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3182 Commits

Author SHA1 Message Date
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
Randy Mackay
49367c5a30 Copter: GCS.h include fix 2014-02-15 05:27:35 +11:00
Randy Mackay
eddb593ee2 Copter: althold uses high level angle controller 2014-02-15 05:27:35 +11:00
Randy Mackay
bdf95bd835 Copter: stabilize uses high level angle controller 2014-02-15 05:27:35 +11:00
Randy Mackay
a52e220724 Copter: add loiter controller to onion 
Also add ignore_checks to flight mode initialisation
 2014-02-15 05:27:35 +11:00
Randy Mackay
7e37b16ccb Copter: move update_flight_mode to fast loop 2014-02-15 05:27:35 +11:00
Randy Mackay
784f7385b5 Copter: add attitude and pos control params 2014-02-15 05:27:35 +11:00
Randy Mackay
b34664ea07 Copter: remove unused altitude error 2014-02-15 05:27:34 +11:00
Randy Mackay
e69eeea246 Copter: log alt target from PosControl 2014-02-15 05:27:34 +11:00
Randy Mackay
44e731ea40 Copter: control_stabilize reports alt target 2014-02-15 05:27:34 +11:00
Randy Mackay
abb42bcb41 Copter: remove unused run_rate_controllers 2014-02-15 05:27:34 +11:00
Randy Mackay
e1bf4af1b8 Copter: bug fix to set angle_boost in stab mode 2014-02-15 05:27:34 +11:00
Randy Mackay
77c38f4de4 Copter: integrate init take-off 2014-02-15 05:27:34 +11:00
Randy Mackay
2c03a3a3c6 Copter: set pos_control.set_dt 2014-02-15 05:27:34 +11:00
Randy Mackay
faf1e99f1a Copter: surface tracking to use pos_control 2014-02-15 05:27:33 +11:00
Randy Mackay
5649b7f4d9 Copter: integrate AC_PosControl constructor changes 2014-02-15 05:27:33 +11:00
Randy Mackay
4840ce238a Copter: skeleton AltHold flight mode 2014-02-15 05:27:33 +11:00
Randy Mackay
7784fc7645 Copter: update pos_control's hover throttle 2014-02-15 05:27:33 +11:00
Randy Mackay
33552b63d8 Copter: early integration of AC_PosControl 2014-02-15 05:27:33 +11:00
Randy Mackay
3146299a0f Copter: move control_stabilize yaw input higher 2014-02-15 05:27:33 +11:00
Randy Mackay
7f56b28767 Copter: move thr control to control_stabilize 2014-02-15 05:27:33 +11:00
Randy Mackay
2253cf9769 Copter: run main loop at 400hz for pixhawk 2014-02-15 05:27:33 +11:00
Randy Mackay
3a78263921 Copter: skeleton init call for all flight modes 2014-02-15 05:27:33 +11:00
Randy Mackay
0431b7e1d4 Copter: bug fix for stabilize_run's yaw control 2014-02-15 05:27:33 +11:00
Randy Mackay
1fdfa751e6 Copter: integrate replacement of timers with set_dt 2014-02-15 05:27:33 +11:00
Randy Mackay
c8e277703d Copter: add acro_run skeleton 2014-02-15 05:27:33 +11:00
Randy Mackay
c2ca5c46b8 Copter: correct auto_run 2014-02-15 05:27:32 +11:00
Randy Mackay
1cf065e1df Copter: remove debug for control_stabilize 2014-02-15 05:27:32 +11:00
Randy Mackay
cbe56bba25 Copter: integrate AC_AttitudeControl 2014-02-15 05:27:32 +11:00
Randy Mackay
7b9a48107e Copter: move angle_max parameter to AP_Vehicle 2014-02-15 05:27:32 +11:00
Andrew Tridgell
2bf7a46c9b Copter: log power status on Pixhawk 2014-02-15 05:00:09 +11:00
Andrew Tridgell
0a3476bbf1 Copter: change to new board_voltage() API 2014-02-14 21:50:59 +11:00
Randy Mackay
bd0cb83263 Copter: release notes for AC3.1.2 2014-02-13 21:21:56 +09:00
Randy Mackay
78b31f4b16 Copter: readme file renamed and directs to wiki 2014-02-12 21:03:45 +09:00
Randy Mackay
a5e98c11ad Copter: Release notes for AC3.1.2-rc2 2014-02-12 20:20:10 +09:00
Randy Mackay
2219f21744 Copter: add RC_FEEL_RP parameter 
Values from 0 ~ 100 control amount of filtering on roll and pitch input.
100 = no filter so crisp feel, 0 = a lot of filtering so very sluggish
response
 2014-02-12 16:28:41 +09:00
Randy Mackay
89b222f1cf Copter: only report gps glitch when usb disconnected 2014-02-11 11:43:24 +09:00
Randy Mackay
8f5585423c Copter: use ahrs trig values 2014-02-08 18:16:49 +09:00
Randy Mackay
5bcc2f5ca5 Copter: version to AC3.2-dev 2014-02-08 11:32:59 +09:00
Randy Mackay
69c165b3b3 Copter: correct release note dates 2014-02-07 22:30:19 +09:00
Randy Mackay
ac9f0b5fd1 Copter: remove setup_aux_channels 
moved to individual motors libraries
 2014-02-07 22:04:28 +09:00
Randy Mackay
91b78c0cbe Copter: bug fix for duplicate single and coax params 2014-02-07 17:07:51 +09:00
Dneault
4b3699f985 Copter: coax allows ch5 and higher for do_set_servo cmd 2014-02-07 12:36:22 +09:00
Randy Mackay
5d929351ca Copter: removed unused servo3, servo4 from coax 2014-02-07 12:36:17 +09:00
Randy Mackay
e6f4fb4828 Copter: moved coax servo set-up to AP_MotorCoax 2014-02-07 12:36:11 +09:00
Dneault
f48e106271 Copter: add coax heli support 
Motors should be attached to RCOutputs 1 and 2, Flaps should be connected
to RC outputs 3 and 4
 2014-02-07 12:36:04 +09:00
Andrew Tridgell
dc6433d63c Copter: ensure that motor channels cannot be used for auxillary functions 
disable RC_Channel_aux channels that are used for motors. This perhaps
should be done by the AP_Motors library, but for now this is simpler
 2014-02-06 21:34:47 +11:00
Andrew Tridgell
5a3a7f1cec Copter: use new RC_Channels API 2014-02-06 10:17:16 +11:00
Andrew Tridgell
415db390af Copter: check param table on startup 2014-01-31 13:10:00 +11:00
Randy Mackay
e13984f6c1 Copter: remove unused compat.pde entries 2014-01-30 14:33:55 +09:00
Randy Mackay
a078d00e6a Copter: firmware to AC3.1.2-rc1 2014-01-30 14:00:20 +09:00
Randy Mackay
214a859e97 Copter: remove unused RADX100 definition 
The real purpose of this small change is to kick off the autobuilder for
the AC3.1.1 release.
