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4103 Commits

Author SHA1 Message Date
Randy Mackay 8d05eaae16 Copter: add aux switch for Brake flight mode 2015-05-17 14:44:35 +09:00
Randy Mackay 7acdcd8905 Copter: rename stop to brake 2015-05-17 14:44:34 +09:00
Leonard Hall 542e5fb54c Copter: backoff autotune discovered Stab P to 90% 2015-05-17 11:06:09 +09:00
Tom Pittenger 44fd72cb1f Copter: compiler warning stuff 
float to double promotion via fabs instead of fabsf
float to int via abs instead of fabsf
 2015-05-16 08:21:36 +10:00
Andrew Tridgell aac652a1b4 Copter: support setting just accel trim with preflight-cal 
use param5==2
 2015-05-16 07:56:34 +10:00
Randy Mackay d8b7e4a199 Copter: add support for 4th mavlink channel 2015-05-15 15:07:27 +09:00
Andrew Tridgell 848ceefcec Copter: call Log_Write_POS() 2015-05-15 14:28:16 +10:00
Andrew Tridgell 64ce1e0381 Copter: fix for new compass API 2015-05-15 14:25:45 +10:00
Tom Pittenger c89530a97c Copter: Write new mission to log without telling GCS 2015-05-13 20:26:04 +09:00
Randy Mackay 484bf628e1 Copter: fix comments related to home-alt set in-flight 2015-05-13 18:00:34 +09:00
Randy Mackay 9dbef1c6ee Copter: check fence alt without home being set 
Alt limit is based on EKF origin if home-alt is not set.  This is
generally the same but could be different if there's a lot of baro drift
before take-off or the vehicle is carried to a different altitude after
power-on.
 2015-05-13 16:10:48 +09:00
Randy Mackay 1f96cbd015 Copter: home-alt set to EKF-origin if captured in flight 2015-05-13 16:10:45 +09:00
Randy Mackay 2a1a105462 Copter: current alt is alt above-ekf-origin until home set 2015-05-13 16:10:43 +09:00
Randy Mackay 7d9ed6f03d Copter: update version back to AC3.3-dev 2015-05-12 22:14:31 +09:00
Randy Mackay 41077be4ad Copter: parachute failure message if landed 2015-05-12 22:03:58 +09:00
Randy Mackay 3269cd63cb Copter: parachute check uses alt-above-home 
Baro alt is tied to the alt above EKF origin which isn't correct
 2015-05-12 22:03:56 +09:00
Randy Mackay ae87f9be6e Copter: use accel_calibrated_ok_all 2015-05-12 16:32:18 +09:00
Randy Mackay d20a7deee1 Copter: clarify SYSID_MAV parameter description 2015-05-11 09:23:02 +09:00
Andrew Tridgell d61848817b Copter: double the threshold for accel inconsistency on IMU3 
IMU3 varies in temperature a lot compared to IMU1/IMU2, so needs a
higher threshold to prevent false positives
 2015-05-09 18:28:59 +10:00
Tom Pittenger 2e191e5a3d Copter: replace fabs() with fabsf() 2015-05-09 09:57:25 +10:00
Tom Pittenger baed82d1c2 Copter: if receiving last mission item then log new mission to dataflash 2015-05-08 21:01:52 +10:00
Lucas De Marchi b7ebff409b ArduCopter: re-align defines after ifdef removal 
Re-align the defines after removal of 100Hz main loop rate.
 2015-05-08 14:55:43 +09:00
Lucas De Marchi 4f6c32cb35 ArduCopter: remove dangling ifdefs for 100Hz main loop 
ArduCopter doesn't support main loop of 100Hz anymore. Remove the
missing ifdefs checking for MAIN_LOOP_RATE.
