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3399 Commits

Author SHA1 Message Date
Andrew Tridgell e260f1c569 Copter: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Randy Mackay 4723ed5e6e Copter: rename EKF check's error message to dataflash 
It checks more than the compass so the old error message was misleading.
 2014-08-09 15:48:42 +09:00
Randy Mackay af7e5a75e9 Copter: correct EKF_CHECK parameter description 2014-08-09 15:32:54 +09:00
Randy Mackay 0518439841 Copter: move relay from ch6 to ch7/ch8 2014-08-09 13:37:12 +09:00
Randy Mackay 226e42f1d7 Copter: rename EKF_CHECK_THRESH parameter 2014-08-07 21:43:57 +09:00
Andrew Tridgell 4d284a695d Copter: fix for changed AP_Terrain API 2014-08-06 17:59:19 +10:00
Randy Mackay e5f89baab0 Copter: increase RATE IMAX param desc ranges 
Also remove unused STB_RLL_I and STB_RLL_IMAX descriptions because these
parameters no longer exist
 2014-08-06 13:24:10 +09:00
ggregory8 013b1333b1 Copter: Add guided_takeoff_start and guided_takeoff_run functions 2014-08-05 10:25:33 +09:00
ggregory8 e8b0c7a7e7 Copter: Handle MAV_CMD_NAV_TAKEOFF command to takeoff in guided mode only 2014-08-05 10:25:31 +09:00
ggregory8 3832c46998 Copter: Add takeoff enum for guided_mode 2014-08-05 10:25:29 +09:00
Randy Mackay 610e747f27 Copter: minor formatting fix 2014-08-04 21:04:10 +09:00
Randy Mackay 52a3dc2bde Copter: reset target alt to current alt when landed 2014-08-04 16:56:03 +09:00
Randy Mackay 279aff87f2 Copter: bug fix to land-detector 
vehicle should become un-landed only when throttle out is above the
get-non-throttle-takeoff value
 2014-08-04 16:53:39 +09:00
Randy Mackay c7ba44db2d Copter: increase ekf check threshold for inav 
This increases the accel correction from 60cm/s to 80cm/s before the ekf
check will trigger a land
 2014-08-04 15:06:37 +09:00
Randy Mackay 7b9fa1ea79 Copter: rate IMAX increase to 1000 2014-08-04 11:31:02 +09:00
Randy Mackay b8f98aba8f Copter: fix baro glitch resolved message in dataflash 
Caught by Julien Dubois, thanks!
 2014-08-04 09:11:21 +09:00
Randy Mackay b29f8968ce Copter: clarify EKF check msg to GCS 
remove "compass" from the error message because the failure can also be
caused by GPS glitches
 2014-08-02 16:14:20 +09:00
Randy Mackay 8a07701d07 Copter: remove ch6 tuning of INAV_TC 
Users normally never change these parameters and if by chance they do want
to, they can set them before flying
 2014-08-01 15:14:42 +09:00
Randy Mackay d386ac6f85 Copter: remove unused local var from Flip 2014-08-01 15:14:42 +09:00
Randy Mackay e17da607b1 Copter: remove empty Telemetry.pde 2014-08-01 15:14:41 +09:00
Randy Mackay 4e2683421c Copter: disable parachute and rally on APM1 2014-08-01 15:14:40 +09:00
Randy Mackay 3e6e776360 Copter: of-loiter unavailable if OPTFLOW not enabled 
of-loiter was small but still present even when optflow was disabled
 2014-08-01 15:14:32 +09:00
Randy Mackay 004eb168fb Copter: remove unused var from ekf check 2014-08-01 15:06:19 +09:00
Andrew Tridgell 81230ab518 Copter: disable dump_log when no APM2 2014-08-01 15:57:28 +10:00
Andrew Tridgell a49d133d2a Copter: disable Log_Read if no CLI 2014-08-01 15:46:28 +10:00
Randy Mackay 7a2288523e Copter: version and release notes for AC3.2-rc4 2014-08-01 13:56:09 +09:00
Randy Mackay 2c0699c9ed Copter: auto-disarm in Drift, Sport, OF_Loiter 2014-07-31 22:58:43 +09:00
Randy Mackay b52f8351e8 Copter: rename EKFCHECK_COMPASS to EKFCHECK_THRESH 
Renamed because this threshold is now used for both compass and velocity
variance.
