Commit Graph

606 Commits

Author SHA1 Message Date
Andrew Tridgell 55da049c69 Copter: fixes for AP_Baro_HIL 2013-05-02 15:09:16 +10:00
Andrew Tridgell 25c576cad7 Copter: replaced constrain() with constrain_float() 2013-05-02 10:26:49 +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 76d0f7f74d Copter: fix compiler warning re unused float_int 2013-04-28 17:22:58 +09:00
Randy Mackay d146d6aaa6 Copter: restore update_altitude to run at 10hz 2013-04-28 17:15:13 +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
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 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
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
Andrew Tridgell d5875676b1 Copter: use a reference to DCM matrix 2013-04-22 13:26:49 +10:00
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
Andrew Tridgell 8b31f276a2 Copter: switch to block based logs for SITL 2013-04-20 20:45:51 +10:00
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 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 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 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 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
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 b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +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 bffe4fa412 Copter: remove NAV_LAT and NAV_LON
Loiter and navigation controllers now combined
2013-04-14 12:09:45 +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 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 926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +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 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 3bf847f675 Copter: Jason's faster cos_yaw, sin_yaw 2013-04-02 15:50:29 +09:00
Randy Mackay 7ccb14344c Copter: update version to 2.9.1b-dev 2013-04-01 11:47:56 +09:00
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
Randy Mackay 597a4b912a Copter: fix to allow building HIL_MODE_SENSORS 2013-03-18 13:41:52 +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 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 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