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5146 Commits

Author SHA1 Message Date
Peter Barker 34eae9d9cb Copter: AutoTune: include axis being tuned in output 2017-05-18 09:36:00 +09:00
Peter Barker 0bc17645fb Copter: AutoTune: add gcs messages detailing wait-for-level state 2017-05-18 09:36:00 +09:00
Peter Barker 586a5df814 Copter: add GCS messaging during autotune 2017-05-18 09:36:00 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas f366095113 Copter: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 60aeade0f4 Copter: Add missing @RebootRequired: True 2017-05-15 21:51:16 +09:00
Randy Mackay 376b9e994f Copter: AC3.5-rc6 release notes 2017-05-15 15:04:28 +09:00
Randy Mackay 91d4b4777b Copter: respond to param list request after motor init 2017-05-15 14:13:43 +09:00
Pierre Kancir 436d0f8c84 ArduCopter: radio fix passthrough range on heli/coax/single 2017-05-13 10:19:20 +09:00
Randy Mackay caa2148e45 Copter: move esc calibration startup check to after servo function initialisation 2017-05-11 11:30:05 +09:00
Randy Mackay 0e7f12049c Copter: fix esc calibration is safety switch has been disabled 2017-05-11 11:30:05 +09:00
Randy Mackay f9c8bb1b01 Copter: ensure esc calibration only occurs on next reboot 
It was possible for a board with no safety switch attached to get stuck waiting for the user to press the non-existance switch.  Rebooting now resolves the problem because the ESC_CAL parameter is reset to zero regardless of whether the calibration completes or not.
 2017-05-11 11:30:05 +09:00
Randy Mackay a3450a955d Copter: fix LED notify during auto esc calibration 2017-05-11 11:30:05 +09:00
karthik.desai d7976078a5 Copter: fix typo in comments 2017-05-08 10:08:31 +09:00
murata 8fd9c73b78 Copter: Add SuperSimpleMode "2" to Simple Mode setting. 2017-05-08 09:31:23 +09:00
Andrew Tridgell 3b33434695 Copter: removed AP_Airspeed from vehicle code 2017-05-04 22:59:02 -07:00
Luis Vale Gonçalves 04cb1027b8 Copter: minor fix to release notes 2017-05-03 17:10:27 +09:00
Randy Mackay f2131ed2d0 Copter: AC3.5-rc5 release notes 2017-05-03 14:08:45 +09:00
Peter Barker b37e64b23c Copter: stop appending lf to PERF message 2017-05-01 16:21:55 +01:00
Peter Barker 069e0d1973 Copter: move init of DataFlash references into vehicle init 
It is possible to start a log before the existing codepath is crossed.
 2017-05-01 15:04:34 +01:00
Peter Barker 6ccb7cf3f4 Copter: tidy dataflash Frame reporting 2017-05-01 19:16:47 +10:00
Andrew Tridgell 22791b7272 Copter: use common send_queued_parameters() 2017-05-01 14:36:10 +10:00
Andrew Tridgell 49b18819ce Copter: enable channels in ESC calibration 2017-05-01 14:32:18 +10:00
Andrew Tridgell 2ba6e7af35 Copter: fixed aux servos in RC failsafe 
we should always output to channels
 2017-05-01 14:32:18 +10:00
Andrew Tridgell 10b89db498 Copter: call BoardConfig.init_safety() at end of startup 
this fixes a bug where motors can start on soft reboot
 2017-04-30 21:47:04 +10:00
Randy Mackay aab27d8d0e Copter: auto loiter initialisation simplified 
The simpler set_wp_destination can be used instead of set_wp_origin_and_destination
 2017-04-28 09:10:02 +09:00
Randy Mackay 65e97a9503 Copter: rtl initialises wp controller earlier 
We need to initialise wp controller or the build_path could use the wrong speeds and accelerations when calculating the origin (aka stopping point)
 2017-04-28 09:10:02 +09:00
Andrew Tridgell 1875d2adab Copter: fixed duplicate include of AP_ADC library 2017-04-27 18:32:26 +10:00
Randy Mackay 81f8ab3933 Copter: guided init uses vertical stopping point 2017-04-27 14:36:23 +09:00
Randy Mackay a342b73604 Copter: guided velocity contoller inits accel and jerk 
