Robert Lefebvre
7d745587a4
Copter: Add using_interlock flag, employ it in arming process
2015-05-01 14:30:22 +09:00
Robert Lefebvre
e4c5915330
Copter: initial creation of motor_interlock
2015-05-01 14:30:21 +09:00
Randy Mackay
ee94db09a8
Copter: minor GCS_MAVLink comments
...
No functional change
2015-05-01 12:56:40 +09:00
Randy Mackay
1fa8e10fc7
Copter: fix floating point const compiler warning
2015-05-01 12:56:38 +09:00
Randy Mackay
e0ef57fdb5
Copter: add PILOT_TKOFF_ALT_DEFAULT definition
...
No functional change
2015-05-01 12:56:35 +09:00
Leonard Hall
33a274c928
Copter: take-off uses PosControl's add_takeoff method
...
Also balances pilot and takeoff climb rates
Also removes takeoff's direct use of poscontrol target
Combined effort of Randy and Leonard
2015-05-01 12:56:32 +09:00
Randy Mackay
772a1acc37
Copter: cancel takeoff if mode changed
2015-05-01 12:56:28 +09:00
Randy Mackay
ab608a8fcd
Copter: minor takeoff param name change
...
No functional change
2015-05-01 12:56:25 +09:00
Randy Mackay
70f9739d77
Copter: add takeoff comments
2015-05-01 12:56:23 +09:00
Randy Mackay
6f5b5c24f2
Copter: rename tkoff_ to takeoff_
2015-05-01 12:56:21 +09:00
Jonathan Challinger
73d961cebc
Copter: mavlink initiated takeoff in alt-hold modes
...
adds PILOT_TKOFF_ALT for target altitude above home in cm for pilot initiated takeoff
2015-05-01 12:56:18 +09:00
Jonathan Challinger
b10cf0f38a
Copter: pre-takeoff throttle for sprung throttle sticks
...
Adds PILOT_THR_BHV, PILOT_TKOFF_DZ parameters
2015-05-01 12:56:16 +09:00
Jonathan Challinger
e286323abc
Copter: get_non_takeoff_throttle uses floats
2015-05-01 12:56:13 +09:00
Jonathan Challinger
0dbe94c9a1
Copter: set motor air density ratio
2015-04-29 14:36:17 +09:00
Jonathan Challinger
36cc832931
Copter: guided_posvel run update_z_controller at 400hz
2015-04-29 12:26:41 +09:00
Randy Mackay
da629ce976
Copter: minor format fix
2015-04-29 12:03:34 +09:00
Jonathan Challinger
f5fd89833d
Copter: update YAW_LOOK_AHEAD to use inav velocity direction
2015-04-29 12:02:45 +09:00
Jonathan Challinger
e5b6cf9966
Copter: use circular limit on tilt angle for arm check
2015-04-29 12:02:43 +09:00
Randy Mackay
85b0a18f61
Copter: fix MNT param description
...
extra underscore was appearing in the parameter descriptions on the web
2015-04-29 09:07:36 +09:00
Randy Mackay
276b2dcf5e
Copter: move lost copter check to separate function
...
Also run from scheduler instead of from arm/disarm stick checks
Run at 10hz instead of 1hz
soundalarm_counter to uint8
Disable if equivalent aux switch is setup
Remove SEVERITY_LOW message because the GCSs never print these anyway
2015-04-29 00:05:03 +09:00
svefro
5bee93cba3
Copter: Lost copter alarm through sticks
2015-04-29 00:05:01 +09:00
Julien Dubois
b7a6e3bf2c
Copter: fix update_thr_average to run at 100hz
...
Committed by Randy on Julien's behalf
2015-04-28 22:44:59 +09:00
Randy Mackay
64629914a4
Copter: fix RTL alt when no using Rally points
2015-04-28 17:20:00 +09:00
David Dewey
0545185218
Copter: RTL at no less than 2m above home alt
2015-04-28 17:19:56 +09:00
Andrew Chapman
4311cd4e7a
Copter: add logging for CH6 parameter tuning
...
