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678 Commits

Author SHA1 Message Date
Andrew Tridgell f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
Andrew Tridgell 06154fc4ab Copter: use rangefinder to prevent auto-disarm in the air 
only consider the vehicle to be landed if either no rangefinder or
rangefinder shows an altitude below 2m
 2016-08-16 15:14:10 +10:00
Randy Mackay 9842840346 Copter: GND_EFFECT_COMP parameter to enable ground effect compensation 2016-08-09 13:31:36 +09:00
Randy Mackay ac4f36a992 Copter: remove LAND_REQUIRE_MIN_THROTTLE_TO_DISARM feature 
This definition has been false for over a year and we have not heard of any users wanting to delay the disarming until the pilot's throttle goes to zero.  Removing this feature removes a small bit of complexity from the code.
 2016-08-05 12:40:37 +09:00
Jonathan Challinger 80f3541933 Copter: add configurable arming delay 2016-08-04 15:19:22 +09:00
Randy Mackay 8e58ea9277 Copter: add throw mode defines for required speed 
No functional change
 2016-08-02 20:25:52 +09:00
Leonard Hall 48eb4cf674 Copter: remove THR_MID 2016-06-18 11:55:49 +09:00
Leonard Hall dec9323127 Copter: remove THR_MIN 
Equivalent is AP_Motors SPIN_MIN
 2016-06-18 11:55:49 +09:00
Randy Mackay 6a1bdebf25 Copter: remove THR_MAX definition for changing throttle input range 
We do not support changing the throttle input range from it's expected 0 ~ 1000
 2016-06-18 11:55:49 +09:00
Randy Mackay 2815af81ad Copter: rename RTL_CONE_SLOPE_DEFAULT definition 
Also tiny formatting fix
 2016-05-31 12:20:21 +09:00
Lucas De Marchi 33f5fc5f38 ArduCopter: remove support for flymaple 2016-05-23 21:49:45 -03:00
Randy Mackay 59070653cc Copter: provide filtered range finder altitude to AC_WPNav 2016-05-21 10:36:53 +09:00
Randy Mackay e18bf3af56 Copter: remove unused definitions 2016-05-21 10:36:53 +09:00
Randy Mackay c7f80324fa Copter: tilt correct rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay 7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay 028946ae9e Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE 2016-05-21 10:36:53 +09:00
Ricardo de Almeida Gonzaga ce241dd97a ArduCopter: Fix typos 2016-05-13 19:20:07 -03:00
Lucas De Marchi 352e103f1a ArduCopter: use separate header for version macro 
Having the version macro in the config.h and consequently in the main
vehicle header means that whenever the version changes we need to
compiler the whole vehicle again. This would not be so bad if we weren't
also appending the git hash in the version. In this case, whenever we
commit to the repository we would need to recompile everything.

Move to a separate header that is include only by its users. Then
instead of compiling everything we will compile just a few files.
 2016-05-06 13:11:28 -03:00
Randy Mackay 47658fe964 Copter: add terrain failsafe 2016-04-30 10:33:01 +09:00
Randy Mackay 762c9ed4b0 Copter: remove unused FS_CLOSE_TO_HOME definition 2016-04-22 21:30:44 +09:00
Jonathan Challinger 6b5ba86f21 Copter: simplify GCS failsafe 2016-04-14 12:24:04 +09:00
Randy Mackay bde498375c Copter: remove attitude PIDs 
These are now part of AC_AttitudeControl
 2016-04-01 11:59:30 +09:00
Lucas De Marchi e88ba38595 ArduCopter: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Randy Mackay e428abde42 Copter: enable precision landing by default 2016-02-29 19:17:20 +09:00
Lucas De Marchi 09e7cbe005 ArduCopter: remove unused CMAKE define 
This is a leftover from previos cmake build system.