Also minor reorganisation of ekfcheck but no functional change.
 2014-07-31 22:58:43 +09:00
priseborough d9bb3965ac Copter: prevent false triggering of ekf_check 2014-07-31 22:58:29 +09:00
Randy Mackay 85b4ba6142 Copter: Thr and Batt failsafe disarm when landed 
When throttle/radio failsafe or battery failsafe are triggered, the
vehicle will disarm if it is landed even if the throttle is not at zero.
Auto mode will disarm if landed and mission has not started.  This
ensures that the vehicle does not disarm during a mission land command
that appears mid way through a mission.
 2014-07-31 15:00:06 +09:00
Randy Mackay 77d5b2171e Copter: rename control_modes.pde to switches.pde 2014-07-31 15:00:04 +09:00
Randy Mackay b09568ffb5 Copter: use hal.rcout to send servo output to GCS 2014-07-30 17:31:11 +09:00
Andrew Tridgell 3ccac6736d Copter: rename TELEM2_PROTOCOL to SERIAL2_PROTOCOL 
this matches SERIAL2_BAUD
 2014-07-30 14:49:10 +10:00
Matthias Badaire 147e91877e Copter: Add SERIAL2_PROTOCOL for GCS and FRsky telemtry 
this allows selection of protocol type on telem2. The default is
MAVLink, but can be selected as FrSky protocol
 2014-07-29 17:08:19 -07:00
Andrew Tridgell 91ec4e56d5 Copter: fixed ESC calibration on Pixhawk 
this ensures motors are armed after safety is pressed, and also gives
print out of channel inputs and outputs on USB console for debug
purposes

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-07-29 13:59:28 +10:00
Randy Mackay c9667131dd Copter: log flight mode after arming 2014-07-29 11:43:47 +09:00
Randy Mackay 55f679b54b BaroGlitch: shorten param prefix to BAROGLTCH_ 2014-07-28 22:21:46 +09:00
Randy Mackay 7cc1501dc6 Copter: integrate baro glitch protection 2014-07-28 22:16:20 +09:00
Andrew Tridgell b36e4b4122 Copter: avoid integer underflow in mavlink txspace check 2014-07-27 22:18:51 +10:00
Randy Mackay df4bc3d617 Copter: pass motor_mask to ServoRelayEvents 2014-07-26 16:33:26 +09:00
Randy Mackay 71cbcacf50 Copter: fix arming tone to sound before arming 
Also fixed bug in which vehicle could appear to be armed (according to
LEDs) but is not.  This could occur if pilot had raised the throttle
very high during the calibration that happens just before arming.
 2014-07-25 13:09:07 +09:00
Andrew Tridgell cda78aa2c3 Copter: fixed auto-doc prefix for TERRAIN 2014-07-25 13:12:10 +10:00
Andrew Tridgell 8e65e5bff0 Copter: replace HAVE_AP_TERRAIN with AP_TERRAIN_AVAILABLE 2014-07-25 07:59:54 +10:00
Andrew Tridgell 8d04deff6a Copter: added terrain status reporting 2014-07-24 21:50:20 +10:00
Andrew Tridgell 0562907d9f Copter: added AP_Terrain library 2014-07-24 21:46:06 +10:00
Andrew Tridgell e9fedbdb79 Copter: removed use of removed MAV_CMD_NAV_ commands 2014-07-24 21:40:16 +10:00
akdslr dc67058771 ArduCopter: Removed CONFIG_SONAR_SOURCE, SONAR_SOURCE_ADC, and SONAR_SOURCE_ANALOG_PIN since no longer used 2014-07-24 14:41:55 +10:00
akdslr 06fa2e3f60 ArduCopter test: Renamed the test from sonar to rangefinder and added info on all devices 2014-07-24 14:41:55 +10:00
akdslr 1354cd7120 ArduCopter Parameters: Changed the SONAR prefix to RNGFND, renamed SONAR_GAIN, and CH6-8 value descriptions 2014-07-24 14:41:54 +10:00
Supergoldfish 13563f4344 Copter: added Sonar Voltage reporting to GCS mavlink 
Rangefinder class will return 0 if not applicable.