Logs CH6 tuning values to a new PTUN log struct, specific to
APM::Copter at this point
2015-04-28 14:14:01 +09:00
Randy Mackay
2baf79ee7a
Copter: remove TUNE param descr for AHRS Yaw/RP kP
2015-04-28 14:00:24 +09:00
Andrew Tridgell
cb2427ef9e
Copter: removed special cases for DCM gain changes on arm/disarm
...
copter no longer uses DCM, so it doesn't need these special cases
2015-04-28 14:07:39 +10:00
Robert Lefebvre
1aa696bc10
Copter: Implement Stop Mode
2015-04-26 16:11:47 +09:00
Robert Lefebvre
8e4268ddd3
Copter: Initial creation of control_stop file
2015-04-26 16:11:43 +09:00
Tom Pittenger
66c7090f00
Copter: fix compile warnings by converting .f to .0f
2015-04-24 14:24:52 +09:00
Tom Pittenger
b57437042e
Copter: fix compile warnings for unused functions
2015-04-24 14:10:00 +09:00
Randy Mackay
94dc973c29
Copter: update ARMING_CHECK parm description
2015-04-24 11:12:03 +09:00
Randy Mackay
6e623bce28
Copter: remove optical flow init failure message
...
the sensor only becomes healthy once it has received data which will
take a few seconds after initialisation meaning this failure message
will always be displayed even when the sensor is fine.
2015-04-24 10:58:07 +09:00
Randy Mackay
37e8d1a338
Copter: PosController alt limit from fence and EKF
2015-04-24 10:58:03 +09:00
Randy Mackay
3719ea53e4
Copter: add range finder status to extended status msg
2015-04-24 10:57:34 +09:00
Randy Mackay
5e359c977f
Copter: replace range finder health with status
2015-04-24 10:57:30 +09:00
Randy Mackay
1ff443d667
Copter: add rangefinder pre-arm check
2015-04-24 10:57:08 +09:00
Paul Riseborough
133b8f5ad7
Copter: Allow EKF to pull data from range finder object
2015-04-24 10:56:53 +09:00
Niels Joubert
a52d554a10
ArduCopter: Handle GPS Data Injection
2015-04-24 08:01:32 +10:00
Niels Joubert
704e75d140
ArduCopter: Remove kruft from old RTK driver
2015-04-24 08:01:32 +10:00
Randy Mackay
bfd24801ea
Copter: minor format fix
2015-04-21 21:47:19 +09:00
Arthur Benemann
7cf883a61c
Copter: increase the telemetry receive function rate to 400Hz
...
gimbal loop runs at 100Hz so to respond in time the gcs_check_input must run at a faster rate, the process are asyncronus
2015-04-21 21:45:31 +09:00
Jaime Machuca
5de15464b6
Copter: add call to send digicam configure messages from a mission item
...
Also add log_picture to separate logging and feedback from
the do_take_picture function so that it can be used when pictures
are triggered from a mission command
2015-04-20 13:50:19 +09:00
Randy Mackay
a27f383612
Copter: remove duplicate IMU/ATT logging
...
Previously IMU and ATT data could be logged at both a high rate
and a low rate. This patch makes it skip the low rate logging
if the high rate is enabled
2015-04-20 13:49:09 +09:00
Randy Mackay
06b3935beb
Copter: LOG_BITMASK parameter def get All+FastIMU, All+FastATT
2015-04-20 13:49:06 +09:00
Randy Mackay
dfb720bab6
Copter: rename FULL_IMU logging to IMU_FAST
...
This naming is consistent with the earlier ATTITUDE_FAST option and
clarifies that it's the rate that's increased rather than the content.
2015-04-20 13:49:04 +09:00
Randy Mackay
2dbff9c544
Copter: remove scheduler table for 100hz CPUs
...
We only support high performance CPUs capable of 400hz
2015-04-20 13:49:01 +09:00
Peter Barker
5a45de5e00
Copter: IMU full-rate logging LOG_BITMASK flag
2015-04-20 13:48:58 +09:00
Randy Mackay
1c6c03b0eb
Copter: firmware back to V3.3-dev
2015-04-18 11:51:53 +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
Jonathan Challinger
f93ff2d3ec
Copter: use new lowpass filter
2015-04-17 10:46:50 +09:00
Leonard Hall
ca66b51ba9
Copter: Autotune parameter update
2015-04-16 21:00:50 +09:00
Leonard Hall
93d5c39248
Copter: add filter for the land detector
...
