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2498 Commits

Author SHA1 Message Date
Randy Mackay 02b64e259d Copter: bug fix for descent during loiter_turns 2013-07-15 20:44:56 +09:00
Andrew Tridgell 9a159a5e23 Copter: make wp_distance static 
removed hack with AP_Camera library
 2013-07-15 09:56:45 +10:00
Randy Mackay 47ab02d686 Copter: bug fix to ROI to pull target from conditional command queue 2013-07-14 17:37:06 +09:00
Randy Mackay f1969d5662 Copter: switch from NAV_ROI to DO_SET_ROI 2013-07-14 17:37:05 +09:00
Randy Mackay 2b5f6e2668 Copter: pre-arm checks for rc ch 1~4 min and max 2013-07-13 21:38:22 +09:00
Randy Mackay 213472102c Copter: pre-arm check of throttle failsafe value 
Check throttle min is above throttle failsafe trigger and that trigger
is above ppm encoder's loss-of-signal value of 900
 2013-07-13 20:25:34 +09:00
Randy Mackay 6bfcd28ade Copter: thr failsafe will not RTL if in batt failsafe 
resolves issue #413
 2013-07-13 19:49:25 +09:00
Randy Mackay 5a40ee7a38 Copter: fix to gps present check in mavlink extended status 1 msg 2013-07-13 10:27:50 +09:00
Randy Mackay 66d7f7b026 Copter: GCS_mavlink only send waypoints to gcs3 if initialised 
Also Load parameter defaults at initialisation (although defaults are
all zero anyway so should have no effect)
 2013-07-13 10:12:01 +09:00
Randy Mackay aefb38e486 Copter: remove param to disable accel based throttle controller 2013-07-12 22:57:30 +09:00
Randy Mackay d5b4c44926 Copter: comment fix for flight mode switch delay const 2013-07-12 22:29:14 +09:00
Rayjan Wilson 07ca8ef87a attempt to change from 1/10th second to 2/10th second on flight mode switch 2013-07-12 21:57:35 +09:00
Randy Mackay 53bff2b63e Copter: cli to report ch8 radio values 2013-07-12 21:46:03 +09:00
Randy Mackay 2f4221391e Copter: set_dead_zone renamed to set_default_dead_zone 
Dead zones now set as part of rc initialisation instead of only after
eeprom is erased.
Change in use of parameter means value passed in should be 1/2 what it
was previously
 2013-07-12 11:44:23 +09:00
Randy Mackay 1685ff274d TradHeli: compile error fix related to new ACRO 
The motors_runup_complete must be a feature that Rob has implemented in
his clone which has not yet reached master.  We will need to restore
these lost few trad-heli specific lines once Rob's changes make it to
master.
 2013-07-11 22:33:55 +09:00
Leonard Hall 64ce9b017d Copter: Body frame ACRO upgrade 2013-07-11 17:53:25 +09:00
Randy Mackay 6dd446ac79 Copter: firmware version to 3.0.1 2013-07-11 16:45:05 +09:00
Andrew Tridgell 5ae62f4f04 Copter: fixed build with specified GPS driver 2013-07-11 14:27:42 +10:00
Randy Mackay ac5d925115 Copter: revert Loiter Pos P to 1.0 (was 0.8) 2013-07-11 12:20:31 +09:00
Randy Mackay 1590a5d58a Copter: increase Yaw Rate I 0.02 2013-07-11 12:20:29 +09:00
Randy Mackay ab1a7baf71 Copter: project stopping point for loiter command 2013-07-11 11:39:47 +09:00
Randy Mackay d77f7bc803 Copter: default Loiter Pos P to 0.8 (was 0.2) 2013-07-11 08:13:17 +09:00
Randy Mackay ec65764750 Copter: typo in release notes 2013-07-11 08:04:45 +09:00
Randy Mackay ab09dc46fb Copter: update release notes 2013-07-10 21:20:01 +09:00
Randy Mackay 345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter 
Also removed unused _lean_angle_max variable
 2013-07-10 20:00:32 +09:00
Randy Mackay 8cb7bd628e Copter: change firmware version to 3.0.1-rc2 2013-07-10 15:52:21 +09:00
Randy Mackay f459d35e3e Copter: roll-pitch fix to allow I to reduce 
Contributed by Leonard Hall
 2013-07-10 15:52:15 +09:00
Andrew Tridgell da4137b731 Copter: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell c544a076ca Copter: enable camera logging by default 
these messages only happen on user defined camera triggering, so
should be low rate
 2013-07-10 12:24:02 +10:00
Craig@3DR bbd4fbd2fb Copter: trigger + logging on camera update_location() 2013-07-10 08:39:59 +10:00
Tobias cf426fcb3e Copter: fixed a compiler warning 
* removed useless comparison: if (int8_t t >= 255) ...
