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3334 Commits

Author SHA1 Message Date
Ju1ien
f8e8d4024d Copter: Hybrid's max brake angle to 30deg 2014-04-23 14:59:53 +09:00
Ju1ien
b3e8112d24 Copter: Hybrid fix wind_comp time constant 
Corrected timer init values and wind_comp time constant to get the best
behaviour

Check if wider deadband required (current is 30).
We were using a comparison to a 70-100 cdeg deadband in our initial
code. The deadband was there to avoid unwanted switches in case of
inaccurate fingers/radio

Adjusted timers to 100/400Hz

I_term does not init when in hybrid loiter
 2014-04-23 14:59:43 +09:00
Randy Mackay
4778c73de2 Copter: Hybrid 10hz updates to wind comp lean angles 2014-04-23 14:59:40 +09:00
Randy Mackay
f87ab21063 Copter: Hybrid estimates wind when speed under 10cm/s 2014-04-23 14:59:38 +09:00
Randy Mackay
d36f137bf8 Copter: allow arming, disarming in Hybrid mode 2014-04-23 14:59:35 +09:00
Randy Mackay
e2aaafe40b Copter: hybrid works for 100hz and 400hz 2014-04-23 14:59:33 +09:00
Randy Mackay
705ff3f44f Copter: add hybrid_mix_controls 
Allow wind comp estimate to run when vehicle travelling up to 30cm/s
(was 10cm/s)
 2014-04-23 14:59:30 +09:00
Randy Mackay
e48c93d93c Copter: restructure hybrid into more states 2014-04-23 14:59:28 +09:00
Randy Mackay
f467d7bc20 Copter: add Hybrid parameters 2014-04-23 14:59:25 +09:00
Randy Mackay
754bae5748 Copter: refactor and split out wind compensation 2014-04-23 14:59:23 +09:00
Randy Mackay
d9c685323a Copter: add hybrid state struct, formatting changes 2014-04-23 14:59:20 +09:00
Randy Mackay
b5ed23f592 Copter: integrate skeleton Hybrid mode 2014-04-23 14:59:17 +09:00
Ju1ien
832fc62016 Copter: control_hybrid initial version 2014-04-23 14:59:15 +09:00
Randy Mackay
5fc071f5f9 Copter: restore SITL to run at 100hz 2014-04-21 21:46:22 +09:00
Andrew Tridgell
e07b70de4e Copter: set AHRS vehicle class 2014-04-21 18:13:13 +10:00
Randy Mackay
01538c5290 Copter: remove unused lon_error, lat_error 2014-04-21 15:06:32 +09:00
Randy Mackay
8ac14023b4 Copter: set main loop rate from CPU class 
Previously this was determined by the board
 2014-04-21 13:32:00 +09:00
Randy Mackay
a1edf347bf Copter: STB_RLL_P and STB_PIT_P @Range 3 to 12 2014-04-21 10:41:01 +09:00
Randy Mackay
b9845047f4 Copter: bug fix AP_Rally param directory 2014-04-19 22:37:01 +09:00
Randy Mackay
7af5d4a8ce Copter: remove RALLY_WP_SIZE definition 2014-04-19 15:00:30 +09:00
Andrew Chapman
fa3732ac6d Copter: integrate AP_Rally 2014-04-19 15:00:23 +09:00
Randy Mackay
817c893f21 Copter: bug fix for conditional_distance command 
Due to a race condition, the wp_distance was not being updated before
the conditional_distance
 2014-04-17 22:23:28 +09:00
Randy Mackay
f29ad3a2e0 Copter: bug fix for when WP_YAW_BEHAVIOR is 0 2014-04-17 16:53:06 +09:00
Randy Mackay
c53a0fcfd9 Copter: conditional yaw fix 
waypoint command was setting auto_yaw_mode when it was run after the
do-cmd
yaw_look_at_heading was being set to current heading which was
overwriting the caller's desired heading
 2014-04-17 16:41:36 +09:00
Randy Mackay
7f00bd7f5d Copter: default WAYPOINT to current pos if lat, lon, alt are zero 2014-04-16 20:33:43 +09:00
Randy Mackay
d2dad1b2c1 Copter: remove unused circle_desired_rotations 
desired num rotations is already held in command so we save 1byte of RAM
 2014-04-16 16:28:11 +09:00
Randy Mackay
e6d2692eab Copter: Loiter_Turns moves to edge of circle if location provided 2014-04-16 16:28:08 +09:00
Randy Mackay
f6676be400 Copter: integrate change in AC_Circle init 
Removed init_loiter_target when vehicle landed.  We should add some
initialisation of the circle controller when landed.
 2014-04-16 16:28:06 +09:00
jschall
ff9838ea27 Copter: Document stream rate parameter functionality 2014-04-15 16:05:45 +09:00
Kevin Hester
4bfd6b8ddd Copter: fixup line endings to be newline 2014-04-15 15:54:13 +09:00
Randy Mackay
cf86e304f0 Copter: add V-Tail to FRAME param's @Value 2014-04-15 12:18:31 +09:00
Randy Mackay
729026d80c Drift: get velocity using const reference 2014-04-14 11:34:17 +09:00
Emile Castelnuovo
f5a68fdba1 Copter: clear RC in overrides on GCS failsafe. 2014-04-13 22:59:51 +09:00
TeamOSEOLA
7dda8afd60 Copter: Fixed GPS_ok() status checking 
Fixed the GPS_ok() so that TRUE is returned in the cases of DGPS and Assisted GPS fixes, not just 3D fix.