Individual access filtering will be replaced with a single 3-axis low pass
filter in the near future
2015-04-16 21:00:48 +09:00
Leonard Hall
1fcb0f4d53
Copter: pos_control param prefix shortened to PSC
2015-04-16 21:00:42 +09:00
Leonard Hall
49d3357e1d
Copter: add z-axis accel logging
2015-04-16 21:00:35 +09:00
Leonard Hall
b50f065cab
Copter: use relax alt hold controllers
2015-04-16 21:00:28 +09:00
Jonathan Challinger
91a03ae0e7
Copter: add PILOT_THR_FILT and call set_throttle_out functions with that value
2015-04-16 21:00:11 +09:00
Jonathan Challinger
b27b9dd86e
Copter: use new throttle interface
2015-04-16 20:59:48 +09:00
Jonathan Challinger
0cff3a4292
Copter: fixup Windows newlines
2015-04-16 13:29:57 +09:00
Leonard Hall
ee91be66cf
Copter: Update of land detector
2015-04-16 13:29:54 +09:00
Leonard Hall
2b5fb850dd
Copter: Autotune adjustments
2015-04-15 22:04:26 +09:00
Randy Mackay
f2993edc36
Copter: move MSG_BATTERY2 higher in select
...
No functional change
2015-04-15 20:49:21 +09:00
Dario Lindo Andres
7dbd6c8509
ArduCopter: Enable MSG_BATTERY2 through Mavlink
...
For allow to show battery_2 voltage and current on GCS.
2015-04-15 20:49:18 +09:00
Leonard Hall
f8a6684c12
Copter: Autotune update
2015-04-15 20:34:42 +09:00
Jonathan Challinger
4e09c9832b
Copter: fix guided_posvel and guided_vel to update pos_control at same rate as wpnav
2015-04-14 16:29:04 +09:00
Randy Mackay
55d8f440d4
Copter: fix alt sent to fence_check to be meters
2015-04-14 16:10:09 +09:00
Jonathan Challinger
be8c118b63
Copter: change altitude fence to work on home altitudes instead of origin altitudes
2015-04-14 16:10:08 +09:00
Jonathan Challinger
0f9e50d61c
Copter: fix rtl completion altitude
2015-04-14 16:10:06 +09:00
Jonathan Challinger
b344a7ed17
Copter: fix set_position_target altitudes
2015-04-14 16:10:05 +09:00
Jonathan Challinger
301d4cc4a6
Copter: fix guided takeoff altitude
2015-04-14 16:10:05 +09:00
Jonathan Challinger
920ac12214
Copter: pv_location_to_vector use pv_alt_above_origin
2015-04-14 16:10:04 +09:00
Jonathan Challinger
e5a6023827
Copter: pass inertial_nav to fence
2015-04-14 16:10:03 +09:00
Jonathan Challinger
fddaca4cf7
Copter: rename get_throttle_surface_tracking to get_surface_tracking_climb_rate
2015-04-14 16:10:01 +09:00
Randy Mackay
ea5c24b70b
Copter: rename lost_copter to vehicle_lost
2015-04-13 17:44:44 +09:00
Jaime Machuca
3c00b0a0a8
Copter: ch7/ch8 for lost copter sound
2015-04-13 17:44:39 +09:00
Randy Mackay
a20a89181c
Copter: enable CPU failsafe after initialisation
...
This removes a false positive during startup that lead to an error
appearing at the start of the dataflash log
2015-04-13 15:58:13 +09:00
Randy Mackay
83c966eaa7
Copter: update 3.3-rc1 release notes
2015-04-12 09:41:23 +09:00
Randy Mackay
5a4039d99c
Copter: version to APM:Copter 3.3-rc1
2015-04-12 09:21:44 +09:00
Randy Mackay
df59a912d1
Copter: 3.3-rc1 release notes
2015-04-12 09:21:22 +09:00
Randy Mackay
11576a0f1e
Copter: fix bitmask for use with SET_POSITION_TARGET
...
Thanks to vooon for spotting this
2015-04-11 11:57:41 +09:00
Randy Mackay
4b5d07252e
Copter: ekf_check ok if optflow pos available
2015-04-10 11:08:21 +09:00
Randy Mackay
52f7186cbf
Copter: pre-arm check primary compass health
...