 2014-01-26 13:41:14 +09:00
Randy Mackay
3ba5b70736 Copter: fix compiler warning from motorsync test 2014-01-26 11:08:34 +09:00
Randy Mackay
a45b9cbe9a Copter: remove unused RELAY_TOGGLE definition 2014-01-26 10:10:02 +09:00
Stefan
a6b6d46a30 Copter: Update ReleaseNotes.txt 2014-01-22 15:05:31 +09:00
Ju1ien
311bba1419 Copter: landing_complete stays true until thr is raised 
The idea of the fix is we can't leave land while throttle is 0 and then
we ignore the baro and it's disturbances.
 2014-01-22 14:38:35 +09:00
Randy Mackay
7fcd847f77 Copter: reword FRAME parameter's @Value 2014-01-22 11:35:35 +09:00
Randy Mackay
231e3ccaac Copter: add NewX @Value for FRAME parameter 2014-01-22 10:57:17 +09:00
Randy Mackay
dee5fb212a Copter: remove dup definition of FRAME_ORIENTATION 
Ideally the frame orientation parameter should be moved to the motors
class
 2014-01-21 21:44:17 +09:00
Randy Mackay
f7f8691ca3 Copter: remove frame setup through CLI 2014-01-21 21:42:59 +09:00
Randy Mackay
34f14a7c13 Copter: version to AC3.1.1-rc2 
This update applies to pixhawk only
 2014-01-21 21:23:11 +09:00
Randy Mackay
3c7e7db8a7 Copter: AC3.1.1-rc2 release notes 2014-01-21 21:22:42 +09:00
Andrew Tridgell
e8b8cc1a5d Copter: converted to AP_ServoRelayEvents 2014-01-20 17:06:29 +11:00
Andrew Tridgell
e3804e2846 Copter: fixes for AP_Relay API change 2014-01-20 17:06:29 +11:00
Andrew Tridgell
50a90a1043 Copter: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Randy Mackay
111d0854a7 Copter: motorsync cli test 2014-01-18 17:00:43 +09:00
Randy Mackay
0f957bdc5a Copter: lean angle arming check 2014-01-17 17:31:28 +09:00
Randy Mackay
a7f03619f2 Copter: add inav vs baro arming check 
In-flight Barometer sanity checking will be a more complete solution but
until then this should catch some bad pre-flight barometer behaviour
 2014-01-17 17:21:42 +09:00
Andrew Chapman
b7eab7ea22 Copter: Added GCS feedback for save_trim() 
Trim save gives no feedback, so I've added a gcs_send_text() call to
print "Trim saved" so the user knows to re-center trims again
 2014-01-16 14:23:19 +09:00
Randy Mackay
8a29d63d89 Copter: faster baro calibration when arming 
using update_calibration() instead of the full calibrate() cuts
1.5seconds of the arming time
 2014-01-15 23:28:24 +09:00
Randy Mackay
ae4f368f16 Copter: allow ch6 tuning of loiter speed 2014-01-15 15:22:52 +09:00
Randy Mackay
6d55895d30 Copter: simplify do-set-servo mission command 
This potentially changes the servo number that must be supplied if using
an APM1 but it now shares the same logic as arduplane and also adds
protection that the servo is not attached to the motor.
removed debug message from previous commit.
 2014-01-15 14:36:50 +09:00
Randy Mackay
67c2bc7d0b Copter: add support for MAV_CMD_DO_SET_SERVO 2014-01-15 14:03:04 +09:00
Randy Mackay
a9f1a2ee5e Copter: disarm on land even if pilot throttle not zero 
default behaviour remains as before, this is an compile time option only
 2014-01-15 11:31:00 +09:00
Randy Mackay
ac99d2d19a Copter: update AC3.1.1-rc1 release notes 2014-01-14 21:56:15 +09:00
Randy Mackay
a3527ade61 Copter: move EARTH_FRAME definition to defines.h 
defines.h is for defining enumerations and other unchanging values while
config.h is for changeable values like parameter defaults, enabling or
disabling sensors.
 2014-01-14 21:53:13 +09:00
Randy Mackay
66859686a0 Copter: remove some unused definitions 2014-01-14 21:21:54 +09:00
Randy Mackay
dd5521aa06 Copter: update version to AC3.1.1-rc1 2014-01-14 21:01:54 +09:00
Randy Mackay
b1525a421b Copter: AC3.1.1-rc1 release notes 2014-01-14 21:01:40 +09:00
Andrew Tridgell
4f2ce31cb7 Copter: log PX4 and NuttX versions in logs 2014-01-14 15:38:51 +11:00
Andrew Tridgell
e52f8d6598 Copter: prevent log corruption during log creation 2014-01-14 14:37:48 +11:00
Andrew Tridgell
8a41b18a1f Copter: use uppercase names on SD card where possible 2014-01-14 12:46:26 +11:00
Bill Bonney
a6078cd281 Copter: Fix SYSID ranges to support GCS display of param correctly 2014-01-14 10:32:42 +09:00
Randy Mackay
138c2803be Copter: combine NTUN and INAV dataflash msgs 2014-01-13 22:00:11 +09:00
Randy Mackay
1e8a79eeaf Copter: add TimeMS, InavAlt to CTUN df msg 2014-01-13 21:31:43 +09:00
Randy Mackay
97b18314ac Copter: add time to ATT, MAG, CURR dataflash msgs 2014-01-13 20:46:54 +09:00
Randy Mackay
df9d1614e2 Copter: remove PID logging 
Almost never used and eats up limited log description space
 2014-01-13 17:23:39 +09:00
Randy Mackay
5e0ddd299f Copter: disable OPTFLOW for SITL 2014-01-13 17:11:27 +09:00
Randy Mackay
61f319ce38 Copter: disable OPTFLOW for PX4/Pixhawk 2014-01-13 12:02:03 +09:00
Randy Mackay
b3d20bb8aa TradHeli: Drift mode to use heli manual throttle 2014-01-10 11:06:06 +09:00
Robert Lefebvre
8b36c59d8b TradHeli: rename Stab_Col parameters 
With H_ prefix they appear with the rest of the tradheli specific params in the parameter list.