 2014-04-11 09:01:35 +10:00
Andrew Tridgell
1189978334 Copter: ensure we log both GPS at the time we receive a message 2014-04-10 10:30:10 +10:00
Randy Mackay
e7d73aa856 Copter: enable GCS failsafe to RTL by default 
This only triggers if the user has been using the GCS's RC override
 2014-04-09 10:50:35 +09:00
Randy Mackay
037a0b4e5a Copter: dos2unix Parameters.h 2014-04-08 23:30:15 +09:00
Emile Castelnuovo
a9bd4e9da1 VRBRAIN: added ignore board voltage check for VRBRAIN boards. 2014-04-08 16:19:20 +10:00
Emile Castelnuovo
9e31f032c2 Copter: added VRBRAIN board #includes and #defines 2014-04-08 16:19:20 +10:00
Randy Mackay
8a4d82f43a Copter: AC3.1.3 release notes 2014-04-07 14:28:12 +09:00
Randy Mackay
9bf9e0ede9 Copter: check parachute is enabled before manual_release 2014-04-07 13:37:15 +09:00
Randy Mackay
01e5ae6e5c Copter: integrate parachute alt_min units change 2014-04-07 13:37:12 +09:00
Randy Mackay
47c1cb8b99 Copter: log parachute events 2014-04-07 13:36:59 +09:00
Randy Mackay
2b4d2697b2 Copter: process MAV_CMD_DO_PARACHUTE commands 2014-04-07 13:36:56 +09:00
Randy Mackay
56768a8d61 Copter: add min alt check to parachute release 2014-04-07 13:36:50 +09:00
Randy Mackay
340f3a7f9d Copter: ch7/ch8 parachute release 2014-04-07 13:36:47 +09:00
Randy Mackay
ac982656fd Copter: extend crash check to trigger parachute 2014-04-07 13:36:46 +09:00
Randy Mackay
ff32b27272 Copter: integrate parachute lib 2014-04-07 13:36:44 +09:00
Andrew Tridgell
ae350e42aa Copter: show next wp when not running a mission 
this lets the GCS know what wp would be run if auto mode is selected
 2014-04-07 11:41:05 +10:00
Andrew Tridgell
454d1f26c3 Copter: added support for SERIAL_CONTROL message 2014-04-05 07:34:34 +11:00
Andrew Tridgell
339689b578 Copter: fixed load average for different loop rates 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-04 21:37:56 +11:00
Andrew Tridgell
27ad8c39d6 Copter: enable passthrough auxillary channels 2014-04-03 12:19:44 +11:00
Andrew Tridgell
7bf12cfd8a Copter: update for gps.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell
852cdbaa7c Copter: added GPS parameters 2014-04-01 06:38:25 +11:00
Andrew Tridgell
640b64f5e4 Copter: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
198388b5e0 Copter: use AP_GPS_Auto for 2nd GPS 2014-04-01 06:38:23 +11:00
Kevin Hester
5fb3b031f1 Copter: disambiguate the various causes of "Bad GPS Pos" 
I've seen a fair number of user questions where they are confused by
"Bad GPS Pos" on their GCS/not being allowed to arm.  This change splits
the remaining causes of this fault into separate messages.

Hopefully this increases the odds of the user self diagnosing...
 2014-03-31 21:59:12 +09:00
Randy Mackay
9e7021cc20 Copter: Notify arming failure when using MAVLink 2014-03-31 20:34:31 +09:00
Jonathan Challinger
608b8b0a2c Copter: integrate Notify arming failure when using yaw sticks 2014-03-31 20:34:29 +09:00
Randy Mackay
4b6f03cc11 Copter: remove do_land's use of RTL_ALT_MAX 2014-03-31 20:34:21 +09:00
Jonathan Challinger
2601ac9959 Copter: Remove 80m altitude limit on RTL 2014-03-31 20:34:19 +09:00
Jonathan Challinger
045c6d8c3f Copter: Only play GPS tone when armed 2014-03-31 20:34:16 +09:00
Randy Mackay
d9fd577fb0 Copter: add Drift throttle assist constraints 2014-03-31 15:40:00 +09:00
Jason Short
50dcbe6549 Copter: Drift throttle assist range increased 
Throttle assist is applied from 213 ~ 787
Deadband and constraint added
 2014-03-31 13:09:57 +09:00
Jason Short
bccf1de563 Copter: add drift throttle assist 2014-03-31 13:09:54 +09:00
Randy Mackay
7d5d0d12a2 Copter: spline bug fixes 
Next waypoint's location must be passed in even if it's a straight
segment.
