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Author SHA1 Message Date
Randy Mackay
942c14258b TradHeli: ramp up changes 
Rewrote tail and main rotor ramp up methods
Moved direct drive ESC speed control into rsc_control method
Pass in ch7 servo as servo_aux to TradHeli motors object constructor
split CH7_SETPOINT parameter into GYR_GAIN and DIRECTDRIVE parameters
replaced RSC_RATE with uint8_t RSC_RAMP_TIME parameter
rename GOV_SETPOINT parameter to RSC_SETPOINT
RSC_MODE parameter description updated to indicate it controls the
source of main rotor speed
 2013-11-15 22:58:13 +09:00
Robert Lefebvre
9ac051c56d TradHeli: BugFix to ColYaw 
Credit to Jolyon Saunders for finding this bug.
 2013-11-15 22:58:11 +09:00
Robert Lefebvre
bba7fdc7c3 TradHeli: ch6 tuning of ext gyro to use control_in 
This could also be used to control the other Heli Ch7 functions (direct drive tail rotor control).  This should be tidied up.

Credit: Jolyon Saunders
 2013-11-15 22:58:08 +09:00
Robert Lefebvre
4426060ccc TradHeli: COLYAW not applied when the motor is not running 2013-11-15 22:58:06 +09:00
Robert Lefebvre
9ae66c1773 TradHeli: add support for drive tail rotors 
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
 2013-11-15 22:58:04 +09:00
Robert Lefebvre
232a116973 TradHeli: Use Leaky Integrator on Yaw Rate controller 
Use when rotor is not running to prevent the rudder from slowly moving over
 2013-11-15 22:58:02 +09:00
Randy Mackay
3ce16113b5 TradHeli: use landing collective when landed or landing 2013-11-15 22:58:00 +09:00
Randy Mackay
7ae0d3320b TradHeli: add landing collective min 2013-11-15 22:57:58 +09:00
Randy Mackay
633e91b7d4 Copter: initialise roll, pitch, yaw modes to stabilize 
This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
 2013-11-15 22:57:56 +09:00
Randy Mackay
ae87759e6d TradHeli: add THROTTLE_MANUAL_HELI 
Move check_dynamic_flight to run as scheduled task
 2013-11-15 22:57:53 +09:00
Randy Mackay
1f65bb537f TradHeli: add get_pilot_desired_collective 
Perhaps this should be moved to the main code's heli.pde sketch
 2013-11-15 22:57:51 +09:00
Randy Mackay
eaef5315bf TradHeli: bugfix to update swash in run_rate_controllers 2013-11-15 22:57:47 +09:00
Randy Mackay
34fb70cfc7 TradHeli: formatting and param description changes 2013-11-15 22:57:45 +09:00
Randy Mackay
46118b59d7 TradHeli: integrate motor lib changes 2013-11-15 22:57:43 +09:00
Randy Mackay
13a412ee21 TradHeli: make parameters and variables private 
add accessors for variables and params required in main code
replace tabs with spaces
 2013-11-15 22:57:41 +09:00
Randy Mackay
72597cc5bd TradHeli: remove setup via CLI 
Saves 6k of flash
 2013-11-15 22:57:39 +09:00
Randy Mackay
2cc48ffcd6 Copter: formatting and param description changes 2013-11-15 22:57:37 +09:00
Robert Lefebvre
0e2ddb0378 Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete. 2013-11-15 22:57:34 +09:00
Robert Lefebvre
c5b119288d TradHeli: Add Motor Runup check to the auto_arming check. 2013-11-15 22:57:31 +09:00
Robert Lefebvre
f67d95ac75 TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly. 2013-11-15 22:57:28 +09:00
Robert Lefebvre
ffb605d06d TradHeli: Modify the constrain on the auto throttle controller to prevent it from commanding full down collective if we think we are on the ground still. 2013-11-15 22:57:22 +09:00
Randy Mackay
8f2c9591ff TradHeli: dynamic_flight flag based on inertial nav speed 
Created new heli.pde for heli_integrated_swash and check_dynamic_flight
 2013-11-15 22:57:20 +09:00
Robert Lefebvre
