Andrew Tridgell
06154fc4ab
Copter: use rangefinder to prevent auto-disarm in the air
...
only consider the vehicle to be landed if either no rangefinder or
rangefinder shows an altitude below 2m
2016-08-16 15:14:10 +10:00
Randy Mackay
9842840346
Copter: GND_EFFECT_COMP parameter to enable ground effect compensation
2016-08-09 13:31:36 +09:00
Randy Mackay
ac4f36a992
Copter: remove LAND_REQUIRE_MIN_THROTTLE_TO_DISARM feature
...
This definition has been false for over a year and we have not heard of any users wanting to delay the disarming until the pilot's throttle goes to zero. Removing this feature removes a small bit of complexity from the code.
2016-08-05 12:40:37 +09:00
Jonathan Challinger
80f3541933
Copter: add configurable arming delay
2016-08-04 15:19:22 +09:00
Randy Mackay
8e58ea9277
Copter: add throw mode defines for required speed
...
No functional change
2016-08-02 20:25:52 +09:00
Leonard Hall
48eb4cf674
Copter: remove THR_MID
2016-06-18 11:55:49 +09:00
Leonard Hall
dec9323127
Copter: remove THR_MIN
...
Equivalent is AP_Motors SPIN_MIN
2016-06-18 11:55:49 +09:00
Randy Mackay
6a1bdebf25
Copter: remove THR_MAX definition for changing throttle input range
...
We do not support changing the throttle input range from it's expected 0 ~ 1000
2016-06-18 11:55:49 +09:00
Randy Mackay
2815af81ad
Copter: rename RTL_CONE_SLOPE_DEFAULT definition
...
Also tiny formatting fix
2016-05-31 12:20:21 +09:00
Lucas De Marchi
33f5fc5f38
ArduCopter: remove support for flymaple
2016-05-23 21:49:45 -03:00
Randy Mackay
59070653cc
Copter: provide filtered range finder altitude to AC_WPNav
2016-05-21 10:36:53 +09:00
Randy Mackay
e18bf3af56
Copter: remove unused definitions
2016-05-21 10:36:53 +09:00
Randy Mackay
c7f80324fa
Copter: tilt correct rangefinder
2016-05-21 10:36:53 +09:00
Randy Mackay
7689315ba2
Copter: rename sonar to rangefinder
2016-05-21 10:36:53 +09:00
Randy Mackay
028946ae9e
Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE
2016-05-21 10:36:53 +09:00
Ricardo de Almeida Gonzaga
ce241dd97a
ArduCopter: Fix typos
2016-05-13 19:20:07 -03:00
Lucas De Marchi
352e103f1a
ArduCopter: use separate header for version macro
...
Having the version macro in the config.h and consequently in the main
vehicle header means that whenever the version changes we need to
compiler the whole vehicle again. This would not be so bad if we weren't
also appending the git hash in the version. In this case, whenever we
commit to the repository we would need to recompile everything.
Move to a separate header that is include only by its users. Then
instead of compiling everything we will compile just a few files.
2016-05-06 13:11:28 -03:00
Randy Mackay
47658fe964
Copter: add terrain failsafe
2016-04-30 10:33:01 +09:00
Randy Mackay
762c9ed4b0
Copter: remove unused FS_CLOSE_TO_HOME definition
2016-04-22 21:30:44 +09:00
Jonathan Challinger
6b5ba86f21
Copter: simplify GCS failsafe
2016-04-14 12:24:04 +09:00
Randy Mackay
bde498375c
Copter: remove attitude PIDs
...
These are now part of AC_AttitudeControl
2016-04-01 11:59:30 +09:00
Lucas De Marchi
e88ba38595
ArduCopter: replace header guard with pragma once
2016-03-16 18:40:44 +11:00
Randy Mackay
e428abde42
Copter: enable precision landing by default
2016-02-29 19:17:20 +09:00
Lucas De Marchi
09e7cbe005
ArduCopter: remove unused CMAKE define
...
This is a leftover from previos cmake build system.
2016-02-19 19:15:39 -02:00
Randy Mackay
a1b0a53e17
Copter: remove AP_Limits from comments
2016-02-04 09:55:07 +09:00
Randy Mackay
2c5f9422d4
Copter: log event if pilot cancels land
...
Also add definition for throttle value that cancels land
2016-01-14 15:21:57 +09:00
Randy Mackay
e16cccf218
Copter: RTL config formatting fix
...
