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