Previously we would check the 1st compass which might not necessarily be
the primary compass
2015-04-10 11:08:18 +09:00
Randy Mackay
6834b5943e
Copter: pre-arm alt disparity check only if using baro
...
We should probably consolidate the baro pre-arm and arming checks into a
single check_baro function but the difference in the error message stops
me from immediately doing that
2015-04-10 11:08:02 +09:00
Paul Riseborough
1d7cb25c17
Copter : Update pre-arm and arm checks using EKF health status
...
Bypass alt disparity check when doing ground relative navigation using range finder height
Add check of EKF health status to indicate when EKF is waiting to complete checks
2015-04-10 11:07:50 +09:00
Randy Mackay
fea7632eac
Copter: save EKF learned compass to primary compass
2015-04-10 11:07:18 +09:00
Paul Riseborough
2406e26ab4
Copter : Save EKF learned compass offsets on disarm
...
Requires compass learning to be enabled in the compass parameters
Copter: fix compass offsets patch
2015-04-10 11:07:13 +09:00
Leonard Hall
70fbb3c67e
Copter: RATE_RLL_P param def max to 0.30
...
same for RATE_PIT_P
2015-04-09 20:19:57 +09:00
Leonard Hall
2bf8f21b7a
Copter: roll, pitch rate IMAX to 2000
2015-04-09 20:19:56 +09:00
Randy Mackay
d589c591a6
Copter: only log home when first set
...
We should also log home when we arm
2015-04-09 10:57:08 +09:00
Randy Mackay
b0c777259f
Copter: update home constantly while disarmed
2015-04-09 10:57:06 +09:00
Randy Mackay
c3bdb9a13e
Copter: update inertial alt only after home is set
2015-04-09 10:57:04 +09:00
Randy Mackay
2bec00e1c5
Copter: set ahrs home from ekf location
2015-04-09 10:57:02 +09:00
Randy Mackay
e5ddd276fd
Copter: remove baro init on arming
2015-04-09 10:56:59 +09:00
Andrew Tridgell
29be2f0b60
Copter: send LOCAL_POSITION_NED
...
very useful for GPS-disabled operation and EKF debugging
2015-04-05 09:16:41 -07:00
Randy Mackay
24f24a7db7
Copter: integrate Serial Manager instance
2015-04-01 14:59:25 -07:00
Randy Mackay
e1900f646f
Copter: remove PREARM_MAX_VELOCITY definition
2015-03-30 18:08:34 -07:00
Jonathan Challinger
ffc445098b
Copter: remove velocity pre-arm check
2015-03-30 16:44:50 -07:00
Leonard Hall
cfe12f38a5
Copter: Adjust Autotune backoff of accel
2015-03-27 06:24:53 -07:00
Randy Mackay
765b8ded02
Copter: ekf check triggers if position bad
2015-03-27 00:04:41 -07:00
Randy Mackay
74b98b89d0
Copter: remove dcm check
2015-03-27 00:04:37 -07:00
Leonard Hall
35d1cbd053
Copter: Autotune fix P test
2015-03-23 07:40:00 -07:00
Leonard Hall
cedd423c30
Copter: Autotune Yaw limits update
2015-03-23 07:39:58 -07:00
Leonard Hall
7cd78f63bf
Copter: Stop autotune repeatedly saving gains
2015-03-23 07:39:55 -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
b4df5b35f0
Copter: fix compiler error when mount disabled
2015-03-21 21:52:27 +09:00
Randy Mackay
a3933f7a1f
Copter: handle do_mount_control mission commands
2015-03-21 21:52:24 +09:00
Randy Mackay
9a5ff97c61
Copter: send invalid batt curr if monitor unhealthy
2015-03-20 11:05:33 +09:00
Randy Mackay
c41ecca8d5
Copter: re-order position_ok function
...
no functional change
2015-03-19 15:15:49 +09:00
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
d9b65cec22
Copter: fix compiler error re ch9, ch12 on some boards
...
channel 9 and 12 are not exist on some builds.
