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8,760 Commits 71 Branches 509 Tags 716 MiB
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682 Commits

Author SHA1 Message Date
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
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 6a2daf1a33 Copter: reduce sonar sensitivity to spikes 2013-08-15 16:04:17 +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 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 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 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 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 0f8f5bc048 Copter: remove unused ap.gps_status flag 2013-07-29 16:46:05 +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 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 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
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 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
Andrew Tridgell 9a159a5e23 Copter: make wp_distance static 
removed hack with AP_Camera library
 2013-07-15 09:56:45 +10:00
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 8cb7bd628e Copter: change firmware version to 3.0.1-rc2 2013-07-10 15:52:21 +09:00
Andrew Tridgell da4137b731 Copter: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Craig@3DR bbd4fbd2fb Copter: trigger + logging on camera update_location() 2013-07-10 08:39:59 +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
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
Randy Mackay 0592475959 Copter: change firmware version to 3.0.0-rc1 2013-06-26 14:03:28 +09:00
Randy Mackay 45dfbecaba Copter: update 3.0.1 version and release notes 2013-06-26 00:09:36 +09:00
Andrew Tridgell 3e82f644ea Copter: enabled CAM_TRIGG_DIST parameter 2013-06-25 12:52:44 +10:00
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 b1a014e12e Copter: update firmware version to 3.0.0 2013-06-18 10:03:40 +09:00
Randy Mackay b1e089fe29 Copter: update AC3.0-rc6 version and release notes 2013-06-16 11:48:03 +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
Andrew Tridgell 595d3c694a Copter: make it possible to change board orientation at runtime 2013-06-03 16:52:52 +10:00
Randy Mackay 213eaa8db6 Copter: integrate draft RCMapper 2013-06-03 16:23:47 +10:00
Randy Mackay 9e91def774 Copter: update firmware version and release notes 2013-06-02 12:19:36 +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
Randy Mackay 99f5462a03 Copter: circle mode fixes 2013-06-01 18:21:30 +09:00