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1037 Commits

Author SHA1 Message Date
Randy Mackay
e6c3f4f97b Copter: move aux switch enum to defines.h 2015-03-17 21:18:49 +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
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
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
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
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
8ba195a3a2 Copter: add Mot and Rate dataflash logging 2015-03-06 14:02:07 +09:00
Randy Mackay
bae424fa88 Copter: pass in loop_rate to motors constructor 2015-03-03 15:48:37 +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
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
77d8f88e45 Copter: fence, rtl, land use alt-above-home 2015-02-12 15:08:00 +09:00
Randy Mackay
e081b9d1c7 Copter: home is set becomes three state 2015-02-12 15:00:50 +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
Robert Lefebvre
8e8ec09740 Copter: update pos_control alt_max from fence at 1hz 2015-01-30 14:13:49 +09:00
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
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
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
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
Randy Mackay
4059e02a8c Copter: move ch6 tuning to tuning.pde 2015-01-16 15:12:58 +09:00
Andrew Tridgell
c151f24672 Copter: updates for new AP_Baro API 2015-01-09 11:50:55 +11:00
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
Andrew Tridgell
c784ee717b Copter: update for new OptFlow API 2015-01-03 14:16:33 +11:00
Randy Mackay
b6bcf841e1 Copter: remove second camera mount 2014-12-16 21:26:20 +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
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
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
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
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
Randy Mackay
8a61f5acd2 Copter: add comments to control switch debouncing 2014-10-31 15:48:28 +09:00
Jonathan Challinger
5c8b39562f Copter: rework control switch debouncing 2014-10-31 15:30:27 +09:00
Jonathan Challinger
b0594e8d56 Copter: supply wp_nav with attitude_control 2014-10-31 15:23:54 +09:00
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
Andrew Tridgell
c3d839456b Copter: support logging while disarmed 2014-10-17 16:29:59 +09:00
Randy Mackay
6becb1a722 Copter: add DCM check of yaw error 
Triggers an "ekf" failsafe if the DCM yaw error is > 60deg
 2014-10-16 17:22:14 +09:00
Randy Mackay
aa3e34a44a Copter: move update_optflow to sensors.pde 
Also slightly shorten function name
 2014-10-15 16:36:36 +09:00
Randy Mackay
717e63f47a Copter: instantiate optflow on Pixhawk 
Run sensor reads from scheduler
 2014-10-15 16:35:40 +09:00
Randy Mackay
992ce9b69c Copter: remove nav_guided structure 
This has been replaced by guided_limit structure
 2014-10-13 21:40:26 +09:00
Jonathan Challinger
96f50b7cd7 Copter: add throttle_zero state 2014-10-08 20:54:19 +09:00
Jonathan Challinger
fa9d10e59b Copter: log CURR message at 10hz 2014-10-08 20:49:36 +09:00
Randy Mackay
b9977a1115 Copter: add land_complete_maybe flag 2014-09-19 16:43:15 +09:00
Randy Mackay
14d80910ec Copter: integrate EPM ver2 2014-09-17 21:13:35 +09:00
Jonathan Challinger
8ca4795ffb Copter: Log NTUN while in LAND mode with GPS 2014-09-16 10:19:33 +09:00
Randy Mackay
bf18fb896a Copter: send extended status to GCS only after initialisation 2014-09-09 22:17:46 +09:00
Randy Mackay
7d350735df TradHeli: update AttControlHeli constructor 
reference to rc_1, rc2 are replaced with constant updates during
acro_run
 2014-08-22 16:29:02 +09:00
Robert Lefebvre
82061bc65d TradHeli: Add pointer for pilot roll/pitch inputs to attitude_control constructor. To be used for flybar passthrough. 2014-08-22 16:28:40 +09:00
Randy Mackay
fcc5c7c12e Copter: update master firmware ver to AC3.3-dev 
Further AC3.2 fixes will appear in the ArduCopter-3.2 branch
 2014-08-18 11:45:54 +09:00
Randy Mackay
7202aa00da Copter: remove compass learn of offsets 
This saves 1k of flash and the interference on most copters makes this
option unusable anyway.
 2014-08-16 10:45:11 +09:00
Randy Mackay
515cb7c671 Copter: AC3.2-rc5 version and release notes 2014-08-14 21:38:56 +09:00
Andrew Tridgell
e260f1c569 Copter: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Randy Mackay
0518439841 Copter: move relay from ch6 to ch7/ch8 2014-08-09 13:37:12 +09:00
Andrew Tridgell
4d284a695d Copter: fix for changed AP_Terrain API 2014-08-06 17:59:19 +10:00
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
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
7a2288523e Copter: version and release notes for AC3.2-rc4 2014-08-01 13:56:09 +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
Randy Mackay
7cc1501dc6 Copter: integrate baro glitch protection 2014-07-28 22:16:20 +09:00
Andrew Tridgell
8e65e5bff0 Copter: replace HAVE_AP_TERRAIN with AP_TERRAIN_AVAILABLE 2014-07-25 07:59:54 +10:00
Andrew Tridgell
0562907d9f Copter: added AP_Terrain library 2014-07-24 21:46:06 +10:00
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
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
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
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
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
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
Andrew Tridgell
a4b9b989b7 Copter: convert to new AP_RangeFinder API 2014-07-08 15:08:18 +10:00
Randy Mackay
f5640dadbf Copter: guided mode velocity controller 2014-07-06 17:01:08 +09:00
Randy Mackay
fdc0ec837b Copter: add nav_guided suport to Auto mode 2014-07-06 17:00:31 +09:00
Niels Joubert
4abbda616f ArduCopter: GPS Callback for calculating base position 2014-06-30 10:29:56 +10:00
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
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