...
2014-03-31 21:59:12 +09:00
Jonathan Challinger 608b8b0a2c Copter: integrate Notify arming failure when using yaw sticks 2014-03-31 20:34:29 +09:00
Andrew Tridgell 3362e42478 Copter: consider health of primary compass in SYS_STATUS, pre-arm and compassmot
this should prevent users from taking off with only secondary compass
2014-03-24 19:52:08 +11:00
Andrew Tridgell a45d77f893 Copter: set the ahrs.set_armed() flag 2014-02-19 10:53:44 +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
Andrew Tridgell 24f2ac20de Copter: removed HIL_MODE_ATTITUDE
this really can't work any more, as AHRS can't support it
2014-02-15 05:29:46 +11:00
Randy Mackay 006cf58b2d Copter: fix merge error for g.angle_max 2014-02-15 05:27:51 +11:00
Randy Mackay 38d5148b99 Copter: remove reset_I_all
Each controller should reset the I terms as needed
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 bca309eb1e Copter: replace takeoff_complete with landed_complete 2014-02-15 05:27:43 +11:00
Randy Mackay 7b9a48107e Copter: move angle_max parameter to AP_Vehicle 2014-02-15 05:27:32 +11:00
Andrew Tridgell 0a3476bbf1 Copter: change to new board_voltage() API 2014-02-14 21:50:59 +11:00
Dneault 4b3699f985 Copter: coax allows ch5 and higher for do_set_servo cmd 2014-02-07 12:36:22 +09:00
Dneault f48e106271 Copter: add coax heli support
Motors should be attached to RCOutputs 1 and 2, Flaps should be connected
to RC outputs 3 and 4
2014-02-07 12:36:04 +09:00
Randy Mackay 0f957bdc5a Copter: lean angle arming check 2014-01-17 17:31:28 +09:00
Randy Mackay a7f03619f2 Copter: add inav vs baro arming check
In-flight Barometer sanity checking will be a more complete solution but
until then this should catch some bad pre-flight barometer behaviour
2014-01-17 17:21:42 +09:00
Randy Mackay 8a29d63d89 Copter: faster baro calibration when arming
using update_calibration() instead of the full calibrate() cuts
1.5seconds of the arming time
2014-01-15 23:28:24 +09:00
Randy Mackay 6d55895d30 Copter: simplify do-set-servo mission command
This potentially changes the servo number that must be supplied if using
an APM1 but it now shares the same logic as arduplane and also adds
protection that the servo is not attached to the motor.
removed debug message from previous commit.
2014-01-15 14:36:50 +09:00
Randy Mackay 67c2bc7d0b Copter: add support for MAV_CMD_DO_SET_SERVO 2014-01-15 14:03:04 +09:00
Randy Mackay 84881470b1 Copter: suspend logging while disarmed 2014-01-07 22:43:47 +09:00
Kevin Hester 2044300057 Copter: Split out prearm failures of low HDOP separately from !gps lock
(on the iris list there was some confusion on why the copter was blinking
yellow but yet they had gps lock)
2013-12-26 10:10:06 +09:00
Andrew Tridgell d265e54043 Copter: changes for compass healthy API 2013-12-09 17:47:22 +11:00
Andrew Tridgell ffdcb715c3 Copter: updates for compass API change 2013-12-09 17:34:06 +11:00
Randy Mackay 59cea4b88c Copter: remove CopterLED from main code 2013-11-30 18:20:55 +09:00
Andrew Tridgell a49710f20e Copter: added uartD support
this also brings GCS_Mavlink.pde closer to the plane implementation
2013-11-26 13:05:32 +11:00