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24,778 Commits 71 Branches 511 Tags 764 MiB
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4826 Commits

Author SHA1 Message Date
Andre Kjellstrup
b4c6d6395e Copter: reset battery_fs after dis/rearming 2014-09-18 11:17:03 +09:00
Randy Mackay
2efeb768e0 Copter: allow GCS to turn safety switch on/off 2014-09-17 21:51:25 +09:00
Randy Mackay
9bcf9a31ed Copter: set sys_status motor outputs bit from safety switch 2014-09-17 21:51:23 +09:00
Randy Mackay
9f3803052f Copter: add support for DO_PARACHUTE from GCS 
Mission command support was already included but this adds support for
DO_PARACHUTE received as a COMMAND_LONG message which are sent from the
GCS when the command should be executed immediately
 2014-09-17 21:14:26 +09:00
Randy Mackay
adf00a207b Copter: enable EPM by default on Pixhawk 2014-09-17 21:14:22 +09:00
Randy Mackay
bbe4438a6b Copter: add support for DO_GRIPPER command 2014-09-17 21:14:19 +09:00
Randy Mackay
3fa3cb6d65 Copter: remove EPM neutral from ch7/ch8 switch 
The EPM library returns the pwm output sent to the EPM to the neutral
position automatically meaning an explicit ch7/ch8 setting is not
required
 2014-09-17 21:13:45 +09:00
Randy Mackay
14d80910ec Copter: integrate EPM ver2 2014-09-17 21:13:35 +09:00
Jonathan Challinger
8ca4795ffb Copter: Log NTUN while in LAND mode with GPS 2014-09-16 10:19:33 +09:00
Randy Mackay
345d4353e5 Copter: adjust EKF_CHECK parameter description 
Default has been changed to 0.8 for -rc9 so we need to update the
description values so they match
 2014-09-12 21:28:41 +09:00
Randy Mackay
d15a5f9dcb Copter: THR_ACCEL_IMAX default to 800 2014-09-12 15:11:48 +09:00
Randy Mackay
224122958c Copter: reduce throttle to min once landed in RTL 
This catches the case where the vehicle lands but the user doesn't
immediately put the throttle to zero.  Before this check it would
continue to attempt to hold it's
 2014-09-12 14:16:05 +09:00
Randy Mackay
eac26cdd0f Copter: THR_ACCEL_IMAX param range increased 2014-09-12 14:16:04 +09:00
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
5720bff29f Copter: AC3.2-rc9 release notes 2014-09-11 20:38:56 +09:00
Randy Mackay
906b3dfbec Copter: AC3.2-rc8 release notes 2014-09-11 16:54:04 +09:00
Randy Mackay
4c6b0bb1cb Copter: format change to flight mode default defined 
This also kicks off the build for AC3.2-rc8
 2014-09-11 16:52:36 +09:00
Randy Mackay
48bc1456d0 Copter: increase Rate PID param ranges 
RATE_RLL_P to 0.25 (was 0.20)
RATE_PIT_P to 0.25 (was 0.20)
RATE_YAW_P to 0.50 (was 0.25)
RATE_YAW_I to 0.05 (was 0.02)
 2014-09-10 16:40:36 +09:00
Craig Elder
ea82caf7a4 Copter: Parameters.pde 
Corrected typo in parameter description
 2014-09-09 12:34:59 -07:00
Randy Mackay
0d7a999fc1 Copter: arming check that throttle is low 2014-09-09 23:02:18 +09:00
Randy Mackay
294f836c8c Copter: never send unhealthy terrain status 
Copter does not yet rely on the terrain data (it's for informational
purposes only) so we will temporarily disable the failure flags to the
GCS to avoid support calls
 2014-09-09 22:19:20 +09:00
Randy Mackay
bf18fb896a Copter: send extended status to GCS only after initialisation 2014-09-09 22:17:46 +09:00
Randy Mackay
21d56735ca Copter: increase EKF_CHECK_THRESH default to 0.8 
Also remove unused #define related to inertial nav check (now removed)
 2014-09-09 14:59:27 +09:00
Randy Mackay
9c613cd1ec Copter: reduce alt hold defaults 
Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
 2014-09-07 22:14:40 +09:00
Randy Mackay
db12df2237 Copter: minor ReleaseNotes format change 
This also helps to kick off the build of AC3.2-rc7
 2014-09-04 16:19:02 +09:00
Randy Mackay
05233fbf02 Cotper: AC3.2-rc7 release notes 2014-09-04 15:41:10 +09:00
Randy Mackay
641c8317a5 Copter: pre-arm consistency check of gyros 2014-09-04 15:21:58 +09:00
Randy Mackay
28f31166b9 Copter: land check gets overall throttle and rotation rate check 
add check that overall throttle level is below the non-takeoff throttle
instead of just checking that it's motors have hit their lower limits
because low limits can also be caused by high yaw rotation requests.
Absolute climb rate requirement reduced to 30cm/s
 2014-09-04 15:21:51 +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
4a06941a39 Copter: individual accel and gyro status to GCS 2014-09-03 11:22:51 +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
818b3b74f6 Copter: sanity check throttle deadzone 2014-09-02 12:40:15 +09:00
Jason Short
82481f30a3 Copter: move drift thr assist to separate function 
no changes in functionality.
 2014-08-31 14:22:56 +09:00
Randy Mackay
48d143d4ef Copter: minor format change to release notes 
This also helps kick off the rebuild so AC3.2-rc6 appears in the mission
planner
 2014-08-31 12:29:37 +09:00
Randy Mackay
ebfd828087 Copter: update AC3.2-rc6 release notes 
forgot compass-not-calibrated bug fix
 2014-08-31 12:06:03 +09:00
Randy Mackay
d04a4834fa Copter: update AC3.2-rc6 release notes 
Forgot to add GPS driver buffer overflow item
 2014-08-31 12:02:00 +09:00
Randy Mackay
13f994d3ad Copter: AC3.2-rc6 release notes 2014-08-31 11:55:06 +09:00
Randy Mackay
07420521ab Copter: default LAND_REPOSITION to 1 2014-08-31 10:44:09 +09:00
Jason Short
0dd9797fe6 Copter: restore CLI set parameter feature 
Added back the ability to set params from CLI
 2014-08-31 10:36:42 +09:00
Randy Mackay
cf98cc29b5 Copter: throttle deadzone parameter 
Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
 2014-08-29 15:54:34 +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
63d0cddfa4 Copter: make landing detector more strict 
Made more strict by requiring 50 consecutive iterations where the climb
rate is below +- 40cm/s.  Previously it was 50 cumulative.

Removed check of failsafe.radio when clearing the land flag because it
could result in the vehicle taking off if the user picked it up.
 2014-08-25 21:12:05 +09:00
Randy Mackay
65ed77e803 Copter: ensure motors don't stop during flip 2014-08-23 23:40:13 +09:00
Randy Mackay
e1e010c504 Copter: remove unused flip_stop 2014-08-23 23:40:11 +09:00
Randy Mackay
4184c1d6e5 Copter: flip minor comments and formatting 2014-08-23 23:40:09 +09:00
Jason Short
882edaf787 Copter: add pitch axis flipping 
Added Pitch axis flipping. You must be pushing forward or back 3° to make it flip in Pitch axis or it will flip in the default roll axis.
Added some extra throttle control to maintain altitude
removed the CH7 ability to exit Flip mode. It will exit only if completing flip or user aborts with control sticks.
 2014-08-23 23:40:07 +09:00
Randy Mackay
a83a47682d Copter: remove get_angle_targets_for_reporting fn 
this saves a tiny amount of time by removing the memory copy of a
Vector3f
 2014-08-22 22:56:21 +09:00
Andrew Tridgell
7618ffde63 Copter: show firmware version on param fetch 
fixes pull #1320

thanks Arthur!
 2014-08-22 21:13:11 +10:00
Randy Mackay
7d350735df TradHeli: update AttControlHeli constructor 
reference to rc_1, rc2 are replaced with constant updates during
acro_run
 2014-08-22 16:29:02 +09:00
Randy Mackay
2cd6d986d5 TradHeli: call passthrough_bf_roll_pitch_rate_yaw 2014-08-22 16:29:00 +09:00
Robert Lefebvre
968f1d64ae Logging: Fix comment error. 2014-08-22 16:28:54 +09:00
Robert Lefebvre
a4f710a363 TradHeli: Add yaw-only rate request function for flybar acro mode. 2014-08-22 16:28:52 +09:00
Robert Lefebvre
3316fe8f63 TradHeli: Reset flybar passthrough to false when exiting Acro mode. 2014-08-22 16:28:50 +09:00
Robert Lefebvre
f5ddaab35b TradHeli: Set Flybar passthrough mode in Acro Initialization function. 2014-08-22 16:28:47 +09:00
Robert Lefebvre
82061bc65d TradHeli: Add pointer for pilot roll/pitch inputs to attitude_control constructor. To be used for flybar passthrough. 2014-08-22 16:28:40 +09:00
Randy Mackay
c87283af98 Copter: remove inav check 
the EKF check works reliably but attempts to check the inertial nav for
errors has not been successful.  I could not find a way to reliably
catch flyaways without also introducing false positives (and thus
unwanted LANDings)
 2014-08-20 14:39:56 +09:00
Andrew Tridgell
a627cd2af2 Copter: run Linux boards at 100Hz for now 
we should be able to do 400Hz in future
 2014-08-19 20:03:33 +10:00
Randy Mackay
a693907429 Copter: add ACRO_EXPO param values 2014-08-19 12:51:27 +09:00
Andrew Tridgell
90f306cd3c Copter: set GPS non-blocking 
the new GPS driver only ever needs a non-blocking port
 2014-08-19 10:08:17 +10:00
NullVoxPopuli
e578fb1615 Copter: add A-Tail to FRAME parameter description 2014-08-18 14:31:03 +09:00
priseborough
162b824424 Copter : Distinguish between EKF and INAV errors 2014-08-18 14:17:50 +09:00
Randy Mackay
ccc8068443 Copter: range check ACRO_EXPO to be no more than 1 2014-08-18 12:56:22 +09:00
Randy Mackay
fcc5c7c12e Copter: update master firmware ver to AC3.3-dev 
Further AC3.2 fixes will appear in the ArduCopter-3.2 branch
 2014-08-18 11:45:54 +09:00
Randy Mackay
f490a289de Revert "Copter: use rcmap when sending radio_in to GCS" 
This reverts commit 716f625924.
 2014-08-16 20:31:24 +09:00
Randy Mackay
716f625924 Copter: use rcmap when sending radio_in to GCS 2014-08-16 15:27:49 +09:00
Randy Mackay
5b114dcad5 Copter: remove unused WP_OPTION definitions 
This also kicks off the build for AC3.2-rc5
 2014-08-16 12:18:48 +09:00
Randy Mackay
7202aa00da Copter: remove compass learn of offsets 
This saves 1k of flash and the interference on most copters makes this
option unusable anyway.
 2014-08-16 10:45:11 +09:00
Randy Mackay
515cb7c671 Copter: AC3.2-rc5 version and release notes 2014-08-14 21:38:56 +09:00
Randy Mackay
0a88281a76 Copter: bug fix to rally point alt 
rally point library uses absolute altitudes, we were passing in relative
altitudes which caused the vehicle to climb before heading to the rally
point
 2014-08-14 21:09:54 +09:00
Randy Mackay
6fc5014a84 Copter: increase sonar timeout to 1sec 
Contributed by Julien Dubois.
 2014-08-14 19:37:00 +09:00
Randy Mackay
7686660c73 Copter: use baro healthy() 2014-08-14 16:03:23 +09:00
Randy Mackay
1e374ab42b Copter: report baro health to GCS 2014-08-14 16:02:49 +09:00
Leonard Hall
85213dccbf Copter: Autotune Fix 2014-08-14 11:47:40 +09:00
Randy Mackay
f3fd79597f Copter: add ACRO_EXPO parameter 2014-08-14 11:47:37 +09:00
lthall
3ba1c0c4aa Copter: ACRO add expo 
adds 30% expo to roll and pitch
 2014-08-14 11:47:06 +09:00
Andrew Tridgell
e260f1c569 Copter: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Randy Mackay
4723ed5e6e Copter: rename EKF check's error message to dataflash 
It checks more than the compass so the old error message was misleading.
 2014-08-09 15:48:42 +09:00
Randy Mackay
af7e5a75e9 Copter: correct EKF_CHECK parameter description 2014-08-09 15:32:54 +09:00
Randy Mackay
0518439841 Copter: move relay from ch6 to ch7/ch8 2014-08-09 13:37:12 +09:00
Randy Mackay
226e42f1d7 Copter: rename EKF_CHECK_THRESH parameter 2014-08-07 21:43:57 +09:00
Andrew Tridgell
4d284a695d Copter: fix for changed AP_Terrain API 2014-08-06 17:59:19 +10:00
Randy Mackay
e5f89baab0 Copter: increase RATE IMAX param desc ranges 
Also remove unused STB_RLL_I and STB_RLL_IMAX descriptions because these
parameters no longer exist
 2014-08-06 13:24:10 +09:00
ggregory8
013b1333b1 Copter: Add guided_takeoff_start and guided_takeoff_run functions 2014-08-05 10:25:33 +09:00
ggregory8
e8b0c7a7e7 Copter: Handle MAV_CMD_NAV_TAKEOFF command to takeoff in guided mode only 2014-08-05 10:25:31 +09:00
ggregory8
3832c46998 Copter: Add takeoff enum for guided_mode 2014-08-05 10:25:29 +09:00
Randy Mackay
610e747f27 Copter: minor formatting fix 2014-08-04 21:04:10 +09:00
Randy Mackay
52a3dc2bde Copter: reset target alt to current alt when landed 2014-08-04 16:56:03 +09:00
Randy Mackay
279aff87f2 Copter: bug fix to land-detector 
vehicle should become un-landed only when throttle out is above the
get-non-throttle-takeoff value
 2014-08-04 16:53:39 +09:00
Randy Mackay
c7ba44db2d Copter: increase ekf check threshold for inav 
This increases the accel correction from 60cm/s to 80cm/s before the ekf
check will trigger a land
 2014-08-04 15:06:37 +09:00
Randy Mackay
7b9fa1ea79 Copter: rate IMAX increase to 1000 2014-08-04 11:31:02 +09:00
Randy Mackay
b8f98aba8f Copter: fix baro glitch resolved message in dataflash 
Caught by Julien Dubois, thanks!
 2014-08-04 09:11:21 +09:00
Randy Mackay
b29f8968ce Copter: clarify EKF check msg to GCS 
remove "compass" from the error message because the failure can also be
caused by GPS glitches
 2014-08-02 16:14:20 +09:00
Randy Mackay
8a07701d07 Copter: remove ch6 tuning of INAV_TC 
Users normally never change these parameters and if by chance they do want
to, they can set them before flying
 2014-08-01 15:14:42 +09:00
Randy Mackay
d386ac6f85 Copter: remove unused local var from Flip 2014-08-01 15:14:42 +09:00
Randy Mackay
e17da607b1 Copter: remove empty Telemetry.pde 2014-08-01 15:14:41 +09:00
Randy Mackay
4e2683421c Copter: disable parachute and rally on APM1 2014-08-01 15:14:40 +09:00
Randy Mackay
3e6e776360 Copter: of-loiter unavailable if OPTFLOW not enabled 
of-loiter was small but still present even when optflow was disabled
 2014-08-01 15:14:32 +09:00
Randy Mackay
004eb168fb Copter: remove unused var from ekf check 2014-08-01 15:06:19 +09:00
Andrew Tridgell
81230ab518 Copter: disable dump_log when no APM2 2014-08-01 15:57:28 +10:00
Andrew Tridgell
a49d133d2a Copter: disable Log_Read if no CLI 2014-08-01 15:46:28 +10:00
Randy Mackay
7a2288523e Copter: version and release notes for AC3.2-rc4 2014-08-01 13:56:09 +09:00
Randy Mackay
2c0699c9ed Copter: auto-disarm in Drift, Sport, OF_Loiter 2014-07-31 22:58:43 +09:00
Randy Mackay
b52f8351e8 Copter: rename EKFCHECK_COMPASS to EKFCHECK_THRESH 
Renamed because this threshold is now used for both compass and velocity
variance.
Also minor reorganisation of ekfcheck but no functional change.
 2014-07-31 22:58:43 +09:00
priseborough
d9bb3965ac Copter: prevent false triggering of ekf_check 2014-07-31 22:58:29 +09:00
Randy Mackay
85b4ba6142 Copter: Thr and Batt failsafe disarm when landed 
When throttle/radio failsafe or battery failsafe are triggered, the
vehicle will disarm if it is landed even if the throttle is not at zero.
Auto mode will disarm if landed and mission has not started.  This
ensures that the vehicle does not disarm during a mission land command
that appears mid way through a mission.
 2014-07-31 15:00:06 +09:00
Randy Mackay
77d5b2171e Copter: rename control_modes.pde to switches.pde 2014-07-31 15:00:04 +09:00
Randy Mackay
b09568ffb5 Copter: use hal.rcout to send servo output to GCS 2014-07-30 17:31:11 +09:00
Andrew Tridgell
3ccac6736d Copter: rename TELEM2_PROTOCOL to SERIAL2_PROTOCOL 
this matches SERIAL2_BAUD
 2014-07-30 14:49:10 +10:00
Matthias Badaire
147e91877e Copter: Add SERIAL2_PROTOCOL for GCS and FRsky telemtry 
this allows selection of protocol type on telem2. The default is
MAVLink, but can be selected as FrSky protocol
 2014-07-29 17:08:19 -07:00
Andrew Tridgell
91ec4e56d5 Copter: fixed ESC calibration on Pixhawk 
this ensures motors are armed after safety is pressed, and also gives
print out of channel inputs and outputs on USB console for debug
purposes

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-07-29 13:59:28 +10:00
Randy Mackay
c9667131dd Copter: log flight mode after arming 2014-07-29 11:43:47 +09:00
Randy Mackay
55f679b54b BaroGlitch: shorten param prefix to BAROGLTCH_ 2014-07-28 22:21:46 +09:00
Randy Mackay
7cc1501dc6 Copter: integrate baro glitch protection 2014-07-28 22:16:20 +09:00
Andrew Tridgell
b36e4b4122 Copter: avoid integer underflow in mavlink txspace check 2014-07-27 22:18:51 +10:00
Randy Mackay
df4bc3d617 Copter: pass motor_mask to ServoRelayEvents 2014-07-26 16:33:26 +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
Andrew Tridgell
cda78aa2c3 Copter: fixed auto-doc prefix for TERRAIN 2014-07-25 13:12:10 +10:00
Andrew Tridgell
8e65e5bff0 Copter: replace HAVE_AP_TERRAIN with AP_TERRAIN_AVAILABLE 2014-07-25 07:59:54 +10:00
Andrew Tridgell
8d04deff6a Copter: added terrain status reporting 2014-07-24 21:50:20 +10:00
Andrew Tridgell
0562907d9f Copter: added AP_Terrain library 2014-07-24 21:46:06 +10:00
Andrew Tridgell
e9fedbdb79 Copter: removed use of removed MAV_CMD_NAV_ commands 2014-07-24 21:40:16 +10:00
akdslr
dc67058771 ArduCopter: Removed CONFIG_SONAR_SOURCE, SONAR_SOURCE_ADC, and SONAR_SOURCE_ANALOG_PIN since no longer used 2014-07-24 14:41:55 +10:00
akdslr
06fa2e3f60 ArduCopter test: Renamed the test from sonar to rangefinder and added info on all devices 2014-07-24 14:41:55 +10:00
akdslr
1354cd7120 ArduCopter Parameters: Changed the SONAR prefix to RNGFND, renamed SONAR_GAIN, and CH6-8 value descriptions 2014-07-24 14:41:54 +10:00
Supergoldfish
13563f4344 Copter: added Sonar Voltage reporting to GCS mavlink 
Rangefinder class will return 0 if not applicable.
 2014-07-23 20:57:36 +09:00
Randy Mackay
e9861de2ac Copter: fix to drift's yaw rate 
The ACRO_P parameter needs to be multiplied by the roll and pitch
velocities to calculate the final yaw rate
 2014-07-23 17:13:08 +09:00
Randy Mackay
7bda6cbadf Copter: integrate EKF check 
Check runs at 10hz
Log ekf check failures and ekd failsafes
 2014-07-22 23:13:25 +09:00
Randy Mackay
a4a4334b13 Copter: add EKFCHECK_COMPASS parameter 2014-07-22 23:13:22 +09:00
Randy Mackay
65bc498d4e Copter: add ekf check of compass 
Checks the EKF's compass variance or the inertial navigations x and y
acceleration corrections
 2014-07-22 23:13:20 +09:00
Randy Mackay
eb696e247b Copter: CLI report_compass prints results for all compasses 2014-07-22 22:01:25 +09:00
Randy Mackay
3c702e5fc5 Copter: compass mot configures all compasses 2014-07-22 22:01:24 +09:00
Randy Mackay
af28270669 Copter: bug fix for throttle failsafe 
Missing bracket could cause throttle failsafe to be triggered even when
disabled or motors disarmed
 2014-07-21 20:58:16 +09:00
lthall
9202149fb1 Copter: integrate pre-takeoff throttle feedback 
This feature slightly revs the motors in response to the pilot's input
before takeoff AltHold, Loiter, AutoTune, PosHold and Sport flight modes

pair-programmed with Randy Mackay
 2014-07-18 11:41:50 +09:00
Randy Mackay
11678ba936 Copter: remain landed until throttle output above 25 percent 2014-07-18 11:41:46 +09:00
lthall
edd7334544 Copter: add pre_takeoff throttle feedback 
pair-programmed with Randy Mackay
 2014-07-18 11:41:28 +09:00
Randy Mackay
e339149044 Copter: update AC3.2-rc3 ReleaseNotes yet again 2014-07-17 14:27:03 +09:00
Randy Mackay
73fcfbd174 Copter: add no-break to case to resolve compiler warning 
This also helps kick off the auto builder for AC3.2-rc3
 2014-07-17 12:10:45 +09:00
Randy Mackay
eb762bc890 Copter: update AC3.2-rc3 Release Notes 2014-07-17 11:52:07 +09:00
Randy Mackay
df28db1361 Copter: minor formatting update 2014-07-17 11:49:38 +09:00
Craig Elder
07d43534c1 Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 19:41:43 -07:00
Craig Elder
3c9c943b67 Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:03:29 -07:00
Craig Elder
e85c9f078d Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:02:32 -07:00
Randy Mackay
34984cc2d1 Copter: update AC3.2-rc3 Release Notes 2014-07-16 17:55:04 +09:00
Jonathan Challinger
fc34a2fed1 Copter: updated AttitudeControl ctor call to reflect changes 2014-07-16 14:40:58 +09:00
Randy Mackay
b6ef3dc5d7 Copter: add parenthesis around ntun log bitmask 
Resolves one compiler warning
 2014-07-16 14:40:45 +09:00
bugobliterator
2fd165d023 Copter: Add esc_calib to as an app in cli 
Usage Notes:
- when in cli mode select setup
- inside setup use esc_calib <chan_mask> to launch esc calibration
  e.g. esc_calib 1010 : enable calibration for Motor 2 and Motor 4
 2014-07-14 09:44:36 +10:00
Andrew Tridgell
49954a3a61 Copter: use sensors from board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell
fa4abdb0ae Copter: added support for MPU9250 2014-07-14 09:44:34 +10:00
Robert Lefebvre
022425584b TradHeli: Move two static bools into heli_flags structure to save 2 bytes RAM. 2014-07-13 17:11:30 +09:00
Robert Lefebvre
4b9aea2c55 Parameters: Update Tune Comments with new options 2014-07-13 17:11:27 +09:00
Robert Lefebvre
aff98e34e5 TradHeli: Force recalc scalers after setting main loop time in MotorsHeli so that ramp scalers are right for 32-bit. 2014-07-13 17:11:25 +09:00
lthall
f53181ec66 Copter: Acro balance fix 2014-07-13 15:51:49 +09:00
Andrew Tridgell
71d2333ea8 Copter: changes for more common mavlink code 2014-07-13 15:37:50 +10:00
Andrew Tridgell
28f251005b Copter: fixed typos in parameter markup 2014-07-12 11:26:15 +10:00
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
34bc136a6c Copter: AC3.2-rc3 version and release notes 2014-07-11 14:18:48 +09:00
Randy Mackay
65e5367619 Copter: rename hybrid to poshold 2014-07-11 14:09:01 +09:00
Randy Mackay
0fc73a0a21 Copter: rename control_hybrid to poshold 2014-07-11 14:06:53 +09:00
Randy Mackay
b565d43d5d Copter: PREFLIGHT_SET_SENSOR_OFFSETS used to set compass offsets 
remove deprecated ardupilot specific SET_MAG_OFFSETS
 2014-07-10 20:25:18 +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
svefro
e892b4cd04 Copter: Ch7/8 option to retract mount 
-Define AUX_SWITCH_RETRACT_MOUNT in defines.h
-Added 27=Retract Mount to Parameters.pde CH7 and CH8
-added int on CH7/8opt AUX_SWITCH_RETRACT_MOUNT
-Added Case #if Mount == ENABLE to set mount mode
made set_mode public in AP_Mount.h lib
 2014-07-10 13:03:28 +09:00
Randy Mackay
e1a6b07e60 Copter: setting ESC param to 2 skips high throttle check 
This allows the all-at-once ESC calibration to be performed on a setup
in which the RC input takes some time to come online.
 2014-07-09 13:25:08 +09:00
Robert Lefebvre
4b5167e529 TradHeli: Change behavior of Acro and Stabilize modes when disarmed. Servos should move realistically for testing when disarmed. 2014-07-08 20:18:32 +09:00
Robert Lefebvre
5b13b2b3da TradHeli: Stabilize mode should use get_pilot_desired_collective, not get_pilot_desired_throttle. 2014-07-08 20:18:29 +09:00
Robert Lefebvre
032f321348 TradHeli: Acro mode uses full collective range. 2014-07-08 20:18:27 +09:00
Robert Lefebvre
c7ccd22d96 TradHeli: Set main loop rate time in motors class. 2014-07-08 20:18:24 +09:00
Robert Lefebvre
7ef4c11c92 TradHeli: Initialize Rate FF filters. 2014-07-08 20:18:16 +09:00
Robert Lefebvre
8eb557d1e0 TradHeli: Add Heli.h file 2014-07-08 20:18:10 +09:00
Robert Lefebvre
1f422c86c1 Arducopter: Add independent rate roll and pitch P, I, D tuning options. Add rate feedforward tuning options for tradheli. 2014-07-08 20:18:08 +09:00
Robert Lefebvre
08e135151a TradHeli: Add Mode Filter on RC8 input for RSC Controller. 2014-07-08 20:18:00 +09:00
Robert Lefebvre
ff71b0fa35 TradHeli: Create new function to move data between AP_MotorsHeli and AP_AttitudeControl. 2014-07-08 20:17:57 +09:00
Robert Lefebvre
1aa3961151 Arducopter: Improve comments for scheduler. Add timing table for AVR processors. 2014-07-08 20:17:54 +09:00
Jonathan Challinger
c07ded9a79 Copter: Don't use land detector to stop stabilizing in stabilize 2014-07-08 19:41:41 +09:00
Andrew Tridgell
6416a4d0e6 Copter: fixed apm1-hil build 2014-07-08 15:41:39 +10:00
Andrew Tridgell
a4b9b989b7 Copter: convert to new AP_RangeFinder API 2014-07-08 15:08:18 +10:00
Andrew Tridgell
9f5eb3b464 Copter: remove log CLI code when CLI disabled 2014-07-08 14:28:19 +10:00
Jonathan Challinger
09a01a4668 Copter: Wait 4 seconds before beginning to land during failsafes 2014-07-06 20:25:04 +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
Jonathan Challinger
5b36e65cb9 Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents 2014-07-06 19:20:25 +09:00
Randy Mackay
2dfef17caf Copter: guided reset yaw only when initialised 2014-07-06 17:02:13 +09:00
Randy Mackay
81355d1adf Copter: DO_SET_ROI accepted outside missions 
Moved ROI logic to new set_auto_yaw_roi function.
 2014-07-06 17:02:06 +09:00
MousS
ae8fb3f1c5 Copter: MAV_CMD_CONDITION_YAW accepted outside missions 2014-07-06 17:01:15 +09:00
Randy Mackay
46badc05bc Copter: guided mode sets desired velocity instead of target velocity 2014-07-06 17:01:12 +09:00
Randy Mackay
f5640dadbf Copter: guided mode velocity controller 2014-07-06 17:01:08 +09:00
Randy Mackay
b027c71491 Copter: restore pv_get_horizontal_distance_cm function 2014-07-06 17:01:05 +09:00
Randy Mackay
12720bbbe1 Copter: accept condition-yaw commands in guided 2014-07-06 17:00:46 +09:00
Randy Mackay
279926e386 Copter: accept guided pos updates when doing NAV_GUIDED cmd 2014-07-06 17:00:35 +09:00
Randy Mackay
fdc0ec837b Copter: add nav_guided suport to Auto mode 2014-07-06 17:00:31 +09:00
Randy Mackay
af4490a3d5 Copter: remove mode from guided_set_dest 
This duplicate check stopped us from reusing guided
guided_set_destination as part of Auto's nav_guided command
 2014-07-06 17:00:29 +09:00
Andrew Tridgell
21b0b3bc15 Copter: log up to 3 mags 2014-07-04 12:07:59 +10:00
Niels Joubert
10b4757706 ArduCopter: Move MAVLink size check into library 2014-06-30 10:30:17 +10:00
Niels Joubert
4abbda616f ArduCopter: GPS Callback for calculating base position 2014-06-30 10:29:56 +10:00
Andrew Tridgell
edafe7100b Copter: update for AP_Mount change 2014-06-18 12:04:48 +10:00
Randy Mackay
e0f4a570c6 Copter: loiter turns radius from command's p1 field 2014-06-17 20:53:56 +10:00
Randy Mackay
01da4e29fb Copter: use relative_alt flag when decoding change_alt command 2014-06-17 20:53:41 +10:00
Randy Mackay
50e024fe8f Copter: flag current alt as relative 
This is required so common Log_Write_Camera can calculate relative and
abs altitudes provided by either copter or plane