 2016-02-19 19:15:39 -02:00
Randy Mackay a1b0a53e17 Copter: remove AP_Limits from comments 2016-02-04 09:55:07 +09:00
Randy Mackay 2c5f9422d4 Copter: log event if pilot cancels land 
Also add definition for throttle value that cancels land
 2016-01-14 15:21:57 +09:00
Randy Mackay e16cccf218 Copter: RTL config formatting fix 
No functional change
 2016-01-07 17:29:54 +09:00
Jonathan Challinger 3800c66f07 Copter: add RTL_CONE_SLOPE 2016-01-07 17:22:33 +09:00
Jonathan Challinger 750cacc875 Copter: barometer ground effect compensation 2015-12-28 13:51:27 +09:00
Jonathan Challinger 933ffb2b10 Copter: move prearm logic to arming_checks.cpp 2015-12-24 14:10:23 +09:00
Randy Mackay d9baf334c4 Copter: remove unused definitions 2015-12-02 14:56:24 +09:00
Randy Mackay 4ef53427f2 Copter: allow ADSB to be disabled 2015-11-27 15:02:17 +09:00
Randy Mackay 731c44d053 Copter: allow terrain to be excluded from build 2015-11-14 12:38:47 +09:00
Robert Lefebvre 5cc4f41d85 Copter: Helicopter: to use new Stab_Col and Acro_Col functions. 2015-11-12 19:37:23 +09:00
Lucas De Marchi 3e889b005f ArduCopter: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Randy Mackay 0f55b2a0eb Copter: replace vehicle compass consistency check 2015-09-16 15:13:38 +09:00
Leonard Hall 61d6c44e3b Copter: tricopter yaw rate filter to 100hz 2015-09-07 12:30:39 +09:00
Randy Mackay 26ded641db Copter: integrate Precision Landing lib 2015-08-31 18:00:28 +09:00
Andrew Tridgell 90909f2b4a Copter: added DISARM_DELAY parameter 
this allows automatic disarming to be disabled, or set to a shorter or
longer time as appropriate for the user
 2015-08-31 11:44:08 +10:00
Randy Mackay 1608cffe95 Copter: increase failsafe close-to-home to 5m 
This distance is used when a failsafe is initiated to decide whether to RTL or LAND
 2015-08-28 09:24:37 +09:00
Randy Mackay 6a4f4c5f8d Copter: failsafe RTL vs LAND decision always based on 2m 
Previously this decision was based on the WPNAV_RADIUS parameter which is unexpected (and undocumented) behaviour.  Better just to hard-code it to 2m and remove the dependency on this parameter.
 2015-08-23 11:03:35 +09:00
Andy Piper 425e26c258 Copter: reduce GPS_HDOP_GOOD params default to 140 
This is required as part of the ublox change from pdop to hdop
 2015-07-14 15:02:06 +09:00
Randy Mackay 063faa0383 Copter: add RTL_CLIMB_MIN 
Vehicle climbs at least this many cm when entering RTL
 2015-07-13 20:38:52 +09:00
Randy Mackay 8cdfac8fcd Copter: remove baro and pilot thr from crash checks 
Add acceleration < 3m/s/s check
Run crash and parachute checks at 400hz
 2015-06-19 15:46:10 +09:00
Randy Mackay e9829e0d82 Copter: remove unused landing detector definitions 
Also separate from land mode definitions
 2015-06-19 15:46:09 +09:00
Randy Mackay ce1031a5bd Copter: remove AP_AHRS_NAVEKF_AVAILABLE checks 
Copter requires an EKF
 2015-06-10 12:18:38 +09:00
Randy Mackay aa05325b54 Copter: add althold as ekf failsafe action 2015-06-10 12:06:08 +09:00
Randy Mackay 4408f01f39 Copter: rename ekf_check_thresh to fs_ekf_thresh 2015-06-10 12:06:06 +09:00
Randy Mackay ee3ba48097 Copter: set Brake speed to 250 2015-06-05 15:29:00 +09:00
Randy Mackay 0b4d7fbb22 Copter: shorten rc-override timeout to 1sec 2015-05-22 13:40:58 +09:00
Robert Lefebvre 575a5ad619 Copter: Set better default Rate PIDs for TradHeli 2015-05-22 09:38:26 +09:00
Randy Mackay 7acdcd8905 Copter: rename stop to brake 2015-05-17 14:44:34 +09:00