 2014-01-10 10:51:48 +09:00
Robert Lefebvre
794890884c TradHeli: enable Landing Collective when we are not moving 
This prevents full negative pitch when touching down in Alt Hold or Auto-Landing.
 2014-01-10 10:50:58 +09:00
Robert Lefebvre
531a9f4f25 TradHeli: disable AutoTune for Tradheli compile 
We need the flash space, and this probably won't work for tradheli anyway since tradheli needs most of the control from Feedforward rather than P term.  And D-term is very very bad.
 2014-01-10 10:50:09 +09:00
Randy Mackay
9f2f44f0f6 Copter: integrate shrunken optflow 2014-01-09 12:31:53 +09:00
Randy Mackay
1793ee804e Copter: remove armed check before logging 2014-01-07 22:43:49 +09:00
Randy Mackay
84881470b1 Copter: suspend logging while disarmed 2014-01-07 22:43:47 +09:00
Michael Oborne
757dd228d2 Copter: BugFix DO_SET_ROI returns Lat,Lon,Alt to GCS 2014-01-03 16:14:44 +09:00
Randy Mackay
99f851fc87 Copter: bugfix for starting in LOITER 
Loiter's Roll-Pitch mode was not being set on start-up.
 2013-12-30 17:18:10 +09:00
Andrew Tridgell
7c39d867bb Copter: use file based logs in SITL 2013-12-29 07:14:21 +11:00
Andrew Tridgell
97df2f64c9 Copter: use common available_memory() 2013-12-28 16:02:32 +11:00
Randy Mackay
02898cb46e Copter: replace APM with board in cli 2013-12-28 10:42:10 +09:00
Kevin Hester
2044300057 Copter: Split out prearm failures of low HDOP separately from !gps lock 
(on the iris list there was some confusion on why the copter was blinking
yellow but yet they had gps lock)
 2013-12-26 10:10:06 +09:00
Randy Mackay
ab1bb6886c Copter: remove reference to COPTER_LEDS 2013-12-19 16:19:48 +09:00
Randy Mackay
d362bb45fd Copter: move sensor init from setup(to init_ardupilot 
This fixes a bug in which the external led was not being disabled if the
EPM was enabled (they share pins).  The cause of the problem was the EPM
was being initialised before it's parameters had been loaded
 2013-12-19 14:12:19 +09:00
Lukasz
cb17a5bdb6 Copter: Add RSSI_RANGE parameter 
Added ability to rescale rssi input voltage. Useful for receivers like
FrSky which have 3.3V output.
 2013-12-17 22:38:39 +09:00
Randy Mackay
21cda96f67 Copter: EPM enable/disable to APM_Config.h 2013-12-17 15:36:44 +09:00
ctech4285
2b5d8aa5b7 Copter: integrate EPM library 2013-12-17 15:36:42 +09:00
Andrew Tridgell
7f100ebe31 Copter: removed common functions 2013-12-17 12:00:46 +11:00
Andrew Tridgell
edda76623f Copter: updates for DataFlash API changes 2013-12-17 11:51:36 +11:00
Andrew Tridgell
dd749c1de3 Copter: when using file logs use "logs" directory 2013-12-17 11:51:36 +11:00
Andrew Tridgell
7642208c1a Copter: support MAVLink log download 2013-12-17 11:51:36 +11:00
Andrew Tridgell
9716e80e21 Copter: moved ap_message into GCS.h 2013-12-17 11:51:35 +11:00
Andrew Tridgell
eb2cb0abe0 Copter: moved GCS.h to common library 2013-12-17 11:51:34 +11:00
Andrew Tridgell
e5f098c37c Copter: removed some unnecessary fields in GCS.h 
save some memory
 2013-12-17 11:51:34 +11:00
Randy Mackay
c7dc351609 Copter: remove unnecessary MPU6K filter definition 
This should also help kick off the AC3.1 rebuild
 2013-12-15 11:01:31 +09:00
Randy Mackay
b42a34cae0 Copter: 3.1 release notes 2013-12-14 17:08:38 +09:00
Randy Mackay
2a61053634 Copter: reduce default logging for SITL 2013-12-12 22:19:12 +09:00
Andrew Tridgell
28d98414e7 Copter: fixed some build warnings 2013-12-11 10:21:20 +11:00
Andrew Tridgell
5802d7f86b Copter: added logging of 2nd compass 2013-12-10 13:35:04 +11:00
Andrew Tridgell
cc3ee2ec0c Copter: added dual compass logging when available 2013-12-10 13:31:42 +11:00
Andrew Tridgell
d265e54043 Copter: changes for compass healthy API 2013-12-09 17:47:22 +11:00
Andrew Tridgell
f8e0f5c4f1 Copter: report both sets of sensors in MAVLink 2013-12-09 17:34:07 +11:00
Andrew Tridgell
f37a2c979d Copter: don't need Log_Write_IMU2() now 2013-12-09 17:34:07 +11:00
Andrew Tridgell
ffdcb715c3 Copter: updates for compass API change 2013-12-09 17:34:06 +11:00
Andrew Tridgell
0cacc7eaeb Copter: log both primary and secondary INS samples 2013-12-09 17:34:06 +11:00
Randy Mackay
145a8ed128 Copter: reduce autotune min rate D to 0.002 2013-12-09 14:17:31 +09:00
Randy Mackay
450e9e83c3 Copter: AC3.1-rc8 release notes 2013-12-09 12:02:28 +09:00
Randy Mackay
eb938c6ac0 Copter: reduce autotune min rate P to 0.01 (was 0.02) 2013-12-08 11:26:49 +09:00
Randy Mackay
f8165c2864 Copter: ignore yaw input during radio failsafe 2013-12-06 13:50:07 +09:00
Randy Mackay
4b3aff3f91 Copter: log flight mode to dataflash on start-up 2013-12-06 12:58:23 +09:00
Randy Mackay
cf0547e854 Copter: remove AN0~AN15 pin definitions 2013-12-06 10:28:28 +09:00
Randy Mackay
58788d2934 Copter: increasd default logging for PX4, Pixhawk 2013-12-05 16:04:52 +09:00
Randy Mackay
c5746e5434 Copter: update THR_MAX @Range and comments 2013-12-04 10:59:15 +09:00
Randy Mackay
2ba233942d Copter: pre arm mag offset limit to 600 for PX4 2013-12-03 23:23:26 +09:00
Ben Nizette
58735ac1aa Copter: Use AHRS heading in GLOBAL_POSITION_INT message 
The definition of the heading field for GLOBAL_POSITION_INT is the
compass heading, and so it is used for Plane and Rover.  Copter
however uses the GPS course over ground in this field.