* revealed by -Wtype-limits
* saved 6 bytes
 2013-07-08 14:53:30 +10:00
Randy Mackay ed3bf2c1e7 Copter: relax pre-arm checks for mag field 
previously it was 50% ~ 150% of expected mag field but now expanded to
35% ~ 165%.
 2013-07-07 18:00:36 -10:00
tobias 4e73cf810e Copter: added cast to remove compiler warning 2013-07-08 12:07:50 +10:00
Randy Mackay 45f47de98d Copter: reduce default Loiter Pos P to 0.2 (was 1.0) 2013-07-07 16:00:09 -10:00
Randy Mackay 9361e9fe32 Coper: compile error fix when FENCE disabled 2013-07-05 17:22:05 -10:00
Randy Mackay 227185fd0f Copter: remove constraint on rate yaw controller 2013-07-05 14:18:58 -10:00
Randy Mackay 40612ed551 Copter: yaw limit fix to allow I to reduce 
We now allow the I term even if we've hit the yaw limits as long as
updating the I term will reduce it
 2013-07-05 13:52:03 -10:00
Randy Mackay 0cf4ac088a Copter: restore LEDs to off state when auto-trim completes 2013-07-04 16:38:28 -10:00
Randy Mackay 79d2fe6271 Copter: double flash arming light when pre-arm checks fail 
Hardly my finest work but it's temporary because we're going to replace
all the led, buzzer etc with a library called AP_Notify in the near
future.
 2013-07-04 16:26:22 -10:00
tstellanova 459c47fa46 Fix test_ins 
Fix output format of test_ins and fix the number of parameters passed
to printf
 2013-07-02 23:42:48 -10:00
Randy Mackay 404cd5f3da Copter: rename g.pid_throttle to g.pid_throttle_rate 
Small code clean-up to make throttle rate controller's pid more obvious
 2013-06-30 00:04:21 -10:00
Randy Mackay b3da8a462f Copter: CH6 tuning definition clean-up 
Renamed and reorganised the CH6 #defines and parameter definitions
 2013-06-29 23:51:43 -10:00
Dr Gareth Owen e0dcd680f7 proposed radio failsafe bug fix 2013-06-27 17:13:01 -10:00
Randy Mackay 917ae883a0 Copter: revert prev changes to battery failsafe 
The battery failsafe should remain independent of any throttle failsafe
behaviour settings
 2013-06-27 10:30:46 -10:00
Robert Gayle 917edcab11 Copter: added FS_THR_ENABLED_ALWAYS_LAND (=3) option: don't attempt RTL, just land 2013-06-27 10:19:38 -10:00
Olivier-ADLER eaa0e36954 Copter: CompassMot current calibration 
Was using a hardcoded (330) value instead of COMPASS_MAGFIELD_EXPECTED define
 2013-06-26 20:54:03 -10:00
Jonathan Challinger b21bc5a85a Copter: Fixed bug in battery current integration 2013-06-26 17:22:37 +09:00
Randy Mackay 0592475959 Copter: change firmware version to 3.0.0-rc1 2013-06-26 14:03:28 +09:00
Randy Mackay cb0e262e24 Copter: GPS Failsafe switch to LAND if circular fence enabled 2013-06-26 11:57:59 +09:00
Randy Mackay 45dfbecaba Copter: update 3.0.1 version and release notes 2013-06-26 00:09:36 +09:00
Randy Mackay 022148ec0d Copter: LAND only control horizontal position if we have GPS lock 2013-06-25 22:34:58 +09:00
Randy Mackay 66cecbfdc3 Copter Fence: bug fix to avoid repeatedly invoking LAND mode 2013-06-25 22:23:31 +09:00
Olivier-ADLER 24e1f074d0 Copter: Fence missing GPS 3D fix check 
Fence was missing GPS 3D fix check before selecting recovery decision.