pair programmed with Craig Elder
 2014-06-17 14:11:42 +10:00
Randy Mackay
8c488ebd87 Copter: use common Log_Write_Camera 
pair programmed with Craig Elder
 2014-06-17 14:11:39 +10:00
Randy Mackay
8c48b65175 Copter: bug fix to remove home variable 
pair programmed with Craig Elder
 2014-06-11 12:01:48 +09:00
Randy Mackay
d0194b7a9d Copter: remove home variable 
home has moved to ahrs
saves 15 bytes of RAM
 2014-06-11 11:05:15 +09:00
Randy Mackay
5c305989b9 Copter: set home alt to absolute alt 2014-06-11 11:04:52 +09:00
Randy Mackay
09fc777ab9 Copter: slow motors after landing in AUTO 
This resolves an issue in which the vehicle could tip over if the pilot
did not reduce the throttle to zero soon after landing in AUTO mode
 2014-06-10 22:56:53 +09:00
Jason Short
a873942f73 Fix to restore Gimbal control after Mission with ROI 2014-06-10 20:03:05 +09:00
Randy Mackay
810c87969c Copter: Ch7/8 switch to enable/disable feed forward and accel limiting 2014-06-10 20:03:04 +09:00
Randy Mackay
91b1d20b70 Heli: integrate AttControl's set_yaw_target_to_current_heading 2014-06-10 20:02:52 +09:00
Randy Mackay
08801eebf2 Copter: integrate AttControl's set_yaw_target_to_current_heading 2014-06-10 20:02:51 +09:00
lthall
babe655b8f Copter: Remove acro acceleration slew todo 
It has already been done :)
 2014-06-10 20:02:37 +09:00
Randy Mackay
4221833028 Copter: flip records starting attitude 
Previously flip relied on the attitude controller not updating the earth
frame target during the flip which can't be guaranteed.  Safer for flip
to maintain it's own copy of the original attitude .
 2014-06-10 20:02:32 +09:00
Randy Mackay
75c328a752 TradHeli: integrate init_targets rename to relax_bf_rate_controller 2014-06-10 20:02:30 +09:00
Randy Mackay
77d5d682c1 Copter: integrate init_targets rename to relax_bf_rate_controller 
Also remove unnecessary init_targets from flight mode init functions.
 2014-06-10 20:02:29 +09:00
Randy Mackay
083f2898a9 Copter: use fast_atan2 for bearings to home and next WP 2014-06-06 18:51:06 +09:00
Randy Mackay
f5f206b055 Copter: set inav alt to zero when arming 2014-06-06 18:42:45 +09:00
Ju1ien
abd1370b2c Copter: flag stays landed unless pilot raises throttle 2014-06-06 18:42:30 +09:00
Valentin Brossard
9fcfea5404 Copter: accept DO_CHANGE_SPEED outside of missions 
https://github.com/diydrones/ardupilot/issues/1095
 2014-06-06 16:13:22 +09:00
Ju1ien
fd9502d3fa Copter: Improve surface tracking dynamics 
This little fix will allow much higher sonar_gain without the
oscillating effect it used to bring.
 2014-06-06 15:32:49 +09:00
Randy Mackay
db000f2287 Copter: remove setting rate and thr D term filters 2014-05-29 17:40:24 +09:00
Robert Lefebvre
5eb206e6bb Copter: Add 'handle' to allow #define updating of AC_PID filter rate for Throttle Accel. 2014-05-29 17:39:16 +09:00
Robert Lefebvre
df1de4260d Copter: Set Rate PID D-term filter rates on initialization. 2014-05-29 17:39:12 +09:00
Robert Lefebvre
5ee87f7561 Copter: Change TradHeli to use new AC_HELI_PID class. 2014-05-29 17:39:04 +09:00
Randy Mackay
6496872885 Copter: release notes for AC3.1.5 2014-05-28 11:23:58 +09:00
Andrew Tridgell
1dbbdde8ef Copter: use new GCS_Common.cpp functions 2014-05-28 09:35:57 +10:00
Randy Mackay
0b5ff80b3e Copter: remove unused pos vector functions 
removed pv_latlon_to_vector, pv_get_lat, pv_get_lon.
it would probably be best if these were moved into the Math library
 2014-05-27 16:30:32 +09:00
Randy Mackay
d4a892c650 Copter: AC3.2-rc2 release notes and version 2014-05-27 14:44:15 +09:00
Randy Mackay
20719e23fd Copter: enable PARACHUTE and RALLY for all but APM 2014-05-27 14:43:33 +09:00
Randy Mackay
af10a6817c Copter: remove command_description.txt 
Description in this file were out of date or incomplete and it is better
for people to refer to the MAVLink documentation or the
/libraries/GCS_MAVLink/message_definitions/common.xml and
ardupilotmega.xml files
 2014-05-27 10:58:42 +09:00
Andrew Tridgell
a55c511f63 Copter: updates for new GCS_MAVLink API 2014-05-21 12:45:25 +10:00
Andrew Tridgell
cdcaad3079 Copter: update baud rate parameter descriptions 2014-05-21 12:45:25 +10:00
Andrew Tridgell
cc6fba4cad Copter: change baudrates parameters to 16 bit 2014-05-21 12:45:25 +10:00
Randy Mackay
d5a0ca4f3c Copter: integrate init_loiter_target name change 2014-05-19 12:27:29 +09:00
Randy Mackay
63135a044f Copter: remove setting Z-axis target in Hybrid 
This workaround is no longer required because AC_WPNav's
set_loiter_target call no longer sets the position controller's z-axis
target
 2014-05-19 12:27:23 +09:00
Arthur Benemann
e1b7e53c04 Copter: only acceept Guided waypoints in Guided mode 
Fix #1068. When receiving guided waypoints do not change to GUIDED mode. This serves as a safety precaution for GCS, since they must switch to guided mode before sending the waypoints.
 2014-05-17 12:02:53 +09:00
Randy Mackay
481a55867e Copter: only send sonar distance to GCS when sonar enabled 2014-05-16 14:46:56 +09:00
Ben Nizette
8c7b4feac1 Copter: send sonar distance to GCS via MAVLink 
At the moment, the copter sonar set up does not have access to the
raw sonar readings so this code sets the voltage field to zero.
 2014-05-16 14:46:11 +09:00
Andrew Tridgell
836b365bc8 Copter: use setup_uart() 2014-05-16 11:45:11 +10:00
Andrew Tridgell
427a638296 Copter: added reporting of AHRS health 2014-05-15 21:14:21 +10:00
Randy Mackay
9f81e286d1 Copter: add Pixhawk pin to RSSI_PIN's @Value 
Also prepend APM2 to existing definitions
 2014-05-15 17:13:43 +09:00
Randy Mackay
f7a9ee24ef Copter: minor comment update 2014-05-15 16:21:35 +09:00
Randy Mackay
715e9c0474 Copter: reset mission when disarming 2014-05-15 16:21:32 +09:00
Randy Mackay
7d4c74c28e Copter: when leaving AUTO only stop mission if running 
This resolves an issue in which the mission would not automatically
start from the beginning if it had previously been run to completion
 2014-05-15 16:21:30 +09:00
Randy Mackay
a38e00c048 Copter: remove unused HIGH, LOW definitions 
Minor commit to kick off the auto build so AC3.2-rc1 will go out
 2014-05-09 16:35:21 +09:00
Randy Mackay
3f329d0857 Copter: version to AC3.2-rc1 2014-05-09 13:48:47 +09:00
Randy Mackay
e75d6a2da6 Copter: remove meaningless check from motor_test 2014-05-09 13:48:44 +09:00
Randy Mackay
0c7a3f1ec5 Copter: remove unused Log_Write_GPS function 2014-05-09 13:48:41 +09:00
Randy Mackay
b4dcad725c Copter: remove unused servo_write function 2014-05-09 13:48:38 +09:00
Randy Mackay
1e8b99ad17 Copter: update release notes for AC3.2-rc1 2014-05-09 13:48:35 +09:00
Andrew Chapman
3f0a52cb53 Copter: ch7/8 switch for auto pause/continue 
- added new mode for CH7/CH8 (#24, auto mission reset)
- changed mission.start() to mission.start_or_resume() in auto_init()
 2014-05-08 23:09:42 +09:00
Andrew Chapman
8640e11728 Copter: bug fix rally point landing target 
was drifting toward home by some distance as (0,0,0) was hard-coded in
control_rtl.pde. Fixed, tested in SITL
 2014-05-08 23:09:40 +09:00
Randy Mackay
197d83e32a Copter: bug fix to sport roll pitch control 2014-05-08 16:16:02 +09:00
Randy Mackay
0af9d502d9 Copter: set pos controller speeds before circle init 
This ensures stopping point is calculated correctly
 2014-05-08 16:15:59 +09:00
Randy Mackay
3cc5b9446f Copter: AUTO and Guided call wp_and_spline_init 2014-05-08 16:15:55 +09:00
Randy Mackay
11918869a5 Copter: RTL calls wp_and_spline_init 2014-05-08 16:15:52 +09:00
Randy Mackay
ff1a58e078 Copter: increase LOITER_RATE_IMAX to 1000 
This allows us to load up the I term with the vehicle's current
acceleration during mode transitions

pair programmed with Randy
 2014-05-08 16:15:34 +09:00
Randy Mackay
fb2be07b44 Copter: update AC_WPNav instantiation 2014-05-08 16:15:29 +09:00
Randy Mackay
10d7ab5840 Copter: update release notes for AC3.1.4 2014-05-08 11:58:37 +09:00
Randy Mackay
afb9c0a5c7 Copter: update release notes for AC3.1.4-rc1 2014-05-02 14:23:13 +09:00
Randy Mackay
0ad3c1e15e Copter: add EKF to Ch7/Ch8 Opt parameter description 2014-05-02 10:02:23 +09:00
Randy Mackay
d857427444 Copter: disable RALLY points by default 
This saves 2k of flash which allows the code to fix on the APM1/2
 2014-04-30 21:46:21 +09:00
Randy Mackay
a3036fc443 Copter: init pos_control z-axis after setting speed and accel 2014-04-30 21:46:17 +09:00
Randy Mackay
a4c675c23e Copter: add PILOT_ACCEL_Z parameter 
Allows configurable z-axis acceleration when pilot is controlling
altitude
 2014-04-30 21:46:13 +09:00
Randy Mackay
7d7a2aced7 Copter: init vert speed and accel for each flight mode 
This resolves issue #1021 in which LAND mode could descend at the
PILOT_VELZ rate instead of the WPNAV_SPEED_DN

Pilot defined acceleration is used for AltHold, AutoTune , Circle,
Hybrid, Loiter, OF_Loiter and Sport flight modes
Waypoint Nav (ie. AutoPilot) acceleration is used for Auto, Land, RTL
 2014-04-30 21:46:10 +09:00
Randy Mackay
466e9db1f9 Copter: integrate AC_WPNav get_speed_xy name change 2014-04-30 21:46:07 +09:00
Randy Mackay
5b3438850d Copter: fix typo in Log_Write_Baro 
Log_Write_Baro should be an empty function when logging is disabled
Fix contributed by Jason Short
 2014-04-30 08:50:51 +09:00
Craig Elder
241557e5e0 Copter: Corrected typo in RC_FEEL_RP parameter description 2014-04-28 23:56:49 -07:00
Randy Mackay
416e9457ce Copter: remove cli motor test 2014-04-29 11:41:17 +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
Craig Elder
00033bd302 Copter: Update RC_FEEL_RP Description 2014-04-28 17:44:09 -07:00
Randy Mackay
b9b3a39a83 Copter: fence enable/disable via MAVLink 2014-04-27 16:18:17 +09:00
Randy Mackay
d3411e45bb Copter: use get_current_nav_index() 2014-04-27 16:00:44 +09:00
Randy Mackay
5fe86a657e Copter: land_do_not_use_GPS has no return value 2014-04-27 15:41:41 +09:00
Randy Mackay
0665cf6b28 Copter: RTL alt should not be above fence alt 
Resolves issue #435
If the altitude fence is enabled, when the vehicle RTLs it will return
at the lower of the RTL_ALT and the FENCE_ALT_MAX
 2014-04-27 15:41:37 +09:00
Randy Mackay
4686eef266 Copter: GPS failsafe ensures LAND is pilot-controlled 
This resolves issue #880 in which if a GPS failsafe occurred while the
vehicle was already in LAND mode, the LAND would continue to be GPS
controlled LAND instead of pilot-controlled LAND
 2014-04-27 15:11:47 +09:00
Randy Mackay
dba8fac515 Copter: remove unused variables from fence.pde 
saves 2 bytes
 2014-04-27 11:11:12 +09:00
Randy Mackay
1aeaa5955b Copter: integrate 10sec manual recovery after fence breach 2014-04-27 11:11:09 +09:00
Randy Mackay
20de5b3006 Copter: Loiter clears out pilot acceleration when failsafe occurs 
This ensures invalid pilot desired accelerations are cleared from the
loiter controller.  This is probably not strictly necessary because the
vehicle should switch out of Loiter and into RTL during failsafe.
 2014-04-25 14:45:19 +09:00
Randy Mackay
05d9dc5cba Copter: RTL always land if in radio failsafe 
Resolves issue in which vehicle would get stuck at RTL_ALT_FINAL if
failsafe occured.
Also clear out pilot acceleration from loiter controller if failsafe
occurs during the final descent.
 2014-04-25 14:45:16 +09:00
Randy Mackay
40650aeb68 Copter: roll and pitch nudging in RTL descent 2014-04-25 14:17:03 +09:00
Michael Oborne
68f439acbe Fix auto doc group names 2014-04-25 07:53:03 +08:00
Randy Mackay
19f1e7fec4 Copter: disable Parachute by default 
This saves 1k of flash and we are desperately low on the APM1/APM2.
Hopefully we can find savings somewhere and re-enable it by default.
 2014-04-24 19:02:32 +09:00
Randy Mackay
ea64438ef9 Copter: RTL ensures heading is back to initial heading 
This fixes the issue in which a short RTL_LOIT_TIME could cause the
vehicle's heading to be caught between it's heading when it arrived at
home and the initial armed heading.  With this fix it now waits above
home until the timer has run out AND the heading is within 2degrees of
the initial armed heading.
 2014-04-24 18:54:49 +09:00
Randy Mackay
e23115516d Copter: disarm after completing RTL 
Note that an RTL command executed in AUTO mode will also disarm when it
lands and pilot's throttle is put to zero and no further commands will
be executed.  This is normally not an issue because missions generally
end with an RTL (instead of having the RTL in the middle) and a work
around is available in that the LAND command could be used instead of
RTL.
 2014-04-24 17:27:30 +09:00
Randy Mackay
a5602c5f14 Copter: updated contributors list 
Add JulianD and SandroT and replaced tabs with spaces
 2014-04-24 11:28:41 +09:00
Ju1ien
78a3e0f5a2 Copter: Hybrid removed Wind_comp_estimate filter 
Removed useless call of function
hybrid_get_wind_comp_lean_angles(hybrid.wind_comp_roll,
hybrid.wind_comp_pitch);
Removed 10Hz filter for hybrid_update_wind_comp_estimate()
 2014-04-24 11:28:37 +09:00
Randy Mackay
287af8f66e Copter: disable optical flow by default 
We have run out of flash on the APM2, it was a choice between Hybrid
flight mode and OF_Loiter
 2014-04-23 15:27:08 +09:00
Randy Mackay
55e7e1eb3e Copter: allow HYBRID to be disabled to save flash 
Hybrid flight mode costs 4.5k of flash which currently puts us over the
limit for APM1 and APM2 unless optical flow or other features are
disabled
 2014-04-23 15:27:05 +09:00
Randy Mackay
ba94fc9796 Copter: Hybrid move reset_I into structure 
Saves 1 byte of RAM
 2014-04-23 15:00:09 +09:00
Ju1ien
ff532a06ec Copter: Hybrid fixes to wind_comp, brake pitch timer, thr peaks 
There was an error in the velocity axis used to update
brake_timeout_pitch (vel_right instead of vel_fw)

The wind_comp was not enough filtered for the Pixhawk (400Hz), so I
added a specific time constant (TC_WIND_COMP) to have the expected
filter with 400Hz controllers.

About throttle peaks, after some tests and from logs, they happen when
hybrid switches to loiter.
There is always a difference between Alt and DesiredAlt (DAlt), but,
when loiter engages, it initializes DAlt = Alt and the copter tries
immediatelly to reach that new setpoint. So the solution would be to
init_loiter_target() just as it was in pre-onion code : only x/y and not
z. and to be able to pass parameters like that
wp_nav.init_loiter_target(inertial_nav.get_position(), Vector3f(0,0,0));

Well, from this new code structure, it seems not possible with current
functions so I've used set_loiter_target that init position passed as
parameter and velocity to 0 (as expected).
BTW, I think there was something wrong with set_loiter_target function,
the "Vector3f& position" parameter was not used at all...
I moved the reset flag from init_loiter_target to set_loiter_target.
 2014-04-23 15:00:04 +09:00
Ju1ien
14cbb09804 Copter: hybrid add Brake or Loiter to Pilot override transition 
Corrected a little mistake in get_wind_comp...()
Mixed transition not only from loiter but as well from brake to manual
override
 2014-04-23 15:00:01 +09:00
Ju1ien
43b1dd748b Copter: hybrid init brake roll and pitch at loiter exit 2014-04-23 14:59:59 +09:00
Ju1ien
d745060c80 Copter: fix Hybrid flight mode in Parameter description 2014-04-23 14:59:56 +09:00
Ju1ien
f8e8d4024d Copter: Hybrid's max brake angle to 30deg 2014-04-23 14:59:53 +09:00
Ju1ien
b3e8112d24 Copter: Hybrid fix wind_comp time constant 
Corrected timer init values and wind_comp time constant to get the best
behaviour

Check if wider deadband required (current is 30).
We were using a comparison to a 70-100 cdeg deadband in our initial
code. The deadband was there to avoid unwanted switches in case of
inaccurate fingers/radio