 2015-05-08 14:55:41 +09:00
Randy Mackay 4f52aaa3a3 Copter: fix tradheli arming message 2015-05-08 14:14:38 +09:00
Leonard Hall 7cccb73103 Copter: yet more Autotune Updates 2015-05-08 14:14:28 +09:00
Leonard Hall 92fe75f396 Copter: more Autotune updates 2015-05-08 14:14:26 +09:00
Leonard Hall 05103d9f9c Copter: Autotune update 2015-05-08 14:14:23 +09:00
Leonard Hall 7fd632200c Copter: Add additional check to Throttle Mix/Comp 2015-05-08 14:14:19 +09:00
Andrew Tridgell 6dc3cff000 Copter: added LOG_BITMASK 1<<19 for logging raw accel/gyro data 
useful for checking vibration handling
 2015-05-07 12:09:00 +10:00
Randy Mackay 6ef1ebb5dd Copter: replace 2xM_PI_F with M_2PI_F 2015-05-05 14:22:27 +09:00
Andrew Tridgell 189a8fd007 Copter: removed fast_atan 2015-05-05 13:57:06 +10:00
Andrew Tridgell b88c12ad1f Copter: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:08 +10:00
Andrew Tridgell d8146ff3f6 Copter: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger 5704a5a2a7 Copter: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:03 +10:00
Tom Pittenger c8bc44fc6e Copter: compile warnings: float to double. print statements require doubles 2015-05-05 13:27:00 +10:00
Tom Pittenger e17e793781 Copter: compiler warnings: float to double 2015-05-05 13:26:58 +10:00
Tom Pittenger 188403242a Copter: compiler warnings: fixed a bracked that was removed on accident 2015-05-05 13:26:57 +10:00
Tom Pittenger 3f614534b3 Copter: compiler warnings: unnecessary float promotion 2015-05-05 13:26:57 +10:00
Tom Pittenger 20dc48ed16 Coter: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:53 +10:00
Andrew Tridgell 5a36b9955e Copter: fix for HAL_SITL rename 2015-05-05 09:45:57 +10:00
Randy Mackay 054f05d285 Copter: AC3.3-rc3 version 2015-05-02 17:20:26 +09:00
Randy Mackay 22350c793b Copter: AC3.3-rc3 release notes 2015-05-02 17:20:24 +09:00
Randy Mackay 0812e16008 Copter: explicitly define flight modes enum 
Thanks to Luis Vale for spotting this
 2015-05-02 13:24:33 +09:00
Randy Mackay 89c0c2e532 Copter: update AC3.3-rc2 release notes 2015-05-02 11:55:38 +09:00
Randy Mackay 606086cd6f Copter: version to AC3.3-rc2 2015-05-02 11:34:19 +09:00
Randy Mackay 77c2991867 Copter: AC3.3-rc2 release notes 2015-05-01 22:02:22 +09:00
Jonathan Challinger fb96335b46 Copter: get_RTL_alt returns alt above home 2015-05-01 16:37:36 +09:00
Robert Lefebvre 05f18bb014 Copter: Rename output_min() to enable_motor_output() 2015-05-01 14:30:44 +09:00
Robert Lefebvre 41a6cc64ff Copter: Log Emergency Stop and Motor Interlock status 2015-05-01 14:30:43 +09:00
Robert Lefebvre d8a0952b5a Copter: Explicitly define aux_switch enum. 2015-05-01 14:30:42 +09:00
Robert Lefebvre da2854403e Copter: Explicitly define tuning_func enum value 2015-05-01 14:30:42 +09:00
Robert Lefebvre 4e51ce6d75 Copter: rename "estop" to "emergency stop". 
No functional change
 2015-05-01 14:30:41 +09:00
Robert Lefebvre 9d9f20a6cb Copter: Add Motor Interlock/E-Stop Conflict Prearm Check 2015-05-01 14:30:40 +09:00
Robert Lefebvre fab8604f16 Copter: Change Auto Yaw #define table into Enum. 2015-05-01 14:30:39 +09:00
Robert Lefebvre 32b4e70cb7 Copter: Deprecate Aux Switch Multi-Mode 2015-05-01 14:30:38 +09:00
Robert Lefebvre 22a7fba289 Copter: Change autopilot modes into Enum 2015-05-01 14:30:37 +09:00
Robert Lefebvre 39d23519b1 Copter: Change CH6_Tuning #defines into Enum 2015-05-01 14:30:36 +09:00
Robert Lefebvre 167507e28b Copter: non-functional format fixes in switches.pde 2015-05-01 14:30:35 +09:00
Robert Lefebvre a357ef43a4 Copter: Move Aux Switch flags into new Enum 2015-05-01 14:30:34 +09:00
Robert Lefebvre 8610da7fbc Copter: autopilot modes to check for motor interlock status 2015-05-01 14:30:33 +09:00
Robert Lefebvre a035d5ad1b Copter: Fix initialization of Motor Interlock Aux Sw function. 2015-05-01 14:30:31 +09:00
Robert Lefebvre 16cf9471ae Copter: Remove ap.motors_interlock, use only flag in AP_Motors 2015-05-01 14:30:31 +09:00
Robert Lefebvre 9b15ea6f5c Copter: Change throttle_zero to check interlock and E-stop status 2015-05-01 14:30:30 +09:00
Robert Lefebvre 2010410c44 Copter: Add numbers to Aux Switch Enum comments 2015-05-01 14:30:28 +09:00
Robert Lefebvre b82113acc7 Copter: Modify auto-disarm process for throttle interlock 2015-05-01 14:30:27 +09:00
Robert Lefebvre 7349827eb1 Copter: Add Aux Switch E-Stop Function 2015-05-01 14:30:26 +09:00
