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7,987 Commits 71 Branches 511 Tags 806 MiB
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2133 Commits

Author SHA1 Message Date
Andrew Tridgell
82c604dd67 Copter: more constrain fixes 2013-04-22 13:26:49 +10:00
Andrew Tridgell
d5875676b1 Copter: use a reference to DCM matrix 2013-04-22 13:26:49 +10:00
Andrew Tridgell
c2c037ec0d Copter: use the right constrain() type in Attitude code 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 13:26:49 +10:00
Randy Mackay
a9da3c9d3d Copter: remove unused throttle functions 
removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
 2013-04-21 23:43:04 +09:00
Andrew Tridgell
9cec664236 Copter: fixed format of PM message log 2013-04-21 23:46:35 +10:00
Randy Mackay
94d4ecef11 Copter: reduce throttle rate D to zero 2013-04-21 16:28:07 +09:00
Randy Mackay
2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Andrew Tridgell
c53ede506d Copter: make if statement clearer 2013-04-21 07:25:52 +10:00
Bill Bonney
36041bb9ff Copter: Enable CURRENT logging by default to dataflash 2013-04-21 07:25:34 +10:00
Andrew Tridgell
8b31f276a2 Copter: switch to block based logs for SITL 2013-04-20 20:45:51 +10:00
Randy Mackay
745df9b13c Copter: add SONAR_GAIN to tune reaction to sonar 
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
 2013-04-20 15:58:36 +09:00
Randy Mackay
50515e28e1 Copter: replace fabs with fabsf 2013-04-20 15:40:56 +09:00
Randy Mackay
a53e5f747b Copter: add fourth yaw behaviour, look-at-home 
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
 2013-04-20 15:36:24 +09:00
Andrew Tridgell
02c3083f60 Copter: print flight mode as string 2013-04-20 15:18:22 +10:00
Andrew Tridgell
ce3ee97e73 Copter: removed duplicate print_latlon() declarations 2013-04-20 13:57:45 +10:00
Andrew Tridgell
93d075404c Copter: added board voltage to current message 2013-04-20 13:52:37 +10:00
Andrew Tridgell
a0708460a4 Copter: convert to new logging system 2013-04-20 13:52:37 +10:00
Andrew Tridgell
67484a2ea1 Copter: make copter code compatible with the new logging system 
not fully converted yet
 2013-04-20 13:52:36 +10:00
Randy Mackay
37abfdc65a Copter: make CIRCLE_RATE a tunable parameter 
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
 2013-04-20 12:03:55 +09:00
Randy Mackay
d65d7d95e2 Copter: bug fix for take-off so it never descends 
If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
 2013-04-18 22:30:24 +09:00
Randy Mackay
0fc9c8739e Copter: add WP_YAW_BEHAVE parameter 
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose.  Almost nobody
ever knew about or used this parameter.
 2013-04-18 15:30:18 +09:00
Randy Mackay
18c1373847 Copter: remove unused AUTO_VELZ defaults 
These have now moved to AC_WPNav
 2013-04-18 14:57:08 +09:00
Randy Mackay
f5955d8915 Copter: auto climb and descent params removed 
These params now reside in the AC_WPNav library
 2013-04-18 14:52:21 +09:00
Randy Mackay
9b351feade Copter: shorted INAV dataflash log message length 
Velocities are now output in WPNav message
 2013-04-17 22:39:30 +09:00
Randy Mackay
f7524e5741 Copter: remove unnecessary cast to float in Log 2013-04-17 22:35:02 +09:00
Randy Mackay
7c8527e6a6 Copter: resolve compiler warning 2013-04-17 22:14:47 +09:00
Randy Mackay
2b4a7d60a9 Copter: remove unused throttle modes 
These were useful for testing the alt-hold when it was first introduced
but now they just add complexity
 2013-04-17 22:14:22 +09:00
Randy Mackay
56809a9df2 Copter: remove unused nav_ok and alt_sensor_flag 2013-04-17 21:57:57 +09:00
Randy Mackay
0b808abbed Copter: remove unused waypoint_valid function 2013-04-17 21:28:43 +09:00
Randy Mackay
d2bd818b2d Copter: bug fix for auto_armed logic 
Zero throttle when switching into an auto flight mode would cause the
motors to stop.
 2013-04-17 21:28:42 +09:00
Andrew Tridgell
501eb4f0b4 Copter: made more variables static 2013-04-17 21:35:11 +10:00
Andrew Tridgell
61c2befd4d Copter: fixed logging for new API 2013-04-17 21:34:42 +10:00
Randy Mackay
82989d85f2 Copter: remove unused #defines 2013-04-16 22:34:12 +09:00
Randy Mackay
0663da7c9e Copter: loiter rate IMAX to 4m/s/s and D to zero 2013-04-16 22:28:18 +09:00
Randy Mackay
b8974dec99 Copter: compass learn off by default 2013-04-16 18:47:39 +09:00
Randy Mackay
a7b32caf72 Copter: bug fix for loiter_time check 
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
 2013-04-15 23:57:22 +09:00
Randy Mackay
a185fa950c Copter: Jason's fix to auto disarming 
Added check so that it only starts counting down when motors are armed.
This removes the issue in which the copter sometimes disarms shortly
aftering being armed.
 2013-04-15 23:36:45 +09:00
Randy Mackay
8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay
b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
Andrew Tridgell
cf6ae4a746 Copter: remove ahrs.set_barometer() 2013-04-15 10:52:32 +10:00
Randy Mackay
8c7a1597dc Copter: remove debug comment from RTL 2013-04-14 18:28:13 +09:00
Randy Mackay
629d23b7e2 Copter: remove WP_SPEED and WP_RADIUS parameters 
AC_WPNav library has equivalent params with very similar names
 2013-04-14 13:27:37 +09:00
Randy Mackay
b58c26bcd5 Copter: remove pid_nav_lat, pid_nav_lon 2013-04-14 12:12:51 +09:00
Randy Mackay
bffe4fa412 Copter: remove NAV_LAT and NAV_LON 
Loiter and navigation controllers now combined
 2013-04-14 12:09:45 +09:00