No functional change
2016-01-07 17:29:54 +09:00
Jonathan Challinger
3800c66f07
Copter: add RTL_CONE_SLOPE
2016-01-07 17:22:33 +09:00
Jonathan Challinger
750cacc875
Copter: barometer ground effect compensation
2015-12-28 13:51:27 +09:00
Jonathan Challinger
933ffb2b10
Copter: move prearm logic to arming_checks.cpp
2015-12-24 14:10:23 +09:00
Randy Mackay
d9baf334c4
Copter: remove unused definitions
2015-12-02 14:56:24 +09:00
Randy Mackay
4ef53427f2
Copter: allow ADSB to be disabled
2015-11-27 15:02:17 +09:00
Randy Mackay
731c44d053
Copter: allow terrain to be excluded from build
2015-11-14 12:38:47 +09:00
Robert Lefebvre
5cc4f41d85
Copter: Helicopter: to use new Stab_Col and Acro_Col functions.
2015-11-12 19:37:23 +09:00
Lucas De Marchi
3e889b005f
ArduCopter: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:13 +11:00
Randy Mackay
0f55b2a0eb
Copter: replace vehicle compass consistency check
2015-09-16 15:13:38 +09:00
Leonard Hall
61d6c44e3b
Copter: tricopter yaw rate filter to 100hz
2015-09-07 12:30:39 +09:00
Randy Mackay
26ded641db
Copter: integrate Precision Landing lib
2015-08-31 18:00:28 +09:00
Andrew Tridgell
90909f2b4a
Copter: added DISARM_DELAY parameter
...
this allows automatic disarming to be disabled, or set to a shorter or
longer time as appropriate for the user
2015-08-31 11:44:08 +10:00
Randy Mackay
1608cffe95
Copter: increase failsafe close-to-home to 5m
...
This distance is used when a failsafe is initiated to decide whether to RTL or LAND
2015-08-28 09:24:37 +09:00
Randy Mackay
6a4f4c5f8d
Copter: failsafe RTL vs LAND decision always based on 2m
...
Previously this decision was based on the WPNAV_RADIUS parameter which is unexpected (and undocumented) behaviour. Better just to hard-code it to 2m and remove the dependency on this parameter.
2015-08-23 11:03:35 +09:00
Andy Piper
425e26c258
Copter: reduce GPS_HDOP_GOOD params default to 140
...
This is required as part of the ublox change from pdop to hdop
2015-07-14 15:02:06 +09:00
Randy Mackay
063faa0383
Copter: add RTL_CLIMB_MIN
...
Vehicle climbs at least this many cm when entering RTL
2015-07-13 20:38:52 +09:00
Randy Mackay
8cdfac8fcd
Copter: remove baro and pilot thr from crash checks
...
Add acceleration < 3m/s/s check
Run crash and parachute checks at 400hz
2015-06-19 15:46:10 +09:00
Randy Mackay
e9829e0d82
Copter: remove unused landing detector definitions
...
Also separate from land mode definitions
2015-06-19 15:46:09 +09:00
Randy Mackay
ce1031a5bd
Copter: remove AP_AHRS_NAVEKF_AVAILABLE checks
...
Copter requires an EKF
2015-06-10 12:18:38 +09:00
Randy Mackay
aa05325b54
Copter: add althold as ekf failsafe action
2015-06-10 12:06:08 +09:00
Randy Mackay
4408f01f39
Copter: rename ekf_check_thresh to fs_ekf_thresh
2015-06-10 12:06:06 +09:00
Randy Mackay
ee3ba48097
Copter: set Brake speed to 250
2015-06-05 15:29:00 +09:00
Randy Mackay
0b4d7fbb22
Copter: shorten rc-override timeout to 1sec
2015-05-22 13:40:58 +09:00
Robert Lefebvre
575a5ad619
Copter: Set better default Rate PIDs for TradHeli
2015-05-22 09:38:26 +09:00
Randy Mackay
7acdcd8905
Copter: rename stop to brake
2015-05-17 14:44:34 +09:00
Tom Pittenger
c8bc44fc6e
Copter: compile warnings: float to double. print statements require doubles
2015-05-05 13:27:00 +10:00
Randy Mackay
e0ef57fdb5
Copter: add PILOT_TKOFF_ALT_DEFAULT definition
...