Tom Pittenger c8bc44fc6e Copter: compile warnings: float to double. print statements require doubles 2015-05-05 13:27:00 +10:00
Randy Mackay e0ef57fdb5 Copter: add PILOT_TKOFF_ALT_DEFAULT definition 
No functional change
 2015-05-01 12:56:35 +09:00
David Dewey 0545185218 Copter: RTL at no less than 2m above home alt 2015-04-28 17:19:56 +09:00
Robert Lefebvre 1aa696bc10 Copter: Implement Stop Mode 2015-04-26 16:11:47 +09:00
Jonathan Challinger 9a025024b5 Copter: use LowPassFilterVector3f for land detector accel filter 2015-04-17 10:46:56 +09:00
Jonathan Challinger eafbd94d51 Copter: run land detector at 400hz 2015-04-17 10:46:53 +09:00
Leonard Hall 2bf8f21b7a Copter: roll, pitch rate IMAX to 2000 2015-04-09 20:19:56 +09:00
Randy Mackay e1900f646f Copter: remove PREARM_MAX_VELOCITY definition 2015-03-30 18:08:34 -07:00
Randy Mackay 74b98b89d0 Copter: remove dcm check 2015-03-27 00:04:37 -07:00
Andrew Tridgell a4be1fede8 Copter: run all boards at 400Hz 
SITL and Linux can now run at 400Hz
 2015-03-22 18:57:43 -07:00
Randy Mackay 522ef8f91f Copter: rename MOT df msg to MOTB 
This will slightly reduce confusion with the MOT message from AC3.1.5
that eventually became RCOUT
 2015-03-18 21:25:45 +09:00
Randy Mackay b679fd0be0 Copter: log RATE with ATT 2015-03-18 21:25:42 +09:00
Randy Mackay 20311c3ba2 Copter: remove CH7_OPTION definition 
We can replace the unused definitions and just set the aux switch
defaults to do-nothing directly in the parameter table
 2015-03-17 21:18:50 +09:00
Robert Lefebvre 97cd3614eb Copter: Change Aux Switch function list to enum. 2015-03-17 21:18:46 +09:00
Robert Lefebvre a5af151a91 Copter: Initial expansion of Aux Switch to Ch7-12 2015-03-17 21:18:41 +09:00
Randy Mackay b10730f35c Copter: remove THR_MAX parameter 2015-03-16 14:49:34 +09:00
Víctor Mayoral Vilches 79e152cd93 Copter: Update compass to the new interface 2015-03-13 18:46:16 +11:00
Randy Mackay 088a49abbf Copter: remove APM1, APM2 support 2015-03-13 16:41:03 +09:00
Randy Mackay fbfc94cf69 Copter: remove GPS glitch and failsafe 
The EKF failsafe now captures all failures that could lead to a bad
position including GPS glitches and a bad compass meaning we do not need
this protection in the main flight code.
 2015-03-13 16:40:46 +09:00
Leonard Hall 778edfda72 Copter: default yaw rate filter to 5hz 2015-03-06 16:08:32 +09:00
Leonard Hall d5bbe6de03 Copter: remove TRIM_THROTTLE 
throttle_trim is replaced by throttle_average which is initialised to
the throttle_mid parameter value at startup
 2015-03-06 14:02:19 +09:00
Leonard Hall c78480e14f Copter: rename loiter_pos to pos_xy 
Also renamed throttle_rate to vel_z, throttle_accel to accel_z
 2015-03-06 14:02:17 +09:00
Leonard Hall e232867661 Copter: move LOITER_RATE to 2-axis PI controller 
Also rename LOITER_RATE to VEL_XY for parameters, definitions, variables
 2015-03-06 14:02:15 +09:00
Leonard Hall 2b0fb45fe8 Copter: integrate PID input filter 2015-03-06 14:02:11 +09:00
Leonard Hall 8ba195a3a2 Copter: add Mot and Rate dataflash logging 2015-03-06 14:02:07 +09:00
Randy Mackay e081b9d1c7 Copter: home is set becomes three state 2015-02-12 15:00:50 +09:00
Randy Mackay 3aac281c5a Copter: land detector requires desired climb rate be < -20cm/s 2015-01-31 17:23:43 +09:00
Randy Mackay 34503de18e Copter: integrate SerialManager 
Remove serial0, serial1 baud and protocol parameters
Pass serial_manager to GCS, GPS, mount, FrSky_telem objects during init
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
 2015-01-29 14:05:14 +11:00
