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3865 Commits

Author SHA1 Message Date
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
Randy Mackay
3127dd94c1 Copter: add OPTFLOW to default logging 2014-12-08 14:58:27 +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
Randy Mackay
0994529624 Copter: remove OF_Loiter from FLTMODE param descriptions 
Also remove OF_Loiter reference in comments
No functional change
 2014-12-08 14:57:04 +09:00
Andrew Tridgell
fba02479b7 Copter: fixed build with no EKF 2014-12-06 18:43:38 +11:00
priseborough
963cc4d60a Copter: Add velocity gain scaler to interfaces 
Allows nav gain to be scaled to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
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
be54f2d6ee Copter : Don't force pre-compiler inclusion of optical flow 2014-12-06 18:16:48 +11:00
priseborough
6d5fb33d1a Copter : enable optical flow by default 2014-12-06 18:16:47 +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
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
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
Randy Mackay
8b80e58861 Copter: enable OPTFLOW - do not merge to master 2014-12-06 18:16:44 +11:00
priseborough
60527a023a Copter : Update optical flow test for new PX4Flow interface 2014-12-06 18:16:43 +11:00
priseborough
0d7555b259 Copter : Remove legacy optical flow control mode 
This mode is not compatible with the new PX4Flow interface
 2014-12-06 18:16:43 +11:00
priseborough
900519b35b Copter : Remove legacy optical flow control mode 
This mode is not compatible with the new PX4Flow interface
 2014-12-06 18:16:43 +11:00
priseborough
23953b459e Copter : Update logging for new PX4Flow sensor interface 2014-12-06 18:16:43 +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
Andrew Tridgell
dcdfff66e8 Copter: setup pwm esc scaling 2014-11-26 11:14:44 +11:00
Randy Mackay
13b8159fb5 Copter: only allow one preflight calibration at a time 2014-11-21 22:00:45 +09:00
Randy Mackay
330b52194f Copter: change to switch order in guided spline 
No functional change
 2014-11-19 12:06:30 -08:00
Arthur Benemann
db89bd6f03 Copter: correct frame/location of guided spline 2014-11-19 11:59:13 -08:00
Randy Mackay
84f82dd129 Copter: correct get_pilot_desired_throttle calc 
Also minor format and commenting addition
 2014-11-17 18:16:14 -08:00
Jonathan Challinger
3a529b2cef Copter: utilize get_control_mid for throttle calculations 2014-11-17 18:16:11 -08:00
Andrew Tridgell
b6c06ab691 Copter: fix build with new mavlink repo 2014-11-18 11:20:04 +11:00
Randy Mackay
c6e70179d2 Copter: move MOUNT_STATUS lower in GCS_MAVLink 
No functional change
 2014-11-17 15:59:41 -08:00
Arthur Benemann
6bee8969a1 Copter: append MOUNT_STATUS message to STREAM_EXTRA3 messages 
The msg is now periodically sent to the GCS, instead of only on request.STREAM_EXTRA3
 2014-11-17 15:59:26 -08:00
Jonathan Challinger
387f3276cb Copter: handle SET_POSITION_TARGET mavlink messages 2014-11-17 14:38:55 -08:00
Jonathan Challinger
1b1327dc93 Copter: add Guided_Spline mode 2014-11-17 14:38:48 -08:00
Jonathan Challinger
e7939cca01 Copter: change function definitions in guided to static 2014-11-17 14:38:43 -08:00
Jonathan Challinger
c7a38c4350 Copter: use force_descend option on auto landings 2014-11-13 18:40:42 -08:00
Craig Elder
f7d0a930c2 Copter: Updated GCS_FAILSAFE Parameter Description 2014-11-13 13:10:06 -08:00
Arthur Benemann
f24f5a6a32 Copter: remove call to camera.configure and control 
The do_take_picture() function must be called for logging to occur.