 2013-06-25 22:23:29 +09:00
Randy Mackay facd8fc89f Copter: calculate home position and bearing when we have 2D Fix 2013-06-25 22:23:26 +09:00
Olivier-ADLER f1bedc70ac Copter: SuperSimple mode bug 
SuperSimple bearing was updated without checking for GPS 3D Fix availability.
 2013-06-25 22:23:13 +09:00
Andrew Tridgell 3e82f644ea Copter: enabled CAM_TRIGG_DIST parameter 2013-06-25 12:52:44 +10:00
Andrew Tridgell 76d1791073 Copter: CONFIG_RELAY is not used 2013-06-25 12:47:07 +10:00
Andrew Tridgell 23eade8f74 Copter: enable RELAY_* parameters 2013-06-25 12:46:53 +10:00
Randy Mackay a48a7f9775 Copter: minor param definition unit changes 2013-06-23 15:52:46 +09:00
Randy Mackay cd30103b76 Copter: increase default CIRCLE_RATE to 20deg/sec 2013-06-19 12:40:33 +09:00
Randy Mackay 245bc3d3fd Copter: show pilot input in dataflash ATT message even when in AUTO 
AUTO mode ignores pilot input but we still want to be able to see the
pilot's input in the Roll-In and Pitch-In columns of the dataflash's ATT
message
 2013-06-19 12:37:13 +09:00
Randy Mackay acb4907313 Copter: update FS_THR_VALUE parameter description 
One user was setting FS_THR_VALUE too low, below 900 which means
ArduCopter would not trigger when the ppmencoder pulled ch3 low after
updates from the ppmencoder stopped
 2013-06-18 15:56:39 +09:00
Randy Mackay b1a014e12e Copter: update firmware version to 3.0.0 2013-06-18 10:03:40 +09:00
Randy Mackay c42ed1e5eb Copter: add @Increment to PID parameters descriptions 2013-06-16 21:53:50 +09:00
Randy Mackay 069bd17928 Copter: reduce default AltHold P to 1.0 (was 2.0) 
This helps reduce jumpiness due to althold feed forward
 2013-06-16 15:32:25 +09:00
Randy Mackay b1e089fe29 Copter: update AC3.0-rc6 version and release notes 2013-06-16 11:48:03 +09:00
Randy Mackay 272f0e5032 Copter: reduce twitch when entering CIRCLE mode 
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
 2013-06-15 18:18:30 +09:00
Andrew Tridgell 3ec381094e Copter: fix VOLT_DIVIDER docs 2013-06-07 08:40:37 +10:00
Andrew Tridgell 8703d39475 Copter: the INS object is needed for HIL_MODE_SENSORS 
otherwise we can't level, so can't arm
 2013-06-04 18:09:06 +10:00
Randy Mackay 181beb004d Copter: update AC3.0-rc5 release notes 2013-06-04 15:26:02 +09:00
Randy Mackay fcf2429e39 Copter: remove throttle controller's ability to limit lean angle 2013-06-04 15:25:59 +09:00
Randy Mackay dd92a2ba07 Copter: AC3.0-rc5 version and release notes 2013-06-04 15:25:56 +09:00
Andrew Tridgell ba959fd594 Copter: remove unused define 2013-06-04 10:36:34 +10:00
Randy Mackay 1b08f12d53 Circle: allow counter clockwise rotation 2013-06-03 22:12:56 +09:00
Randy Mackay 40f5226518 Copter: reset yaw angle only when motors not spinning 2013-06-03 22:12:52 +09:00
Andrew Tridgell 340c451caf Copter: fixed off-by-one in rcmapper 
oops ...