e23e4bc7d8 TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector 2013-11-15 22:57:18 +09:00
Robert Lefebvre
324c866ae1 TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started. 2013-11-15 22:57:16 +09:00
Robert Lefebvre
f7c63be357 TradHeli: leaky-I-term based on dynamic_flight_detector 2013-11-15 22:57:14 +09:00
Randy Mackay
f5488bc447 HAL: MPU6k and Baro SPI to 8Mhz 2013-11-15 21:58:32 +09:00
Andrew Tridgell
08a6503364 HAL_AVR: force all devices on SPI0 to low speed when one is low speed 
this forces MS5611 to low speed when MPU6K is low speed
 2013-11-15 21:58:30 +09:00
Randy Mackay
f0f6e85b39 Copter: ARMING_CHECK made into bitmask 
Allows arming checks to be individually enabled or disabled for baro,
compass, GPS, INS, parameters, RC and board voltage
 2013-11-15 17:13:56 +09:00
Randy Mackay
fe822ba0b6 Copter: pre-arm check of INS health 2013-11-15 17:13:53 +09:00
Andrew Tridgell
71bb462ad0 AP_InertialSensor: use fabsf() 2013-11-15 10:43:10 +11:00
Andrew Tridgell
aef9289476 AP_InertialSensor: added INS_PRODUCT_ID values 2013-11-15 10:43:10 +11:00
Randy Mackay
d54b1ea446 CopterMotors: fix example sketch 2013-11-14 22:27:10 +09:00
Randy Mackay
ce045c77a4 Copter: remove unused variable from Single copter 2013-11-14 22:26:53 +09:00
proficnc
b1bd708a98 Update README.md 
Updated build instruction link to the one on the Dev.Ardupilot wiki
 2013-11-14 14:51:11 +09:00
Jason Short
371dc8c616 Copter: Drift Mode 
Changes Toy mode declarations to Drift mode.
Requires GPS, Mode 2 transmitter
Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.
 2013-11-14 14:43:15 +09:00
Randy Mackay
57b291b1c5 Copter: reject change_command if not in AUTO 2013-11-14 13:49:37 +09:00
Randy Mackay
0778454434 Copter: disarm routine shortcut 
Extra check so we only run the disarm check when we are actually armed.
The ground stations sometimes send many disarm messages which can be
ignored
 2013-11-14 13:14:51 +09:00
Randy Mackay
9d4e0a216f Copter: parameter files for beg, int, adv and camera ship 2013-11-13 22:57:08 +09:00
Randy Mackay
bcbf0feff0 GPS Glitch: revert accel max to 10m/s/s 
This may not be the best real world value but it keeps the autotester
from failing because it recovers from the glitch before the 5second
time-out on the GPS failsafe
 2013-11-13 21:33:34 +09:00
Randy Mackay
f5b1114aea Copter: range check pilot requested lean angles 
This fixes a bug uncovered by MHA in which the receiver output 900 pwm
for roll and pitch to the APM which was interpreted as requesting an 80
deg lean angle which the copter then attempted to do!
 2013-11-13 14:21:21 +09:00
Randy Mackay
14dc1a1c88 Copter: add @User and @Increment to motor params description 2013-11-13 12:28:59 +09:00
Randy Mackay
e53c57b0a6 Copter: default SPIN_WHEN_ARMED to zero 2013-11-13 12:28:01 +09:00
Randy Mackay
3bd124eb72 GPS Glitch: radius and accel max to 5m and 5m/s/s 2013-11-13 11:49:21 +09:00
Andrew Tridgell
6448ff455f build: added new copter frame type 'single' 2013-11-13 09:21:21 +11:00
Andrew Tridgell
504bdd8139 build: fixed build_all for heli 2013-11-13 09:12:02 +11:00
Andrew Tridgell
6deeca1cc0 build: support all copter frame types on all boards 2013-11-13 09:12:02 +11:00
Randy Mackay
159d6320bf Copter: move SINGLE parameters to start at 75 2013-11-12 23:40:38 +09:00
Randy Mackay
06ce98a2f4 Copter: add SINGLE_FRAME definition 2013-11-12 23:40:32 +09:00
Randy Mackay
81d83f1c55 SingleCopter: formatting changes 
replace tab with 4-spaces
remove blank lines
 2013-11-12 23:40:29 +09:00
ssq870424
07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00