mission.get_next_nav_cmd's start_index should be the current command +1
 2014-03-29 17:57:45 +09:00
Randy Mackay
ac364c93dd Copter: bug fix for simple_mode when run at 400hz 
Mark radio frame as consumed so that simple mode does not apply the yaw
correction more than once when run at very high rates (like 400hz on
Pixhawk)
 2014-03-28 17:03:31 +09:00
Randy Mackay
176a450ad2 Copter: remove spline handling from regular wp_nav 2014-03-28 09:23:41 +09:00
Randy Mackay
d541fefab4 Copter: add do_spline_wp and verify_spline_wp functions 2014-03-28 09:23:33 +09:00
Randy Mackay
8f946a3a8c Copter: remove original_wp_bearing 
To-Do: extend wpnav yaw control to only repoint nose towards waypoint if
it is more than 5m or 10m away
 2014-03-28 09:23:21 +09:00
Randy Mackay
392162747a Copter; integrate WPNAV's get_yaw 2014-03-28 09:23:17 +09:00
Randy Mackay
3753550a72 Copter: integrate get_spline_yaw 2014-03-28 09:23:11 +09:00
Randy Mackay
c0f12911ec Copter: minor format change 2014-03-28 09:23:02 +09:00
Randy Mackay
0822adfb34 Copter: integrate spline navigation 2014-03-28 09:22:59 +09:00
Andrew Tridgell
78ba1a33aa Copter: support 18 input channels in MAVLink 2014-03-25 14:47:43 +11:00
Andrew Tridgell
c0767eebff Copter: support 14 RC channels on PX4 2014-03-25 14:47:05 +11:00
Andrew Tridgell
e1b9135946 Copter: updates for new RCInput API 2014-03-25 14:47:04 +11:00
Andrew Tridgell
3362e42478 Copter: consider health of primary compass in SYS_STATUS, pre-arm and compassmot 
this should prevent users from taking off with only secondary compass
 2014-03-24 19:52:08 +11:00
Andrew Tridgell
11e5b95878 Copter: updates for GPS changes 2014-03-24 12:04:46 +11:00
Randy Mackay
71f61c9bef Copter: fix typo to show ATUN FMT in dataflash logs 2014-03-21 15:44:06 +09:00
Andrew Tridgell
4a01315fc5 Copter: enable logging of RADIO_STATUS 2014-03-20 09:56:37 +11:00
Andrew Tridgell
a345a9d993 Copter: removed check on target component in arm 
Thanks to DonLakeFlyer for finding this, see
https://github.com/diydrones/ardupilot/pull/909
 2014-03-20 09:06:28 +11:00
Randy Mackay
88527cd01c Copter: integrate Mission cmd field changes 2014-03-19 12:14:25 +09:00
Andrew Tridgell
e4b3323455 Copter: use common deferred message handling 2014-03-19 12:14:20 +09:00
Andrew Tridgell
69252868a8 Copter: use common MISSION_ITEM handling 2014-03-19 12:14:12 +09:00
Andrew Tridgell
f4ed2beacd Copter: use new common MAVLink message handlers 2014-03-19 12:13:40 +09:00
Randy Mackay
6ef2b55602 Copter: use common GCS_MAVLink handle_mission methods 2014-03-19 12:13:22 +09:00
Andrew Tridgell
85725de9cb Copter: use new handle_mission_request() 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:13:15 +09:00
Randy Mackay
a3573f9ebd Copter: minor typo in do_change_speed processing 
It is unlikely that the "f" at the end of the 100 is required to
maintain the full precision of the target speed but added just in case
 2014-03-19 12:12:55 +09:00
Randy Mackay
08b78db43c Copter: use mission command specific structures 2014-03-19 12:12:54 +09:00
Randy Mackay
2f8daf2fa9 Copter: integrate dataflash Log_Write_MavCmd 2014-03-19 12:12:46 +09:00
Randy Mackay
edab06a3ff Copter: truncate mission before uploading new mission 
replacing clear with truncate allows new missions to be uploaded while
the current mission is running
 2014-03-19 12:12:36 +09:00
Randy Mackay
f3813593b7 Copter: use Dataflash lib's Log_Write_Cmd 2014-03-19 12:12:11 +09:00
Randy Mackay
7b6906ae3f Copter: integrate variable max num commands 2014-03-19 12:12:01 +09:00
Randy Mackay
b587d0d597 Copter: pass eeprom start to Mission constructor 2014-03-19 12:11:56 +09:00
Randy Mackay
b718b9070a Copter: call mission.init during startup 2014-03-19 12:11:47 +09:00
Randy Mackay
cc7b1c4e9c Copter: init_home checks cmd read success before logging 2014-03-19 12:11:39 +09:00
Randy Mackay
fa96e9355b Copter: init cmd before saving with Ch7/Ch8 2014-03-19 12:11:21 +09:00
Randy Mackay
0fc36fd244 Copter: CMD dataflash logs use uint16 for total and num 2014-03-19 12:11:15 +09:00
Randy Mackay
6bb05750e7 Copter: remove alt_in_cm from mavlink to cmd conversion 2014-03-19 12:11:04 +09:00
Randy Mackay
04166c1686 Copter: replace memset in GCS_Mavlink 2014-03-19 12:10:52 +09:00
Randy Mackay