configure_msg is empty at the moment so the call to this is remove
 2014-11-11 10:31:49 -08:00
Randy Mackay
ed099a73a3 Copter: minor rename of ACRO circular limits variable 2014-11-10 18:36:17 -08:00
Randy Mackay
83051c306d Copter: minor rename of a circular limits variable 2014-11-10 18:36:15 -08:00
Jolyon Saunders
a9205e1032 Copter: Add circular limits to ACRO 2014-11-10 18:36:13 -08:00
Jolyon Saunders
d46c659d0f Copter: Add circular limits pilot's roll/pitch inputs 2014-11-10 18:36:10 -08:00
Randy Mackay
b2badee172 Copter: reset baro glitch after baro init 2014-11-09 13:34:17 -08:00
Randy Mackay
9e12b01569 Copter: CPU failsafe set motors to min before logging error 
This ensures that if the logging stalls the motors will have already
been reduced to zero
 2014-11-08 11:37:23 +09:00
Jonathan Challinger
80ba40d149 Copter: CPU failsafe logs an error 2014-11-08 11:27:16 +09:00
Jonathan Challinger
e37337b744 Copter: remove gyro cal prearm check 2014-11-07 14:02:26 +09:00
Randy Mackay
9f2af783db Copter: update AC3.2 ReleaseNotes 2014-11-07 14:00:00 +09:00
Randy Mackay
1b64dd2280 Copter: clarify pv_location_to_vector param name 
Also update function description
 2014-11-06 11:53:57 +09:00
Clay McClure
a897c14255 Copter: ensure lat, lon, alt all zero is handled 
Use default position when waypoint lat/lon are zero,
and default altitude when waypoint alt is zero, for
both spline and straight-line waypoints.

Fixes #1145.
 2014-11-06 11:53:32 +09:00
Randy Mackay
07975ed564 Copter: minor reformat of control_autotune 2014-11-05 21:08:39 +09:00
Brad Bosch
74fedc0897 Copter: allow starting autotune from flightmode switch 
ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.
 2014-11-05 21:08:36 +09:00
squilter
ad3bce105c Copter: remove abbreviations from GCS messages 2014-11-05 20:04:52 +09:00
Randy Mackay
5104d5f0fe Copter: re-order init_sonar 
No functional change.
 2014-10-31 20:40:24 +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
Randy Mackay
44dbf50101 Copter: fix camera feedback msg handling 
If the camera was disabled, camera message handling would fall though to
status-text msg handling.
 2014-10-31 14:46:47 +09:00
Arthur Benemann
b587025ad1 Copter: send a camera_feedback message when there is a camera trigger 2014-10-31 14:46:42 +09:00
Randy Mackay
8eb866adef Copter: minor update to AC3.2-rc14 ReleaseNotes 2014-10-31 10:57:43 +09:00
Randy Mackay
bb85e77173 Copter: update AC3.2-rc14 ReleaseNotes 2014-10-29 18:09:46 +09:00
Randy Mackay
beb54b087b Copter: re-enable CPU failsafe if arming fails 2014-10-29 16:00:32 +09:00
Randy Mackay
cce876c2f9 Copter: fail to arm if gyro cal fails 2014-10-29 15:36:29 +09:00
Randy Mackay
0ac3267d52 Copter: reset ahrs gyro drift after gyro calibration 2014-10-28 20:25:36 +09:00
Jonathan Challinger
25a2fa67b6 Copter: don't stop logging on disarm when LOG_WHEN_DISARMED is set 2014-10-28 15:19:01 +09:00
Randy Mackay
07a74bc39f Copter: ReleaseNotes for AC3.2-rc14 2014-10-27 22:37:19 +09:00
Randy Mackay
28b98a170b Copter: fix to dcm-check to be continuous 
dcm-check was triggering after 10 bad headings but these did not need to
be continuous meaning if the vehicle was flown long enough it would
almost certainly trigger a dcm-check failure and land
 2014-10-27 12:37:56 +09:00
Andrew Tridgell
4c0351a76a Copter: convert to new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Randy Mackay
0532a4bbc3 Copter: ReleaseNotes for AC3.2-rc13 2014-10-23 22:22:28 +09:00
Randy Mackay
8fc2ccdc76 Copter: remove debug 2014-10-23 22:21:48 +09:00
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
benoit35690
f866bf979e Copter: fix compiler warnings in GCS_Mavlink.pde 2014-10-21 12:00:01 +09:00
benoit35690
b63f701fd3 Copter: minor formatting fix 2014-10-21 11:59:48 +09:00
benoit35690
e22130cbc7 Copter: minor format fix 2014-10-21 11:54:35 +09:00
benoit35690
