Randy Mackay
e464909ddf
Copter: position_ok true when EKF predicts it will be ok
...
This resolves the chicken and egg problem of the EKF filter status's
position flags not becoming true until after the vehicle has been armed
at least once.
2015-01-22 14:39:52 +09:00
Randy Mackay
58ac9de94b
Copter: update home position when disarmed
...
This resolves the issue in which the vehicle's position jumped back to
it's home location when disarmed and using the EKF. This also makes
copter consistent with plane.
2015-01-22 14:39:50 +09:00
Randy Mackay
fd0b82f669
Copter: add optflow_position_ok and use for loiter
...
This allows entering Loiter flight mode with only optical flow based
position
2015-01-22 14:39:47 +09:00
Randy Mackay
199dc3454d
Copter: replace GPS_ok with position_ok
...
position_ok uses the EKF's filter status if the EKF is being used
otherwise it falls back to the GPS based checks used by inertial nav
2015-01-22 14:39:45 +09:00
Randy Mackay
a4f71e5946
Copter: replace inav's position_ok with get_filter_status
2015-01-22 14:39:42 +09:00
Randy Mackay
e94693e8ac
Copter: remove unused throttle integrator
2015-01-21 14:38:06 +09:00
Robert Lefebvre
b8822a42b6
Copter: Change Compass logging to new DataFlash method that handles instances.
2015-01-21 14:37:52 +09:00
Robert Lefebvre
37304fd5ed
Copter: Minor formatting changes in Log.pde
2015-01-21 14:37:23 +09:00
Robert Lefebvre
4b86a4aeec
Arducopter: Change mode logging to use common-vehicle DataFlash library.
2015-01-21 14:37:20 +09:00
Robert Lefebvre
422970a1b1
Arducopter: Change compass logging to use common-vehicle DataFlash library.
2015-01-21 14:37:16 +09:00
Robert Lefebvre
1b152cf2bf
ArduCopter: Change Current logging to use common-vehicle logging in DataFlash library.
2015-01-21 14:37:04 +09:00
Robert Lefebvre
c9d5b6aa7f
Arducopter: Change Attitude logging to use common-vehicle logging in DataFlash library.
2015-01-21 14:36:59 +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
Randy Mackay
4059e02a8c
Copter: move ch6 tuning to tuning.pde
2015-01-16 15:12:58 +09:00
Jason Short
fe74a11b4e
Copter: Drift mode gain changes and roll control through ch4
2015-01-15 11:55:24 +09:00
Randy Mackay
d6c48e422a
Copter: restore baro climb rate check to land_detector
2015-01-14 16:08:57 +09:00
Randy Mackay
1c25c00f5b
Copter: move land_detector to separate file
2015-01-14 16:08:55 +09:00
Jonathan Challinger
36410a5131
Copter: clean up land detector and modify to use desired velocity
2015-01-14 16:08:50 +09:00
Randy Mackay
0c44b5f4fe
Copter: fix typo in AC3.2.1 Release Notes
2015-01-10 22:29:46 +09:00
Andrew Tridgell
557f4df77e
Copter: use barometer.all_healthy() for health check in SYS_STATUS and arming
2015-01-09 11:51:51 +11:00
Andrew Tridgell
c151f24672
Copter: updates for new AP_Baro API
2015-01-09 11:50:55 +11:00
Randy Mackay
781f2b7ddc
Copter: update AC3.2.1-rc1 Release Notes
2015-01-09 05:06:36 +09:00
Randy Mackay
ce9b87c101
Copter: AC3.2.1-rc1 Release Notes
2015-01-08 21:53:47 +09:00
Randy Mackay
80f59694d0
Copter: remove deprecated Guided-Spline
...
Guided-Spline has been replaced by Guided-PosVel
2015-01-07 14:03:50 +09:00
Randy Mackay
be5bf91e92
Copter: add ekf velocity scaler to posvel controller
...
Also set auto-yaw-mode to yaw-hold only when posvel controller is
started instead of on every iteration.
added GUIDED_POSVEL_TIMEOUT_MS definition.
removed deprecated trigger_xy call.
Also use wp_nav.get_speed_xy in place of get_speed_param
2015-01-07 14:03:08 +09:00
Jonathan Challinger
474456e349
Copter: use guided_posvel for set_position_target messages
2015-01-07 14:02:24 +09:00
Jonathan Challinger
bc29008233
Copter: add guided_posvel
2015-01-07 14:02:21 +09:00
Randy Mackay
06d1a4c59f
Copter: use LandingGear command mode enum
2015-01-07 11:58:23 +09:00
Randy Mackay
d26fa6d827
Copter: minor format fix
...
no functional change
2015-01-07 11:58:23 +09:00
Randy Mackay
5f3c2bcd11
Copter: rename landing_gear.pde
2015-01-07 11:58:21 +09:00
Robert Lefebvre
62b5f32643
Copter: Use landinggear.force_deploy method when auto-landing
2015-01-07 11:58:20 +09:00
Robert Lefebvre
20fce5c9ff
Copter: Move landing gear code into new file
2015-01-07 11:58:20 +09:00
Robert Lefebvre
fd61c3179a
Copter: Remove relay pointer from LandingGear object
2015-01-07 11:58:18 +09:00
Robert Lefebvre
e10e020062
Copter: Add Landing Gear functionality to main code
2015-01-07 11:58:16 +09:00
Staroselskii Georgii
84a15304a1
Copter: added AK8963 support
2015-01-07 08:41:13 +11:00
Randy Mackay
f54a13f24b
Copter: report NAV_CONTROLLER_OUTPUT in RTL, Guided
...