c3162f67e8 Copter: integrate move of p1 from Location to mission cmd 2014-03-19 12:10:48 +09:00
Randy Mackay
aade894014 Copter: integrate replace_cmd 2014-03-19 12:10:43 +09:00
Randy Mackay
54c99d84ea Copter: integrate AP_Mission set_current_cmd 2014-03-19 12:10:39 +09:00
Randy Mackay
36af34bf8b Copter: send current wp as 65535 to GCS when mission complete 2014-03-19 12:10:34 +09:00
Randy Mackay
92738533fe Copter: auto starts only when num cmds > 1 
num_commands will be 1 when there is no mission because home counts as
the first command
 2014-03-19 12:10:30 +09:00
Randy Mackay
f77b2af661 Copter: use common location options masks 2014-03-19 12:10:26 +09:00
Randy Mackay
070cbc9250 Copter: use Mission mav to cmd conversion methods 2014-03-19 12:10:24 +09:00
Randy Mackay
67a4b47f6b Copter: pass ahrs into mission constructor 2014-03-19 12:10:15 +09:00
Randy Mackay
37fe229ded Copter: remove unused definitions 2014-03-19 12:10:12 +09:00
Randy Mackay
359f1a27ec Copter: process cmds from mission lib 2014-03-19 12:10:11 +09:00
Randy Mackay
6e0e672fb2 Copter: log using mission commands 2014-03-19 12:10:09 +09:00
Randy Mackay
43c7310540 Copter: ch7 save wp feature to use ap_mission 2014-03-19 12:10:08 +09:00
Randy Mackay
ffc418dfe3 Copter: add mavlink packet to cmd conversion to GCS_Mavlink.pde 2014-03-19 12:10:06 +09:00
Randy Mackay
9f03e21f81 Copter: remove low-level handling of mission cmds 
Now handled by AP_Mission
 2014-03-19 12:10:04 +09:00
Randy Mackay
5d568502a0 Copter: instantiate AP_Mission object 2014-03-19 12:10:03 +09:00
Randy Mackay
1bad6a4b15 Copter: add AP_Mission object parameter 
Remove global command_total and command_index parameters
 2014-03-19 12:10:01 +09:00
Randy Mackay
0d23c3b910 Copter: initialise vertical speed for Loiter mode 2014-03-17 10:17:57 +09:00
Holger Steinhaus
39df609235 Copter: fixed vertical speed init for ALT_HOLD mode 2014-03-17 10:12:35 +09:00
Andrew Tridgell
43d009e3a5 Copter: set 2nd GPS as secondary 2014-03-08 21:48:18 +11:00
Randy Mackay
9287e28307 Copter: bug fix display of PerfMon log's num long loops 2014-03-08 15:17:03 +09:00
Randy Mackay
54e131cf1f Copter: re-enable CLI for Pixhawk 2014-03-08 15:17:02 +09:00
Randy Mackay
6efc26d3a6 Copter: restore mount's mode to default after ROI completes 2014-03-05 16:02:14 +09:00
Randy Mackay
7992a1a7d3 Copter: disable the CLI by default 
This is unfortunate but master's flash size is over the APM2 limit
 2014-03-05 12:03:56 +09:00
Randy Mackay
4f963e7795 Copter: move report_compass out of the CLI 
This function is also used by compassmot.  Having it strictly part of
the CLI causes a compile error when the CLI is disabled
 2014-03-05 12:01:45 +09:00
Randy Mackay
00f9843e40 Copter: remove CLI tests for gps, logging, radio 
Required to shrink the firmware down so that it can fit on the APM2
boards
 2014-03-05 11:44:09 +09:00
Randy Mackay
fc85228d09 Copter: remove CLI set 
Frees about 1k of flash
 2014-03-04 22:23:57 +09:00
Randy Mackay
3a934357e9 Copter: remove unused reset_land_detector 2014-03-04 22:23:55 +09:00
Randy Mackay
c56f521897 Copter: ch6 tuning of RC_FEEL_RP 2014-03-04 22:23:53 +09:00
Randy Mackay
e89600afe3 Copter: integrate smoothing gain into flight modes 2014-03-04 22:23:52 +09:00
Randy Mackay
3910ab807f Copter: replace input filtering with smoothing gain 2014-03-04 22:23:50 +09:00
Randy Mackay
429e8d5e50 Copter: integrate AttControl feel param 2014-03-04 22:23:49 +09:00
lthall
a9db399f60 Copter: integrate AttControl input shaping 2014-03-04 21:52:20 +09:00
Andrew Tridgell
86fa82f767 Copter: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:47 +11:00
Andrew Tridgell
3de574e5dc Copter: disable GPS2 in HIL 2014-02-27 08:16:20 +11:00
Andrew Tridgell
37394b30ee Copter: added support for 2nd GPS 2014-02-26 09:40:29 +11:00
Andrew Tridgell
2fcbdc4056 Copter: pass fix type to gps->setHIL() 2014-02-25 21:11:10 +11:00
Andrew Tridgell
ffcc77a21f Copter: fix for HIL API change 2014-02-23 08:18:20 +11:00
Randy Mackay
d992483bf5 Copter: add EKF params to full param list 2014-02-21 13:51:22 +09:00
Randy Mackay
797212c7ab Copter: remove remnant of cli compassmot 2014-02-19 16:04:10 +11:00
Randy Mackay
2457dbf0cd Copter: more checks before starting compassmot 
additional checks that copter is landed and that compassmot calibration
isn't already being performed.