3c01353dcd Copter: fix compiler warning in control_auto.pde 2014-10-21 11:53:17 +09:00
Jonathan Challinger
5fc02bdbc4 Copter: Reduce prearm alt disparity check back to 1m 2014-10-20 10:55:59 +09:00
Randy Mackay
3296eb24b3 Copter: add comments to auto_loiter 2014-10-20 10:54:57 +09:00
Jonathan Challinger
d7d8330303 Copter: loiter copter without accepting user input at end of auto mission 2014-10-20 10:46:14 +09:00
Jonathan Challinger
ef12ea4d3b Copter: fix indentation mistake in motors.pde 2014-10-20 10:43:53 +09:00
squilter
343a673762 Copter: reset ROI when requested, regardless of current MOUNT_MODE 2014-10-20 10:41:06 +09:00
Randy Mackay
a8c96946eb Copter: log DCM reported roll-pitch and yaw error 2014-10-18 20:09:39 +09:00
Randy Mackay
a559a12ea2 Copter: remove LOG_FROM_STARTUP define 
This compile-time method is obsolete now that we have the logging while
disarmed feature
 2014-10-17 16:40:18 +09:00
Randy Mackay
ebcf582f66 Copter: add NearlyAll-AC315 LOG_BITMASK description 2014-10-17 16:40:13 +09:00
Randy Mackay
dcf72e9b78 Copter: remove extra in_mavlink_delay from should_log function 
Also return false when logging disabled
 2014-10-17 16:32:39 +09:00
Andrew Tridgell
c3d839456b Copter: support logging while disarmed 2014-10-17 16:29:59 +09:00
Andrew Tridgell
874efe95a1 Copter: fixed parameter path 
fixes build of parameters
 2014-10-17 15:54:53 +11:00
Randy Mackay
27b73fa209 Copter: enable Optflow by default for Pixhawk only 2014-10-16 21:17:54 +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
b0e6931ab0 Copter: add DCM_CHECK_THRESH parameter 2014-10-16 17:22:11 +09:00
Randy Mackay
b96e123480 Copter: remove unused Log_Write_IMU function 2014-10-16 15:25:34 +09:00
Randy Mackay
7bd8d48809 Copter: fence breach causes disarm if landed 
Previously it would only disarm if the throttle was also at zero.
Pair programmed with Tridge
 2014-10-16 14:09:02 +09:00
Andrew Tridgell
26f7ab49e3 Copter: fixed some build warnings 2014-10-16 14:04:11 +09:00
Randy Mackay
4e06970a1c Copter: disable OptFlow in SITL 2014-10-15 20:46:06 +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
67b7b2d667 Copter: enable optflow by default for Pixhawk 2014-10-15 16:36:31 +09:00
Randy Mackay
7b07b575cf Copter: pilot override used immediately in OF_Loiter 
Replace some hard coded numbers with definitions
 2014-10-15 16:36:28 +09:00
Randy Mackay
28876b7ef6 Copter: log ground distance from optflow sensor 2014-10-15 16:35:51 +09:00
Randy Mackay
b2e167f9a5 Copter: Of_Loiter uses sensor velocity instead of integrated position 2014-10-15 16:35:45 +09:00
Randy Mackay
3201a8dbca Copter: integrate optflow_enable param move to optflow class 2014-10-15 16:35:43 +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
021485fffc Copter: simpler optflow logging 
Removed of_loiter control output from message
add TimeMS to OF dataflash log msg
 2014-10-15 16:35:38 +09:00
Randy Mackay
765ce2f6ca Copter: optflow parameters moved to optflow class 2014-10-15 16:35:36 +09:00
Randy Mackay
57229345e0 Copter: minor param description updates 2014-10-14 12:42:14 +09:00
Randy Mackay
6a225865ce Copter: accept velocity requests in Auto-Guided mode 2014-10-14 11:27:34 +09:00
Randy Mackay
c636ea9101 Copter: support SET_POSITION_TARGET messages 2014-10-13 21:55:17 +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
Randy Mackay
6659473420 Copter: support GUIDED_ENABLE and GUIDED_LIMITS 
Split of NAV_GUIDED into these two command necessitated guided mode
store the limits
 2014-10-13 21:40:24 +09:00
Randy Mackay
e5c3c306bd Copter: remove unused pilot_yaw_override flag 2014-10-13 21:40:21 +09:00
Randy Mackay
8997c224e2 Copter: enable Guided velocity controller for Pixhawk 2014-10-13 21:40:20 +09:00
Jonathan Challinger
dd38ad6bbf Copter: Start logging on arming attempt, rather than on successful arm 2014-10-11 17:32:27 +09:00
Randy Mackay
9d4107f1fc Copter: allow arming in GUIDED only from GCS 