In practice this has no functional impact because the guided_pos_control_start initialises these values (using AC_WPNav) and it is not currently possible for a user to get to the velocity controller without having first used the guided position controller
 2017-04-27 14:35:46 +09:00
Randy Mackay 1a246851fc Copter: enable radio failsafe by default 2017-04-24 17:07:42 +09:00
Peter Barker afbdbcce26 Copter: log GPS detection state to DF on log startup 2017-04-23 21:04:17 +01:00
karthik.desai afc382c342 Copter: moved beacon logging to dataflash 2017-04-22 10:55:08 +09:00
Randy Mackay 8f43b60247 Copter: set EKF origin from first do-set-home command 2017-04-22 10:37:31 +09:00
Randy Mackay 3348ab4fa8 Copter: send upward DISTANCE_SENSOR message to GCS 2017-04-20 18:11:43 +09:00
Randy Mackay 496e8f3cdb Copter: integrate proximity method rename 2017-04-20 18:11:43 +09:00
Andrew Tridgell 1a8669201e Copter: ignore MSG_AOA_SSA 2017-04-19 20:48:42 +10:00
Randy Mackay 713c08672f Copter: integrate AP_VisualOdom 2017-04-19 11:04:40 +09:00
Randy Mackay d5dd7e719a Copter: add AP_VisualOdom to build 2017-04-19 11:04:40 +09:00
Andrew Tridgell ebde6e1ce3 Copter: output any servo channels on motor output 
if we have any auxillary servo channels we need to calculate the
output value
 2017-04-18 09:34:42 +09:00
Randy Mackay 032bfad79f Copter: move rc input check to esc_calibration_startup_check 
No functional change
 2017-04-18 09:29:55 +09:00
Randy Mackay fc675a1e4a Copter: do not allow motor test before initialisation completes 2017-04-18 09:29:53 +09:00
Randy Mackay 1bfbf0d43f Copter: enable motors at end of initialisation 2017-04-18 09:29:51 +09:00
Francisco Ferreira bf22919a8c Copter: add support for MANUAL_CONTROL message 2017-04-12 16:16:11 +09:00
Michael du Breuil ea89bd1178 Copter: Send BATTERY_STATUS 2017-04-12 10:21:49 +09:00
murata 597dbb2df4 Copter: Compare bit variables, change set values. 
Copter: Change from comment 1 to true.
 2017-04-12 09:19:07 +09:00
Tom Pittenger 01de4b1176 Copter: clarify release notes for Intel Aero 
update ReleaseNotes to clarify that the copter 3.4.0-rc4 (06-Sep-2016) note "Intel Aero flight controller support" does not mean the Intel Aero RTF.
 2017-04-10 16:42:25 -07:00
Randy Mackay 7478ae9eb4 Copter: TUNE parameter description fixes 2017-04-08 15:35:05 +09:00
Randy Mackay 7f93818d31 Copter: 3.5-rc4 release notes 2017-04-08 15:32:01 +09:00
Andrew Tridgell b4d9397821 Copter: re-arrange fast_loop for minimum latency 
this makes motor outputs as responsive as possible to gyros
 2017-04-03 13:04:11 +09:00
Randy Mackay 5497030ebf Copter: version to 3.6-dev 2017-03-30 08:19:18 +09:00
Jacob Walser 587c50c1a1 Copter: Remove redundant nested #if CLI_ENABLED 2017-03-29 19:20:51 +01:00
Jonathan Challinger 054aab738b Copter: remove const qualifier from do_precision_loiter 2017-03-29 14:06:12 +09:00
Andrew Tridgell 01206f9e59 Copter: add available memory to PM message 2017-03-27 14:35:21 +09:00
Andrew Tridgell 6bb5c16fb8 Copter: allow for HELI_DUAL configurations 2017-03-25 16:22:10 +11:00
Randy Mackay 50523619b9 Copter: 3.5-rc3 release notes 2017-03-25 11:50:40 +09:00
Randy Mackay dfe3922d82 Copter: modify pre-arm check wording 
- slight wording change to RC pre-arm check
- shorten Accelerometers to Accels to allow failure message to fit on MP HUD
 2017-03-25 10:50:58 +09:00
Randy Mackay bff9189afc Copter: fixup fence pre-arm checks 
- require GPS if polygon fence is enabled
- fence pre-arm failure shows failure message
- tell user fence is enabled which is why GPS is required
 2017-03-25 10:50:58 +09:00
Lucas De Marchi cc7633f272 ArduCopter: replace board ifdef with feature ifdef 2017-03-24 12:06:19 +11:00
Lucas De Marchi b17acfee12 Add aerofc support 
Flight Controller board that comes on Intel Aero RTF Drone.