Returns ACK to ground station as process begins
 2014-02-19 16:04:03 +11:00
Andrew Tridgell
76b60a1a52 Copter: added compassmot over MAVLink 
use the MAVLink interact code to allow for compassmot over MAVLink

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-02-19 16:04:00 +11:00
Andrew Tridgell
a45d77f893 Copter: set the ahrs.set_armed() flag 2014-02-19 10:53:44 +11:00
Andrew Tridgell
0cbe64bc5e Copter: use Log_Write_Baro() 
this gives the raw pressure and temperature, which is useful for
analysis, plus allows for more accurate log replay
 2014-02-19 09:22:45 +11:00
Randy Mackay
fdae812814 Copter: DO_SET_ROI persists across waypoints 
Users should add a DO_SET_ROI command with zero lat, lon and alt to
restore the yaw control to the default control (which is normally
look-at-next-wp)
 2014-02-18 21:36:02 +09:00
Randy Mackay
bf68edd01c Copter: bug fix to 50hz logging rate 
Caught by Emile Castelnuovo
 2014-02-17 22:25:02 +09:00
Randy Mackay
d9b7559379 Copter: remove duplicate #define from APM_Config.h 2014-02-17 16:44:47 +09:00
Randy Mackay
4e1c51aa65 Copter: bug to disarm at end of mission 2014-02-17 16:43:49 +09:00
Andrew Tridgell
ce66314f40 Copter: fixed HIL build on PX4 2014-02-17 12:34:34 +11:00
proficnc
bbf5c11c8a Update Parameters.pde 
Moved Disabled to the bottom of the drop-down box for selecting logging types.
This is to reduce the potential for someone to accidentally select Disabled when they intend on selecting Default.
 2014-02-17 10:02:45 +11:00
Randy Mackay
00913ffe1b Copter: throttle rate to simple P controller 
Saves at least 15bytes of RAM
 2014-02-16 13:35:40 +11:00
Randy Mackay
9444ba7ea8 TradHeli: init roll/pitch input filter 2014-02-16 13:35:33 +11:00
Randy Mackay
b259510095 Copter: init roll/pitch input filters 2014-02-16 13:35:30 +11:00
Andrew Tridgell
9c66dd0d2c Copter: change to Compass::learn_offsets 2014-02-16 13:22:13 +11:00
Randy Mackay
aab9b30bf6 Copter: replace APM_PI with AC_P 
Saves about 90bytes of RAM
 2014-02-15 06:09:08 +11:00
Randy Mackay
3f10a84a2a Copter: remove accel calibration from cli 
Also remove compass, flight mode, optical flow, radio and ch6 tuning
knob setup from cli to free up 3.5k of flash
 2014-02-15 06:09:08 +11:00
Randy Mackay
3ccd1ad170 Copter: integrate AttControl method name changes 2014-02-15 06:09:08 +11:00
Randy Mackay
6880a6db80 TradHeli: integrate AttControl method name changes 2014-02-15 06:09:08 +11:00
lthall
7ed5080dc9 Copter: simplify get_angle_targets_for_reporting 2014-02-15 06:09:08 +11:00
lthall
41dcfae7c0 AC Acro and Sport: Angle limit code update 2014-02-15 06:09:08 +11:00
Andrew Tridgell
ebf6d47830 Copter: disable direct tuning, we need accessors for this 2014-02-15 05:48:24 +11:00
Andrew Tridgell
2fbdf7f718 Copter: fixed build for AHRS API changes 2014-02-15 05:48:22 +11:00
Andrew Tridgell
a8dc1be4de Copter: fixed non-EKF copter build 2014-02-15 05:48:21 +11:00
Randy Mackay
20989fd5e9 Copter: allow ch6 tuning of EKF 2014-02-15 05:48:20 +11:00
Andrew Tridgell
86afd13f12 Copter: use GPS AIRBORNE_4G 2014-02-15 05:48:17 +11:00
Andrew Tridgell
a112694a50 Copter: added AUX switch option for enable/disable EKF 2014-02-15 05:48:17 +11:00
Andrew Tridgell
5606e2f4a7 Copter: enabled EKF and SIMSTATE flash logging 2014-02-15 05:48:16 +11:00
Andrew Tridgell
6a9189a6a5 Copter: enable AHRS2 mavlink message 2014-02-15 05:48:16 +11:00
Andrew Tridgell
99b3517a47 Copter: use AP_InertialNav_NavEKF when available 2014-02-15 05:48:15 +11:00
Andrew Tridgell
686d1b9124 Copter: changes set_home_position() to setup_home_position() for Inav 2014-02-15 05:48:15 +11:00
Andrew Tridgell
c6e25483b4 Copter: use a common home with AHRS 2014-02-15 05:48:15 +11:00
Andrew Tridgell
9cc00d20eb Copter: fixed for removed DCM blowup counts 2014-02-15 05:29:48 +11:00
Andrew Tridgell
79a29d12f2 Copter: fixed build for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell
af5a3dff93 Copter: enable use of AHRS_NavEKF 2014-02-15 05:29:47 +11:00
Andrew Tridgell
24f2ac20de Copter: removed HIL_MODE_ATTITUDE 