Randy Mackay
700fb1b179 Copter: replace sin_yaw_y, cos_yaw_x in circle mode 2013-04-14 10:39:30 +09:00
Randy Mackay
366616e32c Copter: reduce default loiter PIDs 2013-04-14 10:39:28 +09:00
Randy Mackay
1ee825ee9a Copter: move alt and wp checking to AC_WPNAV 
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
 2013-04-14 10:39:23 +09:00
Randy Mackay
2db8365c90 Copter: add AC_WPNav to parameters list 2013-04-14 10:39:02 +09:00
Randy Mackay
bc87118062 AC_WPNav: add get_target_alt method 2013-04-14 10:39:00 +09:00
Randy Mackay
6dbcbdcb43 AC_WPNav: limit max loiter position error 
move interpretation of pilot input to wpnav lib
 2013-04-14 10:38:58 +09:00
Randy Mackay
7c559333f5 Copter: get_throttle_rate's target_speed a float 2013-04-14 10:38:51 +09:00
Randy Mackay
926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +09:00
Randy Mackay
ee7f40cfe9 Copter: Leonard's alt-hold feed forward 2013-04-14 10:38:37 +09:00
Randy Mackay
f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay
553f40a99c Copter: bug fix to loiter delay 
change delay to seconds to allow delays longer than 65seconds
 2013-04-14 10:38:30 +09:00
Randy Mackay
a65960a009 Copter: use velocity based set_loiter_target 2013-04-14 10:38:28 +09:00
Randy Mackay
e592baae11 Copter: remove remnants of fast_corner 2013-04-14 10:38:20 +09:00
Randy Mackay
4de5f67a91 Copter: replace wp_nav.get_target_alt with get_destination_alt 2013-04-14 10:38:17 +09:00
Randy Mackay
5b93990e41 Copter: removed next_WP 
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
 2013-04-14 10:38:07 +09:00
Randy Mackay
1516972eaa Copter: add panorama to CIRCLE mode 
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
 2013-04-14 10:38:01 +09:00
Randy Mackay
58ed8cd544 Copter: replace set_next_WP with direct call to wp_nav 2013-04-14 10:37:55 +09:00
Randy Mackay
49828eba7d Copter: integrate AC_WPNav 2013-04-14 10:37:48 +09:00
Randy Mackay
cdb532a594 Copter: bug fix for loiter target 2013-04-11 18:24:20 +09:00
Randy Mackay
e637a8fb29 Copter: remove old commented out code from setup.pde 2013-04-11 10:12:21 +09:00
tobias
217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Randy Mackay
9036b97a16 Copter: fix build error 
Removed last print_test_disabled call
 2013-04-05 23:03:17 +09:00
Randy Mackay
fc0c451b69 Copter: remove #ifdef checks for Atmega1280 2013-04-05 22:48:10 +09:00
Randy Mackay
1dcd46bffc Copter: reduce compiler warnings 2013-04-05 22:25:58 +09:00
Randy Mackay
95d944f610 Copter: Jason's bug fix for loiter's set_next_WP_latlon 2013-04-05 13:46:07 +09:00
Randy Mackay
777c6a308e AP_InertialNav: use shared GRAVITY_MSS constant 2013-04-05 11:48:41 +09:00
Randy Mackay
d1afd2fb9b Copter: make guided mode start at current location 2013-04-03 23:06:46 +09:00
Randy Mackay
0be23c8090 Copter: fix THR_ALT_P documentation 2013-04-03 22:38:34 +09:00
Randy Mackay
3bf847f675 Copter: Jason's faster cos_yaw, sin_yaw 2013-04-02 15:50:29 +09:00
Randy Mackay
40f6416b3d Copter: update Log_Read_Compass comment 2013-04-02 11:02:14 +09:00
Randy Mackay
7cf2255822 Copter LEDs: replace bitRead with bitmask 
Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
 2013-04-01 13:10:12 +09:00
Randy Mackay
a9eb626cb8 Copter: update default Rate Yaw P to 0.20 (was 0.25) 2013-04-01 11:49:50 +09:00
Randy Mackay
7ccb14344c Copter: update version to 2.9.1b-dev 2013-04-01 11:47:56 +09:00
Randy Mackay
7d4eea271f Copter: update Release notes again for 2.9.1b release 
Missed item re increasing max inav accel correction to 3 m/s
 2013-04-01 11:46:42 +09:00
Randy Mackay
49e3e040b6 Copter: update Release notes ahead of 2.9.1b release 2013-04-01 11:46:37 +09:00
Randy Mackay
24dd167607 Copter: ACRO bug fix from Jason 2013-04-01 11:44:28 +09:00
Michael Oborne
541fa13291 cleanup comments 2013-03-31 17:14:54 +08:00
Michael Oborne
e80f2c094e HIL fix location, alt, mag from hil state message 2013-03-31 16:42:16 +08:00
Michael Oborne
59f80410d5 Add ability to compile sensor hil with sitl 2013-03-31 16:35:23 +08:00
Andrew Tridgell
b280857025 Copter: use common angle wrap code 2013-03-29 13:14:31 +11:00
Randy Mackay
f7d977fe37 Copter: add support for GPS fix type 2D 2013-03-27 11:41:47 +09:00
Andrew Tridgell
b955aed976 Copter: fixed GPS test (detection of uBlox needs 10Hz poll) 2013-03-21 22:45:07 +11:00
Andrew Tridgell
d22a7c64c9 Copter: only enter CLI is link is idle when 3 enters are hit 
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
 2013-03-21 21:56:02 +11:00
Andrew Tridgell
ce8313e8fb Copter: only allow CLI within 20s of startup and when motors not armed 2013-03-21 17:34:11 +11:00
Randy Mackay
80bd593814 Copter: disarm motors when entering CLI 2013-03-21 12:07:00 +09:00
Randy Mackay
dcf21eee8f Copter: only allow entering the CLI within 30 seconds of start-up 2013-03-21 11:54:04 +09:00
Andrew Tridgell
ae96c77add Copter: added shell command in CLI test menu 2013-03-20 12:35:50 +11:00
Randy Mackay
38e81adae0 InertialNav: remove unnecessary "virtual" from function definitions 
This saves about 30bytes of RAM
 2013-03-19 17:51:16 +09:00
Randy Mackay
a17421da27 Copter: scale HIL accels consistently with Plane code 2013-03-19 15:07:15 +09:00
Randy Mackay
b4b9d80c2f Copter: bug fix to accept HIL accel values correctly 2013-03-19 11:33:58 +09:00
John Stäck
46a831fc03 Copter: add parameter "set" and "show" commands to setup menu. 
Squashed commit of the following:

commit 4243a0bb89de2f850606c623aac6a5b583c333ae
Author: John Stack <stack@spotify.com>
Date:   Thu Mar 7 09:28:16 2013 +0100

    Undo change to system.pde, not needed.

commit dae2dbbbd6e13621fccc1d0a221aae8d83240417
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 22:47:50 2013 +0100

    Remove leftover bits of old menu setup

commit ccefc8fe0d237364b06a1478348f8552720d7598
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 22:40:30 2013 +0100

    Roll the param menu into setup.

commit c61dad17bf32a3080d8eca2389c6e25f98767545
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 08:08:42 2013 +0100

    Make the param menu a compile-time option, by defining PARAM_MENU

commit 0f35c4e88ec7aba5035b4880e9994e4783da75a9
Author: John Stack <stack@spotify.com>
Date:   Wed Mar 6 07:57:22 2013 +0100

    Use find(), which works well.

commit 3b81b29597fcee49193330d7b6d3f3aed99a476c
Author: John Stack <stack@spotify.com>
Date:   Tue Mar 5 07:57:33 2013 +0100

    Whitespace fixes

commit 6b9ccc5fe1de1e40a24eb9ff89006b9bd80e3662
Author: John Stack <stack@spotify.com>
Date:   Tue Mar 5 07:28:20 2013 +0100

    Add cli menu to change any parameter.
 2013-03-18 15:49:41 +09:00
Andrew Tridgell
952c56e990 Copter: fixed barometer init in HIL sensors mode 2013-03-18 16:20:25 +11:00
Andrew Tridgell
ac06b5e62d Copter: remove unused function 2013-03-18 16:20:25 +11:00
Randy Mackay
36834e77b5 Copter: remove support for CLI Slider 2013-03-18 14:07:04 +09:00
Randy Mackay
597a4b912a Copter: fix to allow building HIL_MODE_SENSORS 2013-03-18 13:41:52 +09:00
Randy Mackay
d1344e8c39 Copter: remove #define for CROSSTRACK_GAIN 
Note: the cross track is still calculated inside the inertial nav based
loiter and wp controls but it's no longer requires a tunable parameter
 2013-03-17 16:56:18 +09:00