 2017-03-24 12:06:19 +11:00
Jacob Walser 353202e03c Copter: Fix parameter metadata 2017-03-22 16:16:26 -07:00
Randy Mackay 15d96b4b5d Copter: release notes for 3.4.6 2017-03-15 09:40:17 +09:00
Andrew Tridgell 54b852ebfe Copter: fixed var table loading for heli single parms 
we were not loading parameters such as the swash angle
 2017-03-15 11:31:45 +11:00
Andrew Tridgell dae1567d6c Copter: log home and origin on logging start 2017-03-14 10:51:15 +11:00
Randy Mackay 375f7b15ff Copter: 3.5-rc2 release notes 2017-03-13 12:25:07 +09:00
Randy Mackay 8140353c64 Copter: log event when primary GPS changes 2017-03-13 11:31:51 +11:00
Randy Mackay b30d743812 Copter: AP_Arming calls parent's gps checks 
Allows removing some duplicate code
 2017-03-13 11:31:51 +11:00
Peter Barker 1d70a337dd Copter: remove unused desired_climb_rate variable 2017-03-09 19:52:58 +11:00
Randy Mackay ca4cbaeb39 Copter: run rate controllers before AHRS/EKF update 
This reduces lag between IMU updates and motor outputs by 0.6 milliseconds
 2017-03-03 13:14:28 +11:00
Randy Mackay e8c5612587 Copter: fix reference to PosControl param descriptions 
No functional change
 2017-03-01 14:59:44 +09:00
Randy Mackay 627e3faf41 Copter: fix SYSID_ENFORCE parameter description 2017-02-28 15:06:51 +09:00
Andrew Tridgell 0d1bcd3b94 Copter: added automatic yaw to autotune position control 2017-02-27 19:34:44 +09:00
Andrew Tridgell fa119f8231 Copter: enable poshold in autotune only from LOITER or POSHOLD 2017-02-27 19:34:42 +09:00
Andrew Tridgell 37fca03db3 Copter: implement simple position hold during autotune 
this holds position during tuning with low gain
 2017-02-27 19:34:36 +09:00
Randy Mackay c100f53ee6 Copter: add upward distance to proximity logging 2017-02-27 15:18:24 +09:00
Randy Mackay 34726208b2 Copter: clarify CHX_OPT avoidance and adsb-avoidance 2017-02-27 15:18:23 +09:00
Randy Mackay 51c00f8144 Copter: use only downward facing rangefinder 2017-02-27 15:18:16 +09:00
Lucas De Marchi a589a84e32 ArduCopter: just call set_throttle_range() 
Now set_throttle_range in AP_Motors does the right thing, calling out
the RCOutput method.
 2017-02-26 13:38:24 +11:00
Jacob Walser 868be023ee Copter: Refactor fence.get_safe_alt() to fence.get_safe_alt_max() 2017-02-21 11:26:14 +11:00
Andrew Tridgell f1917dddd0 Copter: changes for AC_WPNav 2017-02-18 17:26:43 +11:00
Andrew Tridgell 92fdef5b97 Copter: changed for AP_AHRS_View on AC_AttitudeControl 2017-02-18 17:26:43 +11:00
Andrew Tridgell aad412eaef Copter: support tailsitter frame class 2017-02-18 17:26:43 +11:00
Andrew Tridgell 3cb88d0a23 Copter: added tailsitter frame support 2017-02-18 17:26:43 +11:00
Andrew Tridgell 7efca1881c Copter: fixed a problem with initial parameter fetch 
if the GCS connects before the motors have been allocated then it will
get an incorrect parameter count from the MAVLink param protocol. We
need to prevent the PARAM_REQUEST_LIST message from being replied to
until motors are allocated which is done as part of init_ardupilot
 2017-02-15 17:16:30 +10:00
Andrew Tridgell 6b6d03eb8d Copter: fixed upgrade of parameters 
now that we dynamically allocate many key objects in copter we need to
move the parameter upgrade code to after when the objects are allocated
 2017-02-15 15:02:06 +10:00
Andrew Tridgell d8972d5344 Copter: setup frame type parameter flags 2017-02-14 19:50:01 +11:00
Peter Barker 65a182a068 Copter: not in log download upon log erase 
erase is a synchronous operation
 2017-02-13 11:36:16 +11:00
Peter Barker 029aeeb4fd Copter: support for a GCS singleton 2017-02-13 09:32:01 +11:00
Peter Barker f49f153da0 Copter: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Randy Mackay d2cc340587 Copter: 3.4.5 release notes 2017-02-11 15:15:42 +09:00
Clément 3aa17d17eb Copter : set land_complete to false during guided takeoff (same fix as for auto takeoff bug) 2017-02-07 20:19:17 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 4161c34e61 Copter: rename MSG_RADIO_OUT to MSG_SERVO_OUTPUT_RAW to better describe what it is 2017-02-07 11:41:12 +11:00