 2014-07-23 20:57:36 +09:00
Randy Mackay e9861de2ac Copter: fix to drift's yaw rate 
The ACRO_P parameter needs to be multiplied by the roll and pitch
velocities to calculate the final yaw rate
 2014-07-23 17:13:08 +09:00
Randy Mackay 7bda6cbadf Copter: integrate EKF check 
Check runs at 10hz
Log ekf check failures and ekd failsafes
 2014-07-22 23:13:25 +09:00
Randy Mackay a4a4334b13 Copter: add EKFCHECK_COMPASS parameter 2014-07-22 23:13:22 +09:00
Randy Mackay 65bc498d4e Copter: add ekf check of compass 
Checks the EKF's compass variance or the inertial navigations x and y
acceleration corrections
 2014-07-22 23:13:20 +09:00
Randy Mackay eb696e247b Copter: CLI report_compass prints results for all compasses 2014-07-22 22:01:25 +09:00
Randy Mackay 3c702e5fc5 Copter: compass mot configures all compasses 2014-07-22 22:01:24 +09:00
Randy Mackay af28270669 Copter: bug fix for throttle failsafe 
Missing bracket could cause throttle failsafe to be triggered even when
disabled or motors disarmed
 2014-07-21 20:58:16 +09:00
lthall 9202149fb1 Copter: integrate pre-takeoff throttle feedback 
This feature slightly revs the motors in response to the pilot's input
before takeoff AltHold, Loiter, AutoTune, PosHold and Sport flight modes

pair-programmed with Randy Mackay
 2014-07-18 11:41:50 +09:00
Randy Mackay 11678ba936 Copter: remain landed until throttle output above 25 percent 2014-07-18 11:41:46 +09:00
lthall edd7334544 Copter: add pre_takeoff throttle feedback 
pair-programmed with Randy Mackay
 2014-07-18 11:41:28 +09:00
Randy Mackay e339149044 Copter: update AC3.2-rc3 ReleaseNotes yet again 2014-07-17 14:27:03 +09:00
Randy Mackay 73fcfbd174 Copter: add no-break to case to resolve compiler warning 
This also helps kick off the auto builder for AC3.2-rc3
 2014-07-17 12:10:45 +09:00
Randy Mackay eb762bc890 Copter: update AC3.2-rc3 Release Notes 2014-07-17 11:52:07 +09:00
Randy Mackay df28db1361 Copter: minor formatting update 2014-07-17 11:49:38 +09:00
Craig Elder 07d43534c1 Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 19:41:43 -07:00
Craig Elder 3c9c943b67 Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:03:29 -07:00
Craig Elder e85c9f078d Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:02:32 -07:00
Randy Mackay 34984cc2d1 Copter: update AC3.2-rc3 Release Notes 2014-07-16 17:55:04 +09:00
Jonathan Challinger fc34a2fed1 Copter: updated AttitudeControl ctor call to reflect changes 2014-07-16 14:40:58 +09:00
Randy Mackay b6ef3dc5d7 Copter: add parenthesis around ntun log bitmask 
Resolves one compiler warning
 2014-07-16 14:40:45 +09:00
bugobliterator 2fd165d023 Copter: Add esc_calib to as an app in cli 
Usage Notes:
- when in cli mode select setup
- inside setup use esc_calib <chan_mask> to launch esc calibration
  e.g. esc_calib 1010 : enable calibration for Motor 2 and Motor 4
 2014-07-14 09:44:36 +10:00
Andrew Tridgell 49954a3a61 Copter: use sensors from board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell fa4abdb0ae Copter: added support for MPU9250 2014-07-14 09:44:34 +10:00
Robert Lefebvre 022425584b TradHeli: Move two static bools into heli_flags structure to save 2 bytes RAM. 2014-07-13 17:11:30 +09:00
Robert Lefebvre 4b9aea2c55 Parameters: Update Tune Comments with new options 2014-07-13 17:11:27 +09:00