Also changed mode_allows_arming function to accept arming_from_gcs param
Also remove AUTOTUNE from arming list
 2014-10-11 16:05:32 +09:00
Jonathan Challinger
2b0cffda29 Copter: move all arm check logic into arm_checks 2014-10-11 15:34:12 +09:00
Jonathan Challinger
cc56a972d0 Copter: add mode_allows_arming function 2014-10-11 15:34:10 +09:00
Jonathan Challinger
3e1bffe9ab Copter: auto-disarm if land complete regardless of mode 2014-10-11 15:32:29 +09:00
Jonathan Challinger
d0d26b6878 Copter: use ap.throttle_zero instead of rc_3.control_in in auto_disarm_check 2014-10-11 15:30:57 +09:00
Jonathan Challinger
a04ec79efa Copter: add land_complete to fence disarm check 2014-10-11 15:29:41 +09:00
Jonathan Challinger
450f988a21 Copter: remove DRIFT and SPORT from manual_flight_mode function 2014-10-11 15:27:45 +09:00
Randy Mackay
5f55944e43 Copter: AC3.2-rc12 release notes 2014-10-10 14:53:25 +09:00
Randy Mackay
d7cd745cf4 Copter: auto-trim start delays auto-disarm by 15sec 
Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
 2014-10-09 22:43:44 +09:00
Randy Mackay
a8733ae8a8 Copter: support pre-flight calibration of gyro 2014-10-09 10:00:15 +09:00
Randy Mackay
9a0a83f404 Copter: report gyro unhealthy if failed calibration 2014-10-09 10:00:12 +09:00
Randy Mackay
128058362b Copter: pre-arm check that gyro cal succeeded 2014-10-09 10:00:09 +09:00
Randy Mackay
8eba55ed67 Copter: throttle zero debounce to separate function 
Also initialise throttle_zero  to true on startup
Treat throttle less than zero as zero
 2014-10-08 21:52:16 +09:00
Jonathan Challinger
8e3d163c3d Copter: Change all zero throttle checks that should be conservative to use ap.throttle_zero 2014-10-08 20:54:24 +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
2f3f1a1d5e Copter: Rate Pitch IMAX default to 1000 
Spotted by Jonathan Challinger, thanks!
 2014-10-07 21:06:43 +09:00
Randy Mackay
4e27dbdc42 Copter: ReleaseNotes for AC3.2-rc11 2014-10-06 11:55:46 +09:00
Randy Mackay
68a9286086 Copter: use define for pre-arm compass offset check 2014-10-03 13:59:31 +09:00
Randy Mackay
7ced9b1bd3 TradHeli: remove overall throttle level from landing check 2014-10-02 16:10:44 +09:00
Randy Mackay
f059af2386 Copter: only report ahrs unhealthy after initialisation 2014-10-02 14:41:26 +09:00
Andrew Tridgell
f2e6fa3fb0 Copter: use handle_set_mode() 2014-10-01 14:19:31 +10:00
Randy Mackay
77e89214eb Copter: shift pos targets to current location before takeoff 2014-09-29 15:26:54 +09:00
Jonathan Challinger
73e1719ee1 Copter: print frame type in log headers 2014-09-27 16:11:21 +09:00
Randy Mackay
8aa5c10d53 Copter: remove unused AIRFRAME definition 2014-09-27 15:15:13 +09:00
Randy Mackay
1a249a8129 Copter: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-27 12:22:12 +09:00
Randy Mackay
ef0e37b478 Copter: bugfix to condition-yaw for relative angles 
Thanks to roque-canales for raising the issue and paradisephil for finding
the specific piece of code that went wrong and suggesting the fix.
 2014-09-26 12:22:58 +09:00
Randy Mackay
45bc9fd10c Copter: add AC3.2 default to LOG_BITMASK value 2014-09-25 15:32:21 +09:00
Randy Mackay
0d88b602ec Copter: fix RSSI_RANGE param values 
The extra .0 after the 5 was causing the mission planner to not display
5V in the dropdown even though the value was 5.
 2014-09-25 15:32:20 +09:00
Randy Mackay
ed566fa56c Copter: update AC3.2-rc10 release notes 2014-09-24 14:30:10 +09:00
Randy Mackay
41c576044f Copter: allow passthru for ch 9 ~ 14 
Based on work by Emile Castelnuovo
 2014-09-23 22:55:19 +09:00
Randy Mackay
d4cfb432ca Copter: use disparity threshold define for pre-arm checks 
There are two duplicate checks, one in the pre-arm checks (i.e. checks
run every 15 seconds or so before the vehicle is armed) and one in the
arming checks (run immediately before arming).  The definition in the
pre-arm checks was still using the old hardcoded value.