Robert Lefebvre 4a0a4de687 Copter: update motors.throttle_interlock every time motors_output is run 2015-05-01 14:30:23 +09:00
Robert Lefebvre 7d745587a4 Copter: Add using_interlock flag, employ it in arming process 2015-05-01 14:30:22 +09:00
Robert Lefebvre e4c5915330 Copter: initial creation of motor_interlock 2015-05-01 14:30:21 +09:00
Randy Mackay ee94db09a8 Copter: minor GCS_MAVLink comments 
No functional change
 2015-05-01 12:56:40 +09:00
Randy Mackay 1fa8e10fc7 Copter: fix floating point const compiler warning 2015-05-01 12:56:38 +09:00
Randy Mackay e0ef57fdb5 Copter: add PILOT_TKOFF_ALT_DEFAULT definition 
No functional change
 2015-05-01 12:56:35 +09:00
Leonard Hall 33a274c928 Copter: take-off uses PosControl's add_takeoff method 
Also balances pilot and takeoff climb rates
Also removes takeoff's direct use of poscontrol target

Combined effort of Randy and Leonard
 2015-05-01 12:56:32 +09:00
Randy Mackay 772a1acc37 Copter: cancel takeoff if mode changed 2015-05-01 12:56:28 +09:00
Randy Mackay ab608a8fcd Copter: minor takeoff param name change 
No functional change
 2015-05-01 12:56:25 +09:00
Randy Mackay 70f9739d77 Copter: add takeoff comments 2015-05-01 12:56:23 +09:00
Randy Mackay 6f5b5c24f2 Copter: rename tkoff_ to takeoff_ 2015-05-01 12:56:21 +09:00
Jonathan Challinger 73d961cebc Copter: mavlink initiated takeoff in alt-hold modes 
adds PILOT_TKOFF_ALT for target altitude above home in cm for pilot initiated takeoff
 2015-05-01 12:56:18 +09:00
Jonathan Challinger b10cf0f38a Copter: pre-takeoff throttle for sprung throttle sticks 
Adds PILOT_THR_BHV, PILOT_TKOFF_DZ parameters
 2015-05-01 12:56:16 +09:00
Jonathan Challinger e286323abc Copter: get_non_takeoff_throttle uses floats 2015-05-01 12:56:13 +09:00
Jonathan Challinger 0dbe94c9a1 Copter: set motor air density ratio 2015-04-29 14:36:17 +09:00
Jonathan Challinger 36cc832931 Copter: guided_posvel run update_z_controller at 400hz 2015-04-29 12:26:41 +09:00
Randy Mackay da629ce976 Copter: minor format fix 2015-04-29 12:03:34 +09:00
Jonathan Challinger f5fd89833d Copter: update YAW_LOOK_AHEAD to use inav velocity direction 2015-04-29 12:02:45 +09:00
Jonathan Challinger e5b6cf9966 Copter: use circular limit on tilt angle for arm check 2015-04-29 12:02:43 +09:00
Randy Mackay 85b0a18f61 Copter: fix MNT param description 
extra underscore was appearing in the parameter descriptions on the web
 2015-04-29 09:07:36 +09:00
Randy Mackay 276b2dcf5e Copter: move lost copter check to separate function 
Also run from scheduler instead of from arm/disarm stick checks
Run at 10hz instead of 1hz
soundalarm_counter to uint8
Disable if equivalent aux switch is setup
Remove SEVERITY_LOW message because the GCSs never print these anyway
 2015-04-29 00:05:03 +09:00
svefro 5bee93cba3 Copter: Lost copter alarm through sticks 2015-04-29 00:05:01 +09:00
Julien Dubois b7a6e3bf2c Copter: fix update_thr_average to run at 100hz 
Committed by Randy on Julien's behalf
 2015-04-28 22:44:59 +09:00
Randy Mackay 64629914a4 Copter: fix RTL alt when no using Rally points 2015-04-28 17:20:00 +09:00
David Dewey 0545185218 Copter: RTL at no less than 2m above home alt 2015-04-28 17:19:56 +09:00
Andrew Chapman 4311cd4e7a Copter: add logging for CH6 parameter tuning 
Logs CH6 tuning values to a new PTUN log struct, specific to
APM::Copter at this point
 2015-04-28 14:14:01 +09:00
Randy Mackay 2baf79ee7a Copter: remove TUNE param descr for AHRS Yaw/RP kP 2015-04-28 14:00:24 +09:00
Andrew Tridgell cb2427ef9e Copter: removed special cases for DCM gain changes on arm/disarm 
copter no longer uses DCM, so it doesn't need these special cases
 2015-04-28 14:07:39 +10:00
Robert Lefebvre 1aa696bc10 Copter: Implement Stop Mode 2015-04-26 16:11:47 +09:00
Robert Lefebvre 8e4268ddd3 Copter: Initial creation of control_stop file 2015-04-26 16:11:43 +09:00
Tom Pittenger 66c7090f00 Copter: fix compile warnings by converting .f to .0f 2015-04-24 14:24:52 +09:00
Tom Pittenger b57437042e Copter: fix compile warnings for unused functions 2015-04-24 14:10:00 +09:00
Randy Mackay 94dc973c29 Copter: update ARMING_CHECK parm description 2015-04-24 11:12:03 +09:00
Randy Mackay 6e623bce28 Copter: remove optical flow init failure message 
the sensor only becomes healthy once it has received data which will
take a few seconds after initialisation meaning this failure message
will always be displayed even when the sensor is fine.