2015-03-17 22:16:48 +09:00
Randy Mackay
3be0a47c02
Copter: minor formatting fix
2015-03-17 21:18:51 +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
Randy Mackay
e6c3f4f97b
Copter: move aux switch enum to defines.h
2015-03-17 21:18:49 +09:00
Robert Lefebvre
fd0cb0beed
Copter: Create check_duplicate_auxsw() method to streamline pre-arm check code
2015-03-17 21:18:48 +09:00
Robert Lefebvre
1afeb05398
Copter: Create check_if_auxsw_mode_used() to check for function usage
2015-03-17 21:18:47 +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
Randy Mackay
2a47337dc1
Copter: fix multiple flight-mode fail log messages
...
When the vehicle failed to enter a flight mode it was logging the
failure repeatedly in the dataflash
2015-03-13 22:15:27 +09:00
Víctor Mayoral Vilches
79e152cd93
Copter: Update compass to the new interface
2015-03-13 18:46:16 +11:00
Randy Mackay
9c6531ebeb
Copter: simplify APM_Config after removing APM1,2 support
2015-03-13 16:41:05 +09:00
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
Randy Mackay
6f6847c025
Copter: use only InertialNav_EKF
...
remove calls to unsupported functions including ignore_next_error,
set_altitude, etc.
2015-03-13 16:40:37 +09:00
Randy Mackay
d7f624be39
Copter: remove baro_glitch protection
2015-03-13 16:40:27 +09:00
Randy Mackay
0476558049
Copter: remove USE_EKF from ch7/ch8 switch
2015-03-13 16:40:20 +09:00
Andrew Tridgell
d9342ed854
Copter: allow motor test using raw pwm without RC cal
2015-03-12 17:49:39 +11:00
Randy Mackay
553261d4ce
Copter: send EKF_STATUS_REPORT in extra3 stream
2015-03-12 12:20:03 +09:00
Randy Mackay
0447f6216a
Copter: get_pilot_desired_lean_angles uses angle_max of at least 10deg
...
Removes the unlikely event of a divide by zero if ANGLE_MAX is set to
zero and sticks were in middle
2015-03-11 22:24:44 +09:00
Jonathan Challinger
ecefe78417
Copter: interpret input in stabilize as a tilt vector
2015-03-11 22:24:42 +09:00
Randy Mackay
721d551239
Copter: extend AUTOTUNE_AXIS param description
2015-03-11 17:28:47 +09:00
Randy Mackay
b475a2fe10
Copter: AutoTune formatting fixes
...
no functional change
2015-03-11 17:28:46 +09:00
Leonard Hall
c537c38646
Copter: add update_throttle_low_comp
...
sets the priority of throttle vs attiude control so that attitude is
favoured (i.e. high throttle-low-comp) during dynamic flight while
throttle is favoured when vehicle may be landing.
2015-03-10 12:20:24 +09:00
Leonard Hall
36c91970f1
Copter: Autotune algorithm update
2015-03-09 18:02:55 +09:00
Leonard Hall
9bfb0e1f40
Copter: Autotune comment changes and formatting
2015-03-09 18:02:52 +09:00
Leonard Hall
1c57c6a266
Copter: Autotune update yaw filt and rate P max
2015-03-09 18:02:50 +09:00
Randy Mackay
72d1113501
Copter: set accel and gyro disabled during calibration
2015-03-09 17:58:38 +11:00
Randy Mackay
3e45052a75
Copter: reply with failed if gyro or accel cal fails
2015-03-09 17:58:38 +11:00
Randy Mackay
10724f5738
Copter: reject preflight calibration when armed
2015-03-09 17:58:38 +11:00
Andrew Tridgell
3f906f6bd1
Copter: added CLI_ENABLED option
2015-03-09 17:58:37 +11:00
Andrew Tridgell
47e9409d00
Copter: set gyros disabled when calibrating
2015-03-09 17:58:36 +11:00
Andrew Tridgell
9b9aa3dc33
Copter: use new interactive accelcal
2015-03-07 21:56:40 +11:00
Randy Mackay
033bcd849b
Copter: add 0.6 to EKF and DCM CHECK_THRESH param description
2015-03-06 17:58:37 +09:00
Randy Mackay
e0acd250d1
Copter: set Notify firmware_update flag before reboot
2015-03-06 17:26:53 +09:00
Randy Mackay
61ed812fc4
Copter: set Notify's autopilot_mode flag
2015-03-06 17:26:49 +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
1ec5eedd23
Copter: ch6 tuning of yaw rate filter
2015-03-06 14:02:13 +09:00
Leonard Hall
2b0fb45fe8
Copter: integrate PID input filter
2015-03-06 14:02:11 +09:00
Leonard Hall
d233ca3133
Copter: add Time and rate_target to AutoTune logging
2015-03-06 14:02:09 +09:00
Leonard Hall
8ba195a3a2
Copter: add Mot and Rate dataflash logging
2015-03-06 14:02:07 +09:00
Leonard Hall
1ebf2c40f5
Copter: Autotune rewrite
...