Adjusted timers to 100/400Hz

I_term does not init when in hybrid loiter
 2014-04-23 14:59:43 +09:00
Randy Mackay
4778c73de2 Copter: Hybrid 10hz updates to wind comp lean angles 2014-04-23 14:59:40 +09:00
Randy Mackay
f87ab21063 Copter: Hybrid estimates wind when speed under 10cm/s 2014-04-23 14:59:38 +09:00
Randy Mackay
d36f137bf8 Copter: allow arming, disarming in Hybrid mode 2014-04-23 14:59:35 +09:00
Randy Mackay
e2aaafe40b Copter: hybrid works for 100hz and 400hz 2014-04-23 14:59:33 +09:00
Randy Mackay
705ff3f44f Copter: add hybrid_mix_controls 
Allow wind comp estimate to run when vehicle travelling up to 30cm/s
(was 10cm/s)
 2014-04-23 14:59:30 +09:00
Randy Mackay
e48c93d93c Copter: restructure hybrid into more states 2014-04-23 14:59:28 +09:00
Randy Mackay
f467d7bc20 Copter: add Hybrid parameters 2014-04-23 14:59:25 +09:00
Randy Mackay
754bae5748 Copter: refactor and split out wind compensation 2014-04-23 14:59:23 +09:00
Randy Mackay
d9c685323a Copter: add hybrid state struct, formatting changes 2014-04-23 14:59:20 +09:00
Randy Mackay
b5ed23f592 Copter: integrate skeleton Hybrid mode 2014-04-23 14:59:17 +09:00
Ju1ien
832fc62016 Copter: control_hybrid initial version 2014-04-23 14:59:15 +09:00
Randy Mackay
5fc071f5f9 Copter: restore SITL to run at 100hz 2014-04-21 21:46:22 +09:00
Andrew Tridgell
e07b70de4e Copter: set AHRS vehicle class 2014-04-21 18:13:13 +10:00
Randy Mackay
01538c5290 Copter: remove unused lon_error, lat_error 2014-04-21 15:06:32 +09:00
Randy Mackay
8ac14023b4 Copter: set main loop rate from CPU class 
Previously this was determined by the board
 2014-04-21 13:32:00 +09:00
Randy Mackay
a1edf347bf Copter: STB_RLL_P and STB_PIT_P @Range 3 to 12 2014-04-21 10:41:01 +09:00
Randy Mackay
b9845047f4 Copter: bug fix AP_Rally param directory 2014-04-19 22:37:01 +09:00
Randy Mackay
7af5d4a8ce Copter: remove RALLY_WP_SIZE definition 2014-04-19 15:00:30 +09:00
Andrew Chapman
fa3732ac6d Copter: integrate AP_Rally 2014-04-19 15:00:23 +09:00
Randy Mackay
817c893f21 Copter: bug fix for conditional_distance command 
Due to a race condition, the wp_distance was not being updated before
the conditional_distance
 2014-04-17 22:23:28 +09:00
Randy Mackay
f29ad3a2e0 Copter: bug fix for when WP_YAW_BEHAVIOR is 0 2014-04-17 16:53:06 +09:00
Randy Mackay
c53a0fcfd9 Copter: conditional yaw fix 
waypoint command was setting auto_yaw_mode when it was run after the
do-cmd
yaw_look_at_heading was being set to current heading which was
overwriting the caller's desired heading
 2014-04-17 16:41:36 +09:00
Randy Mackay
7f00bd7f5d Copter: default WAYPOINT to current pos if lat, lon, alt are zero 2014-04-16 20:33:43 +09:00
Randy Mackay
d2dad1b2c1 Copter: remove unused circle_desired_rotations 
desired num rotations is already held in command so we save 1byte of RAM
 2014-04-16 16:28:11 +09:00
Randy Mackay
e6d2692eab Copter: Loiter_Turns moves to edge of circle if location provided 2014-04-16 16:28:08 +09:00
Randy Mackay
f6676be400 Copter: integrate change in AC_Circle init 
Removed init_loiter_target when vehicle landed.  We should add some
initialisation of the circle controller when landed.
 2014-04-16 16:28:06 +09:00
jschall
ff9838ea27 Copter: Document stream rate parameter functionality 2014-04-15 16:05:45 +09:00
Kevin Hester
4bfd6b8ddd Copter: fixup line endings to be newline 2014-04-15 15:54:13 +09:00
Randy Mackay
cf86e304f0 Copter: add V-Tail to FRAME param's @Value 2014-04-15 12:18:31 +09:00
Randy Mackay
729026d80c Drift: get velocity using const reference 2014-04-14 11:34:17 +09:00
Emile Castelnuovo
f5a68fdba1 Copter: clear RC in overrides on GCS failsafe. 2014-04-13 22:59:51 +09:00
TeamOSEOLA
7dda8afd60 Copter: Fixed GPS_ok() status checking 
Fixed the GPS_ok() so that TRUE is returned in the cases of DGPS and Assisted GPS fixes, not just 3D fix.
 2014-04-11 09:01:35 +10:00
Andrew Tridgell
1189978334 Copter: ensure we log both GPS at the time we receive a message 2014-04-10 10:30:10 +10:00
Randy Mackay
e7d73aa856 Copter: enable GCS failsafe to RTL by default 
This only triggers if the user has been using the GCS's RC override
 2014-04-09 10:50:35 +09:00
Randy Mackay
037a0b4e5a Copter: dos2unix Parameters.h 2014-04-08 23:30:15 +09:00
Emile Castelnuovo
a9bd4e9da1 VRBRAIN: added ignore board voltage check for VRBRAIN boards. 2014-04-08 16:19:20 +10:00
Emile Castelnuovo
9e31f032c2 Copter: added VRBRAIN board #includes and #defines 2014-04-08 16:19:20 +10:00
Randy Mackay
8a4d82f43a Copter: AC3.1.3 release notes 2014-04-07 14:28:12 +09:00
Randy Mackay
9bf9e0ede9 Copter: check parachute is enabled before manual_release 2014-04-07 13:37:15 +09:00
Randy Mackay
01e5ae6e5c Copter: integrate parachute alt_min units change 2014-04-07 13:37:12 +09:00
Randy Mackay
47c1cb8b99 Copter: log parachute events 2014-04-07 13:36:59 +09:00
Randy Mackay
2b4d2697b2 Copter: process MAV_CMD_DO_PARACHUTE commands 2014-04-07 13:36:56 +09:00
Randy Mackay
56768a8d61 Copter: add min alt check to parachute release 2014-04-07 13:36:50 +09:00
Randy Mackay
340f3a7f9d Copter: ch7/ch8 parachute release 2014-04-07 13:36:47 +09:00
Randy Mackay
ac982656fd Copter: extend crash check to trigger parachute 2014-04-07 13:36:46 +09:00
Randy Mackay
ff32b27272 Copter: integrate parachute lib 2014-04-07 13:36:44 +09:00
Andrew Tridgell
ae350e42aa Copter: show next wp when not running a mission 
this lets the GCS know what wp would be run if auto mode is selected
 2014-04-07 11:41:05 +10:00
Andrew Tridgell
454d1f26c3 Copter: added support for SERIAL_CONTROL message 2014-04-05 07:34:34 +11:00
Andrew Tridgell
339689b578 Copter: fixed load average for different loop rates 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-04 21:37:56 +11:00
Andrew Tridgell
27ad8c39d6 Copter: enable passthrough auxillary channels 2014-04-03 12:19:44 +11:00
Andrew Tridgell
7bf12cfd8a Copter: update for gps.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell
852cdbaa7c Copter: added GPS parameters 2014-04-01 06:38:25 +11:00
Andrew Tridgell
640b64f5e4 Copter: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
198388b5e0 Copter: use AP_GPS_Auto for 2nd GPS 2014-04-01 06:38:23 +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
Randy Mackay
9e7021cc20 Copter: Notify arming failure when using MAVLink 2014-03-31 20:34:31 +09:00
Jonathan Challinger
608b8b0a2c Copter: integrate Notify arming failure when using yaw sticks 2014-03-31 20:34:29 +09:00
Randy Mackay
4b6f03cc11 Copter: remove do_land's use of RTL_ALT_MAX 2014-03-31 20:34:21 +09:00
Jonathan Challinger
2601ac9959 Copter: Remove 80m altitude limit on RTL 2014-03-31 20:34:19 +09:00
Jonathan Challinger
045c6d8c3f Copter: Only play GPS tone when armed 2014-03-31 20:34:16 +09:00
Randy Mackay
d9fd577fb0 Copter: add Drift throttle assist constraints 2014-03-31 15:40:00 +09:00
Jason Short
50dcbe6549 Copter: Drift throttle assist range increased 
Throttle assist is applied from 213 ~ 787
Deadband and constraint added
 2014-03-31 13:09:57 +09:00
Jason Short
bccf1de563 Copter: add drift throttle assist 2014-03-31 13:09:54 +09:00
Randy Mackay
7d5d0d12a2 Copter: spline bug fixes 
Next waypoint's location must be passed in even if it's a straight
segment.
mission.get_next_nav_cmd's start_index should be the current command +1
 2014-03-29 17:57:45 +09:00
Randy Mackay
ac364c93dd Copter: bug fix for simple_mode when run at 400hz 
Mark radio frame as consumed so that simple mode does not apply the yaw
correction more than once when run at very high rates (like 400hz on
Pixhawk)
 2014-03-28 17:03:31 +09:00
Randy Mackay
176a450ad2 Copter: remove spline handling from regular wp_nav 2014-03-28 09:23:41 +09:00
Randy Mackay
d541fefab4 Copter: add do_spline_wp and verify_spline_wp functions 2014-03-28 09:23:33 +09:00
Randy Mackay
8f946a3a8c Copter: remove original_wp_bearing 
To-Do: extend wpnav yaw control to only repoint nose towards waypoint if
it is more than 5m or 10m away
 2014-03-28 09:23:21 +09:00
Randy Mackay
392162747a Copter; integrate WPNAV's get_yaw 2014-03-28 09:23:17 +09:00
Randy Mackay
3753550a72 Copter: integrate get_spline_yaw 2014-03-28 09:23:11 +09:00
Randy Mackay
c0f12911ec Copter: minor format change 2014-03-28 09:23:02 +09:00
Randy Mackay
0822adfb34 Copter: integrate spline navigation 2014-03-28 09:22:59 +09:00
Andrew Tridgell
78ba1a33aa Copter: support 18 input channels in MAVLink 2014-03-25 14:47:43 +11:00
Andrew Tridgell
c0767eebff Copter: support 14 RC channels on PX4 2014-03-25 14:47:05 +11:00
Andrew Tridgell
e1b9135946 Copter: updates for new RCInput API 2014-03-25 14:47:04 +11:00
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
11e5b95878 Copter: updates for GPS changes 2014-03-24 12:04:46 +11:00
Randy Mackay
71f61c9bef Copter: fix typo to show ATUN FMT in dataflash logs 2014-03-21 15:44:06 +09:00
Andrew Tridgell
4a01315fc5 Copter: enable logging of RADIO_STATUS 2014-03-20 09:56:37 +11:00
Andrew Tridgell
a345a9d993 Copter: removed check on target component in arm 
Thanks to DonLakeFlyer for finding this, see
https://github.com/diydrones/ardupilot/pull/909
 2014-03-20 09:06:28 +11:00
Randy Mackay
88527cd01c Copter: integrate Mission cmd field changes 2014-03-19 12:14:25 +09:00
Andrew Tridgell
e4b3323455 Copter: use common deferred message handling 2014-03-19 12:14:20 +09:00
Andrew Tridgell
69252868a8 Copter: use common MISSION_ITEM handling 2014-03-19 12:14:12 +09:00
Andrew Tridgell
f4ed2beacd Copter: use new common MAVLink message handlers 2014-03-19 12:13:40 +09:00
Randy Mackay
6ef2b55602 Copter: use common GCS_MAVLink handle_mission methods 2014-03-19 12:13:22 +09:00
Andrew Tridgell
85725de9cb Copter: use new handle_mission_request() 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:13:15 +09:00
Randy Mackay
a3573f9ebd Copter: minor typo in do_change_speed processing 
It is unlikely that the "f" at the end of the 100 is required to
maintain the full precision of the target speed but added just in case
 2014-03-19 12:12:55 +09:00
Randy Mackay
08b78db43c Copter: use mission command specific structures 2014-03-19 12:12:54 +09:00
Randy Mackay
2f8daf2fa9 Copter: integrate dataflash Log_Write_MavCmd 2014-03-19 12:12:46 +09:00
Randy Mackay
edab06a3ff Copter: truncate mission before uploading new mission 
replacing clear with truncate allows new missions to be uploaded while
the current mission is running
 2014-03-19 12:12:36 +09:00
Randy Mackay
f3813593b7 Copter: use Dataflash lib's Log_Write_Cmd 2014-03-19 12:12:11 +09:00
Randy Mackay
7b6906ae3f Copter: integrate variable max num commands 2014-03-19 12:12:01 +09:00
Randy Mackay
b587d0d597 Copter: pass eeprom start to Mission constructor 2014-03-19 12:11:56 +09:00
Randy Mackay
b718b9070a Copter: call mission.init during startup 2014-03-19 12:11:47 +09:00
Randy Mackay
cc7b1c4e9c Copter: init_home checks cmd read success before logging 2014-03-19 12:11:39 +09:00
Randy Mackay
fa96e9355b Copter: init cmd before saving with Ch7/Ch8 2014-03-19 12:11:21 +09:00
Randy Mackay
0fc36fd244 Copter: CMD dataflash logs use uint16 for total and num 2014-03-19 12:11:15 +09:00
Randy Mackay
6bb05750e7 Copter: remove alt_in_cm from mavlink to cmd conversion 2014-03-19 12:11:04 +09:00
Randy Mackay
04166c1686 Copter: replace memset in GCS_Mavlink 2014-03-19 12:10:52 +09:00
Randy Mackay
c3162f67e8 Copter: integrate move of p1 from Location to mission cmd 2014-03-19 12:10:48 +09:00
Randy Mackay
aade894014 Copter: integrate replace_cmd 2014-03-19 12:10:43 +09:00
Randy Mackay
54c99d84ea Copter: integrate AP_Mission set_current_cmd 2014-03-19 12:10:39 +09:00
Randy Mackay
36af34bf8b Copter: send current wp as 65535 to GCS when mission complete 2014-03-19 12:10:34 +09:00
Randy Mackay
92738533fe Copter: auto starts only when num cmds > 1 
num_commands will be 1 when there is no mission because home counts as
the first command
 2014-03-19 12:10:30 +09:00
Randy Mackay
f77b2af661 Copter: use common location options masks 2014-03-19 12:10:26 +09:00
Randy Mackay
070cbc9250 Copter: use Mission mav to cmd conversion methods 2014-03-19 12:10:24 +09:00
Randy Mackay
67a4b47f6b Copter: pass ahrs into mission constructor 2014-03-19 12:10:15 +09:00
Randy Mackay
37fe229ded Copter: remove unused definitions 2014-03-19 12:10:12 +09:00
Randy Mackay
359f1a27ec Copter: process cmds from mission lib 2014-03-19 12:10:11 +09:00
Randy Mackay
6e0e672fb2 Copter: log using mission commands 2014-03-19 12:10:09 +09:00
Randy Mackay
43c7310540 Copter: ch7 save wp feature to use ap_mission 2014-03-19 12:10:08 +09:00
Randy Mackay
ffc418dfe3 Copter: add mavlink packet to cmd conversion to GCS_Mavlink.pde 2014-03-19 12:10:06 +09:00
Randy Mackay
9f03e21f81 Copter: remove low-level handling of mission cmds 
Now handled by AP_Mission
 2014-03-19 12:10:04 +09:00
Randy Mackay
5d568502a0 Copter: instantiate AP_Mission object 2014-03-19 12:10:03 +09:00
Randy Mackay
1bad6a4b15 Copter: add AP_Mission object parameter 
Remove global command_total and command_index parameters
 2014-03-19 12:10:01 +09:00
Randy Mackay
0d23c3b910 Copter: initialise vertical speed for Loiter mode 2014-03-17 10:17:57 +09:00
Holger Steinhaus
39df609235 Copter: fixed vertical speed init for ALT_HOLD mode 2014-03-17 10:12:35 +09:00
Andrew Tridgell
43d009e3a5 Copter: set 2nd GPS as secondary 2014-03-08 21:48:18 +11:00
Randy Mackay
9287e28307 Copter: bug fix display of PerfMon log's num long loops 2014-03-08 15:17:03 +09:00
Randy Mackay
54e131cf1f Copter: re-enable CLI for Pixhawk 2014-03-08 15:17:02 +09:00
Randy Mackay
6efc26d3a6 Copter: restore mount's mode to default after ROI completes 2014-03-05 16:02:14 +09:00
Randy Mackay
7992a1a7d3 Copter: disable the CLI by default 
This is unfortunate but master's flash size is over the APM2 limit
 2014-03-05 12:03:56 +09:00
Randy Mackay
4f963e7795 Copter: move report_compass out of the CLI 
This function is also used by compassmot.  Having it strictly part of
the CLI causes a compile error when the CLI is disabled
 2014-03-05 12:01:45 +09:00
Randy Mackay
00f9843e40 Copter: remove CLI tests for gps, logging, radio 
Required to shrink the firmware down so that it can fit on the APM2
boards
 2014-03-05 11:44:09 +09:00
Randy Mackay
fc85228d09 Copter: remove CLI set 
Frees about 1k of flash
 2014-03-04 22:23:57 +09:00
Randy Mackay
3a934357e9 Copter: remove unused reset_land_detector 2014-03-04 22:23:55 +09:00
Randy Mackay
c56f521897 Copter: ch6 tuning of RC_FEEL_RP 2014-03-04 22:23:53 +09:00
Randy Mackay
e89600afe3 Copter: integrate smoothing gain into flight modes 2014-03-04 22:23:52 +09:00
Randy Mackay
3910ab807f Copter: replace input filtering with smoothing gain 2014-03-04 22:23:50 +09:00
Randy Mackay
429e8d5e50 Copter: integrate AttControl feel param 2014-03-04 22:23:49 +09:00
lthall
a9db399f60 Copter: integrate AttControl input shaping 2014-03-04 21:52:20 +09:00
Andrew Tridgell
86fa82f767 Copter: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:47 +11:00
Andrew Tridgell
3de574e5dc Copter: disable GPS2 in HIL 2014-02-27 08:16:20 +11:00
Andrew Tridgell
37394b30ee Copter: added support for 2nd GPS 2014-02-26 09:40:29 +11:00
Andrew Tridgell
2fcbdc4056 Copter: pass fix type to gps->setHIL() 2014-02-25 21:11:10 +11:00
Andrew Tridgell
ffcc77a21f Copter: fix for HIL API change 2014-02-23 08:18:20 +11:00
Randy Mackay
d992483bf5 Copter: add EKF params to full param list 2014-02-21 13:51:22 +09:00
Randy Mackay
797212c7ab Copter: remove remnant of cli compassmot 2014-02-19 16:04:10 +11:00
Randy Mackay
2457dbf0cd Copter: more checks before starting compassmot 
additional checks that copter is landed and that compassmot calibration
isn't already being performed.
Returns ACK to ground station as process begins
 2014-02-19 16:04:03 +11:00
Andrew Tridgell
76b60a1a52 Copter: added compassmot over MAVLink 
use the MAVLink interact code to allow for compassmot over MAVLink