 2015-04-24 10:58:07 +09:00
Randy Mackay 37e8d1a338 Copter: PosController alt limit from fence and EKF 2015-04-24 10:58:03 +09:00
Randy Mackay 3719ea53e4 Copter: add range finder status to extended status msg 2015-04-24 10:57:34 +09:00
Randy Mackay 5e359c977f Copter: replace range finder health with status 2015-04-24 10:57:30 +09:00
Randy Mackay 1ff443d667 Copter: add rangefinder pre-arm check 2015-04-24 10:57:08 +09:00
Paul Riseborough 133b8f5ad7 Copter: Allow EKF to pull data from range finder object 2015-04-24 10:56:53 +09:00
Niels Joubert a52d554a10 ArduCopter: Handle GPS Data Injection 2015-04-24 08:01:32 +10:00
Niels Joubert 704e75d140 ArduCopter: Remove kruft from old RTK driver 2015-04-24 08:01:32 +10:00
Randy Mackay bfd24801ea Copter: minor format fix 2015-04-21 21:47:19 +09:00
Arthur Benemann 7cf883a61c Copter: increase the telemetry receive function rate to 400Hz 
gimbal loop runs at 100Hz so to respond in time the gcs_check_input must run at a faster rate, the process are asyncronus
 2015-04-21 21:45:31 +09:00
Jaime Machuca 5de15464b6 Copter: add call to send digicam configure messages from a mission item 
Also add log_picture to separate logging and feedback from
the do_take_picture function so that it can be used when pictures
are triggered from a mission command
 2015-04-20 13:50:19 +09:00
Randy Mackay a27f383612 Copter: remove duplicate IMU/ATT logging 
Previously IMU and ATT data could be logged at both a high rate
and a low rate.  This patch makes it skip the low rate logging
if the high rate is enabled
 2015-04-20 13:49:09 +09:00
Randy Mackay 06b3935beb Copter: LOG_BITMASK parameter def get All+FastIMU, All+FastATT 2015-04-20 13:49:06 +09:00
Randy Mackay dfb720bab6 Copter: rename FULL_IMU logging to IMU_FAST 
This naming is consistent with the earlier ATTITUDE_FAST option and
clarifies that it's the rate that's increased rather than the content.
 2015-04-20 13:49:04 +09:00
Randy Mackay 2dbff9c544 Copter: remove scheduler table for 100hz CPUs 
We only support high performance CPUs capable of 400hz
 2015-04-20 13:49:01 +09:00
Peter Barker 5a45de5e00 Copter: IMU full-rate logging LOG_BITMASK flag 2015-04-20 13:48:58 +09:00
Randy Mackay 1c6c03b0eb Copter: firmware back to V3.3-dev 2015-04-18 11:51:53 +09:00
Jonathan Challinger 9a025024b5 Copter: use LowPassFilterVector3f for land detector accel filter 2015-04-17 10:46:56 +09:00
Jonathan Challinger eafbd94d51 Copter: run land detector at 400hz 2015-04-17 10:46:53 +09:00
Jonathan Challinger f93ff2d3ec Copter: use new lowpass filter 2015-04-17 10:46:50 +09:00
Leonard Hall ca66b51ba9 Copter: Autotune parameter update 2015-04-16 21:00:50 +09:00
Leonard Hall 93d5c39248 Copter: add filter for the land detector 
Individual access filtering will be replaced with a single 3-axis low pass
filter in the near future
 2015-04-16 21:00:48 +09:00
Leonard Hall 1fcb0f4d53 Copter: pos_control param prefix shortened to PSC 2015-04-16 21:00:42 +09:00
Leonard Hall 49d3357e1d Copter: add z-axis accel logging 2015-04-16 21:00:35 +09:00
Leonard Hall b50f065cab Copter: use relax alt hold controllers 2015-04-16 21:00:28 +09:00
Jonathan Challinger 91a03ae0e7 Copter: add PILOT_THR_FILT and call set_throttle_out functions with that value 2015-04-16 21:00:11 +09:00
Jonathan Challinger b27b9dd86e Copter: use new throttle interface 2015-04-16 20:59:48 +09:00
Jonathan Challinger 0cff3a4292 Copter: fixup Windows newlines 2015-04-16 13:29:57 +09:00
Leonard Hall ee91be66cf Copter: Update of land detector 2015-04-16 13:29:54 +09:00
Leonard Hall 2b5fb850dd Copter: Autotune adjustments 2015-04-15 22:04:26 +09:00
Randy Mackay f2993edc36 Copter: move MSG_BATTERY2 higher in select 
No functional change
 2015-04-15 20:49:21 +09:00
Dario Lindo Andres 7dbd6c8509 ArduCopter: Enable MSG_BATTERY2 through Mavlink 
For allow to show battery_2 voltage and current on GCS.