Includes the following:
Increase Autotune Limits
Low Rate_P_Max prevents correct Rate_D prediction.
make adjustment proportional
increase the maximum value of Rate_P
adjustment for zero overshoot
Speed up autotune
Reduce D bounce back requirement
adapt matthewlloyd's switching
Includes many enhancements to the basic code but doesn't bring in his
speed up ideas
Reduce Stab P down
Add Calibration
Repeat side to increase speed
Update Autotune PI ratios
fixup comments
autotune incorporate aggressiveness parameter
sets max accel for roll, pitch, yaw
Update accel calc and set Yaw D to zero
Calculate Accel correctly on SP Limit
Send saved gains msg to GCS
updates PID filter
increase accel backoff
save max accel if rate feedfwd enabled
keep stabilizing
2015-03-06 14:02:04 +09:00
Leonard Hall
a9a6e8856b
Copter: add AUTOTUNE_AGGR parameter
2015-03-06 14:02:02 +09:00
Leonard Hall
864168e5ea
Copter: add AUTOTUNE_AXES bitmask parameter
...
This is used to allow tuning just some axis
2015-03-06 14:02:01 +09:00
Randy Mackay
c711179ffe
Copter: set_mid_throttle renamed to set_hover_throttle
2015-03-03 15:48:56 +09:00
Randy Mackay
bae424fa88
Copter: pass in loop_rate to motors constructor
2015-03-03 15:48:37 +09:00
Leonard Hall
8eedb2c040
Copter: sent battery voltage and current to motors
2015-03-03 15:48:26 +09:00
Leonard Hall
3e8563dd8b
Copter: ch6 tuning definition for yaw min headroom
2015-03-03 15:48:17 +09:00
Randy Mackay
c5b3bc5698
Copter: handle LED_CONTROL and pass to Notify
2015-03-02 16:58:08 +09:00
Andrew Tridgell
7c975808f8
Copter: provide terrain height to rangefinder
...
used for power saving
2015-02-23 14:15:14 +11:00
Andrew Tridgell
74ef1b8d2f
Copter: removed HomeState from defines.h
...
now in AP_Common.h
2015-02-21 10:14:32 +11:00
João Fortuna
b99f38d39d
Copter: Fixed MAVLINK stream trigger calculation.
2015-02-20 13:10:57 +09:00
Andrew Tridgell
307b9e807f
Copter: reduced build warnings
...
removed some unused code, and mark some functions with UNUSED_FUNCTION
2015-02-18 11:13:48 +11:00
Andrew Tridgell
191d803968
Copter: make PERF info message into a STATUSTEXT message
...
this makes it appear properly in tlogs. Also show both min and max
loop times
2015-02-16 10:02:53 +11:00
Randy Mackay
da4a36c4e0
Copter: fix nack result_unsupported when arming fails
...
We should return unsupported if param1 does not equal 0 or 1
2015-02-14 14:27:47 +09:00
Randy Mackay
7ae1436b97
Copter: nack result_failed when arming fails
...
Previously result_unsupported was returned which is a less accurate
description of the failure
2015-02-14 14:03:41 +09:00
Randy Mackay
77d8f88e45
Copter: fence, rtl, land use alt-above-home
2015-02-12 15:08:00 +09:00
Randy Mackay
4d566bf462
Copter: current_loc.alt is alt-above-home
2015-02-12 15:07:59 +09:00
Randy Mackay
7e11ec9a6f
Copter: surf tracking, do-land use inav alt
...
Also CTUN logging of inav alt switched to get directly from inertial nav
lib instead of using current_loc.alt
2015-02-12 15:07:00 +09:00
Randy Mackay
cb66bf8b98
Copter: functions to convert alt-above-home vs alt-above-origin
2015-02-12 15:01:05 +09:00
Randy Mackay
9bd3a7249a
Copter: disable inertial nav
2015-02-12 15:01:03 +09:00
Randy Mackay
fbe87afb9c
Copter: pre-arm check of EKF origin vs home
...
