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3634 Commits

Author SHA1 Message Date
Randy Mackay c93c7af20c Copter: move update_optflow to sensors.pde 
No functional change
 2014-12-08 14:58:25 +09:00
Randy Mackay 67fdfffc2a Copter: remove OF_Loiter PIDs and tuning 2014-12-08 14:58:18 +09:00
Randy Mackay 0994529624 Copter: remove OF_Loiter from FLTMODE param descriptions 
Also remove OF_Loiter reference in comments
No functional change
 2014-12-08 14:57:04 +09:00
Andrew Tridgell fba02479b7 Copter: fixed build with no EKF 2014-12-06 18:43:38 +11:00
priseborough 963cc4d60a Copter: Add velocity gain scaler to interfaces 
Allows nav gain to be scaled to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough 9e7709fa09 Copter: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough 9844dacf40 Copter: Add EKF ground speed limit to loiter speed control 
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
 2014-12-06 18:16:50 +11:00
priseborough 715d64dce9 Copter: Check for new optical flow updates at 200Hz 
Supports use of higher flow read rates if required.
 2014-12-06 18:16:48 +11:00
priseborough 468c83c074 Copter : Check for new optical flow readings every 10ms 
The driver polls the sensor asynchronously every 100 msec, so we need to continually check for new data.
 2014-12-06 18:16:48 +11:00
priseborough be54f2d6ee Copter : Don't force pre-compiler inclusion of optical flow 2014-12-06 18:16:48 +11:00
priseborough 6d5fb33d1a Copter : enable optical flow by default 2014-12-06 18:16:47 +11:00
priseborough 45c007d216 Copter : Correct comment on required optical flow update rate 2014-12-06 18:16:47 +11:00
priseborough a72b6b179b Copter : Modify EKF optical flow data interface 2014-12-06 18:16:46 +11:00
priseborough 311206017c Copter : Update EKF optical flow data interface 
Makes it compatible with the new PX4Flow interface
 2014-12-06 18:16:46 +11:00
priseborough 267ef48026 Copter : disable tilt correction of range finder data for use by EKF 
This is a temporary fix. We need to make separate range and altitude measurements available.
 2014-12-06 18:16:45 +11:00
priseborough 27f9289391 Copter : Add range finder measurements to EKF optical flow data 2014-12-06 18:16:44 +11:00
priseborough 635e593d55 Copter : temporary mods to test use of flow sensor internal gyro data 2014-12-06 18:16:44 +11:00
priseborough 34249ffa42 Copter : EKF optical flow fusion support preliminary changes 
Assumes optflow sensor has been modified to push data at a low rate, eg 10Hz
and velocity data is angular velocity, not linear velocity
 2014-12-06 18:16:44 +11:00
Randy Mackay 8b80e58861 Copter: enable OPTFLOW - do not merge to master 2014-12-06 18:16:44 +11:00
priseborough 60527a023a Copter : Update optical flow test for new PX4Flow interface 2014-12-06 18:16:43 +11:00
priseborough 0d7555b259 Copter : Remove legacy optical flow control mode 
This mode is not compatible with the new PX4Flow interface
 2014-12-06 18:16:43 +11:00
priseborough 900519b35b Copter : Remove legacy optical flow control mode 
This mode is not compatible with the new PX4Flow interface
 2014-12-06 18:16:43 +11:00
priseborough 23953b459e Copter : Update logging for new PX4Flow sensor interface 2014-12-06 18:16:43 +11:00
priseborough 20e715aa13 Copter : Remove ADNS3080 flow sensor support 2014-12-06 18:16:43 +11:00
priseborough 5ef2208017 Copter: Change flow sensor read sample rate to 10Hz 2014-12-06 18:16:43 +11:00
Randy Mackay 7be78621f4 Copter: run_nav_updates at 50hz on Pixhawk, 25hz on APM2 
Based on work by Jon Challinger (see earlier commit)
 2014-12-05 14:01:16 +09:00
Jonathan Challinger 203b713f0d Copter: run_nav_updates at 100hz on pixhawk 2014-12-05 14:01:14 +09:00