 2015-04-15 20:49:18 +09:00
Leonard Hall f8a6684c12 Copter: Autotune update 2015-04-15 20:34:42 +09:00
Jonathan Challinger 4e09c9832b Copter: fix guided_posvel and guided_vel to update pos_control at same rate as wpnav 2015-04-14 16:29:04 +09:00
Randy Mackay 55d8f440d4 Copter: fix alt sent to fence_check to be meters 2015-04-14 16:10:09 +09:00
Jonathan Challinger be8c118b63 Copter: change altitude fence to work on home altitudes instead of origin altitudes 2015-04-14 16:10:08 +09:00
Jonathan Challinger 0f9e50d61c Copter: fix rtl completion altitude 2015-04-14 16:10:06 +09:00
Jonathan Challinger b344a7ed17 Copter: fix set_position_target altitudes 2015-04-14 16:10:05 +09:00
Jonathan Challinger 301d4cc4a6 Copter: fix guided takeoff altitude 2015-04-14 16:10:05 +09:00
Jonathan Challinger 920ac12214 Copter: pv_location_to_vector use pv_alt_above_origin 2015-04-14 16:10:04 +09:00
Jonathan Challinger e5a6023827 Copter: pass inertial_nav to fence 2015-04-14 16:10:03 +09:00
Jonathan Challinger fddaca4cf7 Copter: rename get_throttle_surface_tracking to get_surface_tracking_climb_rate 2015-04-14 16:10:01 +09:00
Randy Mackay ea5c24b70b Copter: rename lost_copter to vehicle_lost 2015-04-13 17:44:44 +09:00
Jaime Machuca 3c00b0a0a8 Copter: ch7/ch8 for lost copter sound 2015-04-13 17:44:39 +09:00
Randy Mackay a20a89181c Copter: enable CPU failsafe after initialisation 
This removes a false positive during startup that lead to an error
appearing at the start of the dataflash log
 2015-04-13 15:58:13 +09:00
Randy Mackay 83c966eaa7 Copter: update 3.3-rc1 release notes 2015-04-12 09:41:23 +09:00
Randy Mackay 5a4039d99c Copter: version to APM:Copter 3.3-rc1 2015-04-12 09:21:44 +09:00
Randy Mackay df59a912d1 Copter: 3.3-rc1 release notes 2015-04-12 09:21:22 +09:00
Randy Mackay 11576a0f1e Copter: fix bitmask for use with SET_POSITION_TARGET 
Thanks to vooon for spotting this
 2015-04-11 11:57:41 +09:00
Randy Mackay 4b5d07252e Copter: ekf_check ok if optflow pos available 2015-04-10 11:08:21 +09:00
Randy Mackay 52f7186cbf Copter: pre-arm check primary compass health 
Previously we would check the 1st compass which might not necessarily be
the primary compass
 2015-04-10 11:08:18 +09:00
Randy Mackay 6834b5943e Copter: pre-arm alt disparity check only if using baro 
We should probably consolidate the baro pre-arm and arming checks into a
single check_baro function but the difference in the error message stops
me from immediately doing that
 2015-04-10 11:08:02 +09:00
Paul Riseborough 1d7cb25c17 Copter : Update pre-arm and arm checks using EKF health status 
Bypass alt disparity check when doing ground relative navigation using range finder height
Add check of EKF health status to indicate when EKF is waiting to complete checks
 2015-04-10 11:07:50 +09:00
Randy Mackay fea7632eac Copter: save EKF learned compass to primary compass 2015-04-10 11:07:18 +09:00
Paul Riseborough 2406e26ab4 Copter : Save EKF learned compass offsets on disarm 
Requires compass learning to be enabled in the compass parameters

Copter: fix compass offsets patch
 2015-04-10 11:07:13 +09:00
Leonard Hall 70fbb3c67e Copter: RATE_RLL_P param def max to 0.30 
same for RATE_PIT_P
 2015-04-09 20:19:57 +09:00
Leonard Hall 2bf8f21b7a Copter: roll, pitch rate IMAX to 2000 2015-04-09 20:19:56 +09:00
Randy Mackay d589c591a6 Copter: only log home when first set 
We should also log home when we arm
 2015-04-09 10:57:08 +09:00
Randy Mackay b0c777259f Copter: update home constantly while disarmed 2015-04-09 10:57:06 +09:00
Randy Mackay c3bdb9a13e Copter: update inertial alt only after home is set 2015-04-09 10:57:04 +09:00
Randy Mackay 2bec00e1c5 Copter: set ahrs home from ekf location 2015-04-09 10:57:02 +09:00