This allows the GCS to display to the user where the vehicle is flying
to in RTL and Guided flight modes
2015-01-06 16:38:34 +09:00
Robert Lefebvre
d7ba808400
ArduCopter: Bug fix, int8t should be uint16t.
2015-01-06 15:02:48 +09:00
Robert Lefebvre
205b312789
Copter: GCS Failsafe comments and format changes
2015-01-05 10:34:17 +09:00
Robert Lefebvre
5f19a43104
Copter: GCS Failsafe to trigger if using Guided mode
2015-01-05 10:33:50 +09:00
Andrew Tridgell
c268d7252f
Copter: fixed flymaple build
2015-01-05 07:36:40 +11:00
Andrew Tridgell
cb5552f0e3
Copter: fixed build with optflow disabled
2015-01-04 12:29:22 +11:00
Andrew Tridgell
ab62105afe
Copter: use common send_opticalflow()
2015-01-03 15:53:49 +11:00
Andrew Tridgell
788bb8ab9f
Copter: make optflow available to AHRS
2015-01-03 14:16:34 +11:00
Andrew Tridgell
c784ee717b
Copter: update for new OptFlow API
2015-01-03 14:16:33 +11:00
Randy Mackay
f1f71ef605
Copter: cli uses has_current method
2014-12-31 15:22:50 +09:00
Randy Mackay
3ccc61c163
Copter: use battery.has_current method
2014-12-31 15:22:49 +09:00
Randy Mackay
d6b4bfd97f
Copter: move underscore in BATT_ parameters
2014-12-31 15:22:48 +09:00
Randy Mackay
2e7435df52
Copter: remove unused OF_LOITER pid defines
2014-12-31 13:16:18 +09:00
Randy Mackay
3e34e7ed7e
Copter: remove logging dependency on optflow
2014-12-31 13:16:17 +09:00
priseborough
695f12bec0
Copter: Don't log EKF optical flow data if not required
2014-12-31 13:16:12 +09:00
Randy Mackay
f2b0fc3566
Copter: disarm on landing regardless of pilot input
2014-12-27 13:33:06 +09:00
Randy Mackay
72127cde35
Copter: remove broken support for do-change-alt
...
This command was not implemented fully removing this code resolves a
compiler warning
2014-12-26 22:17:45 +09:00
Randy Mackay
2bc1b7e4d6
Copter: skip pre-arm checks when already armed
2014-12-26 22:01:43 +09:00
Randy Mackay
990a34cb75
Copter: remove support for do-set-home mission command
...
This avoids the chance of an arithmetic exception in cases where the
position is moved too far
2014-12-26 15:55:26 +09:00
Randy Mackay
2ea9b8a5a8
Copter: set pre_arm_gps_check flag
2014-12-26 12:32:36 +09:00
Randy Mackay
05fedbf98f
Copter: minor formatting fixes
2014-12-18 16:38:34 +09:00
Jonathan Challinger
91bff63267
Copter: Fix LAND overshoot issue
2014-12-18 16:38:31 +09:00
Randy Mackay
b6bcf841e1
Copter: remove second camera mount
2014-12-16 21:26:20 +09:00
Jonathan Challinger
cafb38e923
Copter: allow radio failsafe while disarmed so that user can be notified
2014-12-15 14:10:29 +09:00
Randy Mackay
79e40b4f6a
Copter: do not send mode_change event before init complete
...
This avoids a beep as the flight mode is set during start-up
2014-12-15 14:10:23 +09:00
Randy Mackay
562f3e7382
Copter: set notify event when failsafe changes flight mode
2014-12-15 14:10:19 +09:00
Randy Mackay
6a15d21704
Copter: minor format change
2014-12-15 14:10:13 +09:00
Jonathan Challinger
f045c75bfe
Copter: play various tones
2014-12-15 14:09:12 +09:00
Randy Mackay
fd55a2d9c4
Copter: increase GPS_HDOP_GOOD default to 2.3
2014-12-15 10:45:50 +09:00
Andrew Tridgell
e73f8b8e40
Copter: removed use of mavlink_check_target()
2014-12-11 12:32:34 +09:00
Randy Mackay
67f48168a8
Copter: send OPTICAL_FLOW msg to GCS
2014-12-08 14:58:31 +09:00
Randy Mackay
641c770726
Copter: send optflow health in extended status
2014-12-08 14:58:28 +09:00
Randy Mackay
882546aa8e
Copter: optflow logging minor format change
2014-12-08 14:58:27 +09:00
Randy Mackay
3127dd94c1
Copter: add OPTFLOW to default logging
2014-12-08 14:58:27 +09:00
Randy Mackay
aba829678a
Copter: optflow instantiation format change
...
