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13,355 Commits 71 Branches 510 Tags 785 MiB
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Author SHA1 Message Date
Randy Mackay
1921e22265 Copter: ReleaseNotes for AC3.2-rc14 2014-10-27 22:27:14 +09:00
Andrew Tridgell
fae45b29fa AP_InertialSensor: fixed timer bug in HIL sensors 2014-10-27 21:10:55 +09:00
Randy Mackay
3a8d4cdcda Copter: fix to dcm-check to be continuous 
dcm-check was triggering after 10 bad headings but these did not need to
be continuous meaning if the vehicle was flown long enough it would
almost certainly trigger a dcm-check failure and land
 2014-10-27 12:39:24 +09:00
Randy Mackay
8041613c06 RangeFinder: PulsedLight I2C addr to 0x62 2014-10-24 15:00:47 +09:00
Andrew Tridgell
7ad0b6177f AP_RangeFinder: auto-update PX4 ll40ls max/min distance 
this allows the range of the Lidar to be set by the user using
RNGFND_MAX_CM and RNGFND_MIN_CM
 2014-10-24 13:48:38 +09:00
Randy Mackay
83a5102ec5 Copter: version to AC3.2-rc13 2014-10-23 22:20:10 +09:00
Randy Mackay
4bd3f593ef Copter: ReleaseNotes for AC3.2-rc13 2014-10-23 22:20:07 +09:00
Randy Mackay
bafd9fd53f RangeFinder: reduce num instances to 1 2014-10-23 22:20:05 +09:00
Randy Mackay
47418b78d6 Relay: reduce num relays to 2 2014-10-23 22:20:01 +09:00
Randy Mackay
fdf6aa5492 Copter: shorten ESC calibration message 2014-10-23 22:19:58 +09:00
Randy Mackay
8b87a407ed Copter: remove debug 2014-10-23 22:19:55 +09:00
Randy Mackay
a4da667e2b Mount: remove CMD_DO_MOUNT_CONFIGURE support 2014-10-23 22:19:52 +09:00
Randy Mackay
00f9882241 Copter: remove DO_MOUNT_CONFIGURE support 
The functions in the mount lib didn't work anyway
 2014-10-23 22:19:48 +09:00
Randy Mackay
43c5a70424 Copter: completely disable vel controller 2014-10-23 22:19:44 +09:00
Randy Mackay
5cbcbf9b37 DataFlash: log baro climbrate 2014-10-22 17:40:55 +09:00
Randy Mackay
0d2954b5a4 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 17:40:53 +09:00
Jonathan Challinger
0335138683 Copter: print frame type in log headers 2014-10-22 14:57:31 +09:00
Randy Mackay
ba5e368175 AC_WPNav: bug fix sanity check of set_speed_xy 
This corrects a bug that allowed the waypoint speed to be set to zero
 2014-10-21 22:11:26 +09:00
Randy Mackay
65472eaf62 AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P 2014-10-21 22:11:23 +09:00
Randy Mackay
3638bfb614 AC_PosControl: bug fix dt calculation 
fixes issue in which now could be earlier than _last_update_xy_ms
leading to a large dt value and a sudden lean on takeoff
 2014-10-21 11:41:55 +09:00
priseborough
d37c788394 AP_NavEKF: Track baro alt when pre-armed 
This will help prevent spurious alt disparity warning messages for copter
 2014-10-20 17:13:37 +09:00
Randy Mackay
8da15cb409 Copter: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-10-20 13:57:21 +09:00
Randy Mackay
d71b08af0c AP_Motors: reduce slow-start increment for fast CPUs 2014-10-18 20:54:59 +09:00
Randy Mackay
9d76d3b423 Copter: log DCM reported roll-pitch and yaw error 2014-10-18 20:14:32 +09:00
Randy Mackay
cd35293a7b Parachute: set servo or relay to off position on every update 
This resolves the issue of the parachute servo's position not being
initialised to the off position due to an ordering problem of the
auxiliary servos being initialised after the parachute object.
 2014-10-18 17:27:12 +09:00
Andrew Tridgell
bbb6471277 Replay: fixed loading of users parameters and parameter override 
use compass.set_offsets() to avoid trying to write to storage
 2014-10-17 21:34:07 +09:00
Andrew Tridgell
820b4e2bed AP_Compass: added set_offsets() interface 
this will be used by Replay to prevent the need for saving parameters
 2014-10-17 21:34:05 +09:00
Randy Mackay
92225dc5db Copter: add NearlyAll-AC315 LOG_BITMASK description 2014-10-17 21:34:02 +09:00
Randy Mackay
d58f7ada62 Copter: remove extra in_mavlink_delay from should_log function 
Also return false when logging disabled
 2014-10-17 21:33:58 +09:00
Andrew Tridgell
c093160ea9 Copter: support logging while disarmed 2014-10-17 21:33:52 +09:00
Randy Mackay
7e1c975c54 Copter: add DCM check of yaw error 
Triggers an "ekf" failsafe if the DCM yaw error is > 60deg
 2014-10-16 17:28:42 +09:00
Randy Mackay
470fcc2077 Copter: add DCM_CHECK_THRESH parameter 2014-10-16 17:27:15 +09:00
Andrew Tridgell
ed30c0938e AP_AHRS: use a common function for updating the CD values 
this ensures the wrapping of yaw is consistent between the 3 use cases
 2014-10-15 11:28:30 +09:00
Andrew Tridgell
f61ae9e9e5 AP_AHRS: restore DCM attitude before update() 
The DCM drift correction code uses the current attitude to calculate
error values to update its gyro drift correction. If we were using EKF
then without this patch the DCM code running as an alternative AHRS
source would be using the EKF attitude for calculating the error
value, leading to very bad gyro drift estimation
 2014-10-15 11:28:25 +09:00
Andrew Tridgell
0dcf501766 AP_AHRS: fixed calls to DCM in parent class 
use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().