Andrew Tridgell dcdfff66e8 Copter: setup pwm esc scaling 2014-11-26 11:14:44 +11:00
Randy Mackay 13b8159fb5 Copter: only allow one preflight calibration at a time 2014-11-21 22:00:45 +09:00
Randy Mackay 330b52194f Copter: change to switch order in guided spline 
No functional change
 2014-11-19 12:06:30 -08:00
Arthur Benemann db89bd6f03 Copter: correct frame/location of guided spline 2014-11-19 11:59:13 -08:00
Randy Mackay 84f82dd129 Copter: correct get_pilot_desired_throttle calc 
Also minor format and commenting addition
 2014-11-17 18:16:14 -08:00
Jonathan Challinger 3a529b2cef Copter: utilize get_control_mid for throttle calculations 2014-11-17 18:16:11 -08:00
Andrew Tridgell b6c06ab691 Copter: fix build with new mavlink repo 2014-11-18 11:20:04 +11:00
Randy Mackay c6e70179d2 Copter: move MOUNT_STATUS lower in GCS_MAVLink 
No functional change
 2014-11-17 15:59:41 -08:00
Arthur Benemann 6bee8969a1 Copter: append MOUNT_STATUS message to STREAM_EXTRA3 messages 
The msg is now periodically sent to the GCS, instead of only on request.STREAM_EXTRA3
 2014-11-17 15:59:26 -08:00
Jonathan Challinger 387f3276cb Copter: handle SET_POSITION_TARGET mavlink messages 2014-11-17 14:38:55 -08:00
Jonathan Challinger 1b1327dc93 Copter: add Guided_Spline mode 2014-11-17 14:38:48 -08:00
Jonathan Challinger e7939cca01 Copter: change function definitions in guided to static 2014-11-17 14:38:43 -08:00
Jonathan Challinger c7a38c4350 Copter: use force_descend option on auto landings 2014-11-13 18:40:42 -08:00
Craig Elder f7d0a930c2 Copter: Updated GCS_FAILSAFE Parameter Description 2014-11-13 13:10:06 -08:00
Arthur Benemann f24f5a6a32 Copter: remove call to camera.configure and control 
The do_take_picture() function must be called for logging to occur.
configure_msg is empty at the moment so the call to this is remove
 2014-11-11 10:31:49 -08:00
Randy Mackay ed099a73a3 Copter: minor rename of ACRO circular limits variable 2014-11-10 18:36:17 -08:00
Randy Mackay 83051c306d Copter: minor rename of a circular limits variable 2014-11-10 18:36:15 -08:00
Jolyon Saunders a9205e1032 Copter: Add circular limits to ACRO 2014-11-10 18:36:13 -08:00
Jolyon Saunders d46c659d0f Copter: Add circular limits pilot's roll/pitch inputs 2014-11-10 18:36:10 -08:00
Randy Mackay b2badee172 Copter: reset baro glitch after baro init 2014-11-09 13:34:17 -08:00
Randy Mackay 9e12b01569 Copter: CPU failsafe set motors to min before logging error 
This ensures that if the logging stalls the motors will have already
been reduced to zero
 2014-11-08 11:37:23 +09:00
Jonathan Challinger 80ba40d149 Copter: CPU failsafe logs an error 2014-11-08 11:27:16 +09:00
Jonathan Challinger e37337b744 Copter: remove gyro cal prearm check 2014-11-07 14:02:26 +09:00
Randy Mackay 9f2af783db Copter: update AC3.2 ReleaseNotes 2014-11-07 14:00:00 +09:00
Randy Mackay 1b64dd2280 Copter: clarify pv_location_to_vector param name 
Also update function description
 2014-11-06 11:53:57 +09:00
Clay McClure a897c14255 Copter: ensure lat, lon, alt all zero is handled 
Use default position when waypoint lat/lon are zero,
and default altitude when waypoint alt is zero, for
both spline and straight-line waypoints.

Fixes #1145.
 2014-11-06 11:53:32 +09:00
Randy Mackay 07975ed564 Copter: minor reformat of control_autotune 2014-11-05 21:08:39 +09:00
Brad Bosch 74fedc0897 Copter: allow starting autotune from flightmode switch 
ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.
 2014-11-05 21:08:36 +09:00
squilter ad3bce105c Copter: remove abbreviations from GCS messages 2014-11-05 20:04:52 +09:00
Randy Mackay 5104d5f0fe Copter: re-order init_sonar 
No functional change.