Randy Mackay e5ddd276fd Copter: remove baro init on arming 2015-04-09 10:56:59 +09:00
Andrew Tridgell 29be2f0b60 Copter: send LOCAL_POSITION_NED 
very useful for GPS-disabled operation and EKF debugging
 2015-04-05 09:16:41 -07:00
Randy Mackay 24f24a7db7 Copter: integrate Serial Manager instance 2015-04-01 14:59:25 -07:00
Randy Mackay e1900f646f Copter: remove PREARM_MAX_VELOCITY definition 2015-03-30 18:08:34 -07:00
Jonathan Challinger ffc445098b Copter: remove velocity pre-arm check 2015-03-30 16:44:50 -07:00
Leonard Hall cfe12f38a5 Copter: Adjust Autotune backoff of accel 2015-03-27 06:24:53 -07:00
Randy Mackay 765b8ded02 Copter: ekf check triggers if position bad 2015-03-27 00:04:41 -07:00
Randy Mackay 74b98b89d0 Copter: remove dcm check 2015-03-27 00:04:37 -07:00
Leonard Hall 35d1cbd053 Copter: Autotune fix P test 2015-03-23 07:40:00 -07:00
Leonard Hall cedd423c30 Copter: Autotune Yaw limits update 2015-03-23 07:39:58 -07:00
Leonard Hall 7cd78f63bf Copter: Stop autotune repeatedly saving gains 2015-03-23 07:39:55 -07:00
Andrew Tridgell a4be1fede8 Copter: run all boards at 400Hz 
SITL and Linux can now run at 400Hz
 2015-03-22 18:57:43 -07:00
Randy Mackay b4df5b35f0 Copter: fix compiler error when mount disabled 2015-03-21 21:52:27 +09:00
Randy Mackay a3933f7a1f Copter: handle do_mount_control mission commands 2015-03-21 21:52:24 +09:00
Randy Mackay 9a5ff97c61 Copter: send invalid batt curr if monitor unhealthy 2015-03-20 11:05:33 +09:00
Randy Mackay c41ecca8d5 Copter: re-order position_ok function 
no functional change
 2015-03-19 15:15:49 +09:00
Randy Mackay 522ef8f91f Copter: rename MOT df msg to MOTB 
This will slightly reduce confusion with the MOT message from AC3.1.5
that eventually became RCOUT
 2015-03-18 21:25:45 +09:00
Randy Mackay b679fd0be0 Copter: log RATE with ATT 2015-03-18 21:25:42 +09:00
Randy Mackay d9b65cec22 Copter: fix compiler error re ch9, ch12 on some boards 
channel 9 and 12 are not exist on some builds.
 2015-03-17 22:16:48 +09:00
Randy Mackay 3be0a47c02 Copter: minor formatting fix 2015-03-17 21:18:51 +09:00
Randy Mackay 20311c3ba2 Copter: remove CH7_OPTION definition 
We can replace the unused definitions and just set the aux switch
defaults to do-nothing directly in the parameter table
 2015-03-17 21:18:50 +09:00
Randy Mackay e6c3f4f97b Copter: move aux switch enum to defines.h 2015-03-17 21:18:49 +09:00
Robert Lefebvre fd0cb0beed Copter: Create check_duplicate_auxsw() method to streamline pre-arm check code 2015-03-17 21:18:48 +09:00
Robert Lefebvre 1afeb05398 Copter: Create check_if_auxsw_mode_used() to check for function usage 2015-03-17 21:18:47 +09:00
Robert Lefebvre 97cd3614eb Copter: Change Aux Switch function list to enum. 2015-03-17 21:18:46 +09:00
Robert Lefebvre a5af151a91 Copter: Initial expansion of Aux Switch to Ch7-12 2015-03-17 21:18:41 +09:00
Randy Mackay b10730f35c Copter: remove THR_MAX parameter 2015-03-16 14:49:34 +09:00
Randy Mackay 2a47337dc1 Copter: fix multiple flight-mode fail log messages 
When the vehicle failed to enter a flight mode it was logging the
failure repeatedly in the dataflash
 2015-03-13 22:15:27 +09:00
Víctor Mayoral Vilches 79e152cd93 Copter: Update compass to the new interface 2015-03-13 18:46:16 +11:00
Randy Mackay 9c6531ebeb Copter: simplify APM_Config after removing APM1,2 support 2015-03-13 16:41:05 +09:00
Randy Mackay 088a49abbf Copter: remove APM1, APM2 support 2015-03-13 16:41:03 +09:00
Randy Mackay fbfc94cf69 Copter: remove GPS glitch and failsafe 
The EKF failsafe now captures all failures that could lead to a bad
position including GPS glitches and a bad compass meaning we do not need
this protection in the main flight code.