No functional change
2015-05-01 12:56:35 +09:00
David Dewey
0545185218
Copter: RTL at no less than 2m above home alt
2015-04-28 17:19:56 +09:00
Robert Lefebvre
1aa696bc10
Copter: Implement Stop Mode
2015-04-26 16:11:47 +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
Leonard Hall
2bf8f21b7a
Copter: roll, pitch rate IMAX to 2000
2015-04-09 20:19:56 +09:00
Randy Mackay
e1900f646f
Copter: remove PREARM_MAX_VELOCITY definition
2015-03-30 18:08:34 -07:00
Randy Mackay
74b98b89d0
Copter: remove dcm check
2015-03-27 00:04:37 -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
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
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
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
Víctor Mayoral Vilches
79e152cd93
Copter: Update compass to the new interface
2015-03-13 18:46:16 +11:00
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
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
2b0fb45fe8
Copter: integrate PID input filter
2015-03-06 14:02:11 +09:00
Leonard Hall
8ba195a3a2
Copter: add Mot and Rate dataflash logging
2015-03-06 14:02:07 +09:00
Randy Mackay
e081b9d1c7
Copter: home is set becomes three state
2015-02-12 15:00:50 +09:00
Randy Mackay
3aac281c5a
Copter: land detector requires desired climb rate be < -20cm/s
2015-01-31 17:23:43 +09:00
Randy Mackay
34503de18e
Copter: integrate SerialManager
...
Remove serial0, serial1 baud and protocol parameters
Pass serial_manager to GCS, GPS, mount, FrSky_telem objects during init
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
2015-01-29 14:05:14 +11:00
Randy Mackay
18f8ffab6f
Copter: remove land detector bar climb rate definition
2015-01-28 10:59:15 +09:00
Randy Mackay
0065b3b224
Copter: tighten accel and gyro pre-arm consistency check
...
Accel diff threshold to 0.7m/s/s (was 1.0 m/s/s)
Gyro diff threshold to 5deg/sec (was 20deg/sec)
2015-01-20 12:44:02 +09:00
Andrew Tridgell
ab62105afe
Copter: use common send_opticalflow()
2015-01-03 15:53:49 +11:00
Andrew Tridgell
c784ee717b
Copter: update for new OptFlow API
2015-01-03 14:16:33 +11:00
Randy Mackay
2e7435df52
Copter: remove unused OF_LOITER pid defines
2014-12-31 13:16:18 +09:00
Randy Mackay
f2b0fc3566
Copter: disarm on landing regardless of pilot input
2014-12-27 13:33:06 +09:00
Randy Mackay
b6bcf841e1
Copter: remove second camera mount
2014-12-16 21:26:20 +09:00
Randy Mackay
fd55a2d9c4
Copter: increase GPS_HDOP_GOOD default to 2.3
2014-12-15 10:45:50 +09:00
Randy Mackay
3127dd94c1
Copter: add OPTFLOW to default logging
2014-12-08 14:58:27 +09:00
priseborough
267ef48026
Copter : disable tilt correction of range finder data for use by EKF
...
This is a temporary fix. We need to make separate range and altitude measurements available.
2014-12-06 18:16:45 +11:00
Andrew Tridgell
4c0351a76a
Copter: convert to new AP_InertialSensor API
2014-10-24 12:10:38 +11:00
Randy Mackay
f6ff1742d5
Copter: landing detector checks baro climb rate
...
Barometer climb rate must be -150cm/s ~ +150cm/s
This threshold is generous because we already use the inertial
navigation climb rate so this is just to catch cases where inertial nav
is very incorrect in it's climbrate estimates
2014-10-22 17:29:14 +09:00
Jonathan Challinger
5fc02bdbc4
Copter: Reduce prearm alt disparity check back to 1m
2014-10-20 10:55:59 +09:00
Randy Mackay
27b73fa209
Copter: enable Optflow by default for Pixhawk only
2014-10-16 21:17:54 +09:00
Randy Mackay
b0e6931ab0
Copter: add DCM_CHECK_THRESH parameter
2014-10-16 17:22:11 +09:00
Randy Mackay
4e06970a1c
Copter: disable OptFlow in SITL
2014-10-15 20:46:06 +09:00
Randy Mackay
67b7b2d667
Copter: enable optflow by default for Pixhawk
2014-10-15 16:36:31 +09:00
Randy Mackay
8997c224e2
Copter: enable Guided velocity controller for Pixhawk
2014-10-13 21:40:20 +09:00
Randy Mackay
2f3f1a1d5e
Copter: Rate Pitch IMAX default to 1000
...