 2014-10-31 20:40:24 +09:00
Randy Mackay 8a61f5acd2 Copter: add comments to control switch debouncing 2014-10-31 15:48:28 +09:00
Jonathan Challinger 5c8b39562f Copter: rework control switch debouncing 2014-10-31 15:30:27 +09:00
Jonathan Challinger b0594e8d56 Copter: supply wp_nav with attitude_control 2014-10-31 15:23:54 +09:00
Randy Mackay 44dbf50101 Copter: fix camera feedback msg handling 
If the camera was disabled, camera message handling would fall though to
status-text msg handling.
 2014-10-31 14:46:47 +09:00
Arthur Benemann b587025ad1 Copter: send a camera_feedback message when there is a camera trigger 2014-10-31 14:46:42 +09:00
Randy Mackay 8eb866adef Copter: minor update to AC3.2-rc14 ReleaseNotes 2014-10-31 10:57:43 +09:00
Randy Mackay bb85e77173 Copter: update AC3.2-rc14 ReleaseNotes 2014-10-29 18:09:46 +09:00
Randy Mackay beb54b087b Copter: re-enable CPU failsafe if arming fails 2014-10-29 16:00:32 +09:00
Randy Mackay cce876c2f9 Copter: fail to arm if gyro cal fails 2014-10-29 15:36:29 +09:00
Randy Mackay 0ac3267d52 Copter: reset ahrs gyro drift after gyro calibration 2014-10-28 20:25:36 +09:00
Jonathan Challinger 25a2fa67b6 Copter: don't stop logging on disarm when LOG_WHEN_DISARMED is set 2014-10-28 15:19:01 +09:00
Randy Mackay 07a74bc39f Copter: ReleaseNotes for AC3.2-rc14 2014-10-27 22:37:19 +09:00
Randy Mackay 28b98a170b Copter: fix to dcm-check to be continuous 
dcm-check was triggering after 10 bad headings but these did not need to
be continuous meaning if the vehicle was flown long enough it would
almost certainly trigger a dcm-check failure and land
 2014-10-27 12:37:56 +09:00
Andrew Tridgell 4c0351a76a Copter: convert to new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Randy Mackay 0532a4bbc3 Copter: ReleaseNotes for AC3.2-rc13 2014-10-23 22:22:28 +09:00
Randy Mackay 8fc2ccdc76 Copter: remove debug 2014-10-23 22:21:48 +09:00
Randy Mackay f6ff1742d5 Copter: landing detector checks baro climb rate 
Barometer climb rate must be -150cm/s ~ +150cm/s
This threshold is generous because we already use the inertial
navigation climb rate so this is just to catch cases where inertial nav
is very incorrect in it's climbrate estimates
 2014-10-22 17:29:14 +09:00
benoit35690 f866bf979e Copter: fix compiler warnings in GCS_Mavlink.pde 2014-10-21 12:00:01 +09:00
benoit35690 b63f701fd3 Copter: minor formatting fix 2014-10-21 11:59:48 +09:00
benoit35690 e22130cbc7 Copter: minor format fix 2014-10-21 11:54:35 +09:00
benoit35690 3c01353dcd Copter: fix compiler warning in control_auto.pde 2014-10-21 11:53:17 +09:00
Jonathan Challinger 5fc02bdbc4 Copter: Reduce prearm alt disparity check back to 1m 2014-10-20 10:55:59 +09:00
Randy Mackay 3296eb24b3 Copter: add comments to auto_loiter 2014-10-20 10:54:57 +09:00
Jonathan Challinger d7d8330303 Copter: loiter copter without accepting user input at end of auto mission 2014-10-20 10:46:14 +09:00
Jonathan Challinger ef12ea4d3b Copter: fix indentation mistake in motors.pde 2014-10-20 10:43:53 +09:00
squilter 343a673762 Copter: reset ROI when requested, regardless of current MOUNT_MODE 2014-10-20 10:41:06 +09:00
Randy Mackay a8c96946eb Copter: log DCM reported roll-pitch and yaw error 2014-10-18 20:09:39 +09:00
Randy Mackay a559a12ea2 Copter: remove LOG_FROM_STARTUP define 
This compile-time method is obsolete now that we have the logging while
disarmed feature
 2014-10-17 16:40:18 +09:00
Randy Mackay ebcf582f66 Copter: add NearlyAll-AC315 LOG_BITMASK description 2014-10-17 16:40:13 +09:00
Randy Mackay dcf72e9b78 Copter: remove extra in_mavlink_delay from should_log function 
Also return false when logging disabled
 2014-10-17 16:32:39 +09:00
Andrew Tridgell c3d839456b Copter: support logging while disarmed 2014-10-17 16:29:59 +09:00
Andrew Tridgell 874efe95a1 Copter: fixed parameter path 
fixes build of parameters
 2014-10-17 15:54:53 +11:00
Randy Mackay 27b73fa209 Copter: enable Optflow by default for Pixhawk only 2014-10-16 21:17:54 +09:00
Randy Mackay 6becb1a722 Copter: add DCM check of yaw error 
Triggers an "ekf" failsafe if the DCM yaw error is > 60deg
 2014-10-16 17:22:14 +09:00
Randy Mackay b0e6931ab0 Copter: add DCM_CHECK_THRESH parameter 2014-10-16 17:22:11 +09:00
Randy Mackay b96e123480 Copter: remove unused Log_Write_IMU function 2014-10-16 15:25:34 +09:00
Randy Mackay 7bd8d48809 Copter: fence breach causes disarm if landed 
Previously it would only disarm if the throttle was also at zero.