My personal beef with this is simply that the mapping display in
MAVProxy is wrong for Copter.  The question is: Do any GCS currently
rely on this field for GPS course rather than getting it from
GPS_RAW_INT as they should?
 2013-12-03 20:30:02 +09:00
Randy Mackay
8fcbb7e59b Copter: OF_Loiter update control_roll and pitch 2013-12-02 11:58:59 +09:00
Randy Mackay
9d92e46198 Copter: correct optflow logging 2013-12-02 11:58:28 +09:00
Randy Mackay
0cda3c9a71 Copter: reduce SONAR_GAIN to 0.8 (was 2.0) 2013-12-01 16:25:47 +09:00
Randy Mackay
ec65fd136d Copter: enable external leds 2013-11-30 22:54:13 +09:00
Randy Mackay
e978a710cc Copter: remove PIEZO_PIN definition 2013-11-30 18:21:01 +09:00
Robert Lefebvre
dbbe0f960a Copter: remove LED_ON/OFF defines 2013-11-30 18:20:58 +09:00
Randy Mackay
59cea4b88c Copter: remove CopterLED from main code 2013-11-30 18:20:55 +09:00
Randy Mackay
49ac1a48a5 Copter: Drift updates control_roll, pitch 
control_roll, pitch should always hold desired roll and pitch angles now
that we have the RCIN dataflash message for recording pilot's input
 2013-11-30 18:06:56 +09:00
Randy Mackay
a3be25750f Copter: allow override of DRIFT_SPEEDGAIN 2013-11-30 15:35:59 +09:00
Randy Mackay
f12f0a6abe Copter: drift file format fixes 
tab replaced with four spaces
 2013-11-30 15:29:26 +09:00
Randy Mackay
a744658b47 Copter: combine nav_roll and control_roll 
Control_roll, control_pitch now always hold the desired lean angle
whether it be from the pilot or autopilot.
 2013-11-27 23:11:30 +09:00
Randy Mackay
d7c636b4aa Copter: remove yaw_in from ATT dataflash msg 2013-11-27 22:59:31 +09:00
Randy Mackay
f08cc010ea Copter: firmware to ArduCopter V3.2-dev 2013-11-27 22:50:12 +09:00
Randy Mackay
7ef04bb73b Copter: rename nav_yaw to control_yaw 2013-11-27 22:48:20 +09:00
Randy Mackay
a8929cd746 Copter: more complete RC output reporting to GCS 
Radio outputs are pulled from hal.rcout instead of from motors library
which provides more complete reporting because it includes output from
sources like the camera and mount libraries.
 2013-11-27 20:31:21 +09:00
Randy Mackay
10d6a9a34e Copter: replace Log_Write_Motors with Log_Write_RCOU 2013-11-27 20:18:18 +09:00
Randy Mackay
af657d58b9 Copter: RCIN dataflash logging 2013-11-27 16:46:25 +09:00
Randy Mackay
7ae3014c14 Copter: parameter @Units to Percent*10 2013-11-26 22:35:11 +09:00
Randy Mackay
14b3547830 Copter: rename some parameter Display Names 
Also move some parameter descriptions to @User Advanced
 2013-11-26 22:17:02 +09:00
Randy Mackay
c32d77c626 Copter: fix @Group for SingleCopter 2013-11-26 21:50:29 +09:00
Andrew Tridgell
9c812d5028 Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:05:32 +11:00
Andrew Tridgell
49062d8a37 Copter: removed extra features of copter telemetry merge 2013-11-26 13:05:32 +11:00
Andrew Tridgell
a49710f20e Copter: added uartD support 
this also brings GCS_Mavlink.pde closer to the plane implementation
 2013-11-26 13:05:32 +11:00
Andrew Tridgell
21eac34cd1 Copter: log system ID if available 2013-11-26 13:00:03 +11:00
Randy Mackay
ed9f369492 Copter: shorten g.arming_check_enabled variable 
g.arming_check_enabled shortened to g.arming_check
 2013-11-25 17:23:39 +09:00
Randy Mackay
1645748e43 Copter: update @Range for Rate PIDs and Sonar 
This will reduce false positives in DroneShare's tlog analyser
 2013-11-25 12:52:37 +09:00
Randy Mackay
b8bfe008e1 Copter: run GPS glitch detection even when not armed 2013-11-22 21:46:32 +09:00
Randy Mackay
4e6d41bc8e Copter: remove unused gps_fix_count 2013-11-22 11:53:50 +09:00
Randy Mackay
fe6ad3579c Copter: log GPS messages even when no fix 2013-11-22 11:51:48 +09:00
Randy Mackay
667c3ecbf8 Copter: commit to kick-off auto rebuild for -rc7 release 2013-11-22 10:34:35 +09:00
Randy Mackay
96fdc129b1 Copter: update -rc7 release notes 2013-11-22 09:55:23 +09:00
Randy Mackay
8eb46ced53 Copter: revert pre-arm check for slow GPS 2013-11-22 09:53:21 +09:00
Randy Mackay
1a0f80ee64 Copter: AC3.1-rc7 version and release notes 2013-11-21 17:30:08 +09:00
Randy Mackay
0bc505514a Copter: pre-arm check that INAV has no errors 2013-11-21 17:02:07 +09:00
Randy Mackay
965af43121 Copter: add INAV error count to PM dataflash msg 2013-11-21 17:02:04 +09:00
Randy Mackay
0219c85ee3 Copter: increase min LAND_SPEED to 30cm/s 2013-11-19 16:46:16 +09:00
Randy Mackay
e6a2940718 Copter: prefix SingleCopter's MOT param description 
This should allow single copter's MOT_ parameter descriptions to be more
easily recognised as belonging to SingleCopter when viewed on the wiki's
arducopter-parameters page
 2013-11-19 13:38:17 +09:00
Randy Mackay
b47cd6d5be Copter: fix SingleCopter motor parameters link 2013-11-19 13:25:53 +09:00
Randy Mackay
7a2f49f7da Copter: arming check for gps if GPS FS set to LAND_EVEN_STABILIZE 
Setting the GPS Failsafe to LAND_EVEN_STABILIZE means the copter will
LAND if it loses GPS even if it's in a manual flight mode like
Stabilize.  With this setting it makes sense to check the GPS quality
before arming even if we're in stabilize mode.