this really can't work any more, as AHRS can't support it
 2014-02-15 05:29:46 +11:00
Andrew Tridgell
644bf71f56 Copter: fixed build for InertialNav change 2014-02-15 05:29:46 +11:00
Randy Mackay
006cf58b2d Copter: fix merge error for g.angle_max 2014-02-15 05:27:51 +11:00
Randy Mackay
5e8fede19e Copter: comment fix to Attitude.pde 2014-02-15 05:27:50 +11:00
Randy Mackay
aa79e22ce0 Drift: bug fix for throttle 2014-02-15 05:27:50 +11:00
Randy Mackay
10a0303706 Copter: smooth throttle transition between flight modes 2014-02-15 05:27:50 +11:00
Randy Mackay
0df1dc267b Copter: integrate WPNav constructor change 2014-02-15 05:27:50 +11:00
Randy Mackay
1b8055aed9 Copter: remove unused t7 const 
Saves 4 bytes
 2014-02-15 05:27:49 +11:00
Randy Mackay
2b3995ccb5 Copter: integrate refs for RC_Channels in motor defs 2014-02-15 05:27:49 +11:00
Randy Mackay
9f78f65413 TradHeli: integrate leonard's control_acro fixes 2014-02-15 05:27:49 +11:00
Randy Mackay
bf6bb59cb4 Copter: Leonard's control_acro fixes 
get_pilot_desired_angle_rates returns bf rate targets as floats
 2014-02-15 05:27:49 +11:00
Randy Mackay
6380a39d3a Copter: remote update_trig from main code 2014-02-15 05:27:48 +11:00
Randy Mackay
75b20bde7c Copter: control_acro, drift use trig from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay
aa4c3eaffe Copter: resolve RTL state compiler warnings 2014-02-15 05:27:48 +11:00
Randy Mackay
12a4ce70fd Copter: remove control_roll, pitch, yaw variables 2014-02-15 05:27:47 +11:00
Randy Mackay
2c1ec9d0c0 Copter: remove control_roll, pitch, yaw from control files 2014-02-15 05:27:47 +11:00
Randy Mackay
e8c4e8a472 Copter: integrate get_angle_target_for_reporting 
Used for logging and sending to GCS
 2014-02-15 05:27:47 +11:00
Randy Mackay
d579325e2a Copter: add get_angle_targets_for_reporting 
This returns the current earth frame roll, pitch and yaw targets which
can depend upon the flight mode
 2014-02-15 05:27:47 +11:00
Randy Mackay
1acd33e290 Copter: do_yaw takes yaw target from AttControl 2014-02-15 05:27:47 +11:00
Randy Mackay
ea1158a9d5 Copter: remove unused config 2014-02-15 05:27:47 +11:00
Randy Mackay
9ef3fd850f Copter: remove use of SUPER_SIMPLE definition 2014-02-15 05:27:47 +11:00
Randy Mackay
b37b0c5061 TradHeli: remove use of throttle_mode 2014-02-15 05:27:47 +11:00
Randy Mackay
b0673d693b Copter: move set_mode, to flight_mode.pde 2014-02-15 05:27:47 +11:00
Randy Mackay
b8bb477731 Copter: add flight_mode.pde 2014-02-15 05:27:47 +11:00
Randy Mackay
38d5148b99 Copter: remove reset_I_all 
Each controller should reset the I terms as needed
 2014-02-15 05:27:47 +11:00
Randy Mackay
72a3f14561 Copter: move reset_optflow_I to control_ofloiter 2014-02-15 05:27:46 +11:00
Randy Mackay
7afa0a767c Copter: correct circle rate tuning to use circle_nav 2014-02-15 05:27:46 +11:00
Randy Mackay
3e399fd830 Copter: remove unused parameters 2014-02-15 05:27:46 +11:00
Randy Mackay
81c7df7678 Copter: comment fix 2014-02-15 05:27:46 +11:00
Randy Mackay
0e0d02cd6d Copter: remove unused init from sport mode 2014-02-15 05:27:46 +11:00
Randy Mackay
3d926a6943 Copter: GCS_Mavlink gets gyro direct from imu 2014-02-15 05:27:46 +11:00
Randy Mackay
f46ff2b44e Copter: remove unused defines 2014-02-15 05:27:46 +11:00
Randy Mackay
fe26af86de Copter: crash check works with flip flight mode 2014-02-15 05:27:46 +11:00
Randy Mackay
22280e1c57 Copter: integrate surface_tracking to control_althold 2014-02-15 05:27:46 +11:00
Randy Mackay
3824f528ea Copter: get angle_boost direct from pos_control 2014-02-15 05:27:46 +11:00
Randy Mackay
90c5fe4be4 Copter: surface_tracking takes current_alt_target param 2014-02-15 05:27:46 +11:00
Randy Mackay
989a03a643 Copter: remove unused flags and variables 2014-02-15 05:27:45 +11:00
Randy Mackay
174318a2a9 Copter: remove set_nav_mode 2014-02-15 05:27:45 +11:00
Randy Mackay
aedb4136de Copter: update_thr_cruise removed from control_stabilize 2014-02-15 05:27:45 +11:00
Randy Mackay
223c6fd4de Copter: remove deadwood, update_thr_cruise always runs 2014-02-15 05:27:45 +11:00