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-02-19 16:04:00 +11:00
Andrew Tridgell
a45d77f893 Copter: set the ahrs.set_armed() flag 2014-02-19 10:53:44 +11:00
Andrew Tridgell
0cbe64bc5e Copter: use Log_Write_Baro() 
this gives the raw pressure and temperature, which is useful for
analysis, plus allows for more accurate log replay
 2014-02-19 09:22:45 +11:00
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
bf68edd01c Copter: bug fix to 50hz logging rate 
Caught by Emile Castelnuovo
 2014-02-17 22:25:02 +09:00
Randy Mackay
d9b7559379 Copter: remove duplicate #define from APM_Config.h 2014-02-17 16:44:47 +09:00
Randy Mackay
4e1c51aa65 Copter: bug to disarm at end of mission 2014-02-17 16:43:49 +09:00
Andrew Tridgell
ce66314f40 Copter: fixed HIL build on PX4 2014-02-17 12:34:34 +11:00
proficnc
bbf5c11c8a Update Parameters.pde 
Moved Disabled to the bottom of the drop-down box for selecting logging types.
This is to reduce the potential for someone to accidentally select Disabled when they intend on selecting Default.
 2014-02-17 10:02:45 +11:00
Randy Mackay
00913ffe1b Copter: throttle rate to simple P controller 
Saves at least 15bytes of RAM
 2014-02-16 13:35:40 +11:00
Randy Mackay
9444ba7ea8 TradHeli: init roll/pitch input filter 2014-02-16 13:35:33 +11:00
Randy Mackay
b259510095 Copter: init roll/pitch input filters 2014-02-16 13:35:30 +11:00
Andrew Tridgell
9c66dd0d2c Copter: change to Compass::learn_offsets 2014-02-16 13:22:13 +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
Randy Mackay
3f10a84a2a Copter: remove accel calibration from cli 
Also remove compass, flight mode, optical flow, radio and ch6 tuning
knob setup from cli to free up 3.5k of flash
 2014-02-15 06:09:08 +11:00
Randy Mackay
3ccd1ad170 Copter: integrate AttControl method name changes 2014-02-15 06:09:08 +11:00
Randy Mackay
6880a6db80 TradHeli: integrate AttControl method name changes 2014-02-15 06:09:08 +11:00
lthall
7ed5080dc9 Copter: simplify get_angle_targets_for_reporting 2014-02-15 06:09:08 +11:00
lthall
41dcfae7c0 AC Acro and Sport: Angle limit code update 2014-02-15 06:09:08 +11:00
Andrew Tridgell
ebf6d47830 Copter: disable direct tuning, we need accessors for this 2014-02-15 05:48:24 +11:00
Andrew Tridgell
2fbdf7f718 Copter: fixed build for AHRS API changes 2014-02-15 05:48:22 +11:00
Andrew Tridgell
a8dc1be4de Copter: fixed non-EKF copter build 2014-02-15 05:48:21 +11:00
Randy Mackay
20989fd5e9 Copter: allow ch6 tuning of EKF 2014-02-15 05:48:20 +11:00
Andrew Tridgell
86afd13f12 Copter: use GPS AIRBORNE_4G 2014-02-15 05:48:17 +11:00
Andrew Tridgell
a112694a50 Copter: added AUX switch option for enable/disable EKF 2014-02-15 05:48:17 +11:00
Andrew Tridgell
5606e2f4a7 Copter: enabled EKF and SIMSTATE flash logging 2014-02-15 05:48:16 +11:00
Andrew Tridgell
6a9189a6a5 Copter: enable AHRS2 mavlink message 2014-02-15 05:48:16 +11:00
Andrew Tridgell
99b3517a47 Copter: use AP_InertialNav_NavEKF when available 2014-02-15 05:48:15 +11:00
Andrew Tridgell
686d1b9124 Copter: changes set_home_position() to setup_home_position() for Inav 2014-02-15 05:48:15 +11:00
Andrew Tridgell
c6e25483b4 Copter: use a common home with AHRS 2014-02-15 05:48:15 +11:00
Andrew Tridgell
9cc00d20eb Copter: fixed for removed DCM blowup counts 2014-02-15 05:29:48 +11:00
Andrew Tridgell
79a29d12f2 Copter: fixed build for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell
af5a3dff93 Copter: enable use of AHRS_NavEKF 2014-02-15 05:29:47 +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
Andrew Tridgell
644bf71f56 Copter: fixed build for InertialNav change 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
5e8fede19e Copter: comment fix to Attitude.pde 2014-02-15 05:27:50 +11:00
Randy Mackay
aa79e22ce0 Drift: bug fix for throttle 2014-02-15 05:27:50 +11:00
Randy Mackay
10a0303706 Copter: smooth throttle transition between flight modes 2014-02-15 05:27:50 +11:00
Randy Mackay
0df1dc267b Copter: integrate WPNav constructor change 2014-02-15 05:27:50 +11:00
Randy Mackay
1b8055aed9 Copter: remove unused t7 const 
Saves 4 bytes
 2014-02-15 05:27:49 +11:00
Randy Mackay
2b3995ccb5 Copter: integrate refs for RC_Channels in motor defs 2014-02-15 05:27:49 +11:00
Randy Mackay
9f78f65413 TradHeli: integrate leonard's control_acro fixes 2014-02-15 05:27:49 +11:00
Randy Mackay
bf6bb59cb4 Copter: Leonard's control_acro fixes 
get_pilot_desired_angle_rates returns bf rate targets as floats
 2014-02-15 05:27:49 +11:00
Randy Mackay
6380a39d3a Copter: remote update_trig from main code 2014-02-15 05:27:48 +11:00
Randy Mackay
75b20bde7c Copter: control_acro, drift use trig from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay
aa4c3eaffe Copter: resolve RTL state compiler warnings 2014-02-15 05:27:48 +11:00
Randy Mackay
12a4ce70fd Copter: remove control_roll, pitch, yaw variables 2014-02-15 05:27:47 +11:00
Randy Mackay
2c1ec9d0c0 Copter: remove control_roll, pitch, yaw from control files 2014-02-15 05:27:47 +11:00
Randy Mackay
e8c4e8a472 Copter: integrate get_angle_target_for_reporting 
Used for logging and sending to GCS
 2014-02-15 05:27:47 +11:00
Randy Mackay
d579325e2a Copter: add get_angle_targets_for_reporting 
This returns the current earth frame roll, pitch and yaw targets which
can depend upon the flight mode
 2014-02-15 05:27:47 +11:00
Randy Mackay
1acd33e290 Copter: do_yaw takes yaw target from AttControl 2014-02-15 05:27:47 +11:00
Randy Mackay
ea1158a9d5 Copter: remove unused config 2014-02-15 05:27:47 +11:00
Randy Mackay
9ef3fd850f Copter: remove use of SUPER_SIMPLE definition 2014-02-15 05:27:47 +11:00
Randy Mackay
b37b0c5061 TradHeli: remove use of throttle_mode 2014-02-15 05:27:47 +11:00
Randy Mackay
b0673d693b Copter: move set_mode, to flight_mode.pde 2014-02-15 05:27:47 +11:00
Randy Mackay
b8bb477731 Copter: add flight_mode.pde 2014-02-15 05:27:47 +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
72a3f14561 Copter: move reset_optflow_I to control_ofloiter 2014-02-15 05:27:46 +11:00
Randy Mackay
7afa0a767c Copter: correct circle rate tuning to use circle_nav 2014-02-15 05:27:46 +11:00
Randy Mackay
3e399fd830 Copter: remove unused parameters 2014-02-15 05:27:46 +11:00
Randy Mackay
81c7df7678 Copter: comment fix 2014-02-15 05:27:46 +11:00
Randy Mackay
0e0d02cd6d Copter: remove unused init from sport mode 2014-02-15 05:27:46 +11:00
Randy Mackay
3d926a6943 Copter: GCS_Mavlink gets gyro direct from imu 2014-02-15 05:27:46 +11:00
Randy Mackay
f46ff2b44e Copter: remove unused defines 2014-02-15 05:27:46 +11:00
Randy Mackay
fe26af86de Copter: crash check works with flip flight mode 2014-02-15 05:27:46 +11:00
Randy Mackay
22280e1c57 Copter: integrate surface_tracking to control_althold 2014-02-15 05:27:46 +11:00
Randy Mackay
3824f528ea Copter: get angle_boost direct from pos_control 2014-02-15 05:27:46 +11:00
Randy Mackay
90c5fe4be4 Copter: surface_tracking takes current_alt_target param 2014-02-15 05:27:46 +11:00
Randy Mackay
989a03a643 Copter: remove unused flags and variables 2014-02-15 05:27:45 +11:00
Randy Mackay
174318a2a9 Copter: remove set_nav_mode 2014-02-15 05:27:45 +11:00
Randy Mackay
aedb4136de Copter: update_thr_cruise removed from control_stabilize 2014-02-15 05:27:45 +11:00
Randy Mackay
223c6fd4de Copter: remove deadwood, update_thr_cruise always runs 2014-02-15 05:27:45 +11:00
Randy Mackay
2870d043f8 Copter: remove unused drift.pde 
moved to control_drift.pde
 2014-02-15 05:27:45 +11:00
Randy Mackay
1cd678f684 Copter: compiler warning for control_autotune 2014-02-15 05:27:45 +11:00
Randy Mackay
d3a126d078 Copter: integrate slew_yaw into control_auto 2014-02-15 05:27:45 +11:00
Randy Mackay
364946cb7f Copter: AttControl param prefix shortened to ATC 2014-02-15 05:27:45 +11:00
Randy Mackay
814157324d Copter: APM_Config AUTOTUNE_ENABLED 2014-02-15 05:27:45 +11:00
Randy Mackay
89a50ed445 Copter: comment fix for control_stabilize 2014-02-15 05:27:45 +11:00
Randy Mackay
0107b2a95d Copter: remove unused auto_tune.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
aec67cd3df Copter: integrate control_autotune 2014-02-15 05:27:44 +11:00
Randy Mackay
823485f763 Copter: add control_autotune.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
b87852ee2e Copter: remove unused flip.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
d90d3d8dca Copter: integrate control_flip 2014-02-15 05:27:44 +11:00
Randy Mackay
47deb795bd Copter: add control_flip 2014-02-15 05:27:44 +11:00
Randy Mackay
1648ecc6e5 Copter: bug fix for heli_control_acro throttle 2014-02-15 05:27:44 +11:00
Randy Mackay
c73c9f03a5 Copter: bug fix for control_acro throttle 2014-02-15 05:27:44 +11:00
Randy Mackay
164bd10ef0 TradHeli: init targets when entering acro 2014-02-15 05:27:44 +11:00
Randy Mackay
fdf41219ca Copter: init targets when entering acro 2014-02-15 05:27:44 +11:00
Randy Mackay
9f33873b2e Copter: typo in control_acro.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
ec989c720c Copter: integrate heli_control_acro 2014-02-15 05:27:43 +11:00
Randy Mackay
5aaa01ab30 TradHeli: heli_control_acro 2014-02-15 05:27:43 +11:00
Randy Mackay
922dff0514 Copter: integrate heli_control_stabilize 2014-02-15 05:27:43 +11:00
Randy Mackay
41ab2547d7 Copter: control_stabilize remove takeoff_complete 2014-02-15 05:27:43 +11:00
Randy Mackay
bca309eb1e Copter: replace takeoff_complete with landed_complete 2014-02-15 05:27:43 +11:00
Randy Mackay
2940688301 TradHeli: heli_control_stabilize 2014-02-15 05:27:43 +11:00
Randy Mackay
91124bcf8b TradHeli: remove get_heli_rate_yaw from main code 2014-02-15 05:27:43 +11:00
Randy Mackay
3b0de0d23d Copter: integrate trad heli AttControl 2014-02-15 05:27:43 +11:00
Randy Mackay
ef666c73ab Copter: remove Position mode 2014-02-15 05:27:42 +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
837061fd65 Copter: control_ofloiter added 2014-02-15 05:27:42 +11:00
Robert Lefebvre
c561d6bb9e Small comment change. 2014-02-15 05:27:42 +11:00
Randy Mackay
54be8402a2 Copter: integrate control_guided 2014-02-15 05:27:42 +11:00
Randy Mackay
798add0b5c Copter: remove guided from control_auto.pde 2014-02-15 05:27:42 +11:00
Randy Mackay
0e41b01ad0 Copter: control_guided added 2014-02-15 05:27:41 +11:00
Randy Mackay
245bcd7c2c Copter: removed althold, drift, sport from control_stabilize 2014-02-15 05:27:41 +11:00
Randy Mackay
d85c57999d Copter: althold moved to control_althold.pde 2014-02-15 05:27:41 +11:00
Randy Mackay
2e6327be06 Copter: sport moved to control_sport.pde 2014-02-15 05:27:41 +11:00
Randy Mackay
70c8b622e2 Copter: drift moved to control_drift 2014-02-15 05:27:41 +11:00
Randy Mackay
212ced63f6 Copter: bug fix for do_loiter_time alt target 2014-02-15 05:27:41 +11:00
Randy Mackay
37bde3406d Copter: remove comments 2014-02-15 05:27:41 +11:00
Randy Mackay
70d1e53b74 Copter: commands_logic to use auto_rtl 2014-02-15 05:27:41 +11:00
Randy Mackay
1457a9d31a Copter: auto_mode to global scope 2014-02-15 05:27:41 +11:00
Randy Mackay
7970d7112f Copter: add rtl to control_auto 2014-02-15 05:27:41 +11:00
Randy Mackay
1f07c2efe0 Copter: remove old circle 2014-02-15 05:27:41 +11:00
Randy Mackay
bae867712d Copter: integrate circle mission command 2014-02-15 05:27:41 +11:00
Randy Mackay
ff2b8ff6f2 Copter: add circle to control_auto 2014-02-15 05:27:40 +11:00
Randy Mackay
cbf6e6a945 Copter: mostly working circle flight mode 2014-02-15 05:27:40 +11:00
lthall
8268e27d49 Copter: ACRO further clean up 2014-02-15 05:27:40 +11:00
Randy Mackay
af890e0f8d Copter: add AC_Circle include 2014-02-15 05:27:40 +11:00
Randy Mackay
83a767f3db Copter: control_circle.pde added 2014-02-15 05:27:40 +11:00
Randy Mackay
3b9ae02966 Copter: add Circle parameter 2014-02-15 05:27:40 +11:00
lthall
e979263c56 Copter: ACRO clean up and mistake fixes 2014-02-15 05:27:40 +11:00
lthall
ed7dd58c01 this is a test 2014-02-15 05:27:40 +11:00
Randy Mackay
8b9eb7ab2b Copter: WPNav constructor change 2014-02-15 05:27:39 +11:00
Randy Mackay
b1449d59ee Copter: resolve conflict between control_auto, control_rtl states 2014-02-15 05:27:39 +11:00
Randy Mackay
055ce4e53e Copter: integrate control_rtl 2014-02-15 05:27:39 +11:00
Randy Mackay
689e92eb33 Copter: control_rtl 2014-02-15 05:27:39 +11:00
Randy Mackay
bd88ed8a53 Copter: LAND at stopping point instead of curr pos 2014-02-15 05:27:39 +11:00
Randy Mackay
cdc935b66d Copter: implement auto_land with Loiter controller 2014-02-15 05:27:39 +11:00
Randy Mackay
93d43f8ca5 Copter: remove unused var from acro 2014-02-15 05:27:39 +11:00
Randy Mackay
32b8f80510 Copter: Acro flight mode from Leonard 2014-02-15 05:27:38 +11:00
Randy Mackay
cdc0f8e414 Copter: use new control_auto takeoff and land 2014-02-15 05:27:38 +11:00
Randy Mackay
0dabc0c577 Copter: control_auto - takeoff, land 2014-02-15 05:27:38 +11:00
Randy Mackay
eec62cb16a Copter: control_loiter initialises alt target 2014-02-15 05:27:38 +11:00
Randy Mackay
6ba91369ff Copter: split control_land into gps and non-gps 2014-02-15 05:27:38 +11:00
Randy Mackay
011de6683e Copter: land_detector moved to control_land 2014-02-15 05:27:38 +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
3b003ea3e6 Copter: remove setting of nav mode 2014-02-15 05:27:38 +11:00
Randy Mackay
924e2a66ce Copter: split control_auto into separate file 2014-02-15 05:27:38 +11:00
Randy Mackay
e27f4c1c13 Copter: split control_stabilize into land, rtl, loiter 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
c92de71212 Copter: control_stabilize, - integrate changes to get_throttle_surface_tracking 2014-02-15 05:27:37 +11:00
Randy Mackay
f3bcbb2ce4 Copter: remove setting roll, pitch yaw modes in set_mode 2014-02-15 05:27:37 +11:00
Randy Mackay
d70862e44b Copter: remove case that does nothing 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
1b714defcc Copter: move auto to control_auto.pde and fix yaw 2014-02-15 05:27:37 +11:00
Randy Mackay
8e40cbdd7f Copter: disable ch7/8 feature to point at armed yaw 2014-02-15 05:27:37 +11:00
Randy Mackay
4540fb3fef Copter: remove set roll-pitch, yaw, thr modes for ACRO, LOITER 2014-02-15 05:27:36 +11:00
Randy Mackay
dc6f622d48 Copter: move NTUN logging to 10hz loop 2014-02-15 05:27:36 +11:00
Randy Mackay
8e08a1f8ab Copter: remove debug 2014-02-15 05:27:36 +11:00
Randy Mackay
f5c305e960 Copter: control_stabilize rename wp_nav calls 2014-02-15 05:27:36 +11:00
Randy Mackay
b29a963fd6 Copter: remove unused Attitude.pde functions 2014-02-15 05:27:36 +11:00
Randy Mackay
0a2adbac1b Copter: renaming functions after moving xy control 2014-02-15 05:27:36 +11:00
Randy Mackay
9843e93308 Copter: control_stabilize - much renaming as xy pos controller moves 2014-02-15 05:27:36 +11:00
Randy Mackay
5fd9410ff5 Copter: much renaming as xy pos controller moves 2014-02-15 05:27:36 +11:00
Randy Mackay
f0c538f8fb Copter: control_stabilize comment update 2014-02-15 05:27:36 +11:00
Randy Mackay
d380e6b4d3 Copter: integrate add ref to AC_Pos_Control from WP_Nav 2014-02-15 05:27:35 +11:00
Randy Mackay
aaa62eeb28 Copter: integrated simpler init loiter from WP_Nav 2014-02-15 05:27:35 +11:00
Randy Mackay
49367c5a30 Copter: GCS.h include fix 2014-02-15 05:27:35 +11:00
Randy Mackay
eddb593ee2 Copter: althold uses high level angle controller 2014-02-15 05:27:35 +11:00
Randy Mackay
bdf95bd835 Copter: stabilize uses high level angle controller 2014-02-15 05:27:35 +11:00
Randy Mackay
a52e220724 Copter: add loiter controller to onion 
Also add ignore_checks to flight mode initialisation
 2014-02-15 05:27:35 +11:00
Randy Mackay
7e37b16ccb Copter: move update_flight_mode to fast loop 2014-02-15 05:27:35 +11:00
Randy Mackay
784f7385b5 Copter: add attitude and pos control params 2014-02-15 05:27:35 +11:00
Randy Mackay
b34664ea07 Copter: remove unused altitude error 2014-02-15 05:27:34 +11:00
Randy Mackay
e69eeea246 Copter: log alt target from PosControl 2014-02-15 05:27:34 +11:00
Randy Mackay
44e731ea40 Copter: control_stabilize reports alt target 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
e1bf4af1b8 Copter: bug fix to set angle_boost in stab mode 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
2c03a3a3c6 Copter: set pos_control.set_dt 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
5649b7f4d9 Copter: integrate AC_PosControl constructor changes 2014-02-15 05:27:33 +11:00
Randy Mackay
4840ce238a Copter: skeleton AltHold flight mode 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
33552b63d8 Copter: early integration of AC_PosControl 2014-02-15 05:27:33 +11:00
Randy Mackay
3146299a0f Copter: move control_stabilize yaw input higher 2014-02-15 05:27:33 +11:00
Randy Mackay
7f56b28767 Copter: move thr control to control_stabilize 2014-02-15 05:27:33 +11:00
Randy Mackay
2253cf9769 Copter: run main loop at 400hz for pixhawk 2014-02-15 05:27:33 +11:00
Randy Mackay
3a78263921 Copter: skeleton init call for all flight modes 2014-02-15 05:27:33 +11:00
Randy Mackay
0431b7e1d4 Copter: bug fix for stabilize_run's yaw control 2014-02-15 05:27:33 +11:00
Randy Mackay
1fdfa751e6 Copter: integrate replacement of timers with set_dt 2014-02-15 05:27:33 +11:00
Randy Mackay
c8e277703d Copter: add acro_run skeleton 2014-02-15 05:27:33 +11:00
Randy Mackay
c2ca5c46b8 Copter: correct auto_run 2014-02-15 05:27:32 +11:00
Randy Mackay
1cf065e1df Copter: remove debug for control_stabilize 2014-02-15 05:27:32 +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
Andrew Tridgell
2bf7a46c9b Copter: log power status on Pixhawk 2014-02-15 05:00:09 +11:00
Andrew Tridgell
0a3476bbf1 Copter: change to new board_voltage() API 2014-02-14 21:50:59 +11:00
Randy Mackay
bd0cb83263 Copter: release notes for AC3.1.2 2014-02-13 21:21:56 +09:00
Randy Mackay
78b31f4b16 Copter: readme file renamed and directs to wiki 2014-02-12 21:03:45 +09:00
Randy Mackay
a5e98c11ad Copter: Release notes for AC3.1.2-rc2 2014-02-12 20:20:10 +09:00
Randy Mackay
2219f21744 Copter: add RC_FEEL_RP parameter 
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
89b222f1cf Copter: only report gps glitch when usb disconnected 2014-02-11 11:43:24 +09:00
Randy Mackay
8f5585423c Copter: use ahrs trig values 2014-02-08 18:16:49 +09:00
Randy Mackay
5bcc2f5ca5 Copter: version to AC3.2-dev 2014-02-08 11:32:59 +09:00
Randy Mackay
69c165b3b3 Copter: correct release note dates 2014-02-07 22:30:19 +09:00
Randy Mackay
ac9f0b5fd1 Copter: remove setup_aux_channels 
moved to individual motors libraries
 2014-02-07 22:04:28 +09:00
Randy Mackay
91b78c0cbe Copter: bug fix for duplicate single and coax params 2014-02-07 17:07:51 +09:00
Dneault
4b3699f985 Copter: coax allows ch5 and higher for do_set_servo cmd 2014-02-07 12:36:22 +09:00
Randy Mackay
5d929351ca Copter: removed unused servo3, servo4 from coax 2014-02-07 12:36:17 +09:00
Randy Mackay
e6f4fb4828 Copter: moved coax servo set-up to AP_MotorCoax 2014-02-07 12:36:11 +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
Andrew Tridgell
dc6433d63c Copter: ensure that motor channels cannot be used for auxillary functions 
disable RC_Channel_aux channels that are used for motors. This perhaps
should be done by the AP_Motors library, but for now this is simpler
 2014-02-06 21:34:47 +11:00
Andrew Tridgell
5a3a7f1cec Copter: use new RC_Channels API 2014-02-06 10:17:16 +11:00
Andrew Tridgell
415db390af Copter: check param table on startup 2014-01-31 13:10:00 +11:00
Randy Mackay
e13984f6c1 Copter: remove unused compat.pde entries 2014-01-30 14:33:55 +09:00
Randy Mackay
a078d00e6a Copter: firmware to AC3.1.2-rc1 2014-01-30 14:00:20 +09:00
Randy Mackay
214a859e97 Copter: remove unused RADX100 definition 
The real purpose of this small change is to kick off the autobuilder for
the AC3.1.1 release.
 2014-01-26 13:41:14 +09:00
Randy Mackay
3ba5b70736 Copter: fix compiler warning from motorsync test 2014-01-26 11:08:34 +09:00
Randy Mackay
a45b9cbe9a Copter: remove unused RELAY_TOGGLE definition 2014-01-26 10:10:02 +09:00
Stefan
a6b6d46a30 Copter: Update ReleaseNotes.txt 2014-01-22 15:05:31 +09:00
Ju1ien
311bba1419 Copter: landing_complete stays true until thr is raised 
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
7fcd847f77 Copter: reword FRAME parameter's @Value 2014-01-22 11:35:35 +09:00
Randy Mackay
231e3ccaac Copter: add NewX @Value for FRAME parameter 2014-01-22 10:57:17 +09:00
Randy Mackay
dee5fb212a Copter: remove dup definition of FRAME_ORIENTATION 
Ideally the frame orientation parameter should be moved to the motors
class
 2014-01-21 21:44:17 +09:00
Randy Mackay
f7f8691ca3 Copter: remove frame setup through CLI 2014-01-21 21:42:59 +09:00
Randy Mackay
34f14a7c13 Copter: version to AC3.1.1-rc2 
This update applies to pixhawk only
 2014-01-21 21:23:11 +09:00
Randy Mackay
3c7e7db8a7 Copter: AC3.1.1-rc2 release notes 2014-01-21 21:22:42 +09:00
Andrew Tridgell
e8b8cc1a5d Copter: converted to AP_ServoRelayEvents 2014-01-20 17:06:29 +11:00
Andrew Tridgell
e3804e2846 Copter: fixes for AP_Relay API change 2014-01-20 17:06:29 +11:00
Andrew Tridgell
50a90a1043 Copter: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Randy Mackay
111d0854a7 Copter: motorsync cli test 2014-01-18 17:00:43 +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
Andrew Chapman
b7eab7ea22 Copter: Added GCS feedback for save_trim() 
Trim save gives no feedback, so I've added a gcs_send_text() call to
print "Trim saved" so the user knows to re-center trims again
 2014-01-16 14:23:19 +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
ae4f368f16 Copter: allow ch6 tuning of loiter speed 2014-01-15 15:22:52 +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
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
ac99d2d19a Copter: update AC3.1.1-rc1 release notes 2014-01-14 21:56:15 +09:00
Randy Mackay
a3527ade61 Copter: move EARTH_FRAME definition to defines.h 
defines.h is for defining enumerations and other unchanging values while
config.h is for changeable values like parameter defaults, enabling or
disabling sensors.
 2014-01-14 21:53:13 +09:00
Randy Mackay
66859686a0 Copter: remove some unused definitions 2014-01-14 21:21:54 +09:00
Randy Mackay
dd5521aa06 Copter: update version to AC3.1.1-rc1 2014-01-14 21:01:54 +09:00
Randy Mackay
b1525a421b Copter: AC3.1.1-rc1 release notes 2014-01-14 21:01:40 +09:00
Andrew Tridgell
4f2ce31cb7 Copter: log PX4 and NuttX versions in logs 2014-01-14 15:38:51 +11:00
Andrew Tridgell
e52f8d6598 Copter: prevent log corruption during log creation 2014-01-14 14:37:48 +11:00
Andrew Tridgell
8a41b18a1f Copter: use uppercase names on SD card where possible 2014-01-14 12:46:26 +11:00
Bill Bonney
a6078cd281 Copter: Fix SYSID ranges to support GCS display of param correctly 2014-01-14 10:32:42 +09:00
Randy Mackay
138c2803be Copter: combine NTUN and INAV dataflash msgs 2014-01-13 22:00:11 +09:00
Randy Mackay
1e8a79eeaf Copter: add TimeMS, InavAlt to CTUN df msg 2014-01-13 21:31:43 +09:00
Randy Mackay
97b18314ac Copter: add time to ATT, MAG, CURR dataflash msgs 2014-01-13 20:46:54 +09:00
Randy Mackay
df9d1614e2 Copter: remove PID logging 
Almost never used and eats up limited log description space
 2014-01-13 17:23:39 +09:00
Randy Mackay
5e0ddd299f Copter: disable OPTFLOW for SITL 2014-01-13 17:11:27 +09:00
Randy Mackay
61f319ce38 Copter: disable OPTFLOW for PX4/Pixhawk 2014-01-13 12:02:03 +09:00
Randy Mackay
b3d20bb8aa TradHeli: Drift mode to use heli manual throttle 2014-01-10 11:06:06 +09:00
Robert Lefebvre
8b36c59d8b TradHeli: rename Stab_Col parameters 
With H_ prefix they appear with the rest of the tradheli specific params in the parameter list.
 2014-01-10 10:51:48 +09:00
Robert Lefebvre
794890884c TradHeli: enable Landing Collective when we are not moving 
This prevents full negative pitch when touching down in Alt Hold or Auto-Landing.
 2014-01-10 10:50:58 +09:00
Robert Lefebvre
531a9f4f25 TradHeli: disable AutoTune for Tradheli compile 
We need the flash space, and this probably won't work for tradheli anyway since tradheli needs most of the control from Feedforward rather than P term.  And D-term is very very bad.
 2014-01-10 10:50:09 +09:00
Randy Mackay
9f2f44f0f6 Copter: integrate shrunken optflow 2014-01-09 12:31:53 +09:00
Randy Mackay
1793ee804e Copter: remove armed check before logging 2014-01-07 22:43:49 +09:00
Randy Mackay
84881470b1 Copter: suspend logging while disarmed 2014-01-07 22:43:47 +09:00
Michael Oborne
757dd228d2 Copter: BugFix DO_SET_ROI returns Lat,Lon,Alt to GCS 2014-01-03 16:14:44 +09:00
Randy Mackay
99f851fc87 Copter: bugfix for starting in LOITER 
Loiter's Roll-Pitch mode was not being set on start-up.
 2013-12-30 17:18:10 +09:00
Andrew Tridgell
7c39d867bb Copter: use file based logs in SITL 2013-12-29 07:14:21 +11:00
Andrew Tridgell
97df2f64c9 Copter: use common available_memory() 2013-12-28 16:02:32 +11:00
Randy Mackay
02898cb46e Copter: replace APM with board in cli 2013-12-28 10:42:10 +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
Randy Mackay
ab1bb6886c Copter: remove reference to COPTER_LEDS 2013-12-19 16:19:48 +09:00
Randy Mackay
d362bb45fd Copter: move sensor init from setup(to init_ardupilot 
This fixes a bug in which the external led was not being disabled if the
EPM was enabled (they share pins).  The cause of the problem was the EPM
was being initialised before it's parameters had been loaded
 2013-12-19 14:12:19 +09:00
Lukasz
cb17a5bdb6 Copter: Add RSSI_RANGE parameter 
Added ability to rescale rssi input voltage. Useful for receivers like
FrSky which have 3.3V output.
 2013-12-17 22:38:39 +09:00
Randy Mackay
21cda96f67 Copter: EPM enable/disable to APM_Config.h 2013-12-17 15:36:44 +09:00
ctech4285
2b5d8aa5b7 Copter: integrate EPM library 2013-12-17 15:36:42 +09:00
Andrew Tridgell
7f100ebe31 Copter: removed common functions 2013-12-17 12:00:46 +11:00
Andrew Tridgell
edda76623f Copter: updates for DataFlash API changes 2013-12-17 11:51:36 +11:00
Andrew Tridgell
dd749c1de3 Copter: when using file logs use "logs" directory 2013-12-17 11:51:36 +11:00
Andrew Tridgell
7642208c1a Copter: support MAVLink log download 2013-12-17 11:51:36 +11:00
Andrew Tridgell
9716e80e21 Copter: moved ap_message into GCS.h 2013-12-17 11:51:35 +11:00
Andrew Tridgell
eb2cb0abe0 Copter: moved GCS.h to common library 2013-12-17 11:51:34 +11:00
Andrew Tridgell
e5f098c37c Copter: removed some unnecessary fields in GCS.h 
save some memory
 2013-12-17 11:51:34 +11:00
Randy Mackay
c7dc351609 Copter: remove unnecessary MPU6K filter definition 
This should also help kick off the AC3.1 rebuild
 2013-12-15 11:01:31 +09:00
Randy Mackay
b42a34cae0 Copter: 3.1 release notes 2013-12-14 17:08:38 +09:00
Randy Mackay
2a61053634 Copter: reduce default logging for SITL 2013-12-12 22:19:12 +09:00
Andrew Tridgell
28d98414e7 Copter: fixed some build warnings 2013-12-11 10:21:20 +11:00
Andrew Tridgell
5802d7f86b Copter: added logging of 2nd compass 2013-12-10 13:35:04 +11:00
Andrew Tridgell
cc3ee2ec0c Copter: added dual compass logging when available 2013-12-10 13:31:42 +11:00
Andrew Tridgell
d265e54043 Copter: changes for compass healthy API 2013-12-09 17:47:22 +11:00
Andrew Tridgell
f8e0f5c4f1 Copter: report both sets of sensors in MAVLink 2013-12-09 17:34:07 +11:00
Andrew Tridgell
f37a2c979d Copter: don't need Log_Write_IMU2() now 2013-12-09 17:34:07 +11:00
Andrew Tridgell
ffdcb715c3 Copter: updates for compass API change 2013-12-09 17:34:06 +11:00
Andrew Tridgell
0cacc7eaeb Copter: log both primary and secondary INS samples 2013-12-09 17:34:06 +11:00
Randy Mackay
145a8ed128 Copter: reduce autotune min rate D to 0.002 2013-12-09 14:17:31 +09:00
Randy Mackay
450e9e83c3 Copter: AC3.1-rc8 release notes 2013-12-09 12:02:28 +09:00
Randy Mackay
eb938c6ac0 Copter: reduce autotune min rate P to 0.01 (was 0.02) 2013-12-08 11:26:49 +09:00
Randy Mackay
f8165c2864 Copter: ignore yaw input during radio failsafe 2013-12-06 13:50:07 +09:00
Randy Mackay
4b3aff3f91 Copter: log flight mode to dataflash on start-up 2013-12-06 12:58:23 +09:00
Randy Mackay
cf0547e854 Copter: remove AN0~AN15 pin definitions 2013-12-06 10:28:28 +09:00
Randy Mackay
58788d2934 Copter: increasd default logging for PX4, Pixhawk 2013-12-05 16:04:52 +09:00
Randy Mackay
c5746e5434 Copter: update THR_MAX @Range and comments 2013-12-04 10:59:15 +09:00
Randy Mackay
2ba233942d Copter: pre arm mag offset limit to 600 for PX4 2013-12-03 23:23:26 +09:00
Ben Nizette
58735ac1aa Copter: Use AHRS heading in GLOBAL_POSITION_INT message 
The definition of the heading field for GLOBAL_POSITION_INT is the
compass heading, and so it is used for Plane and Rover.  Copter
however uses the GPS course over ground in this field.

