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Author SHA1 Message Date
Andrew Tridgell
468e55d425 AP_Math: added two new vector/matrix ops for kalman airspeed filter 2013-07-22 12:50:00 +10:00
Andrew Tridgell
2d5deddd30 Plane: set mode CIRCLE on short failsafe in AUTO 
this makes the code match the docs
 2013-07-22 12:50:00 +10:00
Andrew Tridgell
9b70675b12 Plane: check the control switch a bit more often 
faster response to mode changes
 2013-07-22 12:50:00 +10:00
Andrew Tridgell
6ed78c89ac Plane: don't read control switch when ch3 is in failsafe 
use ch3_counter not just the final flag
 2013-07-22 12:50:00 +10:00
Andrew Tridgell
51b9cf3e76 Plane: move failsafe variables into a structure 
this makes the logic a bit easier to follow
 2013-07-22 12:50:00 +10:00
Randy Mackay
e2fbc00b52 LeadFilter: removed this unused library 
This was used to project the GPS position forward to compensate for lag
but this has become unnecessary with the introduction of the inertial
nav in x and y axis.
 2013-07-21 14:30:49 +09:00
Randy Mackay
c9a875da52 Copter: remove unused earth frame rate controllers 2013-07-21 14:08:39 +09:00
Randy Mackay
43379f20c3 Copter Motors: replace limit bitmask with structure 2013-07-21 13:58:24 +09:00
Olivier-ADLER
ac0886334d Copter: Failsafe GCS typo in comments 
replaced GPS by GCS word in different comments locations
 2013-07-20 20:54:51 +09:00
Randy Mackay
0325ad5d0d AP_AHRS: use rotateXY for speed 
Saves 0.1ms at 100hz
 2013-07-20 18:00:36 +09:00
Randy Mackay
540ca25b84 AP_Math: add rotateXY 2013-07-20 17:59:06 +09:00
Randy Mackay
11e7e9eaf1 Copter: WP_YAW_BEHAVIOUR param update for Look Ahead 2013-07-20 15:46:19 +09:00
Randy Mackay
c937fe45e1 Revert "Copter: Remove CH7 & CH8 Enable / Disable of GeoFence" 
This reverts commit e25b8933f3.
 2013-07-20 15:00:08 +09:00
Randy Mackay
7ea971d948 Copter: check set_mode for failure 
Previously if set_mode failed it would return the copter to stabilize
mode.  With this commit set_mode returns a true/false indicating whether
it succeeded or not so the caller can make the decision as to the
appropriate response which could be to stay in the current flight mode
or try another flight mode.
 2013-07-20 11:01:10 +09:00
Robert Lefebvre
2a9f4bbbad TradHeli: Creating new unified roll/pitch rate controller. 2013-07-19 16:16:12 +09:00
Robert Lefebvre
23ea151ca5 TradHeli: Fix Heli rate controller filter rates. 2013-07-19 16:16:10 +09:00
Robert Lefebvre
c812d07993 TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future. 2013-07-19 16:16:08 +09:00
Robert Lefebvre
957cb094ea TradHeli: Remove unused RSC Mode 3. 2013-07-19 16:16:06 +09:00
Robert Lefebvre
b4863dc997 TradHeli: Change to throttle controller to allow swash plate collective to move, even if disarmed, if we are in Acro or Stab. This is slightly dangerous... as a user could cause a problem if they do not follow the proper usage procedures. If they do not route the ESC through the APM, but instead direct to Rx. And then if they do not Arm, they could take off in Stab mode while disarmed, but then when they switch to Alt_Hold, it will drop the collective to the bottom and they will fall. This can be saved by switching back to Stab. And it requires operation outside of the normal operating procedure. 
This change is being made because most heli users expect to be able to check the swash plate operation before arming and taking off.
 2013-07-19 16:16:04 +09:00
Robert Lefebvre
cea0812b82 TradHeli: Rate PID Improvement. Limit Integrator wind-up when PID output is saturated. Also a little bit of general clean-up for readability. 2013-07-19 16:16:01 +09:00
Randy Mackay
a8970ee509 Tools: add additional divide timing 2013-07-18 23:08:13 +09:00
Craig3DR
e25b8933f3 Copter: Remove CH7 & CH8 Enable / Disable of GeoFence 2013-07-18 17:06:53 +09:00
Andrew Tridgell
5f24788872 VARTest: fixed example build 2013-07-18 17:36:47 +10:00
Andrew Tridgell
c691e16139 HAL_AVR: fixed example build 2013-07-18 17:36:38 +10:00
Andrew Tridgell
0b27bb05d4 Copter: fixed FENCE and WPNAV parameter doc generation 2013-07-18 14:58:24 +10:00
Andrew Tridgell
608345415b Plane: pass aircraft parameters to attitude controllers 
also cope with rename of airspeed min/max variables