EKF origin must be within 50km of home or numerical errors get too large
2015-02-12 15:01:00 +09:00
Randy Mackay
e7579198c9
Copter: when arming set home to current loc only if not locked
2015-02-12 15:00:58 +09:00
Randy Mackay
9e156d2f81
Copter: always update current_loc regardless of inav state
...
If inertial nav is not initialised these will be set to zero anyway
2015-02-12 15:00:56 +09:00
Randy Mackay
7029b11414
Copter: support do_set_home command from GCS and mission
2015-02-12 15:00:54 +09:00
Randy Mackay
d5fd6d2a99
Copter: use home_is_set function
2015-02-12 15:00:52 +09:00
Randy Mackay
e081b9d1c7
Copter: home is set becomes three state
2015-02-12 15:00:50 +09:00
Randy Mackay
a4fd36a775
Copter: fix compile error when fence disabled
...
Fix provided by iyia12co
2015-02-12 12:03:54 +09:00
Andrew Tridgell
81302fe190
Copter: implement MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES
2015-02-12 09:04:20 +11:00
Jonathan Challinger
0cc83b1826
Copter: use hal.util soft_armed state
2015-02-11 20:25:11 +11:00
Andrew Tridgell
4ade22c94b
Copter: use common send_autopilot_version()
2015-02-11 19:50:51 +11:00
Jonathan Challinger
62c63e9b35
Copter: support AUTOPILOT_VERSION_REQUEST message
2015-02-11 19:11:53 +11:00
Jonathan Challinger
c5d66cdfba
Copter: add send_autopilot_version
2015-02-11 19:11:53 +11:00
Randy Mackay
e7ac9d27f5
Copter: AC3.2.1 release notes
...
No changes from AC3.2.1-rc2
2015-02-11 14:08:57 +09:00
Randy Mackay
99ca779718
Copter: fix to allow arming in Guided from GCS
2015-02-10 22:12:38 +09:00
Randy Mackay
4ff75f0371
Copter: perf info ignores slow loop due to arming
2015-02-09 23:07:18 +09:00
Randy Mackay
8b5f1575ad
Copter: remove pre-arm check of RC3_TRIM
...
RC3_TRIM parameter is not used so we can remove this check
2015-02-06 17:55:28 +09:00
Randy Mackay
a70f98552e
Copter: rename xy_mode
2015-02-06 17:00:58 +09:00
Jonathan Challinger
e71ad72fc0
Copter: update usage of update_xy_controller
2015-02-06 17:00:51 +09:00
Robert Lefebvre
0b1f217420
Copter: Add PreArm check for radio trims.
2015-02-05 11:17:58 +09:00
Robert Lefebvre
2186dec271
Copter: Remove trim_radio() function.
2015-02-05 11:17:56 +09:00
Randy Mackay
ecaf3280e5
Copter: update AC3.2.1-rc2 release notes
2015-02-03 15:58:33 +09:00
Jonathan Challinger
4311fa8952
Copter: 90-atan2(-x,y) is the same as atan2(y,x)
2015-02-03 14:48:02 +09:00
Jonathan Challinger
f77b359e83
Copter: increase get_roi_yaw from 40hz to 100hz
2015-02-03 14:46:17 +09:00
Jonathan Challinger
2cb63dc792
Copter: don't assume home is at the origin
2015-02-03 11:38:25 +09:00
Jonathan Challinger
9c2865f6a8
Copter: update pv_location_to_vector to use get_origin instead of get_home
2015-02-03 11:38:23 +09:00
Jason Short
3b5228922e
Copter: increased ESC auto-cal delay
2015-02-03 11:33:54 +09:00
Andrew Tridgell
51dc3c120d
Copter: handle GIMBAL_REPORT receive and send
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2015-02-03 09:49:15 +11:00
Randy Mackay
f00861d2f1
Copter: using arming_failed as event
2015-02-03 06:14:56 +09:00
Randy Mackay
9e813948fa
Copter: protect against multiple arming messages
...