Randy Mackay 18f8ffab6f Copter: remove land detector bar climb rate definition 2015-01-28 10:59:15 +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
Andrew Tridgell ab62105afe Copter: use common send_opticalflow() 2015-01-03 15:53:49 +11:00
Andrew Tridgell c784ee717b Copter: update for new OptFlow API 2015-01-03 14:16:33 +11:00
Randy Mackay 2e7435df52 Copter: remove unused OF_LOITER pid defines 2014-12-31 13:16:18 +09:00
Randy Mackay f2b0fc3566 Copter: disarm on landing regardless of pilot input 2014-12-27 13:33:06 +09:00
Randy Mackay b6bcf841e1 Copter: remove second camera mount 2014-12-16 21:26:20 +09:00
Randy Mackay fd55a2d9c4 Copter: increase GPS_HDOP_GOOD default to 2.3 2014-12-15 10:45:50 +09:00
Randy Mackay 3127dd94c1 Copter: add OPTFLOW to default logging 2014-12-08 14:58:27 +09:00
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
Andrew Tridgell 4c0351a76a Copter: convert to new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Randy Mackay f6ff1742d5 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 17:29:14 +09:00
Jonathan Challinger 5fc02bdbc4 Copter: Reduce prearm alt disparity check back to 1m 2014-10-20 10:55:59 +09:00
Randy Mackay 27b73fa209 Copter: enable Optflow by default for Pixhawk only 2014-10-16 21:17:54 +09:00
Randy Mackay b0e6931ab0 Copter: add DCM_CHECK_THRESH parameter 2014-10-16 17:22:11 +09:00
Randy Mackay 4e06970a1c Copter: disable OptFlow in SITL 2014-10-15 20:46:06 +09:00
Randy Mackay 67b7b2d667 Copter: enable optflow by default for Pixhawk 2014-10-15 16:36:31 +09:00
Randy Mackay 8997c224e2 Copter: enable Guided velocity controller for Pixhawk 2014-10-13 21:40:20 +09:00
Randy Mackay 2f3f1a1d5e Copter: Rate Pitch IMAX default to 1000 
Spotted by Jonathan Challinger, thanks!
 2014-10-07 21:06:43 +09:00
Jonathan Challinger 73e1719ee1 Copter: print frame type in log headers 2014-09-27 16:11:21 +09:00
Randy Mackay 193bc5331a Copter: cleanup enabling of cli and frsky telem for APM 2014-09-20 14:41:26 +09:00
Randy Mackay d8d1b38a52 Copter: increase Alt Disparity check to 2m 2014-09-20 12:24:36 +09:00
Randy Mackay 6951a20fb0 Copter: soften loiter target when maybe landed 
Applies to auto's land, land, loiter, pos hold and rtl flight modes
 2014-09-19 16:43:12 +09:00
Randy Mackay b552479e31 Copter: typo fix for baro vs inav alt disparity definition 2014-09-18 17:32:03 +09:00
Randy Mackay 18e3db0011 Copter: define limit for baro vs inav alt disparity 2014-09-18 17:24:40 +09:00
Randy Mackay adf00a207b Copter: enable EPM by default on Pixhawk 2014-09-17 21:14:22 +09:00
Randy Mackay d15a5f9dcb Copter: THR_ACCEL_IMAX default to 800 2014-09-12 15:11:48 +09:00
Randy Mackay 4c6b0bb1cb Copter: format change to flight mode default defined 
This also kicks off the build for AC3.2-rc8
 2014-09-11 16:52:36 +09:00
Randy Mackay 21d56735ca Copter: increase EKF_CHECK_THRESH default to 0.8 
Also remove unused #define related to inertial nav check (now removed)
 2014-09-09 14:59:27 +09:00
Randy Mackay 9c613cd1ec Copter: reduce alt hold defaults 
Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
 2014-09-07 22:14:40 +09:00
Randy Mackay 641c8317a5 Copter: pre-arm consistency check of gyros 2014-09-04 15:21:58 +09:00
Randy Mackay 28f31166b9 Copter: land check gets overall throttle and rotation rate check 
add check that overall throttle level is below the non-takeoff throttle
instead of just checking that it's motors have hit their lower limits
because low limits can also be caused by high yaw rotation requests.