 2013-11-18 23:59:26 +09:00
Randy Mackay
24dc4391bb Copter: display pre-arm check failure reason every 30sec 2013-11-18 17:20:39 +09:00
Randy Mackay
d003334b75 Copter: pre-arm check for ACRO_BAL_ROLL and PITCH 2013-11-18 16:38:05 +09:00
Randy Mackay
9ee308efd5 Copter: auto disarm in Loiter, AltHold after 15sec 2013-11-18 16:13:15 +09:00
Randy Mackay
699a5bd381 Copter: radio, batt failsafe disarm if copter is landed in Loiter or AltHold 2013-11-18 15:51:17 +09:00
Randy Mackay
7dd4ab835f Copter: CURR dataflash msg to output throttle_out 
Previously it was outputting throttle-in which is not as useful in
autonomous modes
 2013-11-18 13:30:48 +09:00
Randy Mackay
1359a8fea5 Copter: log INS errors in PM message 2013-11-18 12:16:21 +09:00
Randy Mackay
e32e83f2f0 Copter: commit to kick off MP rebuild 
Required to push back MP Beta Firmwares version to AC3.1-rc5
 2013-11-17 00:56:46 +09:00
Randy Mackay
cf21774cf4 Copter: update AC3.1-rc6 release notes again 2013-11-16 17:14:41 +09:00
Randy Mackay
9485363c53 TradHeli: dynamic flight speed minimum to 5m/s 2013-11-16 16:58:14 +09:00
Randy Mackay
a98fb174c4 Copter: batt failsafe triggers RTL from AUTO 2013-11-16 14:55:49 +09:00
Randy Mackay
fd60285121 Copter: update AC3.1-rc6 release notes 2013-11-16 14:49:03 +09:00
Randy Mackay
87127f0ab8 Copter: allow battery failsafe to trigger RTL 2013-11-16 14:46:57 +09:00
Randy Mackay
a812ef4660 Copter: minor comment update for set_mode 2013-11-16 13:56:15 +09:00
Randy Mackay
bc1e06757b Copter: allow GPS failsafe to trigger AltHold 
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO.  This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
 2013-11-16 13:55:59 +09:00
Randy Mackay
321036b72e Copter: update contributors list 2013-11-16 12:10:38 +09:00
Randy Mackay
50f583f116 Copter: AC3.1-rc6 version and release notes 2013-11-16 11:35:01 +09:00
Randy Mackay
5cc8772947 Copter: bug fix to Tricopter motor logging 
Fourth motor taken from yaw channel's radio_out instead of random
location in memory
 2013-11-16 10:48:02 +09:00
Randy Mackay
8c9ab50ba2 TradHeli: restore CC_COMP and PIRO_COMP 2013-11-15 22:58:43 +09:00
Randy Mackay
0f67e25d37 TradHeli: set throttle_min to zero by default 2013-11-15 22:58:38 +09:00
Randy Mackay
81fc24586e TradHeli: remove calls to get_manual_collective in auto throttle 
set_collective_for_landing method makes this unnecessary
 2013-11-15 22:58:36 +09:00
Randy Mackay
60bc9f4539 TradHeli: angle error to zero while motors runup 
Set angle error to zero in get_roll_rate_stabilized_bf,
get_pitch_rate_stabillize_bf, get_yaw_rate_stabilized_bf.
Original commit by Rob Lefebvre
 2013-11-15 22:58:34 +09:00
Randy Mackay
c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay
197fc67897 TradHeli: move pilot desired rotor speed to heli.pde 2013-11-15 22:58:24 +09:00
Randy Mackay
527f05ddec Copter: remove unused init_rate_controllers 2013-11-15 22:58:22 +09:00
Randy Mackay
4537e0aa15 Copter: add deadzone to ch8 for TradHeli 2013-11-15 22:58:20 +09:00
Randy Mackay
1f6bc7bd9c Copter: log TradHeli ch7, ch8 in MOT message 2013-11-15 22:58:17 +09:00
Randy Mackay
19ddb8e5f3 TradHeli: integrate constructor changes to main code 2013-11-15 22:58:15 +09:00
Robert Lefebvre
bba7fdc7c3 TradHeli: ch6 tuning of ext gyro to use control_in 
This could also be used to control the other Heli Ch7 functions (direct drive tail rotor control).  This should be tidied up.

Credit: Jolyon Saunders
 2013-11-15 22:58:08 +09:00
Robert Lefebvre
9ae66c1773 TradHeli: add support for drive tail rotors 
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
 2013-11-15 22:58:04 +09:00
Robert Lefebvre
232a116973 TradHeli: Use Leaky Integrator on Yaw Rate controller 
Use when rotor is not running to prevent the rudder from slowly moving over
 2013-11-15 22:58:02 +09:00
Randy Mackay
3ce16113b5 TradHeli: use landing collective when landed or landing 2013-11-15 22:58:00 +09:00
Randy Mackay
633e91b7d4 Copter: initialise roll, pitch, yaw modes to stabilize 
This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
 2013-11-15 22:57:56 +09:00
Randy Mackay
ae87759e6d TradHeli: add THROTTLE_MANUAL_HELI 
Move check_dynamic_flight to run as scheduled task
 2013-11-15 22:57:53 +09:00
Randy Mackay
eaef5315bf TradHeli: bugfix to update swash in run_rate_controllers 2013-11-15 22:57:47 +09:00
Randy Mackay
34fb70cfc7 TradHeli: formatting and param description changes 2013-11-15 22:57:45 +09:00
Randy Mackay
46118b59d7 TradHeli: integrate motor lib changes 2013-11-15 22:57:43 +09:00
Randy Mackay
72597cc5bd TradHeli: remove setup via CLI 
Saves 6k of flash
 2013-11-15 22:57:39 +09:00
Robert Lefebvre
0e2ddb0378 Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete. 2013-11-15 22:57:34 +09:00
Robert Lefebvre
c5b119288d TradHeli: Add Motor Runup check to the auto_arming check. 2013-11-15 22:57:31 +09:00
Robert Lefebvre
f67d95ac75 TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly. 2013-11-15 22:57:28 +09:00
Robert Lefebvre
ffb605d06d TradHeli: Modify the constrain on the auto throttle controller to prevent it from commanding full down collective if we think we are on the ground still. 2013-11-15 22:57:22 +09:00
Randy Mackay
8f2c9591ff TradHeli: dynamic_flight flag based on inertial nav speed 
Created new heli.pde for heli_integrated_swash and check_dynamic_flight
 2013-11-15 22:57:20 +09:00
Robert Lefebvre
e23e4bc7d8 TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector 2013-11-15 22:57:18 +09:00
Robert Lefebvre
324c866ae1 TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started. 2013-11-15 22:57:16 +09:00
Robert Lefebvre
f7c63be357 TradHeli: leaky-I-term based on dynamic_flight_detector 2013-11-15 22:57:14 +09:00
Randy Mackay
f0f6e85b39 Copter: ARMING_CHECK made into bitmask 
Allows arming checks to be individually enabled or disabled for baro,
compass, GPS, INS, parameters, RC and board voltage
 2013-11-15 17:13:56 +09:00
Randy Mackay
fe822ba0b6 Copter: pre-arm check of INS health 2013-11-15 17:13:53 +09:00
Jason Short
371dc8c616 Copter: Drift Mode 
Changes Toy mode declarations to Drift mode.