Robert Lefebvre aff98e34e5 TradHeli: Force recalc scalers after setting main loop time in MotorsHeli so that ramp scalers are right for 32-bit. 2014-07-13 17:11:25 +09:00
lthall f53181ec66 Copter: Acro balance fix 2014-07-13 15:51:49 +09:00
Andrew Tridgell 71d2333ea8 Copter: changes for more common mavlink code 2014-07-13 15:37:50 +10:00
Andrew Tridgell 28f251005b Copter: fixed typos in parameter markup 2014-07-12 11:26:15 +10:00
Randy Mackay 7f9cd20377 Copter: set UARTs non-blocking at end of initialisation 
Previously we were setting to non-block after arming but this reduce the
chance of bumping into a NuttX USB driver issue that can cause the uart
to become unresponsive and also makes Copter consistent with Plane
 2014-07-11 15:27:29 +09:00
Randy Mackay 34bc136a6c Copter: AC3.2-rc3 version and release notes 2014-07-11 14:18:48 +09:00
Randy Mackay 65e5367619 Copter: rename hybrid to poshold 2014-07-11 14:09:01 +09:00
Randy Mackay 0fc73a0a21 Copter: rename control_hybrid to poshold 2014-07-11 14:06:53 +09:00
Randy Mackay b565d43d5d Copter: PREFLIGHT_SET_SENSOR_OFFSETS used to set compass offsets 
remove deprecated ardupilot specific SET_MAG_OFFSETS
 2014-07-10 20:25:18 +09:00
Randy Mackay 2c085c300d Copter: only save compass offsets when learning is on 2014-07-10 20:25:16 +09:00
Randy Mackay b799020e25 Copter: pre-arm check uses compass configured method 2014-07-10 20:24:53 +09:00
svefro e892b4cd04 Copter: Ch7/8 option to retract mount 
-Define AUX_SWITCH_RETRACT_MOUNT in defines.h
-Added 27=Retract Mount to Parameters.pde CH7 and CH8
-added int on CH7/8opt AUX_SWITCH_RETRACT_MOUNT
-Added Case #if Mount == ENABLE to set mount mode
made set_mode public in AP_Mount.h lib
 2014-07-10 13:03:28 +09:00
Randy Mackay e1a6b07e60 Copter: setting ESC param to 2 skips high throttle check 
This allows the all-at-once ESC calibration to be performed on a setup
in which the RC input takes some time to come online.
 2014-07-09 13:25:08 +09:00
Robert Lefebvre 4b5167e529 TradHeli: Change behavior of Acro and Stabilize modes when disarmed. Servos should move realistically for testing when disarmed. 2014-07-08 20:18:32 +09:00
Robert Lefebvre 5b13b2b3da TradHeli: Stabilize mode should use get_pilot_desired_collective, not get_pilot_desired_throttle. 2014-07-08 20:18:29 +09:00
Robert Lefebvre 032f321348 TradHeli: Acro mode uses full collective range. 2014-07-08 20:18:27 +09:00
Robert Lefebvre c7ccd22d96 TradHeli: Set main loop rate time in motors class. 2014-07-08 20:18:24 +09:00
Robert Lefebvre 7ef4c11c92 TradHeli: Initialize Rate FF filters. 2014-07-08 20:18:16 +09:00
Robert Lefebvre 8eb557d1e0 TradHeli: Add Heli.h file 2014-07-08 20:18:10 +09:00
Robert Lefebvre 1f422c86c1 Arducopter: Add independent rate roll and pitch P, I, D tuning options. Add rate feedforward tuning options for tradheli. 2014-07-08 20:18:08 +09:00
Robert Lefebvre 08e135151a TradHeli: Add Mode Filter on RC8 input for RSC Controller. 2014-07-08 20:18:00 +09:00
Robert Lefebvre ff71b0fa35 TradHeli: Create new function to move data between AP_MotorsHeli and AP_AttitudeControl. 2014-07-08 20:17:57 +09:00
Robert Lefebvre 1aa3961151 Arducopter: Improve comments for scheduler. Add timing table for AVR processors. 2014-07-08 20:17:54 +09:00