My personal beef with this is simply that the mapping display in
MAVProxy is wrong for Copter.  The question is: Do any GCS currently
rely on this field for GPS course rather than getting it from
GPS_RAW_INT as they should?
 2013-12-03 20:30:02 +09:00
Randy Mackay
8fcbb7e59b Copter: OF_Loiter update control_roll and pitch 2013-12-02 11:58:59 +09:00
Randy Mackay
9d92e46198 Copter: correct optflow logging 2013-12-02 11:58:28 +09:00
Randy Mackay
0cda3c9a71 Copter: reduce SONAR_GAIN to 0.8 (was 2.0) 2013-12-01 16:25:47 +09:00
Randy Mackay
ec65fd136d Copter: enable external leds 2013-11-30 22:54:13 +09:00
Randy Mackay
e978a710cc Copter: remove PIEZO_PIN definition 2013-11-30 18:21:01 +09:00
Robert Lefebvre
dbbe0f960a Copter: remove LED_ON/OFF defines 2013-11-30 18:20:58 +09:00
Randy Mackay
59cea4b88c Copter: remove CopterLED from main code 2013-11-30 18:20:55 +09:00
Randy Mackay
49ac1a48a5 Copter: Drift updates control_roll, pitch 
control_roll, pitch should always hold desired roll and pitch angles now
that we have the RCIN dataflash message for recording pilot's input
 2013-11-30 18:06:56 +09:00
Randy Mackay
a3be25750f Copter: allow override of DRIFT_SPEEDGAIN 2013-11-30 15:35:59 +09:00
Randy Mackay
f12f0a6abe Copter: drift file format fixes 
tab replaced with four spaces
 2013-11-30 15:29:26 +09:00
Randy Mackay
a744658b47 Copter: combine nav_roll and control_roll 
Control_roll, control_pitch now always hold the desired lean angle
whether it be from the pilot or autopilot.
 2013-11-27 23:11:30 +09:00
Randy Mackay
d7c636b4aa Copter: remove yaw_in from ATT dataflash msg 2013-11-27 22:59:31 +09:00
Randy Mackay
f08cc010ea Copter: firmware to ArduCopter V3.2-dev 2013-11-27 22:50:12 +09:00
Randy Mackay
7ef04bb73b Copter: rename nav_yaw to control_yaw 2013-11-27 22:48:20 +09:00
Randy Mackay
a8929cd746 Copter: more complete RC output reporting to GCS 
Radio outputs are pulled from hal.rcout instead of from motors library
which provides more complete reporting because it includes output from
sources like the camera and mount libraries.
 2013-11-27 20:31:21 +09:00
Randy Mackay
10d6a9a34e Copter: replace Log_Write_Motors with Log_Write_RCOU 2013-11-27 20:18:18 +09:00
Randy Mackay
af657d58b9 Copter: RCIN dataflash logging 2013-11-27 16:46:25 +09:00
Randy Mackay
7ae3014c14 Copter: parameter @Units to Percent*10 2013-11-26 22:35:11 +09:00
Randy Mackay
14b3547830 Copter: rename some parameter Display Names 
Also move some parameter descriptions to @User Advanced
 2013-11-26 22:17:02 +09:00
Randy Mackay
c32d77c626 Copter: fix @Group for SingleCopter 2013-11-26 21:50:29 +09:00
Andrew Tridgell
9c812d5028 Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:05:32 +11:00
Andrew Tridgell
49062d8a37 Copter: removed extra features of copter telemetry merge 2013-11-26 13:05:32 +11:00
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
Andrew Tridgell
21eac34cd1 Copter: log system ID if available 2013-11-26 13:00:03 +11:00
Randy Mackay
ed9f369492 Copter: shorten g.arming_check_enabled variable 
g.arming_check_enabled shortened to g.arming_check
 2013-11-25 17:23:39 +09:00
Randy Mackay
1645748e43 Copter: update @Range for Rate PIDs and Sonar 
This will reduce false positives in DroneShare's tlog analyser
 2013-11-25 12:52:37 +09:00
Randy Mackay
b8bfe008e1 Copter: run GPS glitch detection even when not armed 2013-11-22 21:46:32 +09:00
Randy Mackay
4e6d41bc8e Copter: remove unused gps_fix_count 2013-11-22 11:53:50 +09:00
Randy Mackay
fe6ad3579c Copter: log GPS messages even when no fix 2013-11-22 11:51:48 +09:00
Randy Mackay
667c3ecbf8 Copter: commit to kick-off auto rebuild for -rc7 release 2013-11-22 10:34:35 +09:00
Randy Mackay
96fdc129b1 Copter: update -rc7 release notes 2013-11-22 09:55:23 +09:00
Randy Mackay
8eb46ced53 Copter: revert pre-arm check for slow GPS 2013-11-22 09:53:21 +09:00
Randy Mackay
1a0f80ee64 Copter: AC3.1-rc7 version and release notes 2013-11-21 17:30:08 +09:00
Randy Mackay
0bc505514a Copter: pre-arm check that INAV has no errors 2013-11-21 17:02:07 +09:00
Randy Mackay
965af43121 Copter: add INAV error count to PM dataflash msg 2013-11-21 17:02:04 +09:00
Randy Mackay
0219c85ee3 Copter: increase min LAND_SPEED to 30cm/s 2013-11-19 16:46:16 +09:00
Randy Mackay
e6a2940718 Copter: prefix SingleCopter's MOT param description 
This should allow single copter's MOT_ parameter descriptions to be more
easily recognised as belonging to SingleCopter when viewed on the wiki's
arducopter-parameters page
 2013-11-19 13:38:17 +09:00
Randy Mackay
b47cd6d5be Copter: fix SingleCopter motor parameters link 2013-11-19 13:25:53 +09:00
Randy Mackay
7a2f49f7da Copter: arming check for gps if GPS FS set to LAND_EVEN_STABILIZE 
Setting the GPS Failsafe to LAND_EVEN_STABILIZE means the copter will
LAND if it loses GPS even if it's in a manual flight mode like
Stabilize.  With this setting it makes sense to check the GPS quality
before arming even if we're in stabilize mode.
 2013-11-18 23:59:26 +09:00
Randy Mackay
24dc4391bb Copter: display pre-arm check failure reason every 30sec 2013-11-18 17:20:39 +09:00
Randy Mackay
d003334b75 Copter: pre-arm check for ACRO_BAL_ROLL and PITCH 2013-11-18 16:38:05 +09:00
Randy Mackay
9ee308efd5 Copter: auto disarm in Loiter, AltHold after 15sec 2013-11-18 16:13:15 +09:00
Randy Mackay
699a5bd381 Copter: radio, batt failsafe disarm if copter is landed in Loiter or AltHold 2013-11-18 15:51:17 +09:00
Randy Mackay
7dd4ab835f Copter: CURR dataflash msg to output throttle_out 
Previously it was outputting throttle-in which is not as useful in
autonomous modes
 2013-11-18 13:30:48 +09:00
Randy Mackay
1359a8fea5 Copter: log INS errors in PM message 2013-11-18 12:16:21 +09:00
Randy Mackay
e32e83f2f0 Copter: commit to kick off MP rebuild 
Required to push back MP Beta Firmwares version to AC3.1-rc5
 2013-11-17 00:56:46 +09:00
Randy Mackay
cf21774cf4 Copter: update AC3.1-rc6 release notes again 2013-11-16 17:14:41 +09:00
Randy Mackay
9485363c53 TradHeli: dynamic flight speed minimum to 5m/s 2013-11-16 16:58:14 +09:00
Randy Mackay
a98fb174c4 Copter: batt failsafe triggers RTL from AUTO 2013-11-16 14:55:49 +09:00
Randy Mackay
fd60285121 Copter: update AC3.1-rc6 release notes 2013-11-16 14:49:03 +09:00
Randy Mackay
87127f0ab8 Copter: allow battery failsafe to trigger RTL 2013-11-16 14:46:57 +09:00
Randy Mackay
a812ef4660 Copter: minor comment update for set_mode 2013-11-16 13:56:15 +09:00
Randy Mackay
bc1e06757b Copter: allow GPS failsafe to trigger AltHold 
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO.  This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
 2013-11-16 13:55:59 +09:00
Randy Mackay
321036b72e Copter: update contributors list 2013-11-16 12:10:38 +09:00
Randy Mackay
50f583f116 Copter: AC3.1-rc6 version and release notes 2013-11-16 11:35:01 +09:00
Randy Mackay
5cc8772947 Copter: bug fix to Tricopter motor logging 
Fourth motor taken from yaw channel's radio_out instead of random
location in memory
 2013-11-16 10:48:02 +09:00
Randy Mackay
8c9ab50ba2 TradHeli: restore CC_COMP and PIRO_COMP 2013-11-15 22:58:43 +09:00
Randy Mackay
0f67e25d37 TradHeli: set throttle_min to zero by default 2013-11-15 22:58:38 +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 
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
Randy Mackay
c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay
197fc67897 TradHeli: move pilot desired rotor speed to heli.pde 2013-11-15 22:58:24 +09:00
Randy Mackay
527f05ddec Copter: remove unused init_rate_controllers 2013-11-15 22:58:22 +09:00
Randy Mackay
4537e0aa15 Copter: add deadzone to ch8 for TradHeli 2013-11-15 22:58:20 +09:00
Randy Mackay
1f6bc7bd9c Copter: log TradHeli ch7, ch8 in MOT message 2013-11-15 22:58:17 +09:00
Randy Mackay
19ddb8e5f3 TradHeli: integrate constructor changes to main code 2013-11-15 22:58:15 +09:00
Robert Lefebvre
bba7fdc7c3 TradHeli: ch6 tuning of ext gyro to use control_in 
This could also be used to control the other Heli Ch7 functions (direct drive tail rotor control).  This should be tidied up.

Credit: Jolyon Saunders
 2013-11-15 22:58:08 +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
Robert Lefebvre
232a116973 TradHeli: Use Leaky Integrator on Yaw Rate controller 
Use when rotor is not running to prevent the rudder from slowly moving over
 2013-11-15 22:58:02 +09:00
Randy Mackay
3ce16113b5 TradHeli: use landing collective when landed or landing 2013-11-15 22:58:00 +09:00
Randy Mackay
633e91b7d4 Copter: initialise roll, pitch, yaw modes to stabilize 
This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
 2013-11-15 22:57:56 +09:00
Randy Mackay
ae87759e6d TradHeli: add THROTTLE_MANUAL_HELI 
Move check_dynamic_flight to run as scheduled task
 2013-11-15 22:57:53 +09:00
Randy Mackay
eaef5315bf TradHeli: bugfix to update swash in run_rate_controllers 2013-11-15 22:57:47 +09:00
Randy Mackay
34fb70cfc7 TradHeli: formatting and param description changes 2013-11-15 22:57:45 +09:00
Randy Mackay
46118b59d7 TradHeli: integrate motor lib changes 2013-11-15 22:57:43 +09:00
Randy Mackay
72597cc5bd TradHeli: remove setup via CLI 
Saves 6k of flash
 2013-11-15 22:57:39 +09:00
Robert Lefebvre
0e2ddb0378 Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete. 2013-11-15 22:57:34 +09:00
Robert Lefebvre
c5b119288d TradHeli: Add Motor Runup check to the auto_arming check. 2013-11-15 22:57:31 +09:00
Robert Lefebvre
f67d95ac75 TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly. 2013-11-15 22:57:28 +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
e23e4bc7d8 TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector 2013-11-15 22:57:18 +09:00
Robert Lefebvre
324c866ae1 TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started. 2013-11-15 22:57:16 +09:00
Robert Lefebvre
f7c63be357 TradHeli: leaky-I-term based on dynamic_flight_detector 2013-11-15 22:57:14 +09:00
Randy Mackay
f0f6e85b39 Copter: ARMING_CHECK made into bitmask 
Allows arming checks to be individually enabled or disabled for baro,
compass, GPS, INS, parameters, RC and board voltage
 2013-11-15 17:13:56 +09:00
Randy Mackay
fe822ba0b6 Copter: pre-arm check of INS health 2013-11-15 17:13:53 +09:00
Jason Short
371dc8c616 Copter: Drift Mode 
Changes Toy mode declarations to Drift mode.
Requires GPS, Mode 2 transmitter
Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.
 2013-11-14 14:43:15 +09:00
Randy Mackay
57b291b1c5 Copter: reject change_command if not in AUTO 2013-11-14 13:49:37 +09:00
Randy Mackay
0778454434 Copter: disarm routine shortcut 
Extra check so we only run the disarm check when we are actually armed.
The ground stations sometimes send many disarm messages which can be
ignored
 2013-11-14 13:14:51 +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
159d6320bf Copter: move SINGLE parameters to start at 75 2013-11-12 23:40:38 +09:00
Randy Mackay
06ce98a2f4 Copter: add SINGLE_FRAME definition 2013-11-12 23:40:32 +09:00
ssq870424
07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00
Randy Mackay
13fd33c2d8 Copter: gps failsafe disabled until we get first 3d lock 2013-11-12 11:13:05 +09:00
Randy Mackay
f29f7d9777 Copter: bug fix to take-off in Loiter and AltHold 
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
03831cdd28 Copter: GPS ok only when not glitching 
Removed redundant checks to GPS_ok before setting flight mode to RTL
(this check is already performed inside the set_mode function)
Removed reset of home distance and bearing when GPS lock is lost, it now
remains at the last known value
 2013-11-11 22:24:18 +09:00
Randy Mackay
e4d8c673f3 Copter: force gyro calibration on start-up 2013-11-10 21:51:54 +09:00
Andrew Tridgell
6b1f59372c Copter: show git and firmware version in tlog 2013-11-09 10:09:20 +11:00
Andrew Tridgell
b41f4898e0 Copter: report INS health 2013-11-07 12:48:17 +11:00
Andrew Tridgell
2f6cfd1ff8 Copter: update for AHRS API changes 2013-11-04 21:21:42 +11:00
Randy Mackay
620109d894 Copter: formatting fix to config.h 2013-11-03 12:57:02 +09:00
Robert Lefebvre
8868af7c2f TradHeli: Change default Auto-Yaw to Yaw Look Ahead 
This leads to smoother flight in Auto modes, particularly with fast waypoints.
 2013-11-03 12:56:57 +09:00
Jason Short
66b8ca3a27 Copter: updated toy gains 2013-11-03 10:14:10 +09:00
Jason Short
2a82d1b0b0 Copter: CH7 SaveWP fix corner case 
If the user is on the ground and flips CH7, do nothing instead of recording a bad takeoff altitude. Do another check to avoid a land right after a takeoff.
 2013-11-02 21:34:55 +09:00
Randy Mackay
8278767d0a Copter: remove unused get_acro_yaw 2013-11-02 21:34:53 +09:00
Jason Short
c3aa56459a Copter: remove unused Toy param 2013-11-02 21:34:50 +09:00
Jason Short
520a535c21 Copter: TOY mode updates 2013-11-02 21:34:48 +09:00
Andrew Tridgell
f6f6caafc8 Copter: int gyros on arm, not on first boot 
this makes first boot much faster
 2013-11-02 21:41:11 +11:00
Randy Mackay
977983904f Copter: arming check that throttle is above failsafe 2013-11-02 14:06:19 +09:00
Randy Mackay
aaf642c223 Copter: disable autotune if pilot moves yaw stick 2013-11-02 12:12:46 +09:00
Randy Mackay
94f301181e Copter: recalc distance to home during arming 
fixes an rare edge case in which the fence could trigger immediately
after arming
 2013-11-01 23:54:32 +09:00
Randy Mackay
798c4e2278 Copter: more Ch7/Ch8 event logging 
Additional event logging for SaveWP, Fence, Acro trainer, Save Trim
 2013-11-01 11:53:16 +09:00
Randy Mackay
babc54ec60 Copter: default Ch7 to DO_NOTHING 
Ch7/Ch8 Save_WP feature triggers when switch is brought high (instead of
low) to be consistent with other aux features
 2013-11-01 11:42:33 +09:00
Randy Mackay
97770ae352 Copter: rc10, rc11 available even without MOUNT 2013-10-31 22:55:02 +09:00
Randy Mackay
de08116320 Copter: disable some aux channels on hexa and octas 
Resolves issue #324
 2013-10-31 15:22:34 +09:00
Randy Mackay
65980ace68 Copter: remove some commented out send_text code 2013-10-30 13:44:56 +09:00
Randy Mackay
8a6c2a6588 Copter: add alt and throttle checks to crash detector 2013-10-30 13:33:09 +09:00
Randy Mackay
2326b2e5f5 Copter: crash checker 
Crash is determined to have happened when the copter is 20deg more than
the ANGLE_MAX parameter continuously for more than 2 seconds
Not activated when in ACRO mode or while flipping
 2013-10-29 22:15:12 +09:00
Randy Mackay
8386b658e9 Copter: add ANGLE_RATE_MAX param 
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
9176bf2e97 Copter: add @Increment to battery failsafe descriptions 2013-10-29 11:24:04 +09:00
Andrew Tridgell
2016bf1f31 Copter: fixed HIL build 2013-10-28 18:35:39 +11:00
Andrew Tridgell
a44e3191df Copter: fixed baro-only preflight cal 
this was causing a full level, which mucked up the INS calibration
 2013-10-28 16:54:32 +11:00
Randy Mackay
9df7185075 Copter: remove unused #defines from config.h 2013-10-28 12:37:41 +09:00
Randy Mackay
465cb8ab25 Copter: add features that can be disabled to APM_Config.h 2013-10-28 12:36:52 +09:00
Randy Mackay
36832aaa61 Copter: remove ins from InertialNav object instantiation 2013-10-27 13:41:52 +09:00
Tobias
a7e7084f27 Copter/position_vector: remove const specifiers on objects returned by 
value
 2013-10-27 13:41:46 +09:00
Tobias
7564cc02af Copter: use const refs instead of unneeded copies 2013-10-27 13:41:06 +09:00
Tobias
d6d5f0bbe4 Copter: Log.pde: replace unused copy with ref (saves again some bytes) 2013-10-27 13:40:40 +09:00
Tobias
4d4b419d25 Copter: add comment (unit of G_Dt) 2013-10-27 13:39:17 +09:00
Randy Mackay
8e62035328 Copter: remove unnecessary check of flight mode from fence response 2013-10-24 16:42:14 +09:00
Randy Mackay
d86ac9041e Copter: report RC receiver health to GCS 2013-10-24 16:32:55 +09:00
Andrew Tridgell
6138dca2b2 Copter: set system time on GPS lock 2013-10-24 14:22:48 +11:00
Andrew Tridgell
92bf4b9c89 Copter: added MAVLink SYSTEM_TIME message 2013-10-24 14:22:47 +11:00
Randy Mackay
7c5982c573 Copter: remove unnecessary Log_Write_Optflow 2013-10-23 20:46:35 +09:00
Randy Mackay
f52c6add89 Copter: reenable optical flow by default 
correct optflow test compile error
 2013-10-23 20:42:03 +09:00
Randy Mackay
8ea3e68620 Copter: bug fix for loading missions while armed 2013-10-23 14:12:03 +09:00
Randy Mackay
030f479ac1 Copter: firmware update to AC3.1-rc5 2013-10-22 16:04:13 +09:00
Randy Mackay
fb49cd82c1 Copter: add LAND to aux switch 
Fix aux switch AUTO and RTL so they resets flight mode if still in those
modes when switch brought low
 2013-10-22 13:13:36 +09:00
Randy Mackay
c98d375e49 Copter: update @Units to pwm on throttle params 2013-10-21 20:33:56 +09:00
Randy Mackay
bbc4cb263f Copter: only allow autotuning when flying 2013-10-21 17:58:10 +09:00
Randy Mackay
6b9b5c5617 Copter: pre-arm check speed is less than 50cm/s 2013-10-20 21:56:00 +09:00
Randy Mackay
5499c6ea6d Copter: autotune bug fix for starting autotune 
log completion to dataflash
 2013-10-20 13:54:36 +09:00
Randy Mackay
6d76652e48 Copter: autotune set original gains on reset 
Update from Leonard
 2013-10-20 11:47:59 +09:00
Michael Oborne
78c4e03fd5 sensor hil fix 2013-10-19 23:04:22 +09:00
Randy Mackay
4036f50fc2 Copter: bug fix to convert old batt params to BATT_ lib 2013-10-19 22:55:47 +09:00
Randy Mackay
6c0cb5f84d AutoTune: bug fix and GCS messages 2013-10-19 21:54:18 +09:00
Randy Mackay
390a8c02a5 Copter: enable AUTOTUNE by default 2013-10-18 13:58:08 +09:00
Randy Mackay
0cbedded0d Copter: autotune to use 2pos switch only 
method of recording state also changed
other code clean-up
pair programmed withe Leonard
 2013-10-18 13:57:50 +09:00
Randy Mackay
2e75d5dec3 Copter: autotune log when limits reached 2013-10-17 11:05:31 +09:00
Randy Mackay
c59dee045c Copter: autotune restore orig pids if user changes flight mode 2013-10-17 10:56:53 +09:00
Randy Mackay
f13b45467f Copter: autotune bug fix for restarting tuning from suspended state 2013-10-17 10:56:10 +09:00
Randy Mackay
5ac3bf4915 Copter: adjust autotune P and D min and max 2013-10-17 10:20:16 +09:00
Randy Mackay
7c7f235a97 Copter: ignore flight mode change requests if we're already in the desired mode 2013-10-15 11:53:56 +09:00
Randy Mackay
deb171a869 Copter: correct UserHooks typos 2013-10-15 11:18:00 +09:00
Randy Mackay
aa7a1a5af3 Copter: correct GCS send times task estimates 2013-10-13 20:53:51 +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
959f59f623 Copter: correct mount tasks scheduler time 
Having the estimate too high would mean it would likely never run
 2013-10-13 14:13:59 +09:00
Randy Mackay
f344c77cca Copter: AC3.1-rc4 version and release notes 2013-10-13 14:12:18 +09:00
Randy Mackay
bf74a64fec Copter: add GPS glitch to arming checks 2013-10-13 14:04:54 +09:00
Randy Mackay
8de6c34252 Copter: comments update for GPS_HDOP_GOOD parameter 2013-10-13 13:53:26 +09:00
Randy Mackay
32f53624d6 Copter: rename low_battery to failsafe.battery 2013-10-13 13:52:52 +09:00
Randy Mackay
0e740bd4e1 Copter: enable AUTOTUNE for mission planner build 2013-10-13 11:57:50 +09:00
Randy Mackay
6876107a15 Copter: autotune disables rate output from stab controller 2013-10-13 11:56:01 +09:00
Andrew Tridgell
b69f08c03e Copter: reduce timer speed to 500 on APM2 
this reduces the cost of timer interrupts
 2013-10-13 11:03:41 +09:00
Andrew Tridgell
09a1d35e62 Copter: fixed build for no COPTER_LEDS 2013-10-13 11:03:33 +09:00
Andrew Tridgell
d38d9ea88f Copter: changes for AP_Mount API 2013-10-13 11:03:26 +09:00
Randy Mackay
8706810d55 Copter: scheduler times corrections 2013-10-13 11:03:22 +09:00
Randy Mackay
6be6bd5aed Copter: remove unused battery analog sources 2013-10-13 11:03:20 +09:00
Randy Mackay
d2bda8c235 Copter: split up medium loop 2013-10-13 11:03:15 +09:00
Randy Mackay
e9cefbafd1 Copter: higher priority for throttle loop, lower telemetry 2013-10-13 11:03:10 +09:00
Andrew Tridgell
64d34dc125 Copter: give UARTA 512 bytes 
this reduces load by allowing more contiguous writes to the serial
buffers
 2013-10-13 11:02:55 +09:00
Andrew Tridgell
3b9566bc09 Copter: support MAV_CMD_DO_SET_CAM_TRIGG_DIST 2013-10-11 21:40:57 +11:00
Craig3DRobotics
93cbfbe46c Copter:Parameter descriptions updated 2013-10-09 15:31:31 -07:00
Randy Mackay
8d1085feea Copter: pre-arm expects mag len of 330 for APM1 (was 530) 2013-10-09 14:10:16 +09:00
Randy Mackay
7e657ce856 AutoTune: abandon tuning if rate P hits minimum 
Fixes from Leonard
 2013-10-09 13:35:43 +09:00
Randy Mackay
fc47e05105 Copter: update firmware version to AC3.1-rc3 2013-10-09 11:13:15 +09:00
Andrew Tridgell
450323f4ae Copter: enable logging on Linux 2013-10-08 19:20:35 +11:00
Andrew Tridgell
4b68dd48f7 Copter: use ins.wait_for_sample() for main loop 
this takes advantage of the INS specific method to wait for a sample
 2013-10-08 19:20:34 +11:00
Randy Mackay
9435eb4a15 Copter: remove unused flags and consolidate ap and ap_system 2013-10-08 15:25:14 +09:00
Andrew Tridgell
6145924481 Copter: switch Linux to L3G4200D ins driver 2013-10-08 11:50:54 +11:00
Randy Mackay
fbb295a0a1 Copter: correct HLD_LAT_P and HLD_LON_P ranges 2013-10-07 14:45:39 +09:00
Kevin Hester
d29781104f AC: fix autodocs for SUPER_SIMPLE so the GCSes can show the right options 2013-10-07 11:33:02 +09:00
Randy Mackay
f56617710f Copter: pre-arm RC checks ch3's min and max 2013-10-07 11:17:16 +09:00
Randy Mackay
efc02161c4 Copter: add safe switch arming check 2013-10-05 22:23:53 +09:00
Randy Mackay
0c0de7c53e Copter: simple mode speedup 
super simple and simple mode headings separated
g.super_simple converted into a bitmap by flight mode switch position
 2013-10-05 18:26:56 +09:00
Randy Mackay
ba92c4891a Copter: make AutoTune a compile-time option 2013-10-04 15:50:50 +09:00
Randy Mackay
31cea0140d Copter: Leonard's AutoTuning for Roll and Pitch 2013-10-04 15:50:47 +09:00
Randy Mackay
09de917b27 Copter: mavlink ext status to use abs pressure 2013-10-04 13:20:58 +09:00
Randy Mackay
a33060b66d Copter: mavlink extended status gps bit not-healthy when glitching 
add optflow health to extended status
mavlink heartbeat status to critical on any failsafe
extended status msg to use SYS_STATUS_SENSOR enum
 2013-10-03 22:11:55 +09:00
Randy Mackay
3c5797c479 Copter: sent current as -1 to GCS when can't be monitored 2013-10-03 11:16:31 +09:00
Randy Mackay
dab4f032f9 Copter: integrate BattMonitor 2013-10-03 11:16:28 +09:00
Andrew Tridgell
32a016a66f Copter: updates for AP_HAL::MemberProc 2013-09-30 21:06:43 +10:00
Andrew Tridgell
3665bec26d Copter: fixed build for Linux 2013-09-28 22:04:16 +10:00
Andrew Tridgell
9e42e536a7 Copter: make the scheduling a bit more multi-tasking OS friendly 
we can afford to sleep a bit in the main loop
 2013-09-28 22:04:16 +10:00
Andrew Tridgell
234eaceb14 Copter: update for Stub -> HIL 2013-09-28 22:04:15 +10:00
Andrew Tridgell
a0f9055a9d Copter: use new scheduler API 2013-09-28 21:24:03 +10:00
Randy Mackay
c3f7146f03 Copter: improve check of frame type to catch spelling errors 2013-09-27 14:35:16 +09:00
Randy Mackay
e295d4555d Copter: send frame type in mavlink heartbeat msg 2013-09-27 14:35:13 +09:00
Randy Mackay
a53d28e018 Copter: remove support for dmp ahrs 2013-09-27 10:42:49 +09:00
Andrew Tridgell
394645560a Copter: update for new INS API 2013-09-27 10:49:00 +10:00
Andrew Tridgell
566eaf7d41 Copter: fixed flymaple build with copterleds 2013-09-27 10:32:22 +10:00
Andrew Tridgell
a0b6481dfd Copter: removed SMACCM support 2013-09-26 22:38:31 +10:00
Randy Mackay
5cac1b3c92 Copter: ignore aux switch during radio failsafe 2013-09-26 20:19:39 +09:00
Randy Mackay
fd2e87b710 Copter: disable tuning during radio failsafe 2013-09-26 20:05:25 +09:00
Randy Mackay
6b97994dcd Copter: ignore switch changes during transitions in or out of radio failsafe 2013-09-26 19:37:22 +09:00
Randy Mackay
7cc8a9038f Copter: move failsafe flags into structure 2013-09-26 19:37:15 +09:00
Randy Mackay
02f7310689 Copter: make it easier for Arduino users to easily reduce flash space by turning off features 2013-09-26 13:15:30 +09:00
Randy Mackay
2c96ed3f22 Copter: disable optical flow 
This at least allows ArduCopter to be compiled with arduino until we
find larger flash savings
 2013-09-24 21:59:19 +09:00
Randy Mackay
589200042d Copter: remove declination setup from CLI 2013-09-24 21:45:54 +09:00
Randy Mackay
09756e16b7 Copter: remove battery setup from CLI 2013-09-24 21:45:54 +09:00
Randy Mackay
3bf1352701 Copter: shorten motor tests printf 2013-09-24 21:45:53 +09:00
Randy Mackay
8cce837f77 Copter: remove accel level from cli 
the accel command should always be used in place of level
 2013-09-24 21:45:52 +09:00
Randy Mackay
77b5cb5d3f Copter: correct typo in error #define 2013-09-24 21:45:52 +09:00
Randy Mackay
8a886c0e19 Copter: remove err msg for undefined throttle mode 
Printing errors like this to the console are unlikely to ever be seen
 2013-09-24 21:45:51 +09:00
Randy Mackay
284aa2217f Copter: remove old comments 2013-09-24 21:45:43 +09:00
Randy Mackay
e5535e35b3 Copter: remove unused reset_stability_I 2013-09-24 21:42:05 +09:00
Randy Mackay
d7782e1356 Copter: remove tune from cli to save 300bytes flash 2013-09-24 21:42:02 +09:00
Randy Mackay
1cc2c8d6a5 Copter: reduce compassmot flash by 500 bytes 2013-09-24 21:41:59 +09:00
Randy Mackay
c596b27719 Copter: add dataflash error for GPS glitch 2013-09-24 21:41:48 +09:00
Randy Mackay
6c5294f89e Copter: integrate GPS_Glitch parameters 2013-09-24 21:41:45 +09:00
Randy Mackay
29b30cf752 Copter: gps failsafe on lengthy glitches 2013-09-24 21:41:30 +09:00
Randy Mackay
4c8227c050 Copter: update AP_Notify for gps failsafe and glitching 2013-09-24 21:41:28 +09:00
Randy Mackay
262fcb301a InertialNav: rename set_current_position to set_home_position 2013-09-24 21:41:19 +09:00
Randy Mackay
2f5b32bada Copter: integrate GPS_Glitch's check_position 2013-09-24 21:41:16 +09:00
Andrew Tridgell
3378c7901a Copter: added support for the flymaple board 2013-09-24 13:51:28 +10:00
Andrew Tridgell
91315715fe Copter: removed CONFIG_PUSHBUTTON 
not used anywhere any more
 2013-09-23 18:10:22 +10:00
Andrew Tridgell
3ffeff04a7 Copter: removed logging of MAVLink parameter changes 
not much point to this
 2013-09-23 18:10:22 +10:00
Andrew Tridgell
a8796f2f76 Copter: make compat functions static 
this prevents conflicts with libmaple
 2013-09-23 18:10:22 +10:00
Andrew Tridgell
35e3c887d2 Copter: use new baro API 2013-09-21 21:30:54 +10:00
Andrew Tridgell
b6a0577723 Copter: only send RC_CHANNELS_SCALED in HIL 
saves a bit of telemetry bandwidth
 2013-09-21 09:30:30 +10:00
Andrew Tridgell
faddef69e6 Copter: fixed baud rates on APM1 2013-09-21 09:30:29 +10:00
Andrew Tridgell
46688454c4 Copter: removed flash_leds() calls 2013-09-19 18:38:28 +10:00
Andrew Tridgell
754bdbd25f Copter: use new usb_connected() HAL function 2013-09-19 16:24:23 +10:00
Randy Mackay
642a9b3df4 Copter: update AC3.1-rc2 release notes for COMPASS_ORIENT change 2013-09-19 13:00:11 +09:00
Randy Mackay
79399e4fb4 Copter: AC3.1-rc2 version and release notes 2013-09-18 13:30:26 +09:00
Randy Mackay
65adb78f31 Copter: increase default battery capacity to 3500mAh 2013-09-15 11:54:07 +09:00
Randy Mackay
0fa8e44377 Copter: remove cli eprom dump 2013-09-15 11:44:53 +09:00
Randy Mackay
0232b25f6e Copter: update LED_MODE bitmask @values to always enable leds 2013-09-15 11:38:47 +09:00
Randy Mackay
ea3d388796 Copter: update release notes to add slow take-off 2013-09-13 20:53:39 +09:00
Randy Mackay
daa0cb7914 Copter: enable motor slow start in auto mode 2013-09-13 14:32:19 +09:00
Randy Mackay
98a2ffd65c Copter: remove redundant reset_i_all from startup 2013-09-13 12:30:25 +09:00
Andrew Tridgell
3720efc7c9 Copter: changed to AP_Vehicle.h 2013-09-13 11:47:03 +10:00
Randy Mackay
b4b2128977 Copter: update @Range comments for THR_MIN 
This should help reduce change of someone setting THR_MIN above 300 (30%
throttle)
 2013-09-12 22:45:18 +09:00
Randy Mackay
c5bd1a76ed Copter: comment update re low battery event 2013-09-12 22:41:28 +09:00
Randy Mackay
653a5036ae Copter: #define for initial altitude jump during take-off 
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
36bbed8fdd Copter: removed calls to set motor's max throttle 2013-09-12 22:28:38 +09:00
Andrew Tridgell
adc923b989 Copter: update battery pin docs 2013-09-12 13:43:15 +10:00
Andrew Tridgell
d9fe0552f0 Copter: allow Vcc checks on Pixhawk 2013-09-12 13:43:06 +10:00
Andrew Tridgell
7c62736e59 Copter: fixed Vcc 2013-09-12 13:26:19 +10:00
Andrew Tridgell
4545445850 Copter: fixed SR0 and SR3 autodocs 2013-09-12 09:53:13 +10:00
Randy Mackay
a68966e077 Copter: integrate sprayer pump test 2013-09-11 17:05:25 +09:00
Randy Mackay
152f5da880 Copter: integrate AP_Notify batt and radio failsafes 2013-09-11 14:36:38 +09:00
Randy Mackay
9095c6ab30 Copter: update Release notes for AC3.1-rc1 again 2013-09-11 09:51:47 +09:00
Randy Mackay
8e0cacad39 Copter: disable low battery events when usb connected 2013-09-09 21:27:05 +09:00
Kevin Hester
240a9ccaf0 AC: if vehicle is !flying show hb state as MAV_STATE_STANDBY 
This helps GCSes determine the appropriate UI for the current vehicle
mode.
 2013-09-09 20:51:54 +09:00
Randy Mackay
43c4ba304d Copter: update Release Notes for AC3.1-rc1 2013-09-09 20:04:30 +09:00
Randy Mackay
1d55fa6818 Copter: add arm check of GPS hdop when in Loiter 2013-09-09 14:03:40 +09:00
Randy Mackay
1abb439051 Copter: move acro's var initialisation to roll-pitch and yaw controller initialisation 2013-09-09 10:54:13 +09:00
Randy Mackay
942ba0476b Copter: remove manual_attitude and throttle flags 2013-09-09 10:44:53 +09:00
Randy Mackay
b7579bb028 Copter: move init of global nav variables to set_nav_mode 2013-09-09 10:37:44 +09:00
Randy Mackay
4842335a24 Copter: add #include for AC_Sprayer 2013-09-09 10:18:06 +09:00
Randy Mackay
13ee672eae Copter: remove unused get_acro_pitch and roll 2013-09-09 10:11:23 +09:00
Craig3DRobotics
630095adaa Revert "Copter: Corrected SR0 & SR3 parameter descriptions" 
This reverts commit 6568234018.
 2013-09-06 09:58:19 -07:00
Craig3DRobotics
f1a674ad26 Copter: Correction on SR0 & SR3 parameter description. 2013-09-05 22:28:34 -07:00
Andrew Tridgell
979636936d Copter: support reboot to bootloader 2013-09-04 11:59:02 +10:00
Andrew Tridgell
52f5b1e5a7 Copter: update to GPLv3 license headers 2013-08-30 13:01:39 +10:00
Andrew Tridgell
1b99ef5e4f Copter: added a delay in ESC calibration 
this allows AP_Notify to run via the delay callback
 2013-08-30 13:01:36 +10:00
Andrew Tridgell
e1e32fcf08 Copter: fixed build with AP_AHRS changes 2013-08-30 13:01:35 +10:00
Andrew Tridgell
25d517f5d6 Copter: updates for new notify API 2013-08-30 13:01:35 +10:00
Randy Mackay
4aef49a006 Copter: re-order #defines of AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay
52ef77393c Copter: integrate Toshiba_LED_PX4 2013-08-30 13:01:35 +10:00
Randy Mackay
46c24fdf39 Copter: integrate ToshibaLED 2013-08-30 13:01:35 +10:00
Randy Mackay
e985253f1a Copter: integrate notify 2013-08-30 13:01:35 +10:00
Randy Mackay
7c78936bc5 Copter: land by default at end of RTL 2013-08-30 10:34:23 +09:00
Craig3DRobotics
6568234018 Copter: Corrected SR0 & SR3 parameter descriptions 2013-08-29 12:19:04 -07:00
Randy Mackay
81074ebb3c Copter: update Y6 defaults 2013-08-28 13:05:01 +09:00
Randy Mackay
6052017b13 Copter: allow override of auto throttle mode 2013-08-28 11:45:07 +09:00
Randy Mackay
45aeb1a921 Copter: split up loiter into 4 steps 
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
 2013-08-28 11:33:10 +09:00
Andrew Tridgell
d5e28e72cc Copter: support new RADIO_STATUS msg 2013-08-24 17:59:13 +10:00
Randy Mackay
7159c539e6 Copter: skip mode change checks when disarmed 
Note: there will be a follow up commit to move the checks into a
separate function so they can be called just before arming
 2013-08-22 13:25:27 +09:00
Randy Mackay
d8eb7fb82f Copter: remove x100 from IMAX definitions 2013-08-19 22:38:34 +09:00
Andrew Tridgell
a06f8a156d Copter: fixed PX4 build 2013-08-19 21:12:41 +10:00
Randy Mackay
fd047cc968 Copter: AUTO ch7/ch8 option 2013-08-19 18:09:23 +09:00
Randy Mackay
2696e160e6 Copter: surface tracking improvement 
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
88332b4acb Copter: revert to 3 element sonar's mode filter 2013-08-19 09:47:48 +09:00
Randy Mackay
3a5a15a15f Copter: allow CH6 tuning of sonar gain 2013-08-18 15:44:54 +09:00
Randy Mackay
fe56ac3839 Copter: only allow auto_trim in STABILIZE 2013-08-15 21:11:23 +09:00
Randy Mackay
69da4e99f8 Copter: add ch7/ch8 Auto and Land option 
CH7/CH8 high initiates AUTO mode, low initiates Land.  Ideally high
would be a new take-off flight mode so this may need some rework.
 2013-08-15 16:08:33 +09:00
Randy Mackay
ac620e2140 Copter: Loiter and AltHold won't breach alt fence 2013-08-15 16:06:27 +09:00
Randy Mackay
6a2daf1a33 Copter: reduce sonar sensitivity to spikes 2013-08-15 16:04:17 +09:00
Randy Mackay
34e874282e Copter: only check hdop when circular fence enabled 2013-08-15 16:03:57 +09:00
Randy Mackay
b40cd07ce9 Copter: switch to LOITER when exiting mission 2013-08-15 13:09:57 +09:00
Randy Mackay
d000967a76 Copter: pre-arm check for gps hdop < 2 2013-08-15 13:06:36 +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 
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
5049595a2c Copter: SPORT mode to use alt hold 2013-08-10 15:42:02 +09:00
Randy Mackay
d0dc5813cf Copter: move CIRCLE_RADIUS definition 2013-08-07 14:03:28 +09:00
Randy Mackay
e1fe4946fb Copter: Sprayer enable added to CH7/CH8 switch 2013-08-05 21:12:29 +09:00
Randy Mackay
74fb500efe Copter: integrate AC_Sprayer 2013-08-05 21:12:23 +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
82082e044c Copter: remove ACRO's axis enabled parameter 
Acro is now body frame (with earth frame leveling) while Sport is earth
frame acro
 2013-08-05 21:04:57 +09:00
Randy Mackay
786d6824ae Copter: Acro Trainer added to Ch7/Ch8 switch 2013-08-05 21:04:55 +09:00
Randy Mackay
21e523b9ac Copter: Acro trainer separated into limited and leveled 2013-08-05 21:04:53 +09:00
Randy Mackay
e32342163d Copter: rename ACRO variables 2013-08-05 21:04:50 +09:00
Leonard Hall
d2deaaa686 Copter: Acro add rate constrain and combine limit calc 2013-08-05 21:04:47 +09:00
Randy Mackay
65276d360b Copter: SPORT to use YAW_HOLD 2013-08-05 21:04:44 +09:00
Randy Mackay
39ab4f62ef Copter: add SPORT mode 2013-08-05 21:04:41 +09:00
Randy Mackay
a18d55a9d3 Copter: update version to 3.1-dev 2013-08-05 14:26:52 +09:00
Andrew Tridgell
086c7d70d8 Copter: use const references for Vector3f parameters 
this is more efficient than passing a whole structure on the stack