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:37 +10:00
Andrew Tridgell
fbdf857634 VARTest: adapt for new airspeed parameter names 2013-07-18 14:53:31 +10:00
Andrew Tridgell
3e21d0594c APM_Control: pass in aircraft parameters and expose coordinate rate offset 
this will make it possible to do rate based pitch control without
having a coordinated turn, for in ACRO mode

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:26 +10:00
Andrew Tridgell
fb0e48a25d AP_TECS: adapt for new airspeed variable names 2013-07-18 14:53:23 +10:00
Andrew Tridgell
42d107b0d9 AP_SpdHgtControl: rename flybywire_airspeed to airspeed 
this variable applies to any automatic throttle mode, not just FBW
modes.

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:20 +10:00
Andrew Tridgell
5901b8b22a APM_Control: allow for a wider range of P values for roll/pitch 
values above 1.0 are sometimes needed
 2013-07-18 09:05:17 +10:00
Randy Mackay
41ba4a1ed2 Copter: initialise ch7 and ch8 aux switches 
This ensures that if you have simple mode or sonar attached to an
auxiliary switch it will be enabled or disabled according to the switch
immediately after start-up
 2013-07-16 22:05:59 +09:00
Randy Mackay
d9824dc23e AutoTest: rename and remove copter mission files 2013-07-16 21:41:06 +09:00
Randy Mackay
1dcc5886d0 Copter: ensure take-off alt is at least 1m 
fixes issue #377
 2013-07-16 15:51:18 +09:00
Randy Mackay
336357fbaf Copter: ensure _spin_when_armed is not higher than _min_throttle 2013-07-16 15:25:57 +09:00
Randy Mackay
62f3eed4e0 Copter: fix to SPIN_ARMED parameter desciption 2013-07-16 12:59:38 +09:00
Randy Mackay
b709b90a59 Copter: implement safety spin for Tricopters 2013-07-16 12:48:01 +09:00
Randy Mackay
6477c746cd Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED 
Removed special purpose spin_unsafe function
renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
 2013-07-16 12:47:59 +09:00
Randy Mackay
e6412b6996 Copter: do not spin motors during arming process 2013-07-16 12:47:57 +09:00
Jonathan Challinger
9f51a4a4f7 Copter: Cancel arming if throttle input above cruise_throttle. 2013-07-16 12:47:55 +09:00
Jonathan Challinger
2725f219cb Copter: Warn user with motors while copter is arming 2013-07-16 12:47:51 +09:00
Jonathan Challinger
ae2b1e3b7e AP_Motors: Added MOT_UNSAFE_THR parameter - Throttle setting used to signal that the copter is armed or otherwise unsafe to approach 2013-07-16 12:47:49 +09:00
Andrew Tridgell
81bb4f26a1 autotest: update plane test with more modes 
added tests for FBWB, STABILIZE, CRUISE, ACRO and CIRCLE
 2013-07-16 13:23:48 +10:00
Andrew Tridgell
a4f49a28fb Plane: prepare for 2.74b release 2013-07-16 09:45:32 +10:00
Andrew Tridgell
e27dd14bcc Plane: fixed FBWB aileron control 2013-07-16 09:44:23 +10:00
Andrew Tridgell
2ee43a694c APM_Control: fixed YAW2SRV_IMAX handling 
thanks to Steven G for noticing this!
 2013-07-16 09:44:23 +10:00
Randy Mackay
02b64e259d Copter: bug fix for descent during loiter_turns 2013-07-15 20:44:56 +09:00
Andrew Tridgell
032cc513ca DataFlash: fixed example build 2013-07-15 14:10:58 +10:00
Andrew Tridgell
206ed04e76 AP_Mount: fixed example build 2013-07-15 14:10:50 +10:00
Andrew Tridgell
47450a9b40 AP_InertialNav: fixed example build 2013-07-15 14:10:40 +10:00