Peter Barker b7f982d7ce Copter: support for arming and disarming using an auxsw 2017-02-06 16:48:50 +09:00
Andrew Tridgell 00711f5a98 Copter: fixed typo in param generation 2017-02-06 15:36:52 +11:00
Andrew Tridgell 79b23dff0e Copter: fixed parameter path 2017-02-06 15:12:32 +11:00
Michael Day 49e3ce8e75 Copter: Now recognizes DO_FENCE_ENABLE mission command. 2017-02-05 00:10:14 +00:00
Pierre Kancir 1455f8c513 Copter: correct advance failsafe 2017-01-31 11:22:54 +09:00
Randy Mackay d3d6099540 Copter: update 3.5-rc1 release notes 2017-01-28 23:01:10 +09:00
Randy Mackay 4f5ca37df4 Copter: 3.5-rc1 release notes 2017-01-28 17:08:03 +09:00
murata 8f926bd177 Copter: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Peter Barker 4aaeb4bfed Copter: get mav heartbeats out when board detection fails 2017-01-27 13:48:23 +09:00
Randy Mackay 6726d94537 Copter: update notify during ESC calibration 
The notify devices including the RGB were not being updated meaning the main LED was normally frozen or off during calibration.  The desired behaviour is that it flashes red, blue, yellow.
 2017-01-27 12:14:56 +09:00
Randy Mackay a25f51c893 Copter: delay up to 2sec for first radio pulse 
Pixracer boards can take 1 second (or possibly longer) to start reading RC input.  This ensure we see the user's high throttle to indicate the user wants to perform the ESC calibration
 2017-01-27 12:14:56 +09:00
Michael du Breuil 0fec4af54b Copter: Support the SYS_STATUS_SENSOR_BATTERY bit 2017-01-25 09:26:19 +09:00
Randy Mackay 26919b4ab6 Copter: send flight mode string to Notify 2017-01-23 15:07:20 -08:00
Randy Mackay af514eb101 Copter: remove some comments 2017-01-23 15:07:20 -08:00
Dmitry Prokhorov 3e993f955e ArduCopter: Support for OLED display by Alexey Kozin 2017-01-23 15:07:20 -08:00
Peter Barker 01b1916de5 Copter: ensure logging is working as part of prearm 2017-01-20 17:03:45 +09:00
Peter Barker e7d3219a58 Copter: check all channels have been configured, not just throttle 2017-01-20 13:02:53 +09:00
Peter Barker ab13b3beaf Copter: make rc checks verbose on failure 2017-01-20 13:02:53 +09:00
Peter Barker 078866046a Copter: correct rc-arming checks concerning trims 
Trims should always be between min and max
 2017-01-20 13:02:53 +09:00
Andrew Tridgell 332820aa88 Copter: fixed load of var_info for attitude_control and motors 
we need to pass the var_info for the specific class we are using, not
the parent class.

Fixes issue #5585

thanks to Julien for noticing!
 2017-01-20 12:05:09 +11:00
Randy Mackay cb1f7ba4bb Copter: remove setting position control's altitude max 
AC_Avoid now takes responsibility for enforcing the alt limit and accesses inertial nav's limit directly
 2017-01-18 09:35:47 +09:00
Randy Mackay 62a4867cd4 Copter: use avoidance adjusted climb rate in all modes 2017-01-18 09:35:47 +09:00
Randy Mackay b15d341850 Copter: add avoidance adjusted climb rate 2017-01-18 09:35:47 +09:00
Randy Mackay ebbfa9391d Copter: remove comments from package place 2017-01-18 09:35:47 +09:00
Peter Barker cc86011d20 Copter: use abs() on integers; Location alts are in integer cm 2017-01-17 09:41:37 -08:00
Peter Barker 96d73affae Copter: fix float warning; get_velocity_z() returns float 2017-01-17 09:41:37 -08:00
Leonard Hall 36b6218e31 Copter: integrate attitude control's set-throttle-mix-manual 2017-01-17 14:19:16 +09:00
Randy Mackay becc56da0b Copter: AP_Arming internal references start with underscore 2017-01-17 11:45:08 +09:00
Randy Mackay f476c706f6 Copter: add override to AP_Arming_Copter::pre_arm_checks 2017-01-17 11:45:08 +09:00
Randy Mackay cc217550c0 Copter: rename arming_checks to AP_Arming 2017-01-17 11:45:08 +09:00
Randy Mackay a52db9f29d Copter: fix motors_checks to AP_Arming 2017-01-17 11:45:08 +09:00