Requires GPS, Mode 2 transmitter
Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.
 2013-11-14 14:43:15 +09:00
Randy Mackay
57b291b1c5 Copter: reject change_command if not in AUTO 2013-11-14 13:49:37 +09:00
Randy Mackay
0778454434 Copter: disarm routine shortcut 
Extra check so we only run the disarm check when we are actually armed.
The ground stations sometimes send many disarm messages which can be
ignored
 2013-11-14 13:14:51 +09:00
Randy Mackay
f5b1114aea Copter: range check pilot requested lean angles 
This fixes a bug uncovered by MHA in which the receiver output 900 pwm
for roll and pitch to the APM which was interpreted as requesting an 80
deg lean angle which the copter then attempted to do!
 2013-11-13 14:21:21 +09:00
Randy Mackay
159d6320bf Copter: move SINGLE parameters to start at 75 2013-11-12 23:40:38 +09:00
Randy Mackay
06ce98a2f4 Copter: add SINGLE_FRAME definition 2013-11-12 23:40:32 +09:00
ssq870424
07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00
Randy Mackay
13fd33c2d8 Copter: gps failsafe disabled until we get first 3d lock 2013-11-12 11:13:05 +09:00
Randy Mackay
f29f7d9777 Copter: bug fix to take-off in Loiter and AltHold 
Always set the target altitude after take-off to be current altitude +
20cm.  This resolves a bug in which the target altitude could end up
being a couple of meters higher than the current altitude if the user
entered Loiter / Alt Hold mode before inertial nav altitude estimate had
settled.
 2013-11-11 22:29:09 +09:00
Randy Mackay
03831cdd28 Copter: GPS ok only when not glitching 
Removed redundant checks to GPS_ok before setting flight mode to RTL
(this check is already performed inside the set_mode function)
Removed reset of home distance and bearing when GPS lock is lost, it now
remains at the last known value
 2013-11-11 22:24:18 +09:00
Randy Mackay
e4d8c673f3 Copter: force gyro calibration on start-up 2013-11-10 21:51:54 +09:00
Andrew Tridgell
6b1f59372c Copter: show git and firmware version in tlog 2013-11-09 10:09:20 +11:00
Andrew Tridgell
b41f4898e0 Copter: report INS health 2013-11-07 12:48:17 +11:00
Andrew Tridgell
2f6cfd1ff8 Copter: update for AHRS API changes 2013-11-04 21:21:42 +11:00
Randy Mackay
620109d894 Copter: formatting fix to config.h 2013-11-03 12:57:02 +09:00
Robert Lefebvre
8868af7c2f TradHeli: Change default Auto-Yaw to Yaw Look Ahead 
This leads to smoother flight in Auto modes, particularly with fast waypoints.
 2013-11-03 12:56:57 +09:00
Jason Short
66b8ca3a27 Copter: updated toy gains 2013-11-03 10:14:10 +09:00
Jason Short
2a82d1b0b0 Copter: CH7 SaveWP fix corner case 
If the user is on the ground and flips CH7, do nothing instead of recording a bad takeoff altitude. Do another check to avoid a land right after a takeoff.
 2013-11-02 21:34:55 +09:00
Randy Mackay
8278767d0a Copter: remove unused get_acro_yaw 2013-11-02 21:34:53 +09:00
Jason Short
c3aa56459a Copter: remove unused Toy param 2013-11-02 21:34:50 +09:00
Jason Short
520a535c21 Copter: TOY mode updates 2013-11-02 21:34:48 +09:00
Andrew Tridgell
f6f6caafc8 Copter: int gyros on arm, not on first boot 
this makes first boot much faster
 2013-11-02 21:41:11 +11:00
Randy Mackay
977983904f Copter: arming check that throttle is above failsafe 2013-11-02 14:06:19 +09:00
Randy Mackay
aaf642c223 Copter: disable autotune if pilot moves yaw stick 2013-11-02 12:12:46 +09:00
Randy Mackay
94f301181e Copter: recalc distance to home during arming 
fixes an rare edge case in which the fence could trigger immediately
after arming
 2013-11-01 23:54:32 +09:00
Randy Mackay
798c4e2278 Copter: more Ch7/Ch8 event logging 
Additional event logging for SaveWP, Fence, Acro trainer, Save Trim
 2013-11-01 11:53:16 +09:00
Randy Mackay
babc54ec60 Copter: default Ch7 to DO_NOTHING 
Ch7/Ch8 Save_WP feature triggers when switch is brought high (instead of
low) to be consistent with other aux features
 2013-11-01 11:42:33 +09:00
Randy Mackay
97770ae352 Copter: rc10, rc11 available even without MOUNT 2013-10-31 22:55:02 +09:00
Randy Mackay
de08116320 Copter: disable some aux channels on hexa and octas 
Resolves issue #324
 2013-10-31 15:22:34 +09:00
Randy Mackay
65980ace68 Copter: remove some commented out send_text code 2013-10-30 13:44:56 +09:00
Randy Mackay
8a6c2a6588 Copter: add alt and throttle checks to crash detector 2013-10-30 13:33:09 +09:00
Randy Mackay
2326b2e5f5 Copter: crash checker 
Crash is determined to have happened when the copter is 20deg more than
the ANGLE_MAX parameter continuously for more than 2 seconds
Not activated when in ACRO mode or while flipping
 2013-10-29 22:15:12 +09:00
Randy Mackay
8386b658e9 Copter: add ANGLE_RATE_MAX param 
Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes
 2013-10-29 11:27:05 +09:00
Randy Mackay
9176bf2e97 Copter: add @Increment to battery failsafe descriptions 2013-10-29 11:24:04 +09:00
Andrew Tridgell
2016bf1f31 Copter: fixed HIL build 2013-10-28 18:35:39 +11:00
Andrew Tridgell
a44e3191df Copter: fixed baro-only preflight cal 
this was causing a full level, which mucked up the INS calibration
 2013-10-28 16:54:32 +11:00
Randy Mackay
9df7185075 Copter: remove unused #defines from config.h 2013-10-28 12:37:41 +09:00