Jonathan Challinger c07ded9a79 Copter: Don't use land detector to stop stabilizing in stabilize 2014-07-08 19:41:41 +09:00
Andrew Tridgell 6416a4d0e6 Copter: fixed apm1-hil build 2014-07-08 15:41:39 +10:00
Andrew Tridgell a4b9b989b7 Copter: convert to new AP_RangeFinder API 2014-07-08 15:08:18 +10:00
Andrew Tridgell 9f5eb3b464 Copter: remove log CLI code when CLI disabled 2014-07-08 14:28:19 +10:00
Jonathan Challinger 09a01a4668 Copter: Wait 4 seconds before beginning to land during failsafes 2014-07-06 20:25:04 +09:00
Jonathan Challinger cd08ec5a5f Copter: allow auto-disarm in autotune mode 2014-07-06 19:27:27 +09:00
Jonathan Challinger ff1f54b390 Copter: allow disarm in autotune mode 2014-07-06 19:27:23 +09:00
Jonathan Challinger 5b36e65cb9 Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents 2014-07-06 19:20:25 +09:00
Randy Mackay 2dfef17caf Copter: guided reset yaw only when initialised 2014-07-06 17:02:13 +09:00
Randy Mackay 81355d1adf Copter: DO_SET_ROI accepted outside missions 
Moved ROI logic to new set_auto_yaw_roi function.
 2014-07-06 17:02:06 +09:00
MousS ae8fb3f1c5 Copter: MAV_CMD_CONDITION_YAW accepted outside missions 2014-07-06 17:01:15 +09:00
Randy Mackay 46badc05bc Copter: guided mode sets desired velocity instead of target velocity 2014-07-06 17:01:12 +09:00
Randy Mackay f5640dadbf Copter: guided mode velocity controller 2014-07-06 17:01:08 +09:00
Randy Mackay b027c71491 Copter: restore pv_get_horizontal_distance_cm function 2014-07-06 17:01:05 +09:00
Randy Mackay 12720bbbe1 Copter: accept condition-yaw commands in guided 2014-07-06 17:00:46 +09:00
Randy Mackay 279926e386 Copter: accept guided pos updates when doing NAV_GUIDED cmd 2014-07-06 17:00:35 +09:00
Randy Mackay fdc0ec837b Copter: add nav_guided suport to Auto mode 2014-07-06 17:00:31 +09:00
Randy Mackay af4490a3d5 Copter: remove mode from guided_set_dest 
This duplicate check stopped us from reusing guided
guided_set_destination as part of Auto's nav_guided command
 2014-07-06 17:00:29 +09:00
Andrew Tridgell 21b0b3bc15 Copter: log up to 3 mags 2014-07-04 12:07:59 +10:00
Niels Joubert 10b4757706 ArduCopter: Move MAVLink size check into library 2014-06-30 10:30:17 +10:00
Niels Joubert 4abbda616f ArduCopter: GPS Callback for calculating base position 2014-06-30 10:29:56 +10:00
Andrew Tridgell edafe7100b Copter: update for AP_Mount change 2014-06-18 12:04:48 +10:00
Randy Mackay e0f4a570c6 Copter: loiter turns radius from command's p1 field 2014-06-17 20:53:56 +10:00
Randy Mackay 01da4e29fb Copter: use relative_alt flag when decoding change_alt command 2014-06-17 20:53:41 +10:00
Randy Mackay 50e024fe8f Copter: flag current alt as relative 
This is required so common Log_Write_Camera can calculate relative and
abs altitudes provided by either copter or plane

pair programmed with Craig Elder
 2014-06-17 14:11:42 +10:00
Randy Mackay 8c488ebd87 Copter: use common Log_Write_Camera 
pair programmed with Craig Elder
 2014-06-17 14:11:39 +10:00
Randy Mackay 8c48b65175 Copter: bug fix to remove home variable 
pair programmed with Craig Elder
 2014-06-11 12:01:48 +09:00
Randy Mackay d0194b7a9d Copter: remove home variable 
home has moved to ahrs
saves 15 bytes of RAM