Pair programmed with Tridge
 2014-10-16 14:09:02 +09:00
Andrew Tridgell 26f7ab49e3 Copter: fixed some build warnings 2014-10-16 14:04:11 +09:00
Randy Mackay 4e06970a1c Copter: disable OptFlow in SITL 2014-10-15 20:46:06 +09:00
Randy Mackay aa3e34a44a Copter: move update_optflow to sensors.pde 
Also slightly shorten function name
 2014-10-15 16:36:36 +09:00
Randy Mackay 67b7b2d667 Copter: enable optflow by default for Pixhawk 2014-10-15 16:36:31 +09:00
Randy Mackay 7b07b575cf Copter: pilot override used immediately in OF_Loiter 
Replace some hard coded numbers with definitions
 2014-10-15 16:36:28 +09:00
Randy Mackay 28876b7ef6 Copter: log ground distance from optflow sensor 2014-10-15 16:35:51 +09:00
Randy Mackay b2e167f9a5 Copter: Of_Loiter uses sensor velocity instead of integrated position 2014-10-15 16:35:45 +09:00
Randy Mackay 3201a8dbca Copter: integrate optflow_enable param move to optflow class 2014-10-15 16:35:43 +09:00
Randy Mackay 717e63f47a Copter: instantiate optflow on Pixhawk 
Run sensor reads from scheduler
 2014-10-15 16:35:40 +09:00
Randy Mackay 021485fffc Copter: simpler optflow logging 
Removed of_loiter control output from message
add TimeMS to OF dataflash log msg
 2014-10-15 16:35:38 +09:00
Randy Mackay 765ce2f6ca Copter: optflow parameters moved to optflow class 2014-10-15 16:35:36 +09:00
Randy Mackay 57229345e0 Copter: minor param description updates 2014-10-14 12:42:14 +09:00
Randy Mackay 6a225865ce Copter: accept velocity requests in Auto-Guided mode 2014-10-14 11:27:34 +09:00
Randy Mackay c636ea9101 Copter: support SET_POSITION_TARGET messages 2014-10-13 21:55:17 +09:00
Randy Mackay 992ce9b69c Copter: remove nav_guided structure 
This has been replaced by guided_limit structure
 2014-10-13 21:40:26 +09:00
Randy Mackay 6659473420 Copter: support GUIDED_ENABLE and GUIDED_LIMITS 
Split of NAV_GUIDED into these two command necessitated guided mode
store the limits
 2014-10-13 21:40:24 +09:00
Randy Mackay e5c3c306bd Copter: remove unused pilot_yaw_override flag 2014-10-13 21:40:21 +09:00
Randy Mackay 8997c224e2 Copter: enable Guided velocity controller for Pixhawk 2014-10-13 21:40:20 +09:00
Jonathan Challinger dd38ad6bbf Copter: Start logging on arming attempt, rather than on successful arm 2014-10-11 17:32:27 +09:00
Randy Mackay 9d4107f1fc Copter: allow arming in GUIDED only from GCS 
Also changed mode_allows_arming function to accept arming_from_gcs param
Also remove AUTOTUNE from arming list
 2014-10-11 16:05:32 +09:00
Jonathan Challinger 2b0cffda29 Copter: move all arm check logic into arm_checks 2014-10-11 15:34:12 +09:00
Jonathan Challinger cc56a972d0 Copter: add mode_allows_arming function 2014-10-11 15:34:10 +09:00
Jonathan Challinger 3e1bffe9ab Copter: auto-disarm if land complete regardless of mode 2014-10-11 15:32:29 +09:00
Jonathan Challinger d0d26b6878 Copter: use ap.throttle_zero instead of rc_3.control_in in auto_disarm_check 2014-10-11 15:30:57 +09:00
Jonathan Challinger a04ec79efa Copter: add land_complete to fence disarm check 2014-10-11 15:29:41 +09:00