Randy Mackay
465cb8ab25 Copter: add features that can be disabled to APM_Config.h 2013-10-28 12:36:52 +09:00
Randy Mackay
36832aaa61 Copter: remove ins from InertialNav object instantiation 2013-10-27 13:41:52 +09:00
Tobias
a7e7084f27 Copter/position_vector: remove const specifiers on objects returned by 
value
 2013-10-27 13:41:46 +09:00
Tobias
7564cc02af Copter: use const refs instead of unneeded copies 2013-10-27 13:41:06 +09:00
Tobias
d6d5f0bbe4 Copter: Log.pde: replace unused copy with ref (saves again some bytes) 2013-10-27 13:40:40 +09:00
Tobias
4d4b419d25 Copter: add comment (unit of G_Dt) 2013-10-27 13:39:17 +09:00
Randy Mackay
8e62035328 Copter: remove unnecessary check of flight mode from fence response 2013-10-24 16:42:14 +09:00
Randy Mackay
d86ac9041e Copter: report RC receiver health to GCS 2013-10-24 16:32:55 +09:00
Andrew Tridgell
6138dca2b2 Copter: set system time on GPS lock 2013-10-24 14:22:48 +11:00
Andrew Tridgell
92bf4b9c89 Copter: added MAVLink SYSTEM_TIME message 2013-10-24 14:22:47 +11:00
Randy Mackay
7c5982c573 Copter: remove unnecessary Log_Write_Optflow 2013-10-23 20:46:35 +09:00
Randy Mackay
f52c6add89 Copter: reenable optical flow by default 
correct optflow test compile error
 2013-10-23 20:42:03 +09:00
Randy Mackay
8ea3e68620 Copter: bug fix for loading missions while armed 2013-10-23 14:12:03 +09:00
Randy Mackay
030f479ac1 Copter: firmware update to AC3.1-rc5 2013-10-22 16:04:13 +09:00
Randy Mackay
fb49cd82c1 Copter: add LAND to aux switch 
Fix aux switch AUTO and RTL so they resets flight mode if still in those
modes when switch brought low
 2013-10-22 13:13:36 +09:00
Randy Mackay
c98d375e49 Copter: update @Units to pwm on throttle params 2013-10-21 20:33:56 +09:00
Randy Mackay
bbc4cb263f Copter: only allow autotuning when flying 2013-10-21 17:58:10 +09:00
Randy Mackay
6b9b5c5617 Copter: pre-arm check speed is less than 50cm/s 2013-10-20 21:56:00 +09:00
Randy Mackay
5499c6ea6d Copter: autotune bug fix for starting autotune 
log completion to dataflash
 2013-10-20 13:54:36 +09:00
Randy Mackay
6d76652e48 Copter: autotune set original gains on reset 
Update from Leonard
 2013-10-20 11:47:59 +09:00
Michael Oborne
78c4e03fd5 sensor hil fix 2013-10-19 23:04:22 +09:00
Randy Mackay
4036f50fc2 Copter: bug fix to convert old batt params to BATT_ lib 2013-10-19 22:55:47 +09:00
Randy Mackay
6c0cb5f84d AutoTune: bug fix and GCS messages 2013-10-19 21:54:18 +09:00
Randy Mackay
390a8c02a5 Copter: enable AUTOTUNE by default 2013-10-18 13:58:08 +09:00
Randy Mackay
0cbedded0d Copter: autotune to use 2pos switch only 
method of recording state also changed
other code clean-up
pair programmed withe Leonard
 2013-10-18 13:57:50 +09:00
Randy Mackay
2e75d5dec3 Copter: autotune log when limits reached 2013-10-17 11:05:31 +09:00
Randy Mackay
c59dee045c Copter: autotune restore orig pids if user changes flight mode 2013-10-17 10:56:53 +09:00
Randy Mackay
f13b45467f Copter: autotune bug fix for restarting tuning from suspended state 2013-10-17 10:56:10 +09:00
Randy Mackay
5ac3bf4915 Copter: adjust autotune P and D min and max 2013-10-17 10:20:16 +09:00
Randy Mackay
7c7f235a97 Copter: ignore flight mode change requests if we're already in the desired mode 2013-10-15 11:53:56 +09:00
Randy Mackay
deb171a869 Copter: correct UserHooks typos 2013-10-15 11:18:00 +09:00
Randy Mackay
aa7a1a5af3 Copter: correct GCS send times task estimates 2013-10-13 20:53:51 +09:00
Randy Mackay
d2bbc06502 Copter: allow throttle deadband to be redefined in APM_Config.h 2013-10-13 20:41:11 +09:00
Randy Mackay
959f59f623 Copter: correct mount tasks scheduler time 
Having the estimate too high would mean it would likely never run
 2013-10-13 14:13:59 +09:00
Randy Mackay
f344c77cca Copter: AC3.1-rc4 version and release notes 2013-10-13 14:12:18 +09:00
Randy Mackay
bf74a64fec Copter: add GPS glitch to arming checks 2013-10-13 14:04:54 +09:00
Randy Mackay
8de6c34252 Copter: comments update for GPS_HDOP_GOOD parameter 2013-10-13 13:53:26 +09:00
Randy Mackay
32f53624d6 Copter: rename low_battery to failsafe.battery 2013-10-13 13:52:52 +09:00
Randy Mackay
0e740bd4e1 Copter: enable AUTOTUNE for mission planner build 2013-10-13 11:57:50 +09:00
Randy Mackay
6876107a15 Copter: autotune disables rate output from stab controller 2013-10-13 11:56:01 +09:00
Andrew Tridgell
b69f08c03e Copter: reduce timer speed to 500 on APM2 
this reduces the cost of timer interrupts
 2013-10-13 11:03:41 +09:00
Andrew Tridgell
09a1d35e62 Copter: fixed build for no COPTER_LEDS 2013-10-13 11:03:33 +09:00
Andrew Tridgell
d38d9ea88f Copter: changes for AP_Mount API 2013-10-13 11:03:26 +09:00
Randy Mackay
8706810d55 Copter: scheduler times corrections 2013-10-13 11:03:22 +09:00
Randy Mackay
6be6bd5aed Copter: remove unused battery analog sources 2013-10-13 11:03:20 +09:00
Randy Mackay
d2bda8c235 Copter: split up medium loop 2013-10-13 11:03:15 +09:00
Randy Mackay
e9cefbafd1 Copter: higher priority for throttle loop, lower telemetry 2013-10-13 11:03:10 +09:00
Andrew Tridgell
64d34dc125 Copter: give UARTA 512 bytes 
this reduces load by allowing more contiguous writes to the serial
buffers
 2013-10-13 11:02:55 +09:00
Andrew Tridgell