 2013-06-03 22:22:26 +10:00
Andrew Tridgell 595d3c694a Copter: make it possible to change board orientation at runtime 2013-06-03 16:52:52 +10:00
Andrew Tridgell 725293b9c3 Copter: removed use of rc_ch[] global array 2013-06-03 16:23:48 +10:00
Randy Mackay 213eaa8db6 Copter: integrate draft RCMapper 2013-06-03 16:23:47 +10:00
Randy Mackay 993bccc60e Copter: point nose at landing point if specified 2013-06-03 15:20:37 +09:00
Randy Mackay 9f59f2724f Copter: bug fix for take-off when throttle is zero 
Verify_takeoff was always returning false if throttle was zero.  The
pilot should be able to move their throttle back to zero immediately
after initiating the mission
 2013-06-03 14:18:56 +09:00
Randy Mackay 13c41e74f2 Copter: reduce pre-arm board voltage check to 4.3V 2013-06-02 20:47:58 +09:00
Randy Mackay 036e6f4f2c Copter: updated AC3-rc4 release notes 2013-06-02 12:21:06 +09:00
Randy Mackay 9e91def774 Copter: update firmware version and release notes 2013-06-02 12:19:36 +09:00
Olivier-ADLER 735406fa77 Copter : POSITION_HOLD mode -> allow user position control 2013-06-02 11:49:18 +09:00
Olivier-ADLER 68470c9176 Copter : Land submode - Check for GPS 3D Fix instead of checking for available home position 2013-06-02 11:49:12 +09:00
Dr Gareth Owen 18e566ccc5 failsafe gps lost bug fix 2013-06-02 11:41:59 +09:00
Randy Mackay b462bfed84 Copter: remove unused print_wp function 2013-06-02 11:32:38 +09:00
Dr Gareth Owen 4c6d6ea96e changed yaw reset to when armed to not use initial_simple_bearing 2013-06-02 11:29:30 +09:00
Dr Gareth Owen 79bd8b4fd0 rtl resets yaw to same as when armed - unless user specifies otherwise 2013-06-02 11:29:27 +09:00
Randy Mackay 0460147a15 Copter: guided mode yaw fix 
Nose of copter now points at next guided point if it is more than 10m
away
 2013-06-02 11:25:35 +09:00
Randy Mackay 5203ba9fe3 Copter: alt hold feed forward filter 2013-06-01 21:13:47 +09:00
Randy Mackay 99f5462a03 Copter: circle mode fixes 2013-06-01 18:21:30 +09:00
Randy Mackay e3cd494709 Copter: remove debug message 2013-06-01 18:21:30 +09:00
Randy Mackay 23ce35d292 Copter: remove unused NAV_WP_INAV #define 2013-06-01 18:21:28 +09:00
Randy Mackay 5e2fc32410 Copter: remove unused cli wp report 2013-05-31 21:04:27 +09:00
Randy Mackay 1722e438d8 Copter: pass alt hold gain to WP_Nav library 2013-05-31 21:04:10 +09:00
Randy Mackay d875e95da3 Copter: remove nav and wp tests from cli 
This are more fully tested in the autotester
 2013-05-31 15:23:39 +09:00
Randy Mackay ae91c4a237 Copter: alphabetise order of cli test menu 2013-05-31 15:16:06 +09:00
Randy Mackay e2495b7a49 Copter: alphabetise order of cli setup menu 2013-05-31 15:16:06 +09:00
Randy Mackay a0c8bf238e Copter: move motors test to test menu 
Also allow test to be run from mission planner's cli window
