Randy Mackay
3910ab807f
Copter: replace input filtering with smoothing gain
2014-03-04 22:23:50 +09:00
Randy Mackay
fdae812814
Copter: DO_SET_ROI persists across waypoints
...
Users should add a DO_SET_ROI command with zero lat, lon and alt to
restore the yaw control to the default control (which is normally
look-at-next-wp)
2014-02-18 21:36:02 +09:00
Randy Mackay
5e8fede19e
Copter: comment fix to Attitude.pde
2014-02-15 05:27:50 +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
90c5fe4be4
Copter: surface_tracking takes current_alt_target param
2014-02-15 05:27:46 +11:00
Randy Mackay
223c6fd4de
Copter: remove deadwood, update_thr_cruise always runs
2014-02-15 05:27:45 +11:00
Randy Mackay
c632211c8c
Copter: get_of_roll, get_of_pitch moved to control_ofloiter
2014-02-15 05:27:42 +11:00
Randy Mackay
96c61fcf28
Copter: removed get_throttle_land
...
Now in the control_land.pde
2014-02-15 05:27:38 +11:00
Randy Mackay
d92e894af6
Copter: get_throttle_surface_tracking returns climb rate
2014-02-15 05:27:37 +11:00
Randy Mackay
65f7bf92f4
Copter: replace yaw_mode with auto_yaw_mode
2014-02-15 05:27:37 +11:00
Randy Mackay
b29a963fd6
Copter: remove unused Attitude.pde functions
2014-02-15 05:27:36 +11:00
Randy Mackay
b34664ea07
Copter: remove unused altitude error
2014-02-15 05:27:34 +11:00
Randy Mackay
abb42bcb41
Copter: remove unused run_rate_controllers
2014-02-15 05:27:34 +11:00
Randy Mackay
77c38f4de4
Copter: integrate init take-off
2014-02-15 05:27:34 +11:00
Randy Mackay
faf1e99f1a
Copter: surface tracking to use pos_control
2014-02-15 05:27:33 +11:00
Randy Mackay
7784fc7645
Copter: update pos_control's hover throttle
2014-02-15 05:27:33 +11:00
Randy Mackay
cbe56bba25
Copter: integrate AC_AttitudeControl
2014-02-15 05:27:32 +11:00
Randy Mackay
7b9a48107e
Copter: move angle_max parameter to AP_Vehicle
2014-02-15 05:27:32 +11:00
Randy Mackay
2219f21744
Copter: add RC_FEEL_RP parameter
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Values from 0 ~ 100 control amount of filtering on roll and pitch input.
100 = no filter so crisp feel, 0 = a lot of filtering so very sluggish
response
2014-02-12 16:28:41 +09:00
Randy Mackay
8f5585423c
Copter: use ahrs trig values
2014-02-08 18:16:49 +09:00
Ju1ien
311bba1419
Copter: landing_complete stays true until thr is raised
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The idea of the fix is we can't leave land while throttle is 0 and then
we ignore the baro and it's disturbances.
2014-01-22 14:38:35 +09:00
Randy Mackay
a9f1a2ee5e
Copter: disarm on land even if pilot throttle not zero
...
default behaviour remains as before, this is an compile time option only
2014-01-15 11:31:00 +09:00
Randy Mackay
df9d1614e2
Copter: remove PID logging
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Almost never used and eats up limited log description space
2014-01-13 17:23:39 +09:00
Randy Mackay
7ef04bb73b
Copter: rename nav_yaw to control_yaw
2013-11-27 22:48:20 +09:00
Randy Mackay
81fc24586e
TradHeli: remove calls to get_manual_collective in auto throttle
...
set_collective_for_landing method makes this unnecessary
2013-11-15 22:58:36 +09:00
Randy Mackay
60bc9f4539
TradHeli: angle error to zero while motors runup
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Set angle error to zero in get_roll_rate_stabilized_bf,
get_pitch_rate_stabillize_bf, get_yaw_rate_stabilized_bf.
Original commit by Rob Lefebvre
2013-11-15 22:58:34 +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
eaef5315bf
TradHeli: bugfix to update swash in run_rate_controllers
2013-11-15 22:57:47 +09:00
Randy Mackay
46118b59d7
TradHeli: integrate motor lib changes
2013-11-15 22:57:43 +09:00
Robert Lefebvre
ffb605d06d
TradHeli: Modify the constrain on the auto throttle controller to prevent it from commanding full down collective if we think we are on the ground still.
2013-11-15 22:57:22 +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
f7c63be357
TradHeli: leaky-I-term based on dynamic_flight_detector
2013-11-15 22:57:14 +09:00
Randy Mackay
f5b1114aea
Copter: range check pilot requested lean angles
...
This fixes a bug uncovered by MHA in which the receiver output 900 pwm
for roll and pitch to the APM which was interpreted as requesting an 80
deg lean angle which the copter then attempted to do!
2013-11-13 14:21:21 +09:00
Randy Mackay
f29f7d9777
Copter: bug fix to take-off in Loiter and AltHold
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Always set the target altitude after take-off to be current altitude +
20cm. This resolves a bug in which the target altitude could end up
being a couple of meters higher than the current altitude if the user
entered Loiter / Alt Hold mode before inertial nav altitude estimate had
settled.
2013-11-11 22:29:09 +09:00
Randy Mackay
8278767d0a
Copter: remove unused get_acro_yaw
2013-11-02 21:34:53 +09:00
Randy Mackay
8386b658e9
Copter: add ANGLE_RATE_MAX param
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Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes
2013-10-29 11:27:05 +09:00
Randy Mackay
d2bbc06502
Copter: allow throttle deadband to be redefined in APM_Config.h
2013-10-13 20:41:11 +09:00
Randy Mackay
6876107a15
Copter: autotune disables rate output from stab controller
2013-10-13 11:56:01 +09:00
Randy Mackay
7cc8a9038f
Copter: move failsafe flags into structure
2013-09-26 19:37:15 +09:00
Randy Mackay
e5535e35b3
Copter: remove unused reset_stability_I
2013-09-24 21:42:05 +09:00
Randy Mackay
653a5036ae
Copter: #define for initial altitude jump during take-off
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Developers can add a line like to APM_Config.h to reduce the initial
jump when taking off in Loiter or AltHold flightmodes:
#define ALT_HOLD_TAKEOFF_JUMP 0
2013-09-12 22:31:42 +09:00
Randy Mackay
072b231c3f
Copter: integrate slow start feature
2013-09-12 22:29:53 +09:00
Randy Mackay
13ee672eae
Copter: remove unused get_acro_pitch and roll
2013-09-09 10:11:23 +09:00
Randy Mackay
2696e160e6
Copter: surface tracking improvement
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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
ac620e2140
Copter: Loiter and AltHold won't breach alt fence
2013-08-15 16:06:27 +09:00
Randy Mackay
8b79798e8d
Copter: Leonard's sport fix re slow roll
2013-08-11 22:15:27 +09:00
Randy Mackay
34b11f7be0
Copter: angle limiter fix for max lean angle
2013-08-11 14:55:49 +09:00
Randy Mackay
6969ab573d
Copter: configurable max lean angle
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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
49dbdce89c
Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P
2013-08-05 21:05:00 +09:00
Randy Mackay
21e523b9ac
Copter: Acro trainer separated into limited and leveled
2013-08-05 21:04:53 +09:00