Protect against the GCS sending multiple arming messages close together
which disrupts the gyro calibration
2015-02-02 22:31:20 +09:00
Randy Mackay
32cb901ce3
Copter: allow arming at mid throttle in AltHold, Loiter
2015-02-02 22:31:18 +09:00
Randy Mackay
e7f20c04c3
Copter: init_arm_motors calls pre-arm checks
...
This reduces a small amount of duplicated code in the pilot initiated
arming and GCS initiated arming functions
2015-02-02 22:31:14 +09:00
Randy Mackay
f4c392c64d
Copter: pre_arm_checks returns success or failure
...
This makes the pre-arm check function consist with the other arming
check functions
2015-02-02 22:31:11 +09:00
Randy Mackay
64af4ff923
Copter: rename set_servos_4 to motors_output
2015-02-02 22:31:08 +09:00
Randy Mackay
8754ce9eed
Copter: move 80% thr limit to MotorsTri
2015-02-02 22:31:04 +09:00
Randy Mackay
43ba94e99a
Copter: rename manual_flight_mode to mode_has_manual_throttle
2015-02-02 22:31:01 +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
3e872c71fc
Copter: AC3.2.1-rc2 release notes
2015-01-30 16:23:52 +09:00
Robert Lefebvre
8e8ec09740
Copter: update pos_control alt_max from fence at 1hz
2015-01-30 14:13:49 +09:00
Randy Mackay
e0cfe091fb
Copter: setup uart after checking usb_connected
2015-01-29 14:05:15 +11:00
Randy Mackay
8ea65c2dc2
Copter: APM_Config define to disable FRSKY telem
2015-01-29 14:05:14 +11:00
Randy Mackay
f91fb9a4e8
Copter: rename frsky_telemetry_send function
2015-01-29 14:05:14 +11:00
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
7ffcf62e2e
Copter: move MNT param's underscore to mount lib
2015-01-29 13:57:19 +11:00
Randy Mackay
c51ba8cd03
Copter: integrate mount frontend-backend restructure
...
initialise mount on startup
use Mount::has_pan_control method
Remove calls to unimplemented mount.configure_cmd
Remove call to update_mount_type which will be handled from within mount
lib
2015-01-29 13:57:18 +11:00
Randy Mackay
31b2534c1d
Copter: rename mount.set_roi_cmd to set_roi_target
2015-01-29 13:57:18 +11:00
Randy Mackay
18f8ffab6f
Copter: remove land detector bar climb rate definition
2015-01-28 10:59:15 +09:00
Jonathan Challinger
9d585700f8
Copter: remove baro climb rate check from land detector
2015-01-28 10:57:00 +09:00
Matthias Badaire
a2d71d2811
Copter: Frsky telemtry change move parameter to init of the class
...
Parameter needs to be passed and use at the init of the class frsky telem
2015-01-22 16:49:39 +11:00
Randy Mackay
1819bd48f4
Copter: remove home_is_set checks from Loiter, PosHold, RTL
...
This allows these flight modes to potentially operate even when the
vehicle has never had a GPS lock.
Potentially we should replace this with a check that the EKF's origin
has been set
2015-01-22 14:40:19 +09:00
Randy Mackay
d49489ca7e
Copter: optflow_position_ok requires using EKF
2015-01-22 14:40:13 +09:00
Randy Mackay
01f1ce4cb3
Copter: position_ok false when EKF in const pos mode
2015-01-22 14:40:11 +09:00
Randy Mackay
74ac79ba10
Copter: Drift uses throttle_zero flag
2015-01-22 14:40:08 +09:00
Randy Mackay
02d0b05926
Copter: minor format fix
2015-01-22 14:40:05 +09:00
Randy Mackay
4185d17915
Copter: fix to RTL, PosHold and Loiter's use of filter status
2015-01-22 14:40:02 +09:00
Randy Mackay
cc52bbbffb
Copter: update current loc once home is set
2015-01-22 14:39:59 +09:00
Randy Mackay
f1a6b06586
Copter: remove redundant filter status checks
2015-01-22 14:39:57 +09:00
Randy Mackay
3641d3d508
Copter: send inav velocities in global position message
...
Also absolute alt now calculated from home alt + current alt above home
instead of using GPS absolute alt
2015-01-22 14:39:54 +09:00
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