Spotted by Jonathan Challinger, thanks!
2014-10-07 21:06:43 +09:00
Jonathan Challinger
73e1719ee1
Copter: print frame type in log headers
2014-09-27 16:11:21 +09:00
Randy Mackay
193bc5331a
Copter: cleanup enabling of cli and frsky telem for APM
2014-09-20 14:41:26 +09:00
Randy Mackay
d8d1b38a52
Copter: increase Alt Disparity check to 2m
2014-09-20 12:24:36 +09:00
Randy Mackay
6951a20fb0
Copter: soften loiter target when maybe landed
...
Applies to auto's land, land, loiter, pos hold and rtl flight modes
2014-09-19 16:43:12 +09:00
Randy Mackay
b552479e31
Copter: typo fix for baro vs inav alt disparity definition
2014-09-18 17:32:03 +09:00
Randy Mackay
18e3db0011
Copter: define limit for baro vs inav alt disparity
2014-09-18 17:24:40 +09:00
Randy Mackay
adf00a207b
Copter: enable EPM by default on Pixhawk
2014-09-17 21:14:22 +09:00
Randy Mackay
d15a5f9dcb
Copter: THR_ACCEL_IMAX default to 800
2014-09-12 15:11:48 +09:00
Randy Mackay
4c6b0bb1cb
Copter: format change to flight mode default defined
...
This also kicks off the build for AC3.2-rc8
2014-09-11 16:52:36 +09:00
Randy Mackay
21d56735ca
Copter: increase EKF_CHECK_THRESH default to 0.8
...
Also remove unused #define related to inertial nav check (now removed)
2014-09-09 14:59:27 +09:00
Randy Mackay
9c613cd1ec
Copter: reduce alt hold defaults
...
Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
2014-09-07 22:14:40 +09:00
Randy Mackay
641c8317a5
Copter: pre-arm consistency check of gyros
2014-09-04 15:21:58 +09:00
Randy Mackay
28f31166b9
Copter: land check gets overall throttle and rotation rate check
...
add check that overall throttle level is below the non-takeoff throttle
instead of just checking that it's motors have hit their lower limits
because low limits can also be caused by high yaw rotation requests.
Absolute climb rate requirement reduced to 30cm/s
2014-09-04 15:21:51 +09:00
Randy Mackay
59404c25e3
Copter: pre-arm consistency check of accels
2014-09-03 13:51:44 +09:00
Randy Mackay
07420521ab
Copter: default LAND_REPOSITION to 1
2014-08-31 10:44:09 +09:00
Randy Mackay
cf98cc29b5
Copter: throttle deadzone parameter
...
Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
2014-08-29 15:54:34 +09:00
Randy Mackay
eb51a8e5da
Copter: pre-arm check of internal vs ext compass
2014-08-26 22:34:06 +09:00
Andrew Tridgell
a627cd2af2
Copter: run Linux boards at 100Hz for now
...
we should be able to do 400Hz in future
2014-08-19 20:03:33 +10:00
Randy Mackay
6fc5014a84
Copter: increase sonar timeout to 1sec
...
Contributed by Julien Dubois.
2014-08-14 19:37:00 +09:00
Randy Mackay
f3fd79597f
Copter: add ACRO_EXPO parameter
2014-08-14 11:47:37 +09:00
Randy Mackay
7b9fa1ea79
Copter: rate IMAX increase to 1000
2014-08-04 11:31:02 +09:00
Randy Mackay
4e2683421c
Copter: disable parachute and rally on APM1
2014-08-01 15:14:40 +09:00
Randy Mackay
b52f8351e8
Copter: rename EKFCHECK_COMPASS to EKFCHECK_THRESH
...
Renamed because this threshold is now used for both compass and velocity
variance.
Also minor reorganisation of ekfcheck but no functional change.