 2013-05-31 15:16:05 +09:00
Randy Mackay 1807840d4f Copter: fixed comments re mag field pre-arm check 2013-05-31 12:28:04 +09:00
Randy Mackay 7b50ecc73c Copter: pre-arm check for mag field length 2013-05-31 12:23:19 +09:00
Randy Mackay a1821c89e7 Copter: pre-arm check for board voltage < 5.8V 2013-05-31 11:31:27 +09:00
Randy Mackay c6e383be0f Copter: disable board voltage pre-arm check for PX4 2013-05-31 11:27:54 +09:00
Andrew Tridgell 2488c4fdc3 Copter: update docs on volt/current pin 2013-05-31 07:57:15 +10:00
Dr Gareth Owen f175111243 added GPS check before mode change. New mode_requires_gps() function. 2013-05-30 20:33:15 +09:00
Andrew Tridgell 0e31a2f582 Copter: fixed indent-tabs-mode 2013-05-30 09:55:51 +10:00
Andrew Tridgell 30df8796ce Copter: fixed loading of waypoints 
copter code assumes that command_total includes the home waypoint
 2013-05-29 21:44:08 +10:00
Andrew Tridgell 903d5636bb Copter: added support for partial mission load 
this allows individual waypoints to be updated in missions
 2013-05-29 16:25:05 +10:00
Randy Mackay c3d21a457f Copter: add pre-arm board voltage check 
Copter will not arm unless board voltage is over 4.5V
 2013-05-28 21:50:31 +09:00
Randy Mackay 6ecd2d74a3 Copter: beep twice during arming 2013-05-27 13:55:34 +09:00
Randy Mackay cdcf442f55 Copter: enable GPS failsafe by default 2013-05-27 11:25:37 +09:00
Randy Mackay ec7ee47099 Copter: scaling stability patch 2013-05-27 11:21:31 +09:00
Randy Mackay 838fb3f4e2 Copter: don't spin motors in ALTHOLD with zero throttle 2013-05-27 10:42:22 +09:00
Randy Mackay 4fa101292a Copter: add baro health to pre-arm checks 2013-05-25 12:24:47 +09:00
Randy Mackay d1791bab76 Copter: fix barometer cli test 2013-05-25 12:21:29 +09:00
Dr Gareth Owen 1aca66460e 7 yaw when armed option changed so overridable by user 2013-05-24 11:14:06 +09:00
Randy Mackay 967aa81e9b Copter: add XL-EZ4 to SONAR_TYPE parameter description 2013-05-23 09:46:57 +09:00
Randy Mackay 22e9b95c3c Copter: version update to 3.0.0-rc3 2013-05-22 17:46:28 +09:00
Randy Mackay 72f29bd0db Copter: remove debug message from compassmot 2013-05-22 11:30:30 +09:00
Randy Mackay c404c46e5a Copter: add Fence to CH7/CH8 param description 2013-05-21 16:31:16 +09:00
Andrew Tridgell 4508e645f1 Copter: fixed parameters to pass new script 2013-05-21 17:02:13 +10:00
Randy Mackay bb3073fab1 Copter: minor parameter description fixes 2013-05-21 15:56:09 +09:00
Randy Mackay 5ee68db6f0 TradHeli: add parameter descriptions 
small formatting changes too
 2013-05-21 15:33:41 +09:00
Randy Mackay 9139fb54ac Copter: param update for AP_Baro and AP_Scheduler 2013-05-21 14:22:11 +09:00
Randy Mackay 00bd1bf8ea Copter: RESETTOARMEDYAW order and comments 
We should keep the order in the case statement the same as the #define
order.
