Andrew Tridgell
4b01cee330
Plane: send heartbeat to AFS when calibrating sensors
2014-09-24 12:02:39 +10:00
Andrew Tridgell
5eee51b5a4
APM_OBC: added heartbeat() method
...
this is used for when the plane is calibrating sensors, to ensure
heartbeat is continued to the failsafe board
2014-09-24 12:02:38 +10:00
Andrew Tridgell
1fa03a49c9
Plane: disable the CLI if AFS failsafe enabled on APM2
...
the flash space is a bit too low for both CLI and AFS
2014-09-24 12:02:38 +10:00
Randy Mackay
41c576044f
Copter: allow passthru for ch 9 ~ 14
...
Based on work by Emile Castelnuovo
2014-09-23 22:55:19 +09:00
Randy Mackay
c2c5807ec7
Compass: always default devid to zero
2014-09-23 20:35:18 +09:00
Randy Mackay
d4cfb432ca
Copter: use disparity threshold define for pre-arm checks
...
There are two duplicate checks, one in the pre-arm checks (i.e. checks
run every 15 seconds or so before the vehicle is armed) and one in the
arming checks (run immediately before arming). The definition in the
pre-arm checks was still using the old hardcoded value.
2014-09-23 19:33:04 +09:00
lthall
2b4f5fa79d
Copter: increase autotune limits
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Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
2014-09-22 21:33:35 +09:00
Randy Mackay
cf3b2be99c
AC_PosControl: 4hz filter on z-axis velocity error
2014-09-22 13:40:01 +09:00
Randy Mackay
665f353416
AC_PosControl: 2hz filter on accel error
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Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
2014-09-21 17:53:55 +09:00
Randy Mackay
cf35bd3f42
LowPassFilter: add div by zero check
2014-09-21 17:33:59 +09:00
Randy Mackay
e7753223ba
Copter: low battery msg to severity high
2014-09-21 17:33:19 +09:00
Randy Mackay
193bc5331a
Copter: cleanup enabling of cli and frsky telem for APM
2014-09-20 14:41:26 +09:00
Randy Mackay
d8d1b38a52
Copter: increase Alt Disparity check to 2m
2014-09-20 12:24:36 +09:00
Randy Mackay
9bbf40109e
Copter: add LOG_FROM_STARTUP definition
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Uncommenting this line in APM_Config.h will start logging as soon as the
board starts up instead of waiting for the vehicle to be armed
2014-09-20 12:23:47 +09:00
Jason Short
b2238b7c8a
Copter: auto esc calibration
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Throttle is raised to maximum and then lowered without any input from
pilot
2014-09-19 22:21:49 +09:00
Randy Mackay
58602bd1ae
Copter: move esc calibration to separate file
...
Restructured into case statement
Replaced use of g.throttle_max with definition
Added more comments
Send message to ground station instead of printing on console (although
probably both are unlikely to be read)
2014-09-19 22:21:47 +09:00
Jason Short
b57539a9ad
AP_Motors: throttle_pass_through accepts pwm
2014-09-19 22:21:45 +09:00
Randy Mackay
1c11a91ec2
Copter: rename land_maybe_complete function
2014-09-19 16:43:17 +09:00
Randy Mackay
b9977a1115
Copter: add land_complete_maybe flag
2014-09-19 16:43:15 +09:00
Randy Mackay
6951a20fb0
Copter: soften loiter target when maybe landed
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Applies to auto's land, land, loiter, pos hold and rtl flight modes
2014-09-19 16:43:12 +09:00
Randy Mackay
765420ee04
AC_WPNav: add loiter_soften_for_landing method
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This resets the position target to the current location.
2014-09-19 16:43:10 +09:00
Randy Mackay
b552479e31
Copter: typo fix for baro vs inav alt disparity definition
2014-09-18 17:32:03 +09:00
Randy Mackay
18e3db0011
Copter: define limit for baro vs inav alt disparity
2014-09-18 17:24:40 +09:00
Andre Kjellstrup
b4c6d6395e
Copter: reset battery_fs after dis/rearming
2014-09-18 11:17:03 +09:00
Craig Elder
3f687733e6
Frame_params: added 3DR_AERO_M.param
2014-09-17 18:48:48 -07:00
Craig Elder
da66c7df36
Frame_params: 3DR_Aero_RTF.param Changed tuning
2014-09-17 18:46:52 -07:00
Randy Mackay
ad37fc0408
AC_WPNav: WP_SPEED_DN parameter range to 0~500
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Previous permissible descent speed of 10m/s was unnecessarily lenient.
Users can still bypass the suggested range through the MP's full
parameter list if they really want a very high descent speed.
2014-09-18 10:44:33 +09:00
Randy Mackay
6da1420541
HAL_VRBrain: implement force_safety_on
2014-09-18 09:58:48 +09:00
Randy Mackay
ffcd259b4e
HAL_PX4: implement force_safety_on
2014-09-18 09:58:46 +09:00
Randy Mackay
033b14db16
AP_HAL: add force_safety_on method
2014-09-18 09:58:44 +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
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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
1ce8e453c2
Mission: add support for DO_GRIPPER
2014-09-17 21:14:17 +09:00
Randy Mackay
1de89804e5
GCS_MAVLink: version update after adding DO_GRIPPER
2014-09-17 21:14:14 +09:00
Randy Mackay
064e214992
GCS_MAVLink: generate after adding DO_GRIPPER
2014-09-17 21:14:12 +09:00
Randy Mackay
b3bce13bdf
GCS_MAVLink: add MAV_CMD_DO_GRIPPER
2014-09-17 21:14:09 +09:00
Randy Mackay
cffc904671
GCS_MAVLink: version update after generate
2014-09-17 21:14:06 +09:00
Randy Mackay
6b38547fc2
GCS_MAVLink: generate after move of PARACHUTE_ACTION
2014-09-17 21:13:54 +09:00
Randy Mackay
868f1a777d
GCS_MAVLink: version updates after generate
2014-09-17 21:13:52 +09:00
Randy Mackay
69fd7b80aa
GCS_MAVLink: generate run on master
2014-09-17 21:13:50 +09:00
Randy Mackay
3fa3cb6d65
Copter: remove EPM neutral from ch7/ch8 switch
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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
d09bbd1d91
EPM: add params for pwm levels add re-grab feature
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Also include some minor commenting changes
2014-09-17 21:13:37 +09:00
Randy Mackay
14d80910ec
Copter: integrate EPM ver2
2014-09-17 21:13:35 +09:00
Randy Mackay
1401ee4077
EPM: add support for ver2, remove support ver 1
2014-09-17 21:13:32 +09:00
Randy Mackay
79f95efb71
RC_Channel_aux: add epm to servo function enum
2014-09-17 21:13:30 +09:00
priseborough
f71aeea61d
AP_NavEKF : Reduce sensitivity on filter divergence check
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Flying aerobatics with Trad Heli has shown that the divergence check can be false triggered when large magnetometer errors and GPS dropouts are present.
This can also happen with multi rotors if large yaw rates are present.
This was an unintended consequence of the ekfsmoothing patch which improved filter stability during high rate manoeuvres, but made the divergence test more sensitive.
2014-09-17 10:22:55 +09:00
priseborough
36bf304f29
AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'
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This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation.
2014-09-17 10:22:49 +09:00