2014-07-31 22:58:43 +09:00
Matthias Badaire
147e91877e
Copter: Add SERIAL2_PROTOCOL for GCS and FRsky telemtry
...
this allows selection of protocol type on telem2. The default is
MAVLink, but can be selected as FrSky protocol
2014-07-29 17:08:19 -07:00
akdslr
dc67058771
ArduCopter: Removed CONFIG_SONAR_SOURCE, SONAR_SOURCE_ADC, and SONAR_SOURCE_ANALOG_PIN since no longer used
2014-07-24 14:41:55 +10:00
Randy Mackay
a4a4334b13
Copter: add EKFCHECK_COMPASS parameter
2014-07-22 23:13:22 +09:00
Craig Elder
07d43534c1
Copter: Change Radio Failsafe Timeout
...
Change Radio Failsafe Timeout from 2 seconds to 200ms
2014-07-16 19:41:43 -07:00
Craig Elder
e85c9f078d
Copter: Change Radio Failsafe Timeout
...
Change Radio Failsafe Timeout from 2 seconds to 200ms
2014-07-16 11:02:32 -07:00
Andrew Tridgell
49954a3a61
Copter: use sensors from board subtypes
2014-07-14 09:44:35 +10:00
Randy Mackay
65e5367619
Copter: rename hybrid to poshold
2014-07-11 14:09:01 +09:00
Jonathan Challinger
09a01a4668
Copter: Wait 4 seconds before beginning to land during failsafes
2014-07-06 20:25:04 +09:00
Jonathan Challinger
5b36e65cb9
Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents
2014-07-06 19:20:25 +09:00
Randy Mackay
fdc0ec837b
Copter: add nav_guided suport to Auto mode
2014-07-06 17:00:31 +09:00
Randy Mackay
db000f2287
Copter: remove setting rate and thr D term filters
2014-05-29 17:40:24 +09:00
Robert Lefebvre
5eb206e6bb
Copter: Add 'handle' to allow #define updating of AC_PID filter rate for Throttle Accel.
2014-05-29 17:39:16 +09:00
Robert Lefebvre
df1de4260d
Copter: Set Rate PID D-term filter rates on initialization.
2014-05-29 17:39:12 +09:00
Randy Mackay
20719e23fd
Copter: enable PARACHUTE and RALLY for all but APM
2014-05-27 14:43:33 +09:00
Randy Mackay
ff1a58e078
Copter: increase LOITER_RATE_IMAX to 1000
...
This allows us to load up the I term with the vehicle's current
acceleration during mode transitions
pair programmed with Randy
2014-05-08 16:15:34 +09:00
Randy Mackay
d857427444
Copter: disable RALLY points by default
...
This saves 2k of flash which allows the code to fix on the APM1/2
2014-04-30 21:46:21 +09:00
Randy Mackay
a4c675c23e
Copter: add PILOT_ACCEL_Z parameter
...
Allows configurable z-axis acceleration when pilot is controlling
altitude
2014-04-30 21:46:13 +09:00
Randy Mackay
19f1e7fec4
Copter: disable Parachute by default
...
This saves 1k of flash and we are desperately low on the APM1/APM2.
Hopefully we can find savings somewhere and re-enable it by default.
2014-04-24 19:02:32 +09:00
Randy Mackay
287af8f66e
Copter: disable optical flow by default
...
We have run out of flash on the APM2, it was a choice between Hybrid
flight mode and OF_Loiter
2014-04-23 15:27:08 +09:00
Randy Mackay
55e7e1eb3e
Copter: allow HYBRID to be disabled to save flash
...
Hybrid flight mode costs 4.5k of flash which currently puts us over the
limit for APM1 and APM2 unless optical flow or other features are
disabled
2014-04-23 15:27:05 +09:00
Ju1ien
f8e8d4024d
Copter: Hybrid's max brake angle to 30deg
2014-04-23 14:59:53 +09:00
Randy Mackay
f467d7bc20
Copter: add Hybrid parameters
2014-04-23 14:59:25 +09:00
Randy Mackay
5fc071f5f9
Copter: restore SITL to run at 100hz
2014-04-21 21:46:22 +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
Andrew Chapman
fa3732ac6d
Copter: integrate AP_Rally
2014-04-19 15:00:23 +09:00
Emile Castelnuovo
9e31f032c2
Copter: added VRBRAIN board #includes and #defines
2014-04-08 16:19:20 +10:00
Randy Mackay
ff32b27272
Copter: integrate parachute lib
2014-04-07 13:36:44 +09:00
Andrew Tridgell
640b64f5e4
Copter: convert to new GPS API
2014-04-01 06:38:24 +11:00