 2013-05-21 10:58:34 +09:00
Dr Gareth Owen f646b79e5f indent correct again 2013-05-21 10:40:36 +09:00
Dr Gareth Owen d9fc37c01c indent correct 2013-05-21 10:40:34 +09:00
Dr Gareth Owen e9d640ced8 added ch7 option to reset yaw back to what it was when quad was armed 2013-05-21 10:40:30 +09:00
Randy Mackay db552adf02 Copter: typo in LOG_BITMASK param description 2013-05-21 10:30:59 +09:00
Randy Mackay 669850e6d4 Copter: add parameter description for LOG_BITMASK 
Should allow a dropdown in the GCS so it can be set more easily without
going into the cli
 2013-05-21 10:29:40 +09:00
Randy Mackay bd44c2f73d Copter: all pre-arm checks to be disabled 
set ARMING_CHECK parameter to zero to disable
 2013-05-20 14:48:04 +09:00
Randy Mackay 43c377ca67 Copter: add compass calibration to pre-arm check 2013-05-20 14:19:47 +09:00
Randy Mackay 6efdabb104 Copter: move auto disarm into a separate function 2013-05-20 14:05:50 +09:00
Randy Mackay 1dbe98b566 Copter: display reason for pre-arm-check failures in GCS 2013-05-20 13:03:18 +09:00
Randy Mackay d10e3bc75f Copter: send_text_P bug fix for short messages 2013-05-20 12:52:20 +09:00
Randy Mackay 885ce7db03 Copter: remove DigitalReadFast 
With APHal all reads are fast
 2013-05-20 11:29:34 +09:00
Randy Mackay 21f3534a93 Copter: remove DigitalWriteFast 
With APHal all writes are fast
 2013-05-20 11:27:35 +09:00
Randy Mackay 55f1b3b2ae Copter: reorganise medium loop 
Shifted compass logging to happen when compass is read.
Updated comments.
 2013-05-20 11:18:51 +09:00
Randy Mackay c840e2a8c2 Copter: code clean-up move 10hz loop after 50hz loop 2013-05-20 11:05:14 +09:00
Randy Mackay f4846b417a Copter: compiler fix for disabled logs 2013-05-19 22:55:40 +09:00
Randy Mackay 4ad395e7be Copter: merge WPNAV into NTUN dataflash message 2013-05-19 22:53:35 +09:00
Randy Mackay 072f3dbe30 Copter: display interference % in compassmot 2013-05-19 22:03:48 +09:00
Randy Mackay 9fdab5e8fe Copter: remove unused AUTO_SLEW_RATE parameter 2013-05-17 16:09:17 +09:00
Randy Mackay 8c99936431 Copter: update CH7_OPT, CH8_OPT to include Multi Mode 2013-05-17 16:07:11 +09:00
Randy Mackay 38239c652a Copter: ch8 aux switch 
Ch8 can be used as an aux switch like ch7.  Has all the same options as
ch7 and there is a safety check to ensure both switches aren't set to
the same function so as to avoid interfering with each other
 2013-05-17 14:42:28 +09:00
Randy Mackay 566daf883a Copter: remove unused MODE bit from LOG_BITMASK 
We always log the mode so no need for this bit
 2013-05-17 12:26:42 +09:00
Randy Mackay 5b00ce24ed Copter: minor user hooks cleanup 
Only define and call functions if the appropriate #define in
APM_Config.h has been added
 2013-05-17 12:19:07 +09:00
Randy Mackay 6a173eb7ad Copter: remove unused dump_state function 
Feel free to add this back in when doing debug.  Let's not have too much
debug permanently in the code because it makes it harder to read.
 2013-05-17 12:11:23 +09:00
Randy Mackay 1426f40319 Copter: remove unused JDrones motor PID overrides 2013-05-17 12:05:20 +09:00
Randy Mackay 19394918dd Copter: simplify APM_Config.h 
Remove items that can be more easily set with parameters
 2013-05-17 12:01:39 +09:00
Randy Mackay 28c37dd798 Copter: do pre-arm checks when arming from GCS 2013-05-17 11:22:32 +09:00
Randy Mackay 9d0f40b432 Copter: add pre_arm_rc_check 
Motors are not be enabled unless we have passed rc checks which include
checking the radio in calibration has been performed.