Randy Mackay ee9588c674 Copter: fix proximity arming checks 2017-01-17 11:45:08 +09:00
Randy Mackay b89d3564c7 Copter: move set_pre_arm_check to arming_checks 2017-01-17 11:45:08 +09:00
Peter Barker 4ea6cf4ce3 Copter: transfer old ARMING_CHECK value to new location 2017-01-17 11:45:08 +09:00
Peter Barker ac980fdd47 Copter: use compass_checks from AP_Arming 
User-visible changes:
 - checks will fail if calibration is in progress
 - PX4FMU_V1 will now have COMPASS_OFFSETS_MAX of 600, not 500
 - if the primary compass is not set to be used then compass checks will always pass
 2017-01-17 11:45:08 +09:00
Peter Barker f3a31b988a Copter: use ins_checks from AP_Arming 
Functionality changes:
 - gyros and accels only have to be consistent in last 10 seconds to pass
 - ins.use_accel() is honoured when checking for consistency
 - ins.use_gyro() is honoured when checking for consistency
 - threshold is trippled rather than doubled for accel cal checks
 - checks are reordered
 2017-01-17 11:45:08 +09:00
Peter Barker bd6ffc025e Copter: start conversion to AP_Arming_Copter 2017-01-17 11:45:08 +09:00
Randy Mackay ae18c25070 Copter: add AP_Arming to build 2017-01-17 11:45:08 +09:00
Andrew Tridgell 1297a7dedb Copter: convert the rest of motors class for tricopter 2017-01-12 17:39:37 +11:00
Andrew Tridgell 7aee3500e1 Copter: added conversion of tricopter tail servo parameters 2017-01-12 17:39:37 +11:00
Andrew Tridgell a3220944d8 Copter: make conversion tables constant 2017-01-12 17:39:37 +11:00
Andrew Tridgell 6a12ed0d65 Copter: upgrade heli servo parameters 2017-01-12 17:39:37 +11:00
Andrew Tridgell bf889e01e1 Copter: load objects from storage after allocation 2017-01-12 17:39:37 +11:00
Andrew Tridgell 3fe1a69a32 Copter: always allocate a motors backend 
this allows autotest to run, and gives a less confusing error to users
when no FRAME_CLASS error is selected
 2017-01-12 17:39:37 +11:00
Andrew Tridgell c0c25e0588 Copter: fixed parameter doc paths 2017-01-12 17:39:37 +11:00
Andrew Tridgell 8dcde8ee92 Copter: make binary names arducopter and arducopter-heli 2017-01-12 17:39:37 +11:00
Andrew Tridgell e85df47b06 Copter: fixed parameter handling for pointer objects 
fixed loading of default files and use of POINTER flag on object
groups
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 556cda13e1 Copter: reduced copter frame build 2017-01-12 17:39:37 +11:00
Andrew Tridgell 4a4fc8ab06 Copter: adjust for change to AC_PID 2017-01-12 17:39:37 +11:00
Andrew Tridgell 0f6d0c5ba9 Copter: combined tri, single, coax and multicopter into a single build 
this allows copter to be just 2 builds, one for heli, and one for
everything else
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 3c1517f583 Copter: added automatic SRV_Channel parameter upgrade 2017-01-12 17:39:37 +11:00
Andrew Tridgell 5a87ae3f01 Copter: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Francisco Ferreira 11b635df12
Copter: correct limit status to fence status 2017-01-12 02:00:51 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 712fbfe84b Copter: Update descriptions of stream rate parameters 2017-01-12 01:47:12 +00:00
Randy Mackay b1e494a209 Copter: return MAV_TYPE as quadcopter by default 
This allows the GCSs to know that the firmware is for a multicopter
 2017-01-12 09:27:14 +09:00
Randy Mackay 20ca021cab Copter: pass distance-sensor messages to AP_Proximity 2017-01-11 21:48:23 +09:00
Randy Mackay 742cdf6b13 Copter: fix arming while armed bug 
If a mavlink command was sent to arm the vehicle while it was already armed, the in_arm_motors boolean was left as true meaning the vehicle could never be armed again using a mavlink message.  This resolves issue #5546.
 2017-01-11 21:38:22 +09:00
Randy Mackay bdbb07a3b1 Copter: remove version from Copter.cpp 
Also added wiki page URL
 2017-01-11 08:46:43 +09:00
murata e65887c393
Copter: Change sprintf method to secure snprintf method. 2017-01-09 16:05:56 +00:00