Randy Mackay
2870d043f8 Copter: remove unused drift.pde 
moved to control_drift.pde
 2014-02-15 05:27:45 +11:00
Randy Mackay
1cd678f684 Copter: compiler warning for control_autotune 2014-02-15 05:27:45 +11:00
Randy Mackay
d3a126d078 Copter: integrate slew_yaw into control_auto 2014-02-15 05:27:45 +11:00
Randy Mackay
364946cb7f Copter: AttControl param prefix shortened to ATC 2014-02-15 05:27:45 +11:00
Randy Mackay
814157324d Copter: APM_Config AUTOTUNE_ENABLED 2014-02-15 05:27:45 +11:00
Randy Mackay
89a50ed445 Copter: comment fix for control_stabilize 2014-02-15 05:27:45 +11:00
Randy Mackay
0107b2a95d Copter: remove unused auto_tune.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
aec67cd3df Copter: integrate control_autotune 2014-02-15 05:27:44 +11:00
Randy Mackay
823485f763 Copter: add control_autotune.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
b87852ee2e Copter: remove unused flip.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
d90d3d8dca Copter: integrate control_flip 2014-02-15 05:27:44 +11:00
Randy Mackay
47deb795bd Copter: add control_flip 2014-02-15 05:27:44 +11:00
Randy Mackay
1648ecc6e5 Copter: bug fix for heli_control_acro throttle 2014-02-15 05:27:44 +11:00
Randy Mackay
c73c9f03a5 Copter: bug fix for control_acro throttle 2014-02-15 05:27:44 +11:00
Randy Mackay
164bd10ef0 TradHeli: init targets when entering acro 2014-02-15 05:27:44 +11:00
Randy Mackay
fdf41219ca Copter: init targets when entering acro 2014-02-15 05:27:44 +11:00
Randy Mackay
9f33873b2e Copter: typo in control_acro.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
ec989c720c Copter: integrate heli_control_acro 2014-02-15 05:27:43 +11:00
Randy Mackay
5aaa01ab30 TradHeli: heli_control_acro 2014-02-15 05:27:43 +11:00
Randy Mackay
922dff0514 Copter: integrate heli_control_stabilize 2014-02-15 05:27:43 +11:00
Randy Mackay
41ab2547d7 Copter: control_stabilize remove takeoff_complete 2014-02-15 05:27:43 +11:00
Randy Mackay
bca309eb1e Copter: replace takeoff_complete with landed_complete 2014-02-15 05:27:43 +11:00
Randy Mackay
2940688301 TradHeli: heli_control_stabilize 2014-02-15 05:27:43 +11:00
Randy Mackay
91124bcf8b TradHeli: remove get_heli_rate_yaw from main code 2014-02-15 05:27:43 +11:00
Randy Mackay
3b0de0d23d Copter: integrate trad heli AttControl 2014-02-15 05:27:43 +11:00
Randy Mackay
ef666c73ab Copter: remove Position mode 2014-02-15 05:27:42 +11:00
Randy Mackay
c632211c8c Copter: get_of_roll, get_of_pitch moved to control_ofloiter 2014-02-15 05:27:42 +11:00
Randy Mackay
837061fd65 Copter: control_ofloiter added 2014-02-15 05:27:42 +11:00
Robert Lefebvre
c561d6bb9e Small comment change. 2014-02-15 05:27:42 +11:00
Randy Mackay
54be8402a2 Copter: integrate control_guided 2014-02-15 05:27:42 +11:00
Randy Mackay
798add0b5c Copter: remove guided from control_auto.pde 2014-02-15 05:27:42 +11:00
Randy Mackay
0e41b01ad0 Copter: control_guided added 2014-02-15 05:27:41 +11:00
Randy Mackay
245bcd7c2c Copter: removed althold, drift, sport from control_stabilize 2014-02-15 05:27:41 +11:00
Randy Mackay
d85c57999d Copter: althold moved to control_althold.pde 2014-02-15 05:27:41 +11:00
Randy Mackay
2e6327be06 Copter: sport moved to control_sport.pde 2014-02-15 05:27:41 +11:00
Randy Mackay
70c8b622e2 Copter: drift moved to control_drift 2014-02-15 05:27:41 +11:00
Randy Mackay
212ced63f6 Copter: bug fix for do_loiter_time alt target 2014-02-15 05:27:41 +11:00
Randy Mackay
37bde3406d Copter: remove comments 2014-02-15 05:27:41 +11:00
Randy Mackay
70d1e53b74 Copter: commands_logic to use auto_rtl 2014-02-15 05:27:41 +11:00
Randy Mackay
1457a9d31a Copter: auto_mode to global scope 2014-02-15 05:27:41 +11:00
Randy Mackay
7970d7112f Copter: add rtl to control_auto 2014-02-15 05:27:41 +11:00
Randy Mackay
1f07c2efe0 Copter: remove old circle 2014-02-15 05:27:41 +11:00
Randy Mackay
bae867712d Copter: integrate circle mission command 2014-02-15 05:27:41 +11:00
Randy Mackay
ff2b8ff6f2 Copter: add circle to control_auto 2014-02-15 05:27:40 +11:00