 2013-05-16 16:32:00 +09:00
Randy Mackay 0540acfec9 Copter: change to compassmot instructions 2013-05-15 12:35:16 +09:00
Randy Mackay 33d1129904 Copter: remove unused TB_RATIO parameter 2013-05-14 16:56:55 +09:00
Randy Mackay e843bf3dfd Copter: bug fix for POSITION mode throttle 
Was using alt-hold throttle controller instead of manual throttle
controller
 2013-05-14 11:56:09 +09:00
Randy Mackay a2e298bbfc Copter: change to default RTL yaw behaviour 
We will not point the nose home for RTL but will point the nose for all
other waypoints
 2013-05-14 11:52:39 +09:00
Randy Mackay 319f3ef560 Copter: flexible CH6 declination tuning range 2013-05-13 23:37:30 +09:00
Randy Mackay 6ba9431be4 Copter: update firmware version and release notes ahead of -rc2 2013-05-13 22:16:25 +09:00
Randy Mackay e130c8041c Copter: remove unused event definitions 2013-05-13 18:07:44 +09:00
Randy Mackay bd6edecdec Copter: restore logging of arm/disarm event 2013-05-13 18:07:28 +09:00
Randy Mackay 94a05a9285 Merge branch 'master' of https://github.com/diydrones/ardupilot 2013-05-13 18:01:53 +09:00
Randy Mackay bb7aec2600 Copter: log compass failur to dataflash 2013-05-13 18:01:30 +09:00
Andrew Tridgell c44fd42349 Copter: fixed RSSI reading on PX4 
needed for different analog input scaling
 2013-05-13 15:19:05 +10:00
Randy Mackay 429f900460 Copter: bug fix for RTL bearing 
Also smooth RTL's initial climb stage by projecting stopping point
 2013-05-11 16:21:25 +09:00
Randy Mackay ad656c7e8a Copter: allow lat/lon to be specified for land 2013-05-10 22:37:15 +09:00
Randy Mackay b3bca271d4 Copter: rename verify_must to verify_nav_command 
Perhaps easier to understand if we use the "nav" and "conditional"
command labels
 2013-05-10 12:06:29 +09:00
Randy Mackay b65d714675 Copter: set yaw-mode in do_loiter mission command 2013-05-10 10:51:46 +09:00
Randy Mackay 98732ae4e8 Copter: remove redundant init of controllers when auto is started 
individual do_* commands are responsible for setting roll-pitch, yaw and
throttle modes.  Removing this redundant setting of the controllers
removes the short period (10th second max) where loiter and waypoint
controller's desired roll and pitch were used even before the
controllers have been run once.
 2013-05-10 10:51:13 +09:00
Randy Mackay 870b9b0fbb Copter: only run nav controllers when auto-armed 
This stops run-up in target position and nav controller I terms ahead of
throttle being raised
 2013-05-10 10:46:17 +09:00
Randy Mackay 1b52ee211a Copter: bug fix for RTL yaw control 
Nose was only pointing home if your initial altitude was above the
RTL_ALT
 2013-05-09 21:44:46 +09:00
Randy Mackay ed5ddfd9db WPNav: initialise desired roll, pitch 
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
 2013-05-09 18:32:02 +09:00
Randy Mackay d0fb332e9f Copter: init_rc_out in cli's compassmot setup 
Bug fix to allow cli's compass motor compensation to be run from the
mission planner's terminal window
 2013-05-09 13:30:08 +09:00
Andrew Tridgell 95120ed43d Copter: use library gcs_severity 2013-05-09 09:28:49 +10:00
Randy Mackay 1b2d8636ca Copter: set wp to "fast" if they have no delay 2013-05-09 00:18:36 +09:00
Randy Mackay 9824f6c223 Copter: add flight mode strings to Parameter info 2013-05-08 16:41:45 +09:00
Randy Mackay 0a148cce19 Copter: log target alt in meters 2013-05-08 16:41:16 +09:00
Andrew Tridgell 9feb46c834 Copter: use new accel cal interact over MAVLink 2013-05-08 16:19:26 +10:00
Randy Mackay 324200b52c Copter: disable centrifugal correction when disarmed 2013-05-06 15:32:08 +09:00
Andrew Tridgell 703a1ba438 Copter: avoid copying the DCM matrix 2013-05-05 21:51:09 +10:00
Randy Mackay 372ebb602c Copter: disable centrifugal force correction when disarmed 2013-05-05 16:55:06 +09:00
Randy Mackay ae2ad8e819 Copter: remove unused radius_of_earth constant 2013-05-05 13:13:48 +09:00
Randy Mackay 6836964e3c Copter: resolve compiler warning re fence 2013-05-04 23:18:16 +09:00
Randy Mackay 1cfd5900a8 Copter: add support for H-quad frame 
H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
 2013-05-03 23:13:40 +09:00
Randy Mackay 647a93e78e Copter: remove jerk when entering RTL or AUTO 
Loiter target position was not being initialised properly.