No functional change
2014-12-08 14:58:26 +09:00
Randy Mackay
c93c7af20c
Copter: move update_optflow to sensors.pde
...
No functional change
2014-12-08 14:58:25 +09:00
Randy Mackay
67fdfffc2a
Copter: remove OF_Loiter PIDs and tuning
2014-12-08 14:58:18 +09:00
Randy Mackay
0994529624
Copter: remove OF_Loiter from FLTMODE param descriptions
...
Also remove OF_Loiter reference in comments
No functional change
2014-12-08 14:57:04 +09:00
Andrew Tridgell
fba02479b7
Copter: fixed build with no EKF
2014-12-06 18:43:38 +11:00
priseborough
963cc4d60a
Copter: Add velocity gain scaler to interfaces
...
Allows nav gain to be scaled to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
priseborough
9e7709fa09
Copter: Expand EKF speed limit public method to handle control limits
2014-12-06 18:16:50 +11:00
priseborough
9844dacf40
Copter: Add EKF ground speed limit to loiter speed control
...
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
2014-12-06 18:16:50 +11:00
priseborough
715d64dce9
Copter: Check for new optical flow updates at 200Hz
...
Supports use of higher flow read rates if required.
2014-12-06 18:16:48 +11:00
priseborough
468c83c074
Copter : Check for new optical flow readings every 10ms
...
The driver polls the sensor asynchronously every 100 msec, so we need to continually check for new data.
2014-12-06 18:16:48 +11:00
priseborough
be54f2d6ee
Copter : Don't force pre-compiler inclusion of optical flow
2014-12-06 18:16:48 +11:00
priseborough
6d5fb33d1a
Copter : enable optical flow by default
2014-12-06 18:16:47 +11:00
priseborough
45c007d216
Copter : Correct comment on required optical flow update rate
2014-12-06 18:16:47 +11:00
priseborough
a72b6b179b
Copter : Modify EKF optical flow data interface
2014-12-06 18:16:46 +11:00
priseborough
311206017c
Copter : Update EKF optical flow data interface
...
Makes it compatible with the new PX4Flow interface
2014-12-06 18:16:46 +11:00
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
priseborough
27f9289391
Copter : Add range finder measurements to EKF optical flow data
2014-12-06 18:16:44 +11:00
priseborough
635e593d55
Copter : temporary mods to test use of flow sensor internal gyro data
2014-12-06 18:16:44 +11:00
priseborough
34249ffa42
Copter : EKF optical flow fusion support preliminary changes
...
Assumes optflow sensor has been modified to push data at a low rate, eg 10Hz
and velocity data is angular velocity, not linear velocity
2014-12-06 18:16:44 +11:00
Randy Mackay
8b80e58861
Copter: enable OPTFLOW - do not merge to master
2014-12-06 18:16:44 +11:00
priseborough
60527a023a
Copter : Update optical flow test for new PX4Flow interface
2014-12-06 18:16:43 +11:00
priseborough
0d7555b259
Copter : Remove legacy optical flow control mode
...
This mode is not compatible with the new PX4Flow interface
2014-12-06 18:16:43 +11:00
priseborough
900519b35b
Copter : Remove legacy optical flow control mode
...
This mode is not compatible with the new PX4Flow interface
2014-12-06 18:16:43 +11:00
priseborough
23953b459e
Copter : Update logging for new PX4Flow sensor interface
2014-12-06 18:16:43 +11:00
priseborough
20e715aa13
Copter : Remove ADNS3080 flow sensor support
2014-12-06 18:16:43 +11:00
priseborough
5ef2208017
Copter: Change flow sensor read sample rate to 10Hz
2014-12-06 18:16:43 +11:00
Randy Mackay
7be78621f4
Copter: run_nav_updates at 50hz on Pixhawk, 25hz on APM2
...
Based on work by Jon Challinger (see earlier commit)
2014-12-05 14:01:16 +09:00
Jonathan Challinger
203b713f0d
Copter: run_nav_updates at 100hz on pixhawk
2014-12-05 14:01:14 +09:00
Andrew Tridgell
dcdfff66e8
Copter: setup pwm esc scaling
2014-11-26 11:14:44 +11:00
Randy Mackay
13b8159fb5
Copter: only allow one preflight calibration at a time
2014-11-21 22:00:45 +09:00
Randy Mackay
330b52194f
Copter: change to switch order in guided spline
...
No functional change
2014-11-19 12:06:30 -08:00