 2014-06-11 11:05:15 +09:00
Randy Mackay 5c305989b9 Copter: set home alt to absolute alt 2014-06-11 11:04:52 +09:00
Randy Mackay 09fc777ab9 Copter: slow motors after landing in AUTO 
This resolves an issue in which the vehicle could tip over if the pilot
did not reduce the throttle to zero soon after landing in AUTO mode
 2014-06-10 22:56:53 +09:00
Jason Short a873942f73 Fix to restore Gimbal control after Mission with ROI 2014-06-10 20:03:05 +09:00
Randy Mackay 810c87969c Copter: Ch7/8 switch to enable/disable feed forward and accel limiting 2014-06-10 20:03:04 +09:00
Randy Mackay 91b1d20b70 Heli: integrate AttControl's set_yaw_target_to_current_heading 2014-06-10 20:02:52 +09:00
Randy Mackay 08801eebf2 Copter: integrate AttControl's set_yaw_target_to_current_heading 2014-06-10 20:02:51 +09:00
lthall babe655b8f Copter: Remove acro acceleration slew todo 
It has already been done :)
 2014-06-10 20:02:37 +09:00
Randy Mackay 4221833028 Copter: flip records starting attitude 
Previously flip relied on the attitude controller not updating the earth
frame target during the flip which can't be guaranteed.  Safer for flip
to maintain it's own copy of the original attitude .
 2014-06-10 20:02:32 +09:00
Randy Mackay 75c328a752 TradHeli: integrate init_targets rename to relax_bf_rate_controller 2014-06-10 20:02:30 +09:00
Randy Mackay 77d5d682c1 Copter: integrate init_targets rename to relax_bf_rate_controller 
Also remove unnecessary init_targets from flight mode init functions.
 2014-06-10 20:02:29 +09:00
Randy Mackay 083f2898a9 Copter: use fast_atan2 for bearings to home and next WP 2014-06-06 18:51:06 +09:00
Randy Mackay f5f206b055 Copter: set inav alt to zero when arming 2014-06-06 18:42:45 +09:00
Ju1ien abd1370b2c Copter: flag stays landed unless pilot raises throttle 2014-06-06 18:42:30 +09:00
Valentin Brossard 9fcfea5404 Copter: accept DO_CHANGE_SPEED outside of missions 
https://github.com/diydrones/ardupilot/issues/1095
 2014-06-06 16:13:22 +09:00
Ju1ien fd9502d3fa Copter: Improve surface tracking dynamics 
This little fix will allow much higher sonar_gain without the
oscillating effect it used to bring.
 2014-06-06 15:32:49 +09:00
Randy Mackay db000f2287 Copter: remove setting rate and thr D term filters 2014-05-29 17:40:24 +09:00
Robert Lefebvre 5eb206e6bb Copter: Add 'handle' to allow #define updating of AC_PID filter rate for Throttle Accel. 2014-05-29 17:39:16 +09:00
Robert Lefebvre df1de4260d Copter: Set Rate PID D-term filter rates on initialization. 2014-05-29 17:39:12 +09:00
Robert Lefebvre 5ee87f7561 Copter: Change TradHeli to use new AC_HELI_PID class. 2014-05-29 17:39:04 +09:00
Randy Mackay 6496872885 Copter: release notes for AC3.1.5 2014-05-28 11:23:58 +09:00
Andrew Tridgell 1dbbdde8ef Copter: use new GCS_Common.cpp functions 2014-05-28 09:35:57 +10:00
Randy Mackay 0b5ff80b3e Copter: remove unused pos vector functions 
removed pv_latlon_to_vector, pv_get_lat, pv_get_lon.
it would probably be best if these were moved into the Math library
 2014-05-27 16:30:32 +09:00
Randy Mackay d4a892c650 Copter: AC3.2-rc2 release notes and version 2014-05-27 14:44:15 +09:00
Randy Mackay 20719e23fd Copter: enable PARACHUTE and RALLY for all but APM 2014-05-27 14:43:33 +09:00