 2015-03-13 16:40:46 +09:00
Randy Mackay 6f6847c025 Copter: use only InertialNav_EKF 
remove calls to unsupported functions including ignore_next_error,
set_altitude, etc.
 2015-03-13 16:40:37 +09:00
Randy Mackay d7f624be39 Copter: remove baro_glitch protection 2015-03-13 16:40:27 +09:00
Randy Mackay 0476558049 Copter: remove USE_EKF from ch7/ch8 switch 2015-03-13 16:40:20 +09:00
Andrew Tridgell d9342ed854 Copter: allow motor test using raw pwm without RC cal 2015-03-12 17:49:39 +11:00
Randy Mackay 553261d4ce Copter: send EKF_STATUS_REPORT in extra3 stream 2015-03-12 12:20:03 +09:00
Randy Mackay 0447f6216a Copter: get_pilot_desired_lean_angles uses angle_max of at least 10deg 
Removes the unlikely event of a divide by zero if ANGLE_MAX is set to
zero and sticks were in middle
 2015-03-11 22:24:44 +09:00
Jonathan Challinger ecefe78417 Copter: interpret input in stabilize as a tilt vector 2015-03-11 22:24:42 +09:00
Randy Mackay 721d551239 Copter: extend AUTOTUNE_AXIS param description 2015-03-11 17:28:47 +09:00
Randy Mackay b475a2fe10 Copter: AutoTune formatting fixes 
no functional change
 2015-03-11 17:28:46 +09:00
Leonard Hall c537c38646 Copter: add update_throttle_low_comp 
sets the priority of throttle vs attiude control so that attitude is
favoured (i.e. high throttle-low-comp) during dynamic flight while
throttle is favoured when vehicle may be landing.
 2015-03-10 12:20:24 +09:00
Leonard Hall 36c91970f1 Copter: Autotune algorithm update 2015-03-09 18:02:55 +09:00
Leonard Hall 9bfb0e1f40 Copter: Autotune comment changes and formatting 2015-03-09 18:02:52 +09:00
Leonard Hall 1c57c6a266 Copter: Autotune update yaw filt and rate P max 2015-03-09 18:02:50 +09:00
Randy Mackay 72d1113501 Copter: set accel and gyro disabled during calibration 2015-03-09 17:58:38 +11:00
Randy Mackay 3e45052a75 Copter: reply with failed if gyro or accel cal fails 2015-03-09 17:58:38 +11:00
Randy Mackay 10724f5738 Copter: reject preflight calibration when armed 2015-03-09 17:58:38 +11:00
Andrew Tridgell 3f906f6bd1 Copter: added CLI_ENABLED option 2015-03-09 17:58:37 +11:00
Andrew Tridgell 47e9409d00 Copter: set gyros disabled when calibrating 2015-03-09 17:58:36 +11:00
Andrew Tridgell 9b9aa3dc33 Copter: use new interactive accelcal 2015-03-07 21:56:40 +11:00
Randy Mackay 033bcd849b Copter: add 0.6 to EKF and DCM CHECK_THRESH param description 2015-03-06 17:58:37 +09:00
Randy Mackay e0acd250d1 Copter: set Notify firmware_update flag before reboot 2015-03-06 17:26:53 +09:00
Randy Mackay 61ed812fc4 Copter: set Notify's autopilot_mode flag 2015-03-06 17:26:49 +09:00
Leonard Hall 778edfda72 Copter: default yaw rate filter to 5hz 2015-03-06 16:08:32 +09:00
Leonard Hall d5bbe6de03 Copter: remove TRIM_THROTTLE 
throttle_trim is replaced by throttle_average which is initialised to
the throttle_mid parameter value at startup
 2015-03-06 14:02:19 +09:00
Leonard Hall c78480e14f Copter: rename loiter_pos to pos_xy 
Also renamed throttle_rate to vel_z, throttle_accel to accel_z
 2015-03-06 14:02:17 +09:00
Leonard Hall e232867661 Copter: move LOITER_RATE to 2-axis PI controller 
Also rename LOITER_RATE to VEL_XY for parameters, definitions, variables
 2015-03-06 14:02:15 +09:00
Leonard Hall 1ec5eedd23 Copter: ch6 tuning of yaw rate filter 2015-03-06 14:02:13 +09:00
Leonard Hall 2b0fb45fe8 Copter: integrate PID input filter 2015-03-06 14:02:11 +09:00
Leonard Hall d233ca3133 Copter: add Time and rate_target to AutoTune logging 2015-03-06 14:02:09 +09:00
Leonard Hall 8ba195a3a2 Copter: add Mot and Rate dataflash logging 2015-03-06 14:02:07 +09:00
Leonard Hall 1ebf2c40f5 Copter: Autotune rewrite 
Includes the following:
Increase Autotune Limits
Low Rate_P_Max prevents correct Rate_D prediction.