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:24 +10:00
Andrew Tridgell
c4f11e6c74 Copter: fix longitude_scale() call for new API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:21 +10:00
Andrew Tridgell
2690edfc5f Copter: ask for IMU samples at 100Hz 
this produces the same result, but makes things simpler in the driver
 2013-08-02 21:37:15 +10:00
Andrew Tridgell
01e19a32fe Copter: use the new scheduler load_average() call 
this also simplifies the main loop
 2013-08-02 18:46:34 +10:00
Randy Mackay
9672742b42 Copter: bug fix to look_ahead_yaw 
Fix received from David Dewey
Was incorrectly using the direction instead of heading when deciding
whether to point forward or not.  Reduced YAW_LOOK_AHEAD_MIN_SPEED to
1m/s because bug meant it was nearly always pointing forward and 10m/s
(the old value) seemed too high
 2013-08-01 14:12:55 +09:00
Randy Mackay
c30cfa21c5 Copter: resolve compiler warning re unused variable 2013-07-29 16:46:25 +09:00
Randy Mackay
0f8f5bc048 Copter: remove unused ap.gps_status flag 2013-07-29 16:46:05 +09:00
Randy Mackay
2c48c20088 Copter: generalize 3 pos switch for all ch7/ch8 options 2013-07-29 16:28:04 +09:00
Olivier-ADLER
87d062905e Copter: 3 positions switch support for CH7 and CH8 - new 3 positions SIMPLE / SUPERSIMPLE mode 
3 positions modes must use mode number >= 100
pre-arm check correction for CH7 - CH8 check
 2013-07-29 15:12:10 +09:00
Randy Mackay
c173f0c7d9 Copter: change CH7/CH8 pre-arm check string 2013-07-29 14:32:27 +09:00
Randy Mackay
0d75203d87 Copter: minor format change to exit_mission function 2013-07-28 18:19:05 +09:00
Randy Mackay
12da2d160a Copter: set landing_complete flag to false on start-up 2013-07-28 18:19:03 +09:00
Randy Mackay
3b59cde1b8 Copter: deactivate accel throttle controller when landed 2013-07-28 18:19:01 +09:00
Randy Mackay
da37089dc2 Copter: remove landing checks in loiter controller 2013-07-28 18:18:57 +09:00
Randy Mackay
8eefbdce44 Copter: turn off stability patch when landed in Loiter 2013-07-28 18:18:54 +09:00
Randy Mackay
9a1a999fba Copter: landing check changes 2013-07-28 18:18:50 +09:00
Randy Mackay
dbc18ee900 Copter: allow arming in AltHold and Loiter if landed 2013-07-28 18:18:47 +09:00
Randy Mackay
24d15517ff Copter: clear thr accel I term on take-off 2013-07-28 18:18:45 +09:00
Randy Mackay
05248738e2 Copter: bug fix for take-off in loiter 2013-07-28 18:18:43 +09:00
Randy Mackay
c3daf78340 Copter: reset loiter target when landed 2013-07-28 18:18:41 +09:00
Randy Mackay
fe412437c2 Copter: add flags for upper and lower throttle limits 
Freeze desired altitude when motors hit a limit
 2013-07-28 18:18:39 +09:00
Olivier-ADLER
bf6120d8b7 Copter: Move CH7 - CH8 check from read_aux_switches() to pre_arm_checks. 
Moving this to pre-arm checks save some processing time and is safer.
 2013-07-26 09:30:24 +09:00
Randy Mackay
c5851d2ddf Copter: remove throttle rate's I and D calcs 2013-07-23 11:02:04 +09:00
Randy Mackay
740970efa6 Copter: remove stabilize's call to calc I terms 
I terms all moved to rate controllers so this will be a small
performance improvement
 2013-07-23 10:37:10 +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
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
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
Craig3DR
e25b8933f3 Copter: Remove CH7 & CH8 Enable / Disable of GeoFence 2013-07-18 17:06:53 +09:00
Andrew Tridgell
0b27bb05d4 Copter: fixed FENCE and WPNAV parameter doc generation 2013-07-18 14:58:24 +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
1dcc5886d0 Copter: ensure take-off alt is at least 1m 
fixes issue #377
 2013-07-16 15:51:18 +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
Randy Mackay
02b64e259d Copter: bug fix for descent during loiter_turns 2013-07-15 20:44:56 +09:00
Andrew Tridgell
9a159a5e23 Copter: make wp_distance static 
removed hack with AP_Camera library
 2013-07-15 09:56:45 +10:00
Randy Mackay
47ab02d686 Copter: bug fix to ROI to pull target from conditional command queue 2013-07-14 17:37:06 +09:00
Randy Mackay
f1969d5662 Copter: switch from NAV_ROI to DO_SET_ROI 2013-07-14 17:37:05 +09:00
Randy Mackay
2b5f6e2668 Copter: pre-arm checks for rc ch 1~4 min and max 2013-07-13 21:38:22 +09:00
Randy Mackay
213472102c Copter: pre-arm check of throttle failsafe value 
Check throttle min is above throttle failsafe trigger and that trigger
is above ppm encoder's loss-of-signal value of 900
 2013-07-13 20:25:34 +09:00
Randy Mackay
6bfcd28ade Copter: thr failsafe will not RTL if in batt failsafe 
resolves issue #413
 2013-07-13 19:49:25 +09:00
Randy Mackay
5a40ee7a38 Copter: fix to gps present check in mavlink extended status 1 msg 2013-07-13 10:27:50 +09:00
Randy Mackay
66d7f7b026 Copter: GCS_mavlink only send waypoints to gcs3 if initialised 
Also Load parameter defaults at initialisation (although defaults are
all zero anyway so should have no effect)
 2013-07-13 10:12:01 +09:00
Randy Mackay
aefb38e486 Copter: remove param to disable accel based throttle controller 2013-07-12 22:57:30 +09:00
Randy Mackay
d5b4c44926 Copter: comment fix for flight mode switch delay const 2013-07-12 22:29:14 +09:00
Rayjan Wilson
07ca8ef87a attempt to change from 1/10th second to 2/10th second on flight mode switch 2013-07-12 21:57:35 +09:00
Randy Mackay
53bff2b63e Copter: cli to report ch8 radio values 2013-07-12 21:46:03 +09:00
Randy Mackay
2f4221391e Copter: set_dead_zone renamed to set_default_dead_zone 
Dead zones now set as part of rc initialisation instead of only after
eeprom is erased.
Change in use of parameter means value passed in should be 1/2 what it
was previously
 2013-07-12 11:44:23 +09:00
Randy Mackay
1685ff274d TradHeli: compile error fix related to new ACRO 
The motors_runup_complete must be a feature that Rob has implemented in
his clone which has not yet reached master.  We will need to restore
these lost few trad-heli specific lines once Rob's changes make it to
master.
 2013-07-11 22:33:55 +09:00
Leonard Hall
64ce9b017d Copter: Body frame ACRO upgrade 2013-07-11 17:53:25 +09:00
Randy Mackay
6dd446ac79 Copter: firmware version to 3.0.1 2013-07-11 16:45:05 +09:00
Andrew Tridgell
5ae62f4f04 Copter: fixed build with specified GPS driver 2013-07-11 14:27:42 +10:00
Randy Mackay
ac5d925115 Copter: revert Loiter Pos P to 1.0 (was 0.8) 2013-07-11 12:20:31 +09:00
Randy Mackay
1590a5d58a Copter: increase Yaw Rate I 0.02 2013-07-11 12:20:29 +09:00
Randy Mackay
ab1a7baf71 Copter: project stopping point for loiter command 2013-07-11 11:39:47 +09:00
Randy Mackay
d77f7bc803 Copter: default Loiter Pos P to 0.8 (was 0.2) 2013-07-11 08:13:17 +09:00
Randy Mackay
ec65764750 Copter: typo in release notes 2013-07-11 08:04:45 +09:00
Randy Mackay
ab09dc46fb Copter: update release notes 2013-07-10 21:20:01 +09:00
Randy Mackay
345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter 
Also removed unused _lean_angle_max variable
 2013-07-10 20:00:32 +09:00
Randy Mackay
8cb7bd628e Copter: change firmware version to 3.0.1-rc2 2013-07-10 15:52:21 +09:00
Randy Mackay
f459d35e3e Copter: roll-pitch fix to allow I to reduce 
Contributed by Leonard Hall
 2013-07-10 15:52:15 +09:00
Andrew Tridgell
da4137b731 Copter: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell
c544a076ca Copter: enable camera logging by default 
these messages only happen on user defined camera triggering, so
should be low rate
 2013-07-10 12:24:02 +10:00
Craig@3DR
bbd4fbd2fb Copter: trigger + logging on camera update_location() 2013-07-10 08:39:59 +10:00
Tobias
cf426fcb3e Copter: fixed a compiler warning 
* removed useless comparison: if (int8_t t >= 255) ...
* revealed by -Wtype-limits
* saved 6 bytes
 2013-07-08 14:53:30 +10:00
Randy Mackay
ed3bf2c1e7 Copter: relax pre-arm checks for mag field 
previously it was 50% ~ 150% of expected mag field but now expanded to
35% ~ 165%.
 2013-07-07 18:00:36 -10:00
tobias
4e73cf810e Copter: added cast to remove compiler warning 2013-07-08 12:07:50 +10:00
Randy Mackay
45f47de98d Copter: reduce default Loiter Pos P to 0.2 (was 1.0) 2013-07-07 16:00:09 -10:00
Randy Mackay
9361e9fe32 Coper: compile error fix when FENCE disabled 2013-07-05 17:22:05 -10:00
Randy Mackay
227185fd0f Copter: remove constraint on rate yaw controller 2013-07-05 14:18:58 -10:00
Randy Mackay
40612ed551 Copter: yaw limit fix to allow I to reduce 
We now allow the I term even if we've hit the yaw limits as long as
updating the I term will reduce it
 2013-07-05 13:52:03 -10:00
Randy Mackay
0cf4ac088a Copter: restore LEDs to off state when auto-trim completes 2013-07-04 16:38:28 -10:00
Randy Mackay
79d2fe6271 Copter: double flash arming light when pre-arm checks fail 
Hardly my finest work but it's temporary because we're going to replace
all the led, buzzer etc with a library called AP_Notify in the near
future.
 2013-07-04 16:26:22 -10:00
tstellanova
459c47fa46 Fix test_ins 
Fix output format of test_ins and fix the number of parameters passed
to printf
 2013-07-02 23:42:48 -10:00
Randy Mackay
404cd5f3da Copter: rename g.pid_throttle to g.pid_throttle_rate 
Small code clean-up to make throttle rate controller's pid more obvious
 2013-06-30 00:04:21 -10:00
Randy Mackay
b3da8a462f Copter: CH6 tuning definition clean-up 
Renamed and reorganised the CH6 #defines and parameter definitions
 2013-06-29 23:51:43 -10:00
Dr Gareth Owen
e0dcd680f7 proposed radio failsafe bug fix 2013-06-27 17:13:01 -10:00
Randy Mackay
917ae883a0 Copter: revert prev changes to battery failsafe 
The battery failsafe should remain independent of any throttle failsafe
behaviour settings
 2013-06-27 10:30:46 -10:00
Robert Gayle
917edcab11 Copter: added FS_THR_ENABLED_ALWAYS_LAND (=3) option: don't attempt RTL, just land 2013-06-27 10:19:38 -10:00
Olivier-ADLER
eaa0e36954 Copter: CompassMot current calibration 
Was using a hardcoded (330) value instead of COMPASS_MAGFIELD_EXPECTED define
 2013-06-26 20:54:03 -10:00
Jonathan Challinger
b21bc5a85a Copter: Fixed bug in battery current integration 2013-06-26 17:22:37 +09:00
Randy Mackay
0592475959 Copter: change firmware version to 3.0.0-rc1 2013-06-26 14:03:28 +09:00
Randy Mackay
cb0e262e24 Copter: GPS Failsafe switch to LAND if circular fence enabled 2013-06-26 11:57:59 +09:00
Randy Mackay
45dfbecaba Copter: update 3.0.1 version and release notes 2013-06-26 00:09:36 +09:00
Randy Mackay
022148ec0d Copter: LAND only control horizontal position if we have GPS lock 2013-06-25 22:34:58 +09:00
Randy Mackay
66cecbfdc3 Copter Fence: bug fix to avoid repeatedly invoking LAND mode 2013-06-25 22:23:31 +09:00
Olivier-ADLER
24e1f074d0 Copter: Fence missing GPS 3D fix check 
Fence was missing GPS 3D fix check before selecting recovery decision.
 2013-06-25 22:23:29 +09:00
Randy Mackay
facd8fc89f Copter: calculate home position and bearing when we have 2D Fix 2013-06-25 22:23:26 +09:00
Olivier-ADLER
f1bedc70ac Copter: SuperSimple mode bug 
SuperSimple bearing was updated without checking for GPS 3D Fix availability.
 2013-06-25 22:23:13 +09:00
Andrew Tridgell
3e82f644ea Copter: enabled CAM_TRIGG_DIST parameter 2013-06-25 12:52:44 +10:00
Andrew Tridgell
76d1791073 Copter: CONFIG_RELAY is not used 2013-06-25 12:47:07 +10:00
Andrew Tridgell
23eade8f74 Copter: enable RELAY_* parameters 2013-06-25 12:46:53 +10:00
Randy Mackay
a48a7f9775 Copter: minor param definition unit changes 2013-06-23 15:52:46 +09:00
Randy Mackay
cd30103b76 Copter: increase default CIRCLE_RATE to 20deg/sec 2013-06-19 12:40:33 +09:00
Randy Mackay
245bc3d3fd Copter: show pilot input in dataflash ATT message even when in AUTO 
AUTO mode ignores pilot input but we still want to be able to see the
pilot's input in the Roll-In and Pitch-In columns of the dataflash's ATT
message
 2013-06-19 12:37:13 +09:00
Randy Mackay
acb4907313 Copter: update FS_THR_VALUE parameter description 
One user was setting FS_THR_VALUE too low, below 900 which means
ArduCopter would not trigger when the ppmencoder pulled ch3 low after
updates from the ppmencoder stopped
 2013-06-18 15:56:39 +09:00
Randy Mackay
b1a014e12e Copter: update firmware version to 3.0.0 2013-06-18 10:03:40 +09:00
Randy Mackay
c42ed1e5eb Copter: add @Increment to PID parameters descriptions 2013-06-16 21:53:50 +09:00
Randy Mackay
069bd17928 Copter: reduce default AltHold P to 1.0 (was 2.0) 
This helps reduce jumpiness due to althold feed forward
 2013-06-16 15:32:25 +09:00
Randy Mackay
b1e089fe29 Copter: update AC3.0-rc6 version and release notes 2013-06-16 11:48:03 +09:00
Randy Mackay
272f0e5032 Copter: reduce twitch when entering CIRCLE mode 
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
 2013-06-15 18:18:30 +09:00
Andrew Tridgell
3ec381094e Copter: fix VOLT_DIVIDER docs 2013-06-07 08:40:37 +10:00
Andrew Tridgell
8703d39475 Copter: the INS object is needed for HIL_MODE_SENSORS 
otherwise we can't level, so can't arm
 2013-06-04 18:09:06 +10:00
Randy Mackay
181beb004d Copter: update AC3.0-rc5 release notes 2013-06-04 15:26:02 +09:00
Randy Mackay
fcf2429e39 Copter: remove throttle controller's ability to limit lean angle 2013-06-04 15:25:59 +09:00
Randy Mackay
dd92a2ba07 Copter: AC3.0-rc5 version and release notes 2013-06-04 15:25:56 +09:00
Andrew Tridgell
ba959fd594 Copter: remove unused define 2013-06-04 10:36:34 +10:00
Randy Mackay
1b08f12d53 Circle: allow counter clockwise rotation 2013-06-03 22:12:56 +09:00
Randy Mackay
40f5226518 Copter: reset yaw angle only when motors not spinning 2013-06-03 22:12:52 +09:00
Andrew Tridgell
340c451caf Copter: fixed off-by-one in rcmapper 
oops ...
 2013-06-03 22:22:26 +10:00
Andrew Tridgell
595d3c694a Copter: make it possible to change board orientation at runtime 2013-06-03 16:52:52 +10:00
Andrew Tridgell
725293b9c3 Copter: removed use of rc_ch[] global array 2013-06-03 16:23:48 +10:00
Randy Mackay
213eaa8db6 Copter: integrate draft RCMapper 2013-06-03 16:23:47 +10:00
Randy Mackay
993bccc60e Copter: point nose at landing point if specified 2013-06-03 15:20:37 +09:00
Randy Mackay
9f59f2724f Copter: bug fix for take-off when throttle is zero 
Verify_takeoff was always returning false if throttle was zero.  The
pilot should be able to move their throttle back to zero immediately
after initiating the mission
 2013-06-03 14:18:56 +09:00
Randy Mackay
13c41e74f2 Copter: reduce pre-arm board voltage check to 4.3V 2013-06-02 20:47:58 +09:00
Randy Mackay
036e6f4f2c Copter: updated AC3-rc4 release notes 2013-06-02 12:21:06 +09:00
Randy Mackay
9e91def774 Copter: update firmware version and release notes 2013-06-02 12:19:36 +09:00
Olivier-ADLER
735406fa77 Copter : POSITION_HOLD mode -> allow user position control 2013-06-02 11:49:18 +09:00
Olivier-ADLER
68470c9176 Copter : Land submode - Check for GPS 3D Fix instead of checking for available home position 2013-06-02 11:49:12 +09:00
Dr Gareth Owen
18e566ccc5 failsafe gps lost bug fix 2013-06-02 11:41:59 +09:00
Randy Mackay
b462bfed84 Copter: remove unused print_wp function 2013-06-02 11:32:38 +09:00
Dr Gareth Owen
4c6d6ea96e changed yaw reset to when armed to not use initial_simple_bearing 2013-06-02 11:29:30 +09:00
Dr Gareth Owen
79bd8b4fd0 rtl resets yaw to same as when armed - unless user specifies otherwise 2013-06-02 11:29:27 +09:00
Randy Mackay
0460147a15 Copter: guided mode yaw fix 
Nose of copter now points at next guided point if it is more than 10m
away
 2013-06-02 11:25:35 +09:00
Randy Mackay
5203ba9fe3 Copter: alt hold feed forward filter 2013-06-01 21:13:47 +09:00
Randy Mackay
99f5462a03 Copter: circle mode fixes 2013-06-01 18:21:30 +09:00
Randy Mackay
e3cd494709 Copter: remove debug message 2013-06-01 18:21:30 +09:00
Randy Mackay
23ce35d292 Copter: remove unused NAV_WP_INAV #define 2013-06-01 18:21:28 +09:00
Randy Mackay
5e2fc32410 Copter: remove unused cli wp report 2013-05-31 21:04:27 +09:00
Randy Mackay
1722e438d8 Copter: pass alt hold gain to WP_Nav library 2013-05-31 21:04:10 +09:00
Randy Mackay
d875e95da3 Copter: remove nav and wp tests from cli 
This are more fully tested in the autotester
 2013-05-31 15:23:39 +09:00
Randy Mackay
ae91c4a237 Copter: alphabetise order of cli test menu 2013-05-31 15:16:06 +09:00
Randy Mackay
e2495b7a49 Copter: alphabetise order of cli setup menu 2013-05-31 15:16:06 +09:00
Randy Mackay
a0c8bf238e Copter: move motors test to test menu 
Also allow test to be run from mission planner's cli window
 2013-05-31 15:16:05 +09:00
Randy Mackay
1807840d4f Copter: fixed comments re mag field pre-arm check 2013-05-31 12:28:04 +09:00
Randy Mackay
7b50ecc73c Copter: pre-arm check for mag field length 2013-05-31 12:23:19 +09:00
Randy Mackay
a1821c89e7 Copter: pre-arm check for board voltage < 5.8V 2013-05-31 11:31:27 +09:00
Randy Mackay
c6e383be0f Copter: disable board voltage pre-arm check for PX4 2013-05-31 11:27:54 +09:00
Andrew Tridgell
2488c4fdc3 Copter: update docs on volt/current pin 2013-05-31 07:57:15 +10:00
Dr Gareth Owen
f175111243 added GPS check before mode change. New mode_requires_gps() function. 2013-05-30 20:33:15 +09:00
Andrew Tridgell
0e31a2f582 Copter: fixed indent-tabs-mode 2013-05-30 09:55:51 +10:00
Andrew Tridgell
30df8796ce Copter: fixed loading of waypoints 
copter code assumes that command_total includes the home waypoint
 2013-05-29 21:44:08 +10:00
Andrew Tridgell
903d5636bb Copter: added support for partial mission load 
this allows individual waypoints to be updated in missions
 2013-05-29 16:25:05 +10:00
Randy Mackay
c3d21a457f Copter: add pre-arm board voltage check 
Copter will not arm unless board voltage is over 4.5V
 2013-05-28 21:50:31 +09:00
Randy Mackay
6ecd2d74a3 Copter: beep twice during arming 2013-05-27 13:55:34 +09:00
Randy Mackay
cdcf442f55 Copter: enable GPS failsafe by default 2013-05-27 11:25:37 +09:00
Randy Mackay
ec7ee47099 Copter: scaling stability patch 2013-05-27 11:21:31 +09:00
Randy Mackay
838fb3f4e2 Copter: don't spin motors in ALTHOLD with zero throttle 2013-05-27 10:42:22 +09:00
Randy Mackay
4fa101292a Copter: add baro health to pre-arm checks 2013-05-25 12:24:47 +09:00
Randy Mackay
d1791bab76 Copter: fix barometer cli test 2013-05-25 12:21:29 +09:00
Dr Gareth Owen
1aca66460e 7 yaw when armed option changed so overridable by user 2013-05-24 11:14:06 +09:00
Randy Mackay
967aa81e9b Copter: add XL-EZ4 to SONAR_TYPE parameter description 2013-05-23 09:46:57 +09:00
Randy Mackay
22e9b95c3c Copter: version update to 3.0.0-rc3 2013-05-22 17:46:28 +09:00
Randy Mackay
72f29bd0db Copter: remove debug message from compassmot 2013-05-22 11:30:30 +09:00
Randy Mackay
c404c46e5a Copter: add Fence to CH7/CH8 param description 2013-05-21 16:31:16 +09:00
Andrew Tridgell
4508e645f1 Copter: fixed parameters to pass new script 2013-05-21 17:02:13 +10:00
Randy Mackay
bb3073fab1 Copter: minor parameter description fixes 2013-05-21 15:56:09 +09:00
Randy Mackay
5ee68db6f0 TradHeli: add parameter descriptions 
small formatting changes too
 2013-05-21 15:33:41 +09:00
Randy Mackay
9139fb54ac Copter: param update for AP_Baro and AP_Scheduler 2013-05-21 14:22:11 +09:00
Randy Mackay
00bd1bf8ea Copter: RESETTOARMEDYAW order and comments 
We should keep the order in the case statement the same as the #define
order.
 2013-05-21 10:58:34 +09:00
Dr Gareth Owen
f646b79e5f indent correct again 2013-05-21 10:40:36 +09:00
Dr Gareth Owen
d9fc37c01c indent correct 2013-05-21 10:40:34 +09:00
Dr Gareth Owen
e9d640ced8 added ch7 option to reset yaw back to what it was when quad was armed 2013-05-21 10:40:30 +09:00
Randy Mackay
db552adf02 Copter: typo in LOG_BITMASK param description 2013-05-21 10:30:59 +09:00
Randy Mackay
669850e6d4 Copter: add parameter description for LOG_BITMASK 
Should allow a dropdown in the GCS so it can be set more easily without
going into the cli
 2013-05-21 10:29:40 +09:00
Randy Mackay
bd44c2f73d Copter: all pre-arm checks to be disabled 
set ARMING_CHECK parameter to zero to disable
 2013-05-20 14:48:04 +09:00
Randy Mackay
43c377ca67 Copter: add compass calibration to pre-arm check 2013-05-20 14:19:47 +09:00
Randy Mackay
6efdabb104 Copter: move auto disarm into a separate function 2013-05-20 14:05:50 +09:00
Randy Mackay
1dbe98b566 Copter: display reason for pre-arm-check failures in GCS 2013-05-20 13:03:18 +09:00
Randy Mackay
d10e3bc75f Copter: send_text_P bug fix for short messages 2013-05-20 12:52:20 +09:00
Randy Mackay
885ce7db03 Copter: remove DigitalReadFast 
With APHal all reads are fast
 2013-05-20 11:29:34 +09:00
Randy Mackay
21f3534a93 Copter: remove DigitalWriteFast 
With APHal all writes are fast
 2013-05-20 11:27:35 +09:00
Randy Mackay
55f1b3b2ae Copter: reorganise medium loop 
Shifted compass logging to happen when compass is read.
Updated comments.
 2013-05-20 11:18:51 +09:00
Randy Mackay
c840e2a8c2 Copter: code clean-up move 10hz loop after 50hz loop 2013-05-20 11:05:14 +09:00
Randy Mackay
f4846b417a Copter: compiler fix for disabled logs 2013-05-19 22:55:40 +09:00
Randy Mackay
4ad395e7be Copter: merge WPNAV into NTUN dataflash message 2013-05-19 22:53:35 +09:00
Randy Mackay
072f3dbe30 Copter: display interference % in compassmot 2013-05-19 22:03:48 +09:00
Randy Mackay
9fdab5e8fe Copter: remove unused AUTO_SLEW_RATE parameter 2013-05-17 16:09:17 +09:00
Randy Mackay
8c99936431 Copter: update CH7_OPT, CH8_OPT to include Multi Mode 2013-05-17 16:07:11 +09:00
Randy Mackay
38239c652a Copter: ch8 aux switch 
Ch8 can be used as an aux switch like ch7.  Has all the same options as
ch7 and there is a safety check to ensure both switches aren't set to
the same function so as to avoid interfering with each other
 2013-05-17 14:42:28 +09:00
Randy Mackay
566daf883a Copter: remove unused MODE bit from LOG_BITMASK 
We always log the mode so no need for this bit
 2013-05-17 12:26:42 +09:00
Randy Mackay
5b00ce24ed Copter: minor user hooks cleanup 
Only define and call functions if the appropriate #define in
APM_Config.h has been added
 2013-05-17 12:19:07 +09:00
Randy Mackay
6a173eb7ad Copter: remove unused dump_state function 
Feel free to add this back in when doing debug.  Let's not have too much
debug permanently in the code because it makes it harder to read.
 2013-05-17 12:11:23 +09:00
Randy Mackay
1426f40319 Copter: remove unused JDrones motor PID overrides 2013-05-17 12:05:20 +09:00
Randy Mackay
19394918dd Copter: simplify APM_Config.h 
Remove items that can be more easily set with parameters
 2013-05-17 12:01:39 +09:00
Randy Mackay
28c37dd798 Copter: do pre-arm checks when arming from GCS 2013-05-17 11:22:32 +09:00
Randy Mackay
9d0f40b432 Copter: add pre_arm_rc_check 
Motors are not be enabled unless we have passed rc checks which include
checking the radio in calibration has been performed.
 2013-05-16 16:32:00 +09:00
Randy Mackay
0540acfec9 Copter: change to compassmot instructions 2013-05-15 12:35:16 +09:00
Randy Mackay
33d1129904 Copter: remove unused TB_RATIO parameter 2013-05-14 16:56:55 +09:00
Randy Mackay
e843bf3dfd Copter: bug fix for POSITION mode throttle 
Was using alt-hold throttle controller instead of manual throttle
controller
 2013-05-14 11:56:09 +09:00
Randy Mackay
a2e298bbfc Copter: change to default RTL yaw behaviour 
We will not point the nose home for RTL but will point the nose for all
other waypoints
 2013-05-14 11:52:39 +09:00
Randy Mackay
319f3ef560 Copter: flexible CH6 declination tuning range 2013-05-13 23:37:30 +09:00
Randy Mackay
6ba9431be4 Copter: update firmware version and release notes ahead of -rc2 2013-05-13 22:16:25 +09:00
Randy Mackay
e130c8041c Copter: remove unused event definitions 2013-05-13 18:07:44 +09:00
Randy Mackay
bd6edecdec Copter: restore logging of arm/disarm event 2013-05-13 18:07:28 +09:00
Randy Mackay
94a05a9285 Merge branch 'master' of https://github.com/diydrones/ardupilot 2013-05-13 18:01:53 +09:00
Randy Mackay
bb7aec2600 Copter: log compass failur to dataflash 2013-05-13 18:01:30 +09:00
Andrew Tridgell
c44fd42349 Copter: fixed RSSI reading on PX4 
needed for different analog input scaling
 2013-05-13 15:19:05 +10:00
Randy Mackay
429f900460 Copter: bug fix for RTL bearing 
Also smooth RTL's initial climb stage by projecting stopping point
 2013-05-11 16:21:25 +09:00
Randy Mackay
ad656c7e8a Copter: allow lat/lon to be specified for land 2013-05-10 22:37:15 +09:00
Randy Mackay
b3bca271d4 Copter: rename verify_must to verify_nav_command 
Perhaps easier to understand if we use the "nav" and "conditional"
command labels
 2013-05-10 12:06:29 +09:00
Randy Mackay
b65d714675 Copter: set yaw-mode in do_loiter mission command 2013-05-10 10:51:46 +09:00
Randy Mackay
98732ae4e8 Copter: remove redundant init of controllers when auto is started 
individual do_* commands are responsible for setting roll-pitch, yaw and
throttle modes.  Removing this redundant setting of the controllers
removes the short period (10th second max) where loiter and waypoint
controller's desired roll and pitch were used even before the
controllers have been run once.
 2013-05-10 10:51:13 +09:00
Randy Mackay
870b9b0fbb Copter: only run nav controllers when auto-armed 
This stops run-up in target position and nav controller I terms ahead of
throttle being raised
 2013-05-10 10:46:17 +09:00
Randy Mackay
1b52ee211a Copter: bug fix for RTL yaw control 
Nose was only pointing home if your initial altitude was above the
RTL_ALT
 2013-05-09 21:44:46 +09:00
Randy Mackay
ed5ddfd9db WPNav: initialise desired roll, pitch 
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
 2013-05-09 18:32:02 +09:00
Randy Mackay
d0fb332e9f Copter: init_rc_out in cli's compassmot setup 
Bug fix to allow cli's compass motor compensation to be run from the
mission planner's terminal window
 2013-05-09 13:30:08 +09:00
Andrew Tridgell
95120ed43d Copter: use library gcs_severity 2013-05-09 09:28:49 +10:00
Randy Mackay
1b2d8636ca Copter: set wp to "fast" if they have no delay 2013-05-09 00:18:36 +09:00
Randy Mackay
9824f6c223 Copter: add flight mode strings to Parameter info 2013-05-08 16:41:45 +09:00
Randy Mackay
0a148cce19 Copter: log target alt in meters 2013-05-08 16:41:16 +09:00
Andrew Tridgell
9feb46c834 Copter: use new accel cal interact over MAVLink 2013-05-08 16:19:26 +10:00
Randy Mackay
324200b52c Copter: disable centrifugal correction when disarmed 2013-05-06 15:32:08 +09:00
Andrew Tridgell
703a1ba438 Copter: avoid copying the DCM matrix 2013-05-05 21:51:09 +10:00
Randy Mackay
372ebb602c Copter: disable centrifugal force correction when disarmed 2013-05-05 16:55:06 +09:00
Randy Mackay
ae2ad8e819 Copter: remove unused radius_of_earth constant 2013-05-05 13:13:48 +09:00
Randy Mackay
6836964e3c Copter: resolve compiler warning re fence 2013-05-04 23:18:16 +09:00
Randy Mackay
1cfd5900a8 Copter: add support for H-quad frame 
H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
 2013-05-03 23:13:40 +09:00
Randy Mackay
647a93e78e Copter: remove jerk when entering RTL or AUTO 
Loiter target position was not being initialised properly.
Add a few more comments
 2013-05-03 16:58:00 +09:00
Randy Mackay
cca05ee8ae Copter: start dataflash logging when arming 
Stop nearly empty logs from being produced.
Removed redundant armed bit from ap state.
 2013-05-03 14:49:55 +09:00
Andrew Tridgell
b6e3e59bc3 Copter: simplify setHIL for baro 2013-05-02 15:26:54 +10:00
Andrew Tridgell
55da049c69 Copter: fixes for AP_Baro_HIL 2013-05-02 15:09:16 +10:00
Andrew Tridgell
db57c8d7c5 Copter: removed the deprecated HIL sensors interface 
must use the new HIL_STATE message now
 2013-05-02 15:00:50 +10:00
Andrew Tridgell
172d9724df Copter: use new HIL compass API 2013-05-02 15:00:07 +10:00
Andrew Tridgell
0d027b7a23 Copter: updates for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell
105bd32a2e Copter: fixed some uses of constrain_float() to be right type 2013-05-02 10:29:57 +10:00
Andrew Tridgell
25c576cad7 Copter: replaced constrain() with constrain_float() 2013-05-02 10:26:49 +10:00
Michael Oborne
743d7f2b74 Fix Param description 2013-05-02 09:49:21 +10:00
Randy Mackay
d9601916ee Copter: update firmware version and release notes for 3.0.0-rc1 2013-05-01 17:53:11 +09:00
Randy Mackay
3aca35777f Copter: use mavlink fence message 
Note: we should consider moving this send via mavlink into the fence
library
 2013-05-01 17:06:58 +09:00
Randy Mackay
bab9fa25e5 Copter: add GCS failsafe 2013-04-29 21:30:22 +09:00
Randy Mackay
31e430948a Copter: use renamed RCInput valid_channels 2013-04-29 15:06:30 +09:00
Randy Mackay
76d0f7f74d Copter: fix compiler warning re unused float_int 2013-04-28 17:22:58 +09:00
Randy Mackay
cc2232b2f3 Copter: remove outdated tests 
We primarily use sitl now for testing making these unit tests less
important and having large blocks of commented out code that perhaps
doesn't compile anymore makes the code messy
 2013-04-28 17:21:33 +09:00
Randy Mackay
d146d6aaa6 Copter: restore update_altitude to run at 10hz 2013-04-28 17:15:13 +09:00
Randy Mackay
90af3262c5 Copter: pre-arm check for compass 2013-04-27 23:50:40 +09:00
Randy Mackay
57731bb3f9 Copter: adopt compass test from arduplane 2013-04-27 23:33:04 +09:00
Randy Mackay
c232d7af4b Copter: correct fence parameter 2013-04-27 11:14:11 +09:00
Randy Mackay
58d1da2d80 Copter: integrate AC_Fence in place of limits 
Lesser functionality than limits but saves more than 150 bytes and it
works
 2013-04-27 11:14:07 +09:00
Randy Mackay
45aab0de92 Copter: add I2C error count to PM message 2013-04-26 22:39:22 +09:00
Andrew Tridgell
300a8d2bbc Copter: support all 12 channels on PX4 
last 4 channels are on the FMU pins
 2013-04-25 20:10:53 +10:00
Randy Mackay
74dca6da22 Copter: move update_commands to run_autopilot fn 
update_commands was being run in the medium_loop counter but it is
easier to understand the flow of the code if it is consolidated along
with other autopilot calls.
 2013-04-24 20:59:49 +09:00
Andrew Tridgell
fb0f5d46ba Copter: use BIT_IF_SET() 
this should fix the problem with simple mode on PX4