3b9566bc09 Copter: support MAV_CMD_DO_SET_CAM_TRIGG_DIST 2013-10-11 21:40:57 +11:00
Craig3DRobotics
93cbfbe46c Copter:Parameter descriptions updated 2013-10-09 15:31:31 -07:00
Randy Mackay
8d1085feea Copter: pre-arm expects mag len of 330 for APM1 (was 530) 2013-10-09 14:10:16 +09:00
Randy Mackay
7e657ce856 AutoTune: abandon tuning if rate P hits minimum 
Fixes from Leonard
 2013-10-09 13:35:43 +09:00
Randy Mackay
fc47e05105 Copter: update firmware version to AC3.1-rc3 2013-10-09 11:13:15 +09:00
Andrew Tridgell
450323f4ae Copter: enable logging on Linux 2013-10-08 19:20:35 +11:00
Andrew Tridgell
4b68dd48f7 Copter: use ins.wait_for_sample() for main loop 
this takes advantage of the INS specific method to wait for a sample
 2013-10-08 19:20:34 +11:00
Randy Mackay
9435eb4a15 Copter: remove unused flags and consolidate ap and ap_system 2013-10-08 15:25:14 +09:00
Andrew Tridgell
6145924481 Copter: switch Linux to L3G4200D ins driver 2013-10-08 11:50:54 +11:00
Randy Mackay
fbb295a0a1 Copter: correct HLD_LAT_P and HLD_LON_P ranges 2013-10-07 14:45:39 +09:00
Kevin Hester
d29781104f AC: fix autodocs for SUPER_SIMPLE so the GCSes can show the right options 2013-10-07 11:33:02 +09:00
Randy Mackay
f56617710f Copter: pre-arm RC checks ch3's min and max 2013-10-07 11:17:16 +09:00
Randy Mackay
efc02161c4 Copter: add safe switch arming check 2013-10-05 22:23:53 +09:00
Randy Mackay
0c0de7c53e Copter: simple mode speedup 
super simple and simple mode headings separated
g.super_simple converted into a bitmap by flight mode switch position
 2013-10-05 18:26:56 +09:00
Randy Mackay
ba92c4891a Copter: make AutoTune a compile-time option 2013-10-04 15:50:50 +09:00
Randy Mackay
31cea0140d Copter: Leonard's AutoTuning for Roll and Pitch 2013-10-04 15:50:47 +09:00
Randy Mackay
09de917b27 Copter: mavlink ext status to use abs pressure 2013-10-04 13:20:58 +09:00
Randy Mackay
a33060b66d Copter: mavlink extended status gps bit not-healthy when glitching 
add optflow health to extended status
mavlink heartbeat status to critical on any failsafe
extended status msg to use SYS_STATUS_SENSOR enum
 2013-10-03 22:11:55 +09:00
Randy Mackay
3c5797c479 Copter: sent current as -1 to GCS when can't be monitored 2013-10-03 11:16:31 +09:00
Randy Mackay
dab4f032f9 Copter: integrate BattMonitor 2013-10-03 11:16:28 +09:00
Andrew Tridgell
32a016a66f Copter: updates for AP_HAL::MemberProc 2013-09-30 21:06:43 +10:00
Andrew Tridgell
3665bec26d Copter: fixed build for Linux 2013-09-28 22:04:16 +10:00
Andrew Tridgell
9e42e536a7 Copter: make the scheduling a bit more multi-tasking OS friendly 
we can afford to sleep a bit in the main loop
 2013-09-28 22:04:16 +10:00
Andrew Tridgell
234eaceb14 Copter: update for Stub -> HIL 2013-09-28 22:04:15 +10:00
Andrew Tridgell
a0f9055a9d Copter: use new scheduler API 2013-09-28 21:24:03 +10:00
Randy Mackay
c3f7146f03 Copter: improve check of frame type to catch spelling errors 2013-09-27 14:35:16 +09:00
Randy Mackay
e295d4555d Copter: send frame type in mavlink heartbeat msg 2013-09-27 14:35:13 +09:00
Randy Mackay
a53d28e018 Copter: remove support for dmp ahrs 2013-09-27 10:42:49 +09:00
Andrew Tridgell
394645560a Copter: update for new INS API 2013-09-27 10:49:00 +10:00
Andrew Tridgell
566eaf7d41 Copter: fixed flymaple build with copterleds 2013-09-27 10:32:22 +10:00
Andrew Tridgell
a0b6481dfd Copter: removed SMACCM support 2013-09-26 22:38:31 +10:00
Randy Mackay
5cac1b3c92 Copter: ignore aux switch during radio failsafe 2013-09-26 20:19:39 +09:00
Randy Mackay
fd2e87b710 Copter: disable tuning during radio failsafe 2013-09-26 20:05:25 +09:00
Randy Mackay
6b97994dcd Copter: ignore switch changes during transitions in or out of radio failsafe 2013-09-26 19:37:22 +09:00
Randy Mackay
7cc8a9038f Copter: move failsafe flags into structure 2013-09-26 19:37:15 +09:00
Randy Mackay
02f7310689 Copter: make it easier for Arduino users to easily reduce flash space by turning off features 2013-09-26 13:15:30 +09:00
Randy Mackay
2c96ed3f22 Copter: disable optical flow 
This at least allows ArduCopter to be compiled with arduino until we
find larger flash savings
 2013-09-24 21:59:19 +09:00
Randy Mackay
589200042d Copter: remove declination setup from CLI 2013-09-24 21:45:54 +09:00
Randy Mackay
09756e16b7 Copter: remove battery setup from CLI 2013-09-24 21:45:54 +09:00
Randy Mackay
3bf1352701 Copter: shorten motor tests printf 2013-09-24 21:45:53 +09:00
Randy Mackay
8cce837f77 Copter: remove accel level from cli 
the accel command should always be used in place of level
 2013-09-24 21:45:52 +09:00
Randy Mackay
77b5cb5d3f Copter: correct typo in error #define 2013-09-24 21:45:52 +09:00
Randy Mackay
8a886c0e19 Copter: remove err msg for undefined throttle mode 
Printing errors like this to the console are unlikely to ever be seen
 2013-09-24 21:45:51 +09:00
Randy Mackay
284aa2217f Copter: remove old comments 2013-09-24 21:45:43 +09:00
Randy Mackay
e5535e35b3 Copter: remove unused reset_stability_I 2013-09-24 21:42:05 +09:00
Randy Mackay
d7782e1356 Copter: remove tune from cli to save 300bytes flash 2013-09-24 21:42:02 +09:00
Randy Mackay
1cc2c8d6a5 Copter: reduce compassmot flash by 500 bytes 2013-09-24 21:41:59 +09:00