Absolute climb rate requirement reduced to 30cm/s
 2014-09-04 15:21:51 +09:00
Randy Mackay 59404c25e3 Copter: pre-arm consistency check of accels 2014-09-03 13:51:44 +09:00
Randy Mackay 07420521ab Copter: default LAND_REPOSITION to 1 2014-08-31 10:44:09 +09:00
Randy Mackay cf98cc29b5 Copter: throttle deadzone parameter 
Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
 2014-08-29 15:54:34 +09:00
Randy Mackay eb51a8e5da Copter: pre-arm check of internal vs ext compass 2014-08-26 22:34:06 +09:00
Andrew Tridgell a627cd2af2 Copter: run Linux boards at 100Hz for now 
we should be able to do 400Hz in future
 2014-08-19 20:03:33 +10:00
Randy Mackay 6fc5014a84 Copter: increase sonar timeout to 1sec 
Contributed by Julien Dubois.
 2014-08-14 19:37:00 +09:00
Randy Mackay f3fd79597f Copter: add ACRO_EXPO parameter 2014-08-14 11:47:37 +09:00
Randy Mackay 7b9fa1ea79 Copter: rate IMAX increase to 1000 2014-08-04 11:31:02 +09:00
Randy Mackay 4e2683421c Copter: disable parachute and rally on APM1 2014-08-01 15:14:40 +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
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
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
Randy Mackay a4a4334b13 Copter: add EKFCHECK_COMPASS parameter 2014-07-22 23:13:22 +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 e85c9f078d Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:02:32 -07:00
Andrew Tridgell 49954a3a61 Copter: use sensors from board subtypes 2014-07-14 09:44:35 +10:00
Randy Mackay 65e5367619 Copter: rename hybrid to poshold 2014-07-11 14:09:01 +09:00
Jonathan Challinger 09a01a4668 Copter: Wait 4 seconds before beginning to land during failsafes 2014-07-06 20:25:04 +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 fdc0ec837b Copter: add nav_guided suport to Auto mode 2014-07-06 17:00:31 +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
Randy Mackay 20719e23fd Copter: enable PARACHUTE and RALLY for all but APM 2014-05-27 14:43:33 +09:00
Randy Mackay ff1a58e078 Copter: increase LOITER_RATE_IMAX to 1000 
This allows us to load up the I term with the vehicle's current
acceleration during mode transitions

pair programmed with Randy
 2014-05-08 16:15:34 +09:00
Randy Mackay d857427444 Copter: disable RALLY points by default 
This saves 2k of flash which allows the code to fix on the APM1/2
 2014-04-30 21:46:21 +09:00
Randy Mackay a4c675c23e Copter: add PILOT_ACCEL_Z parameter 
Allows configurable z-axis acceleration when pilot is controlling
altitude
 2014-04-30 21:46:13 +09:00
Randy Mackay 19f1e7fec4 Copter: disable Parachute by default 
This saves 1k of flash and we are desperately low on the APM1/APM2.
Hopefully we can find savings somewhere and re-enable it by default.
 2014-04-24 19:02:32 +09:00
Randy Mackay 287af8f66e Copter: disable optical flow by default 
We have run out of flash on the APM2, it was a choice between Hybrid
flight mode and OF_Loiter
 2014-04-23 15:27:08 +09:00
Randy Mackay 55e7e1eb3e Copter: allow HYBRID to be disabled to save flash 
Hybrid flight mode costs 4.5k of flash which currently puts us over the
limit for APM1 and APM2 unless optical flow or other features are
disabled
 2014-04-23 15:27:05 +09:00
Ju1ien f8e8d4024d Copter: Hybrid's max brake angle to 30deg 2014-04-23 14:59:53 +09:00
Randy Mackay f467d7bc20 Copter: add Hybrid parameters 2014-04-23 14:59:25 +09:00
Randy Mackay 5fc071f5f9 Copter: restore SITL to run at 100hz 2014-04-21 21:46:22 +09:00
Randy Mackay 8ac14023b4 Copter: set main loop rate from CPU class 
Previously this was determined by the board
 2014-04-21 13:32:00 +09:00
Andrew Chapman fa3732ac6d Copter: integrate AP_Rally 2014-04-19 15:00:23 +09:00
Emile Castelnuovo 9e31f032c2 Copter: added VRBRAIN board #includes and #defines 2014-04-08 16:19:20 +10:00
Randy Mackay ff32b27272 Copter: integrate parachute lib 2014-04-07 13:36:44 +09:00