This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.

The fix is to call the specific class versions of use_compass() and
reset()
 2014-10-15 11:28:23 +09:00
Jonathan Challinger
71722d2e49 Copter: remove DRIFT and SPORT from manual_flight_mode function 2014-10-11 15:28:28 +09:00
Jonathan Challinger
4f427c6215 AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy 2014-10-10 21:19:45 +09:00
Randy Mackay
6537432b50 Copter: auto-trim start delays auto-disarm by 15sec 
Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
 2014-10-09 22:42:47 +09:00
Randy Mackay
74e86a3cd7 Copter: version to AC3.2-rc12 2014-10-09 20:18:06 +09:00
Randy Mackay
01a4ad24af Copter: AC3.2-rc12 release notes 2014-10-09 20:17:55 +09:00
Randy Mackay
31c256bdd8 AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled 2014-10-09 20:13:40 +09:00
Andrew Tridgell
811e8571f1 AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled 
this prevents a floating point error caused by using an uninitialised
vector3 when switching between DCM and EKF control in AP_InertialNav

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-10-09 20:13:37 +09:00
Randy Mackay
7f8a68d44a Copter: support pre-flight calibration of gyro 2014-10-09 10:26:05 +09:00
Randy Mackay
661755e05a Copter: report gyro unhealthy if failed calibration 2014-10-09 10:25:52 +09:00
Randy Mackay
eb594775b7 Copter: pre-arm check that gyro cal succeeded 2014-10-09 10:25:47 +09:00
Randy Mackay
d309ecb587 INS: add gyro_calibrated_ok_all method 
This returns true if the gyros have been calibrated successfully
 2014-10-09 10:25:42 +09:00
Randy Mackay
a95b8f1b0e Copter: Rate Pitch IMAX default to 1000 
Spotted by Jonathan Challinger, thanks!
 2014-10-07 21:07:40 +09:00
Randy Mackay
5891cd3078 Copter: disable sonar on APM1 and TradHeli on APM2 2014-10-07 14:13:35 +09:00
Randy Mackay
a1e707b7f9 Copter: cleanup enabling of cli and frsky telem for APM 2014-10-07 12:57:09 +09:00
Randy Mackay
26b5321130 Copter: version to AC3.2-rc11 2014-10-06 11:48:13 +09:00