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7,741 Commits 71 Branches 510 Tags 754 MiB
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2090 Commits

Author SHA1 Message Date
Randy Mackay
74dca6da22 Copter: move update_commands to run_autopilot fn 
update_commands was being run in the medium_loop counter but it is
easier to understand the flow of the code if it is consolidated along
with other autopilot calls.
 2013-04-24 20:59:49 +09:00
Andrew Tridgell
fb0f5d46ba Copter: use BIT_IF_SET() 
this should fix the problem with simple mode on PX4

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-23 23:05:42 +10:00
Andrew Tridgell
5ad9deecfb Copter: cleanup some bit if tests to be clearer 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-23 23:03:34 +10:00
Andrew Tridgell
8ec1eaa8b1 build: removed obsolete cmake rules 
these have not been maintained for over a year
 2013-04-23 11:07:53 +10:00
Randy Mackay
63a48f76e2 Copter: add pre-arm check of radio and accel 
Only checks throttle channel and accelerometer scaling
 2013-04-23 00:01:20 +09:00
Randy Mackay
07b6efafd8 Copter: use DEGX100 constant for position_vector calcs 2013-04-22 21:03:46 +09:00
Randy Mackay
0b29754920 Copter: simplify roll-pitch stabilize controller 
remove check of whether to freeze i term when attitude is less than 5
degrees from horizontal.  I terms have been moved to the rate
controllers.
 2013-04-22 18:47:56 +09:00
Andrew Tridgell
82c604dd67 Copter: more constrain fixes 2013-04-22 13:26:49 +10:00
Andrew Tridgell
d5875676b1 Copter: use a reference to DCM matrix 2013-04-22 13:26:49 +10:00
Andrew Tridgell
c2c037ec0d Copter: use the right constrain() type in Attitude code 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 13:26:49 +10:00
Randy Mackay
a9da3c9d3d Copter: remove unused throttle functions 
removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
 2013-04-21 23:43:04 +09:00
Andrew Tridgell
9cec664236 Copter: fixed format of PM message log 2013-04-21 23:46:35 +10:00
Randy Mackay
94d4ecef11 Copter: reduce throttle rate D to zero 2013-04-21 16:28:07 +09:00
Randy Mackay
2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Andrew Tridgell
c53ede506d Copter: make if statement clearer 2013-04-21 07:25:52 +10:00
Bill Bonney
36041bb9ff Copter: Enable CURRENT logging by default to dataflash 2013-04-21 07:25:34 +10:00
Andrew Tridgell
8b31f276a2 Copter: switch to block based logs for SITL 2013-04-20 20:45:51 +10:00
Randy Mackay
745df9b13c Copter: add SONAR_GAIN to tune reaction to sonar 
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
 2013-04-20 15:58:36 +09:00
Randy Mackay
50515e28e1 Copter: replace fabs with fabsf 2013-04-20 15:40:56 +09:00
Randy Mackay
a53e5f747b Copter: add fourth yaw behaviour, look-at-home 
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
 2013-04-20 15:36:24 +09:00
Andrew Tridgell
02c3083f60 Copter: print flight mode as string 2013-04-20 15:18:22 +10:00
Andrew Tridgell
ce3ee97e73 Copter: removed duplicate print_latlon() declarations 2013-04-20 13:57:45 +10:00
Andrew Tridgell
93d075404c Copter: added board voltage to current message 2013-04-20 13:52:37 +10:00
Andrew Tridgell
a0708460a4 Copter: convert to new logging system 2013-04-20 13:52:37 +10:00
Andrew Tridgell
67484a2ea1 Copter: make copter code compatible with the new logging system 
not fully converted yet
 2013-04-20 13:52:36 +10:00
Randy Mackay
37abfdc65a Copter: make CIRCLE_RATE a tunable parameter 
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
 2013-04-20 12:03:55 +09:00
Randy Mackay
d65d7d95e2 Copter: bug fix for take-off so it never descends 
If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
 2013-04-18 22:30:24 +09:00
Randy Mackay
0fc9c8739e Copter: add WP_YAW_BEHAVE parameter 
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose.  Almost nobody
ever knew about or used this parameter.
 2013-04-18 15:30:18 +09:00
Randy Mackay
18c1373847 Copter: remove unused AUTO_VELZ defaults 
These have now moved to AC_WPNav
 2013-04-18 14:57:08 +09:00
Randy Mackay
f5955d8915 Copter: auto climb and descent params removed 
These params now reside in the AC_WPNav library
 2013-04-18 14:52:21 +09:00
Randy Mackay
9b351feade Copter: shorted INAV dataflash log message length 
Velocities are now output in WPNav message
 2013-04-17 22:39:30 +09:00
Randy Mackay
f7524e5741 Copter: remove unnecessary cast to float in Log 2013-04-17 22:35:02 +09:00
Randy Mackay
7c8527e6a6 Copter: resolve compiler warning 2013-04-17 22:14:47 +09:00
Randy Mackay
2b4a7d60a9 Copter: remove unused throttle modes 
These were useful for testing the alt-hold when it was first introduced
but now they just add complexity
 2013-04-17 22:14:22 +09:00
Randy Mackay
56809a9df2 Copter: remove unused nav_ok and alt_sensor_flag 2013-04-17 21:57:57 +09:00
Randy Mackay
0b808abbed Copter: remove unused waypoint_valid function 2013-04-17 21:28:43 +09:00
Randy Mackay
d2bd818b2d Copter: bug fix for auto_armed logic 
Zero throttle when switching into an auto flight mode would cause the
motors to stop.
 2013-04-17 21:28:42 +09:00
Andrew Tridgell
501eb4f0b4 Copter: made more variables static 2013-04-17 21:35:11 +10:00
Andrew Tridgell
61c2befd4d Copter: fixed logging for new API 2013-04-17 21:34:42 +10:00
Randy Mackay
82989d85f2 Copter: remove unused #defines 2013-04-16 22:34:12 +09:00
Randy Mackay
0663da7c9e Copter: loiter rate IMAX to 4m/s/s and D to zero 2013-04-16 22:28:18 +09:00
Randy Mackay
b8974dec99 Copter: compass learn off by default 2013-04-16 18:47:39 +09:00
Randy Mackay
a7b32caf72 Copter: bug fix for loiter_time check 
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
 2013-04-15 23:57:22 +09:00
Randy Mackay
a185fa950c Copter: Jason's fix to auto disarming 
Added check so that it only starts counting down when motors are armed.
This removes the issue in which the copter sometimes disarms shortly
aftering being armed.
 2013-04-15 23:36:45 +09:00
Randy Mackay
8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay
b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
Andrew Tridgell
cf6ae4a746 Copter: remove ahrs.set_barometer() 2013-04-15 10:52:32 +10:00
Randy Mackay
8c7a1597dc Copter: remove debug comment from RTL 2013-04-14 18:28:13 +09:00
Randy Mackay
629d23b7e2 Copter: remove WP_SPEED and WP_RADIUS parameters 
AC_WPNav library has equivalent params with very similar names
 2013-04-14 13:27:37 +09:00
Randy Mackay
b58c26bcd5 Copter: remove pid_nav_lat, pid_nav_lon 2013-04-14 12:12:51 +09:00