make adjustment proportional
increase the maximum value of Rate_P
adjustment for zero overshoot
Speed up autotune
Reduce D bounce back requirement
adapt matthewlloyd's switching
Includes many enhancements to the basic code but doesn't bring in his
speed up ideas
Reduce Stab P down
Add Calibration
Repeat side to increase speed
Update Autotune PI ratios
fixup comments
autotune incorporate aggressiveness parameter
sets max accel for roll, pitch, yaw
Update accel calc and set Yaw D to zero
Calculate Accel correctly on SP Limit
Send saved gains msg to GCS
updates PID filter
increase accel backoff
save max accel if rate feedfwd enabled
keep stabilizing
 2015-03-06 14:02:04 +09:00
Leonard Hall a9a6e8856b Copter: add AUTOTUNE_AGGR parameter 2015-03-06 14:02:02 +09:00
Leonard Hall 864168e5ea Copter: add AUTOTUNE_AXES bitmask parameter 
This is used to allow tuning just some axis
 2015-03-06 14:02:01 +09:00
Randy Mackay c711179ffe Copter: set_mid_throttle renamed to set_hover_throttle 2015-03-03 15:48:56 +09:00
Randy Mackay bae424fa88 Copter: pass in loop_rate to motors constructor 2015-03-03 15:48:37 +09:00
Leonard Hall 8eedb2c040 Copter: sent battery voltage and current to motors 2015-03-03 15:48:26 +09:00
Leonard Hall 3e8563dd8b Copter: ch6 tuning definition for yaw min headroom 2015-03-03 15:48:17 +09:00
Randy Mackay c5b3bc5698 Copter: handle LED_CONTROL and pass to Notify 2015-03-02 16:58:08 +09:00
Andrew Tridgell 7c975808f8 Copter: provide terrain height to rangefinder 
used for power saving
 2015-02-23 14:15:14 +11:00
Andrew Tridgell 74ef1b8d2f Copter: removed HomeState from defines.h 
now in AP_Common.h
 2015-02-21 10:14:32 +11:00
João Fortuna b99f38d39d Copter: Fixed MAVLINK stream trigger calculation. 2015-02-20 13:10:57 +09:00
Andrew Tridgell 307b9e807f Copter: reduced build warnings 
removed some unused code, and mark some functions with UNUSED_FUNCTION
 2015-02-18 11:13:48 +11:00
Andrew Tridgell 191d803968 Copter: make PERF info message into a STATUSTEXT message 
this makes it appear properly in tlogs. Also show both min and max
loop times
 2015-02-16 10:02:53 +11:00
Randy Mackay da4a36c4e0 Copter: fix nack result_unsupported when arming fails 
We should return unsupported if param1 does not equal 0 or 1
 2015-02-14 14:27:47 +09:00
Randy Mackay 7ae1436b97 Copter: nack result_failed when arming fails 
Previously result_unsupported was returned which is a less accurate
description of the failure
 2015-02-14 14:03:41 +09:00
Randy Mackay 77d8f88e45 Copter: fence, rtl, land use alt-above-home 2015-02-12 15:08:00 +09:00
Randy Mackay 4d566bf462 Copter: current_loc.alt is alt-above-home 2015-02-12 15:07:59 +09:00
Randy Mackay 7e11ec9a6f Copter: surf tracking, do-land use inav alt 
Also CTUN logging of inav alt switched to get directly from inertial nav
lib instead of using current_loc.alt
 2015-02-12 15:07:00 +09:00
Randy Mackay cb66bf8b98 Copter: functions to convert alt-above-home vs alt-above-origin 2015-02-12 15:01:05 +09:00
Randy Mackay 9bd3a7249a Copter: disable inertial nav 2015-02-12 15:01:03 +09:00
Randy Mackay fbe87afb9c Copter: pre-arm check of EKF origin vs home 
EKF origin must be within 50km of home or numerical errors get too large
 2015-02-12 15:01:00 +09:00
Randy Mackay e7579198c9 Copter: when arming set home to current loc only if not locked 2015-02-12 15:00:58 +09:00
Randy Mackay 9e156d2f81 Copter: always update current_loc regardless of inav state 
If inertial nav is not initialised these will be set to zero anyway
 2015-02-12 15:00:56 +09:00
Randy Mackay 7029b11414 Copter: support do_set_home command from GCS and mission 2015-02-12 15:00:54 +09:00
Randy Mackay d5fd6d2a99 Copter: use home_is_set function 2015-02-12 15:00:52 +09:00
Randy Mackay e081b9d1c7 Copter: home is set becomes three state 2015-02-12 15:00:50 +09:00
Randy Mackay a4fd36a775 Copter: fix compile error when fence disabled 
Fix provided by iyia12co
 2015-02-12 12:03:54 +09:00
Andrew Tridgell 81302fe190 Copter: implement MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES 2015-02-12 09:04:20 +11:00