Add a few more comments
 2013-05-03 16:58:00 +09:00
Randy Mackay cca05ee8ae Copter: start dataflash logging when arming 
Stop nearly empty logs from being produced.
Removed redundant armed bit from ap state.
 2013-05-03 14:49:55 +09:00
Andrew Tridgell b6e3e59bc3 Copter: simplify setHIL for baro 2013-05-02 15:26:54 +10:00
Andrew Tridgell 55da049c69 Copter: fixes for AP_Baro_HIL 2013-05-02 15:09:16 +10:00
Andrew Tridgell db57c8d7c5 Copter: removed the deprecated HIL sensors interface 
must use the new HIL_STATE message now
 2013-05-02 15:00:50 +10:00
Andrew Tridgell 172d9724df Copter: use new HIL compass API 2013-05-02 15:00:07 +10:00
Andrew Tridgell 0d027b7a23 Copter: updates for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell 105bd32a2e Copter: fixed some uses of constrain_float() to be right type 2013-05-02 10:29:57 +10:00
Andrew Tridgell 25c576cad7 Copter: replaced constrain() with constrain_float() 2013-05-02 10:26:49 +10:00
Michael Oborne 743d7f2b74 Fix Param description 2013-05-02 09:49:21 +10:00
Randy Mackay d9601916ee Copter: update firmware version and release notes for 3.0.0-rc1 2013-05-01 17:53:11 +09:00
Randy Mackay 3aca35777f Copter: use mavlink fence message 
Note: we should consider moving this send via mavlink into the fence
library
 2013-05-01 17:06:58 +09:00
Randy Mackay bab9fa25e5 Copter: add GCS failsafe 2013-04-29 21:30:22 +09:00
Randy Mackay 31e430948a Copter: use renamed RCInput valid_channels 2013-04-29 15:06:30 +09:00
Randy Mackay 76d0f7f74d Copter: fix compiler warning re unused float_int 2013-04-28 17:22:58 +09:00
Randy Mackay cc2232b2f3 Copter: remove outdated tests 
We primarily use sitl now for testing making these unit tests less
important and having large blocks of commented out code that perhaps
doesn't compile anymore makes the code messy
 2013-04-28 17:21:33 +09:00
Randy Mackay d146d6aaa6 Copter: restore update_altitude to run at 10hz 2013-04-28 17:15:13 +09:00
Randy Mackay 90af3262c5 Copter: pre-arm check for compass 2013-04-27 23:50:40 +09:00
Randy Mackay 57731bb3f9 Copter: adopt compass test from arduplane 2013-04-27 23:33:04 +09:00
Randy Mackay c232d7af4b Copter: correct fence parameter 2013-04-27 11:14:11 +09:00
Randy Mackay 58d1da2d80 Copter: integrate AC_Fence in place of limits 
Lesser functionality than limits but saves more than 150 bytes and it
works
 2013-04-27 11:14:07 +09:00
Randy Mackay 45aab0de92 Copter: add I2C error count to PM message 2013-04-26 22:39:22 +09:00
Andrew Tridgell 300a8d2bbc Copter: support all 12 channels on PX4 
last 4 channels are on the FMU pins
 2013-04-25 20:10:53 +10:00
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