Randy Mackay
cbf6e6a945 Copter: mostly working circle flight mode 2014-02-15 05:27:40 +11:00
lthall
8268e27d49 Copter: ACRO further clean up 2014-02-15 05:27:40 +11:00
Randy Mackay
af890e0f8d Copter: add AC_Circle include 2014-02-15 05:27:40 +11:00
Randy Mackay
83a767f3db Copter: control_circle.pde added 2014-02-15 05:27:40 +11:00
Randy Mackay
3b9ae02966 Copter: add Circle parameter 2014-02-15 05:27:40 +11:00
lthall
e979263c56 Copter: ACRO clean up and mistake fixes 2014-02-15 05:27:40 +11:00
lthall
ed7dd58c01 this is a test 2014-02-15 05:27:40 +11:00
Randy Mackay
8b9eb7ab2b Copter: WPNav constructor change 2014-02-15 05:27:39 +11:00
Randy Mackay
b1449d59ee Copter: resolve conflict between control_auto, control_rtl states 2014-02-15 05:27:39 +11:00
Randy Mackay
055ce4e53e Copter: integrate control_rtl 2014-02-15 05:27:39 +11:00
Randy Mackay
689e92eb33 Copter: control_rtl 2014-02-15 05:27:39 +11:00
Randy Mackay
bd88ed8a53 Copter: LAND at stopping point instead of curr pos 2014-02-15 05:27:39 +11:00
Randy Mackay
cdc935b66d Copter: implement auto_land with Loiter controller 2014-02-15 05:27:39 +11:00
Randy Mackay
93d43f8ca5 Copter: remove unused var from acro 2014-02-15 05:27:39 +11:00
Randy Mackay
32b8f80510 Copter: Acro flight mode from Leonard 2014-02-15 05:27:38 +11:00
Randy Mackay
cdc0f8e414 Copter: use new control_auto takeoff and land 2014-02-15 05:27:38 +11:00
Randy Mackay
0dabc0c577 Copter: control_auto - takeoff, land 2014-02-15 05:27:38 +11:00
Randy Mackay
eec62cb16a Copter: control_loiter initialises alt target 2014-02-15 05:27:38 +11:00
Randy Mackay
6ba91369ff Copter: split control_land into gps and non-gps 2014-02-15 05:27:38 +11:00
Randy Mackay
011de6683e Copter: land_detector moved to control_land 2014-02-15 05:27:38 +11:00
Randy Mackay
96c61fcf28 Copter: removed get_throttle_land 
Now in the control_land.pde
 2014-02-15 05:27:38 +11:00
Randy Mackay
3b003ea3e6 Copter: remove setting of nav mode 2014-02-15 05:27:38 +11:00
Randy Mackay
924e2a66ce Copter: split control_auto into separate file 2014-02-15 05:27:38 +11:00
Randy Mackay
e27f4c1c13 Copter: split control_stabilize into land, rtl, loiter 2014-02-15 05:27:38 +11:00
Randy Mackay
d92e894af6 Copter: get_throttle_surface_tracking returns climb rate 2014-02-15 05:27:37 +11:00
Randy Mackay
c92de71212 Copter: control_stabilize, - integrate changes to get_throttle_surface_tracking 2014-02-15 05:27:37 +11:00
Randy Mackay
f3bcbb2ce4 Copter: remove setting roll, pitch yaw modes in set_mode 2014-02-15 05:27:37 +11:00
Randy Mackay
d70862e44b Copter: remove case that does nothing 2014-02-15 05:27:37 +11:00
Randy Mackay
65f7bf92f4 Copter: replace yaw_mode with auto_yaw_mode 2014-02-15 05:27:37 +11:00
Randy Mackay
1b714defcc Copter: move auto to control_auto.pde and fix yaw 2014-02-15 05:27:37 +11:00
Randy Mackay
8e40cbdd7f Copter: disable ch7/8 feature to point at armed yaw 2014-02-15 05:27:37 +11:00
Randy Mackay
4540fb3fef Copter: remove set roll-pitch, yaw, thr modes for ACRO, LOITER 2014-02-15 05:27:36 +11:00
Randy Mackay
dc6f622d48 Copter: move NTUN logging to 10hz loop 2014-02-15 05:27:36 +11:00
Randy Mackay
8e08a1f8ab Copter: remove debug 2014-02-15 05:27:36 +11:00
Randy Mackay
f5c305e960 Copter: control_stabilize rename wp_nav calls 2014-02-15 05:27:36 +11:00
Randy Mackay
b29a963fd6 Copter: remove unused Attitude.pde functions 2014-02-15 05:27:36 +11:00
Randy Mackay
0a2adbac1b Copter: renaming functions after moving xy control 2014-02-15 05:27:36 +11:00
Randy Mackay
9843e93308 Copter: control_stabilize - much renaming as xy pos controller moves 2014-02-15 05:27:36 +11:00
Randy Mackay
5fd9410ff5 Copter: much renaming as xy pos controller moves 2014-02-15 05:27:36 +11:00
Randy Mackay
f0c538f8fb Copter: control_stabilize comment update 2014-02-15 05:27:36 +11:00
Randy Mackay
d380e6b4d3 Copter: integrate add ref to AC_Pos_Control from WP_Nav 2014-02-15 05:27:35 +11:00
Randy Mackay
aaa62eeb28 Copter: integrated simpler init loiter from WP_Nav 2014-02-15 05:27:35 +11:00