Jonathan Challinger 450f988a21 Copter: remove DRIFT and SPORT from manual_flight_mode function 2014-10-11 15:27:45 +09:00
Randy Mackay 5f55944e43 Copter: AC3.2-rc12 release notes 2014-10-10 14:53:25 +09:00
Randy Mackay d7cd745cf4 Copter: auto-trim start delays auto-disarm by 15sec 
Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
 2014-10-09 22:43:44 +09:00
Randy Mackay a8733ae8a8 Copter: support pre-flight calibration of gyro 2014-10-09 10:00:15 +09:00
Randy Mackay 9a0a83f404 Copter: report gyro unhealthy if failed calibration 2014-10-09 10:00:12 +09:00
Randy Mackay 128058362b Copter: pre-arm check that gyro cal succeeded 2014-10-09 10:00:09 +09:00
Randy Mackay 8eba55ed67 Copter: throttle zero debounce to separate function 
Also initialise throttle_zero  to true on startup
Treat throttle less than zero as zero
 2014-10-08 21:52:16 +09:00
Jonathan Challinger 8e3d163c3d Copter: Change all zero throttle checks that should be conservative to use ap.throttle_zero 2014-10-08 20:54:24 +09:00
Jonathan Challinger 96f50b7cd7 Copter: add throttle_zero state 2014-10-08 20:54:19 +09:00
Jonathan Challinger fa9d10e59b Copter: log CURR message at 10hz 2014-10-08 20:49:36 +09:00
Randy Mackay 2f3f1a1d5e Copter: Rate Pitch IMAX default to 1000 
Spotted by Jonathan Challinger, thanks!
 2014-10-07 21:06:43 +09:00
Randy Mackay 4e27dbdc42 Copter: ReleaseNotes for AC3.2-rc11 2014-10-06 11:55:46 +09:00
Randy Mackay 68a9286086 Copter: use define for pre-arm compass offset check 2014-10-03 13:59:31 +09:00
Randy Mackay 7ced9b1bd3 TradHeli: remove overall throttle level from landing check 2014-10-02 16:10:44 +09:00
Randy Mackay f059af2386 Copter: only report ahrs unhealthy after initialisation 2014-10-02 14:41:26 +09:00
Andrew Tridgell f2e6fa3fb0 Copter: use handle_set_mode() 2014-10-01 14:19:31 +10:00
Randy Mackay 77e89214eb Copter: shift pos targets to current location before takeoff 2014-09-29 15:26:54 +09:00
Jonathan Challinger 73e1719ee1 Copter: print frame type in log headers 2014-09-27 16:11:21 +09:00
Randy Mackay 8aa5c10d53 Copter: remove unused AIRFRAME definition 2014-09-27 15:15:13 +09:00
Randy Mackay 1a249a8129 Copter: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-27 12:22:12 +09:00
Randy Mackay ef0e37b478 Copter: bugfix to condition-yaw for relative angles 
Thanks to roque-canales for raising the issue and paradisephil for finding
the specific piece of code that went wrong and suggesting the fix.
 2014-09-26 12:22:58 +09:00
Randy Mackay 45bc9fd10c Copter: add AC3.2 default to LOG_BITMASK value 2014-09-25 15:32:21 +09:00
Randy Mackay 0d88b602ec Copter: fix RSSI_RANGE param values 
The extra .0 after the 5 was causing the mission planner to not display
5V in the dropdown even though the value was 5.
 2014-09-25 15:32:20 +09:00
Randy Mackay ed566fa56c Copter: update AC3.2-rc10 release notes 2014-09-24 14:30:10 +09:00
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 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 
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 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 
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