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-23 23:05:42 +10:00
Andrew Tridgell
5ad9deecfb Copter: cleanup some bit if tests to be clearer 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-23 23:03:34 +10:00
Andrew Tridgell
8ec1eaa8b1 build: removed obsolete cmake rules 
these have not been maintained for over a year
 2013-04-23 11:07:53 +10:00
Randy Mackay
63a48f76e2 Copter: add pre-arm check of radio and accel 
Only checks throttle channel and accelerometer scaling
 2013-04-23 00:01:20 +09:00
Randy Mackay
07b6efafd8 Copter: use DEGX100 constant for position_vector calcs 2013-04-22 21:03:46 +09:00
Randy Mackay
0b29754920 Copter: simplify roll-pitch stabilize controller 
remove check of whether to freeze i term when attitude is less than 5
degrees from horizontal.  I terms have been moved to the rate
controllers.
 2013-04-22 18:47:56 +09:00
Andrew Tridgell
82c604dd67 Copter: more constrain fixes 2013-04-22 13:26:49 +10:00
Andrew Tridgell
d5875676b1 Copter: use a reference to DCM matrix 2013-04-22 13:26:49 +10:00
Andrew Tridgell
c2c037ec0d Copter: use the right constrain() type in Attitude code 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 13:26:49 +10:00
Randy Mackay
a9da3c9d3d Copter: remove unused throttle functions 
removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
 2013-04-21 23:43:04 +09:00
Andrew Tridgell
9cec664236 Copter: fixed format of PM message log 2013-04-21 23:46:35 +10:00
Randy Mackay
94d4ecef11 Copter: reduce throttle rate D to zero 2013-04-21 16:28:07 +09:00
Randy Mackay
2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Andrew Tridgell
c53ede506d Copter: make if statement clearer 2013-04-21 07:25:52 +10:00
Bill Bonney
36041bb9ff Copter: Enable CURRENT logging by default to dataflash 2013-04-21 07:25:34 +10:00
Andrew Tridgell
8b31f276a2 Copter: switch to block based logs for SITL 2013-04-20 20:45:51 +10:00
Randy Mackay
745df9b13c Copter: add SONAR_GAIN to tune reaction to sonar 
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
 2013-04-20 15:58:36 +09:00
Randy Mackay
50515e28e1 Copter: replace fabs with fabsf 2013-04-20 15:40:56 +09:00
Randy Mackay
a53e5f747b Copter: add fourth yaw behaviour, look-at-home 
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
 2013-04-20 15:36:24 +09:00
Andrew Tridgell
02c3083f60 Copter: print flight mode as string 2013-04-20 15:18:22 +10:00
Andrew Tridgell
ce3ee97e73 Copter: removed duplicate print_latlon() declarations 2013-04-20 13:57:45 +10:00
Andrew Tridgell
93d075404c Copter: added board voltage to current message 2013-04-20 13:52:37 +10:00
Andrew Tridgell
a0708460a4 Copter: convert to new logging system 2013-04-20 13:52:37 +10:00
Andrew Tridgell
67484a2ea1 Copter: make copter code compatible with the new logging system 
not fully converted yet
 2013-04-20 13:52:36 +10:00
Randy Mackay
37abfdc65a Copter: make CIRCLE_RATE a tunable parameter 
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
 2013-04-20 12:03:55 +09:00
Randy Mackay
d65d7d95e2 Copter: bug fix for take-off so it never descends 
If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
 2013-04-18 22:30:24 +09:00
Randy Mackay
0fc9c8739e Copter: add WP_YAW_BEHAVE parameter 
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose.  Almost nobody
ever knew about or used this parameter.
 2013-04-18 15:30:18 +09:00
Randy Mackay
18c1373847 Copter: remove unused AUTO_VELZ defaults 
These have now moved to AC_WPNav
 2013-04-18 14:57:08 +09:00
Randy Mackay
f5955d8915 Copter: auto climb and descent params removed 
These params now reside in the AC_WPNav library
 2013-04-18 14:52:21 +09:00
Randy Mackay
9b351feade Copter: shorted INAV dataflash log message length 
Velocities are now output in WPNav message
 2013-04-17 22:39:30 +09:00
Randy Mackay
f7524e5741 Copter: remove unnecessary cast to float in Log 2013-04-17 22:35:02 +09:00
Randy Mackay
7c8527e6a6 Copter: resolve compiler warning 2013-04-17 22:14:47 +09:00
Randy Mackay
2b4a7d60a9 Copter: remove unused throttle modes 
These were useful for testing the alt-hold when it was first introduced
but now they just add complexity
 2013-04-17 22:14:22 +09:00
Randy Mackay
56809a9df2 Copter: remove unused nav_ok and alt_sensor_flag 2013-04-17 21:57:57 +09:00
Randy Mackay
0b808abbed Copter: remove unused waypoint_valid function 2013-04-17 21:28:43 +09:00
Randy Mackay
d2bd818b2d Copter: bug fix for auto_armed logic 
Zero throttle when switching into an auto flight mode would cause the
motors to stop.
 2013-04-17 21:28:42 +09:00
Andrew Tridgell
501eb4f0b4 Copter: made more variables static 2013-04-17 21:35:11 +10:00
Andrew Tridgell
61c2befd4d Copter: fixed logging for new API 2013-04-17 21:34:42 +10:00
Randy Mackay
82989d85f2 Copter: remove unused #defines 2013-04-16 22:34:12 +09:00
Randy Mackay
0663da7c9e Copter: loiter rate IMAX to 4m/s/s and D to zero 2013-04-16 22:28:18 +09:00
Randy Mackay
b8974dec99 Copter: compass learn off by default 2013-04-16 18:47:39 +09:00
Randy Mackay
a7b32caf72 Copter: bug fix for loiter_time check 
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
 2013-04-15 23:57:22 +09:00
Randy Mackay
a185fa950c Copter: Jason's fix to auto disarming 
Added check so that it only starts counting down when motors are armed.
This removes the issue in which the copter sometimes disarms shortly
aftering being armed.
 2013-04-15 23:36:45 +09:00
Randy Mackay
8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay
b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
Andrew Tridgell
cf6ae4a746 Copter: remove ahrs.set_barometer() 2013-04-15 10:52:32 +10:00
Randy Mackay
8c7a1597dc Copter: remove debug comment from RTL 2013-04-14 18:28:13 +09:00
Randy Mackay
629d23b7e2 Copter: remove WP_SPEED and WP_RADIUS parameters 
AC_WPNav library has equivalent params with very similar names
 2013-04-14 13:27:37 +09:00
Randy Mackay
b58c26bcd5 Copter: remove pid_nav_lat, pid_nav_lon 2013-04-14 12:12:51 +09:00
Randy Mackay
bffe4fa412 Copter: remove NAV_LAT and NAV_LON 
Loiter and navigation controllers now combined
 2013-04-14 12:09:45 +09:00
Randy Mackay
700fb1b179 Copter: replace sin_yaw_y, cos_yaw_x in circle mode 2013-04-14 10:39:30 +09:00
Randy Mackay
366616e32c Copter: reduce default loiter PIDs 2013-04-14 10:39:28 +09:00
Randy Mackay
1ee825ee9a Copter: move alt and wp checking to AC_WPNAV 
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
 2013-04-14 10:39:23 +09:00
Randy Mackay
2db8365c90 Copter: add AC_WPNav to parameters list 2013-04-14 10:39:02 +09:00
Randy Mackay
bc87118062 AC_WPNav: add get_target_alt method 2013-04-14 10:39:00 +09:00
Randy Mackay
6dbcbdcb43 AC_WPNav: limit max loiter position error 
move interpretation of pilot input to wpnav lib
 2013-04-14 10:38:58 +09:00
Randy Mackay
7c559333f5 Copter: get_throttle_rate's target_speed a float 2013-04-14 10:38:51 +09:00
Randy Mackay
926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +09:00
Randy Mackay
ee7f40cfe9 Copter: Leonard's alt-hold feed forward 2013-04-14 10:38:37 +09:00
Randy Mackay
f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay
553f40a99c Copter: bug fix to loiter delay 
change delay to seconds to allow delays longer than 65seconds
 2013-04-14 10:38:30 +09:00
Randy Mackay
a65960a009 Copter: use velocity based set_loiter_target 2013-04-14 10:38:28 +09:00
Randy Mackay
e592baae11 Copter: remove remnants of fast_corner 2013-04-14 10:38:20 +09:00
Randy Mackay
4de5f67a91 Copter: replace wp_nav.get_target_alt with get_destination_alt 2013-04-14 10:38:17 +09:00
Randy Mackay
5b93990e41 Copter: removed next_WP 
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
 2013-04-14 10:38:07 +09:00
Randy Mackay
1516972eaa Copter: add panorama to CIRCLE mode 
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
 2013-04-14 10:38:01 +09:00
Randy Mackay
58ed8cd544 Copter: replace set_next_WP with direct call to wp_nav 2013-04-14 10:37:55 +09:00
Randy Mackay
49828eba7d Copter: integrate AC_WPNav 2013-04-14 10:37:48 +09:00
Randy Mackay
cdb532a594 Copter: bug fix for loiter target 2013-04-11 18:24:20 +09:00
Randy Mackay
e637a8fb29 Copter: remove old commented out code from setup.pde 2013-04-11 10:12:21 +09:00
tobias
217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Randy Mackay
9036b97a16 Copter: fix build error 
Removed last print_test_disabled call
 2013-04-05 23:03:17 +09:00
Randy Mackay
fc0c451b69 Copter: remove #ifdef checks for Atmega1280 2013-04-05 22:48:10 +09:00
Randy Mackay
1dcd46bffc Copter: reduce compiler warnings 2013-04-05 22:25:58 +09:00
Randy Mackay
95d944f610 Copter: Jason's bug fix for loiter's set_next_WP_latlon 2013-04-05 13:46:07 +09:00
Randy Mackay
777c6a308e AP_InertialNav: use shared GRAVITY_MSS constant 2013-04-05 11:48:41 +09:00
Randy Mackay
d1afd2fb9b Copter: make guided mode start at current location 2013-04-03 23:06:46 +09:00
Randy Mackay
0be23c8090 Copter: fix THR_ALT_P documentation 2013-04-03 22:38:34 +09:00
Randy Mackay
3bf847f675 Copter: Jason's faster cos_yaw, sin_yaw 2013-04-02 15:50:29 +09:00
Randy Mackay
40f6416b3d Copter: update Log_Read_Compass comment 2013-04-02 11:02:14 +09:00
Randy Mackay
7cf2255822 Copter LEDs: replace bitRead with bitmask 
Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
 2013-04-01 13:10:12 +09:00
Randy Mackay
a9eb626cb8 Copter: update default Rate Yaw P to 0.20 (was 0.25) 2013-04-01 11:49:50 +09:00
Randy Mackay
7ccb14344c Copter: update version to 2.9.1b-dev 2013-04-01 11:47:56 +09:00
Randy Mackay
7d4eea271f Copter: update Release notes again for 2.9.1b release 
Missed item re increasing max inav accel correction to 3 m/s
 2013-04-01 11:46:42 +09:00
Randy Mackay
49e3e040b6 Copter: update Release notes ahead of 2.9.1b release 2013-04-01 11:46:37 +09:00
Randy Mackay
24dd167607 Copter: ACRO bug fix from Jason 2013-04-01 11:44:28 +09:00
Michael Oborne
541fa13291 cleanup comments 2013-03-31 17:14:54 +08:00
Michael Oborne
e80f2c094e HIL fix location, alt, mag from hil state message 2013-03-31 16:42:16 +08:00
Michael Oborne
59f80410d5 Add ability to compile sensor hil with sitl 2013-03-31 16:35:23 +08:00
Andrew Tridgell
b280857025 Copter: use common angle wrap code 2013-03-29 13:14:31 +11:00
Randy Mackay
f7d977fe37 Copter: add support for GPS fix type 2D 2013-03-27 11:41:47 +09:00
Andrew Tridgell
b955aed976 Copter: fixed GPS test (detection of uBlox needs 10Hz poll) 2013-03-21 22:45:07 +11:00
Andrew Tridgell
d22a7c64c9 Copter: only enter CLI is link is idle when 3 enters are hit 
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
 2013-03-21 21:56:02 +11:00
Andrew Tridgell
ce8313e8fb Copter: only allow CLI within 20s of startup and when motors not armed 2013-03-21 17:34:11 +11:00
Randy Mackay
80bd593814 Copter: disarm motors when entering CLI 2013-03-21 12:07:00 +09:00
Randy Mackay
dcf21eee8f Copter: only allow entering the CLI within 30 seconds of start-up 2013-03-21 11:54:04 +09:00
Andrew Tridgell
ae96c77add Copter: added shell command in CLI test menu 2013-03-20 12:35:50 +11:00
Randy Mackay
38e81adae0 InertialNav: remove unnecessary "virtual" from function definitions 
This saves about 30bytes of RAM
 2013-03-19 17:51:16 +09:00
Randy Mackay
a17421da27 Copter: scale HIL accels consistently with Plane code 2013-03-19 15:07:15 +09:00
Randy Mackay
b4b9d80c2f Copter: bug fix to accept HIL accel values correctly 2013-03-19 11:33:58 +09:00
John Stäck
46a831fc03 Copter: add parameter "set" and "show" commands to setup menu. 
Squashed commit of the following:

commit 4243a0bb89de2f850606c623aac6a5b583c333ae
Author: John Stack <stack@spotify.com>
Date:   Thu Mar 7 09:28:16 2013 +0100

    Undo change to system.pde, not needed.

commit dae2dbbbd6e13621fccc1d0a221aae8d83240417
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 22:47:50 2013 +0100

    Remove leftover bits of old menu setup

commit ccefc8fe0d237364b06a1478348f8552720d7598
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 22:40:30 2013 +0100

    Roll the param menu into setup.

commit c61dad17bf32a3080d8eca2389c6e25f98767545
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 08:08:42 2013 +0100

    Make the param menu a compile-time option, by defining PARAM_MENU

commit 0f35c4e88ec7aba5035b4880e9994e4783da75a9
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 07:57:22 2013 +0100

    Use find(), which works well.

commit 3b81b29597fcee49193330d7b6d3f3aed99a476c
Author: John Stack <stack@spotify.com>
Date:   Tue Mar 5 07:57:33 2013 +0100

    Whitespace fixes

commit 6b9ccc5fe1de1e40a24eb9ff89006b9bd80e3662
Author: John Stack <stack@spotify.com>
Date:   Tue Mar 5 07:28:20 2013 +0100

    Add cli menu to change any parameter.
 2013-03-18 15:49:41 +09:00
Andrew Tridgell
952c56e990 Copter: fixed barometer init in HIL sensors mode 2013-03-18 16:20:25 +11:00
Andrew Tridgell
ac06b5e62d Copter: remove unused function 2013-03-18 16:20:25 +11:00
Randy Mackay
36834e77b5 Copter: remove support for CLI Slider 2013-03-18 14:07:04 +09:00
Randy Mackay
597a4b912a Copter: fix to allow building HIL_MODE_SENSORS 2013-03-18 13:41:52 +09:00
Randy Mackay
d1344e8c39 Copter: remove #define for CROSSTRACK_GAIN 
Note: the cross track is still calculated inside the inertial nav based
loiter and wp controls but it's no longer requires a tunable parameter
 2013-03-17 16:56:18 +09:00
Randy Mackay
1b6fcad90a Copter: remove tilt compensation parameter 
Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
 2013-03-17 16:53:32 +09:00
Randy Mackay
61e29173e3 Copter: remove unused crosstrack variables and parameters 
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
 2013-03-17 16:46:31 +09:00
Randy Mackay
a1295c042b Copter: fix init of wp_verify_byte so wp alt is always required 2013-03-17 16:37:30 +09:00
Randy Mackay
fdcb78ccf7 Copter: leonard's smoother alt-hold transition 
Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
 2013-03-17 13:24:49 +09:00
Randy Mackay
37040adfaa Copter: bug fix for auto missions over 320m 
get_throttle_althold_with_slew's target_alt parameter defined as int16_t
(instead of int32_t) meaning missions with altitudes >320m could wrap
around and become negative.
 2013-03-17 11:14:35 +09:00
Randy Mackay
150046f2b8 Copter: GPS Failsafe implemented 
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
 2013-03-16 17:27:46 +09:00
Randy Mackay
f9539384a1 Copter: rename failsafe to failsafe_radio 
Makes way for separation of failsafes for throttle, gps and gcs
 2013-03-16 17:14:21 +09:00
Randy Mackay
f263e81ed7 Copter: remove unused GPS and baro filters 
Saves 24bytes of RAM
Removing the baro filter leads to noisier Baro Alt appearing in the log
so we should make the inertial nav altitude appear in the CTUN message
 2013-03-16 00:20:15 +09:00
Randy Mackay
5380973225 Copter: only start delay timer after reaching wp location and altitude 2013-03-06 12:50:41 +09:00
Randy Mackay
a73f50494c TradHeli: remove duplicate RC_FAST_SPEED definition 2013-03-04 23:45:23 +09:00
Randy Mackay
cb6ffc7acf Copter: minor formatting fix for report_ins 2013-03-04 23:14:14 +09:00
Randy Mackay
998511f506 Copter: use unsigned long for dataflash log for gps time 
Updated some formatting of comments in the same file
 2013-03-04 23:13:06 +09:00
Randy Mackay
33bd984a91 Copter: remove unused input_voltage parameter 2013-03-03 23:23:54 +09:00
Randy Mackay
cb84ec9d9b Copter: add current based compass compensation 2013-03-03 23:02:36 +09:00
Andrew Tridgell
c2fd1512ff Copter: use voltage_average() so as to avoid INPUT_VOLTS 2013-03-03 16:16:01 +11:00
Randy Mackay
0d5e731a65 Copter: add compassmot to cli 
Allows user to setup compensation for motor's interference on the
compass
 2013-03-02 17:54:18 +09:00
Randy Mackay
476a6d0164 Copter: fix for acro throttle bug 2013-03-02 10:28:44 +09:00
Randy Mackay
6b2b69535f Copter: Compass log stores/retrieves motor offsets 2013-03-02 00:03:20 +09:00
Randy Mackay
d8515ff85e Compass: basic compensation for motor interference 2013-03-02 00:03:16 +09:00
Andrew Tridgell
637ecd5279 Copter: updates for new dataflash API 2013-03-01 07:18:26 +11:00
Andrew Tridgell
9a3bd17cfb Copter: fixes for new DataFlash API 2013-03-01 07:18:25 +11:00
Randy Mackay
e0506bd622 Copter: inav circle initial implementation 2013-02-26 11:35:35 +09:00
Randy Mackay
c8f09ac219 Copter: fix compile error for PX4 re Compass logging 2013-02-25 13:26:58 +09:00
Randy Mackay
d6ff5ae261 Copter: add roll-pitch slew for auto modes 
Added reporting of roll, pitch inputs for ACRO, AUTO
 2013-02-24 14:42:04 +09:00
Randy Mackay
e297ba7d18 Copter: update default loiter gains for inertial nav 2013-02-24 14:42:00 +09:00
Randy Mackay
102b5da59d Copter: remove unnecessary #defines from APM_Config.h 2013-02-24 14:41:56 +09:00
Randy Mackay
cbde042ec5 Copter: remove non-inav loiter and wp controllers 
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
 2013-02-24 14:41:52 +09:00
Randy Mackay
609676e26c Copter: add logging of compass values 
Removed rarely used ITERM because we didn't have enough bits in the log
mask
 2013-02-24 14:41:48 +09:00
Randy Mackay
6f27bc7ae5 Copter: remove filters from inav loiter 2013-02-24 14:41:44 +09:00
Randy Mackay
1410063a14 Copter: new ROLL_PITCH_WP_INAV roll-pitch mode 
small corrections to allow waypoints to work with new inertial nav wp
controller
 2013-02-24 14:41:40 +09:00
Randy Mackay
574756908d Copter: set wpinav controller targets in nav calls 
All navigation commands now properly set wpinav controller targets
except CIRCLE related commands.
 2013-02-24 14:41:36 +09:00
Randy Mackay
00bc28adcc Copter: take-off code cleanup 
remove redundant setting of loiter target.
explicitely set throttle mode to THROTTLE_AUTO
 2013-02-24 14:41:32 +09:00
Randy Mackay
67c69a19ee Copter: remove baro-only alt hold 
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
 2013-02-24 14:41:29 +09:00
Randy Mackay
37d3e1d7e4 Copter: add zero slope checks to wpinav 
also added RTL fix to set wpinav target explicitly
 2013-02-24 14:41:25 +09:00
Randy Mackay
b74da54c98 Copter: enable inav xy by default 2013-02-24 14:41:21 +09:00
Randy Mackay
53ab1d5d9b Copter: add advance track call to actually move towards waypoint 
Also added unrelated check that waypoint is valid before updating
waypoint distance.
 2013-02-24 14:41:17 +09:00
Randy Mackay
766ccdf6f8 Copter: add selection of inertial nav wp controller to APM_Config.h 2013-02-24 14:41:13 +09:00
Randy Mackay
fcf102b2cf Copter: inertial nav waypoint controller 
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
 2013-02-24 14:41:09 +09:00
Jason Short
4c3ee76900 AC: Moving flip speed back to 400°/s to prevent oscillation around change in speed. 
Would like to add a more gradual speed change in the finish. Might require a new state as the copter passes -90°
 2013-02-23 13:14:15 +09:00
Jason Short
7d5b975da2 AC: Flip code fix 
Flight tested it today and made some flips. Throttle adjusted in Manual throttle modes. Not tested in AP throttle modes such as alt hold.
 2013-02-23 13:14:11 +09:00
Randy Mackay
8e4c9518ea Copter: increase low voltage check to 10.5v 
Change requested by Rob Lefebvre and Richie Wilson
 2013-02-23 00:36:51 +09:00
Jason Short
abd0fb9099 AC : global static variables should not be initialized to zero 2013-02-22 17:34:18 +09:00
Andrew Tridgell
4c7a1a1806 Copter: change PX4 main baud rate back to 115200 
we now use USB console
 2013-02-22 07:04:23 +11:00
Randy Mackay
2ecf34e509 Copter: update version to 2.9.1 ahead of release 2013-02-19 13:52:04 +09:00
Randy Mackay
d48aebea8e Copter: updated release notes for 2.9.1-rc2 2013-02-19 13:49:53 +09:00
Randy Mackay
9904e9f4db Copter: update firmware version to 2.9.1-rc1 2013-02-19 13:43:36 +09:00
Randy Mackay
6601bd37cf Copter: integrate automatic roll and pitch trims 2013-02-19 12:51:24 +09:00
Michael Oborne
61e5b09f28 Send FS state to gcs for AC 2013-02-09 10:11:36 +08:00
Andrew Tridgell
19a282dad0 Copter: removed use of ins.temperature() 2013-02-07 15:05:47 +11:00
Pat Hickey
d418197898 ArduCopter: fixed memory unsafe member access in GCS_MAVLINK 
* Smokey, this is not 'Nam. this is bowling. there are rules
 2013-02-02 22:43:56 -08:00
Randy Mackay
9d34ead486 Copter: fix up some casting issues for wp_distance 2013-02-01 22:42:50 +09:00
Randy Mackay
df1c0d92bd Copter: manual throttle scaling fix 
Scaling of bottom half of throttle was changed from THR_MIN ~ 500.
Previously it was from 0 ~ 500.
 2013-02-01 22:37:33 +09:00
Randy Mackay
a0b65a262b Copter: use scaled throttle for accel-throttle's I term 
Accel throttle's I term is taken from scaled manual throttle
 2013-02-01 22:37:25 +09:00
Randy Mackay
06a71af12f Copter: THR_MID used to scale manual throttle 2013-02-01 22:37:16 +09:00
Randy Mackay
4813526725 Copter: bug fix for autotrim's roll axis backwards 2013-01-31 17:42:29 +09:00
rmackay9
9c3b9907dd Copter: bug fix to set sonar_alt_health to zero when disabled 2013-01-31 17:00:28 +09:00
Randy Mackay
70371be4a1 Copter: use AP_Math's longitude_scale 
bug fix to base scaling on home location instead of next_WP which may
not have been initialised
 2013-01-27 23:35:12 +09:00
Randy Mackay
6f5050a8b9 Copter: minor casting fixup for wp_distance 2013-01-27 11:27:43 +09:00
Randy Mackay
ce370bab0c Copter: rename CUR and CURR to CURRENT for logging 
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
 2013-01-26 17:20:41 +09:00
Randy Mackay
fb1358a629 Copter: make all message output csv 2013-01-26 17:05:38 +09:00
Randy Mackay
d2767b911c AP_Math: switch get_distance_cm to return uint32_t 
Includes changes required on ArduCopter and ArduPlane side as well
 2013-01-26 17:04:12 +09:00
Randy Mackay
0056bfadd7 Copter: rename ROLL_PITCH_LOITER 
new name ROLL_PITCH_LOITER_INAV makes it more clear that it should only
be used with the new inertial nav loiter controllers
 2013-01-25 23:27:31 +09:00
Randy Mackay
b74fe10aa9 Copter: set each flight mode's nav_mode 
Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
 2013-01-25 15:57:55 +09:00
Randy Mackay
aaecc25ac7 Copter: leonard's inav2 
Moved loiter controller to navigation.pde
 2013-01-25 15:16:35 +09:00
Randy Mackay
fd02cfe706 Copter: added set_nav_mode to control initialisation of nav controllers 
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
 2013-01-25 15:16:29 +09:00
Randy Mackay
8af605cafc Copter: set update rate to 50hz during esc calibration 
Also modified some comments in the code re the esc calibration
 2013-01-25 11:34:48 +09:00
Randy Mackay
deafbf1f56 Copter: inav loiter comment changes 
removed unused get_loiter_vel function
 2013-01-24 11:14:38 +09:00
Randy Mackay
68fc9ac1d8 Copter: add "f" to end of float constants 
This is a small performance improvement for the px4
 2013-01-23 14:51:37 +09:00
Randy Mackay
911e090e07 Copter: typo fixed for trad heli config 2013-01-23 12:35:10 +09:00
Randy Mackay
9a09f086d2 Copter: Leonard Hall's inertial nav ver 2 2013-01-23 12:34:49 +09:00
Andrew Tridgell
47cc247046 Copter: limit number of bytes read per GCS check 2013-01-23 09:34:54 +11:00
rmackay9
ab1978ad50 Copter: Leonard Hall's inertial nav based loiter 2013-01-22 18:38:00 +09:00
Jonathan Challinger
6565d83e73 InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz. 2013-01-22 18:37:45 +09:00
Andrew Tridgell
f303554259 Copter: run serial0 at 57600 on PX4 2013-01-22 09:50:22 +11:00
Andrew Tridgell
ae5f46abc9 Copter: fixed mavlink fetch of 16 character parameter 2013-01-21 16:52:01 +11:00
Robert Lefebvre
dde713aaa5 Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this. 2013-01-20 21:32:00 +09:00
Andrew Tridgell
a341d59ed0 Copter: fixed test code warnings 2013-01-20 22:13:20 +11:00
Michael Oborne
74e3d64e62 AC Fix BATT_CURR_PIN number 2013-01-20 06:33:29 +08:00
Andrew Tridgell
580abf1106 Copter: fixed PX4 mag orientation 2013-01-17 17:23:34 +11:00
Randy Mackay
577bf865b3 Copter: update firmware version to 2.9-dev 
The -dev extension indicates that we are post 2.9 release
 2013-01-17 13:03:33 +09:00
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Randy Mackay
ccaa7a52ef 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 12:17:52 +09:00
Randy Mackay
2dab40abeb Copter: bug fix to altitude check of verify takeoff 
set_next_WP function was not setting the alt_change_flag properly
 2013-01-15 12:17:45 +09:00
Randy Mackay
148c227d73 Copter: update firmware version to rc5 2013-01-15 12:17:41 +09:00
Randy Mackay
04677bfb95 Copter: constrain auto roll and pitch to 45 degrees 2013-01-15 12:17:32 +09:00
Andrew Tridgell
56f22f9226 Copter: use common log reading function 2013-01-15 14:03:51 +11:00
jschall
d6b3d370c3 Correct spelling of run_navigation_contollers 2013-01-14 16:45:15 -08:00
Randy Mackay
5418827f22 Copter: update parameter descriptions for FRAME and CH7_OPT 2013-01-14 15:49:26 +09:00
Randy Mackay
98f5e27dc3 Copter: small correction to RTL_ALT_FINAL param description 2013-01-14 15:21:19 +09:00
Randy Mackay
8bbc93bb04 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 14:00:08 +09:00
Randy Mackay
df2137ed72 Copter: constrain loiter so that it never commands more than 45 degrees of lean in lat or lon directions 2013-01-14 13:34:19 +09:00
Randy Mackay
fef7569dee 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 13:34:14 +09:00
Randy Mackay
76f032160c 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 13:34:06 +09:00
Randy Mackay
8ac95d6034 ArduCopter: updated release notes for 2.9-rc4 2013-01-13 20:01:13 +11:00
Randy Mackay
c1fa850d10 ArduCopter: update firmware version to 2.9-rc4 2013-01-13 20:01:09 +11:00
Randy Mackay
c447b4b79b ArduCopter: move setting of land's yaw mode to the do_land function 2013-01-13 20:01:06 +11:00
Randy Mackay
08dc730d40 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
 2013-01-13 20:01:03 +11:00
Randy Mackay
175f69a64f 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.
 2013-01-13 20:00:59 +11:00
Randy Mackay
9ad6f711f8 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).
 2013-01-13 20:00:47 +11:00
Randy Mackay
19abdc3cd3 ArduCopter: update release notes for rc3 2013-01-13 20:00:43 +11:00
Randy Mackay
12f885c33c ArduCopter: disable ITERM logging by default 
This message takes 1ms to write and we are running over our limits on
some loops.
 2013-01-13 20:00:39 +11:00
Randy Mackay
fbed8b8861 ArduCopter: alphabetized the contributors list 
Jonathan Challinger added
 2013-01-13 20:00:28 +11:00
Randy Mackay
5965914039 ArduCopter: increase firmware version to 2.9-rc3 2013-01-13 20:00:25 +11:00
Andrew Tridgell
b0c710b67f Copter: move read_AHRS() before run_rate_controllers() 
this ensures the rate controllers use the latest data
 2013-01-13 20:00:14 +11:00
rmackay9
f25f1cb3bf ArduCopter: changed alt hold to use the sonar if enabled and healthy 2013-01-13 19:56:19 +11:00
rmackay9
21b6c78d12 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.
 2013-01-13 19:51:47 +11:00
Pat Hickey
164246c7d8 ArduCopter: better instructons for setup_motors cli test 
* i just spent hours confused about this
 2013-01-13 00:17:17 -08:00