 2014-09-23 19:33:04 +09:00
lthall
2b4f5fa79d Copter: increase autotune limits 
Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
 2014-09-22 21:33:35 +09:00
Randy Mackay
e7753223ba Copter: low battery msg to severity high 2014-09-21 17:33:19 +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
9bbf40109e Copter: add LOG_FROM_STARTUP definition 
Uncommenting this line in APM_Config.h will start logging as soon as the
board starts up instead of waiting for the vehicle to be armed
 2014-09-20 12:23:47 +09:00
Jason Short
b2238b7c8a Copter: auto esc calibration 
Throttle is raised to maximum and then lowered without any input from
pilot
 2014-09-19 22:21:49 +09:00
Randy Mackay
58602bd1ae Copter: move esc calibration to separate file 
Restructured into case statement
Replaced use of g.throttle_max with definition
Added more comments
Send message to ground station instead of printing on console (although
probably both are unlikely to be read)
 2014-09-19 22:21:47 +09:00
Jason Short
b57539a9ad AP_Motors: throttle_pass_through accepts pwm 2014-09-19 22:21:45 +09:00
Randy Mackay
1c11a91ec2 Copter: rename land_maybe_complete function 2014-09-19 16:43:17 +09:00
Randy Mackay
b9977a1115 Copter: add land_complete_maybe flag 2014-09-19 16:43:15 +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
Andre Kjellstrup
b4c6d6395e Copter: reset battery_fs after dis/rearming 2014-09-18 11:17:03 +09:00
Randy Mackay
2efeb768e0 Copter: allow GCS to turn safety switch on/off 2014-09-17 21:51:25 +09:00
Randy Mackay
9bcf9a31ed Copter: set sys_status motor outputs bit from safety switch 2014-09-17 21:51:23 +09:00
Randy Mackay
9f3803052f Copter: add support for DO_PARACHUTE from GCS 
Mission command support was already included but this adds support for
DO_PARACHUTE received as a COMMAND_LONG message which are sent from the
GCS when the command should be executed immediately
 2014-09-17 21:14:26 +09:00
Randy Mackay
adf00a207b Copter: enable EPM by default on Pixhawk 2014-09-17 21:14:22 +09:00
Randy Mackay
bbe4438a6b Copter: add support for DO_GRIPPER command 2014-09-17 21:14:19 +09:00
Randy Mackay
3fa3cb6d65 Copter: remove EPM neutral from ch7/ch8 switch 
The EPM library returns the pwm output sent to the EPM to the neutral
position automatically meaning an explicit ch7/ch8 setting is not
required
 2014-09-17 21:13:45 +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
345d4353e5 Copter: adjust EKF_CHECK parameter description 
Default has been changed to 0.8 for -rc9 so we need to update the
description values so they match
 2014-09-12 21:28:41 +09:00
Randy Mackay
d15a5f9dcb Copter: THR_ACCEL_IMAX default to 800 2014-09-12 15:11:48 +09:00
Randy Mackay
224122958c Copter: reduce throttle to min once landed in RTL 
This catches the case where the vehicle lands but the user doesn't
immediately put the throttle to zero.  Before this check it would
continue to attempt to hold it's
 2014-09-12 14:16:05 +09:00
Randy Mackay
eac26cdd0f Copter: THR_ACCEL_IMAX param range increased 2014-09-12 14:16:04 +09:00
Randy Mackay
a12d9109e0 Copter: remove thr check during init_arm_motors 
This check is redundant now that we have a check within the arm_check()
function.
Removing this check does raise a slight danger that someone could raise
the throttle after arming but before the gyro and baro calibration has
completed but the delay has been greatly shortened from what it once was
so there is much less danger that someone could approach the vehicle
during the short arming delay.
 2014-09-11 21:13:35 +09:00
Randy Mackay
5720bff29f Copter: AC3.2-rc9 release notes 2014-09-11 20:38:56 +09:00
Randy Mackay
906b3dfbec Copter: AC3.2-rc8 release notes 2014-09-11 16:54:04 +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
48bc1456d0 Copter: increase Rate PID param ranges 
RATE_RLL_P to 0.25 (was 0.20)
RATE_PIT_P to 0.25 (was 0.20)
RATE_YAW_P to 0.50 (was 0.25)
RATE_YAW_I to 0.05 (was 0.02)
 2014-09-10 16:40:36 +09:00
Craig Elder
ea82caf7a4 Copter: Parameters.pde 
Corrected typo in parameter description
 2014-09-09 12:34:59 -07:00
Randy Mackay
0d7a999fc1 Copter: arming check that throttle is low 2014-09-09 23:02:18 +09:00
Randy Mackay
294f836c8c Copter: never send unhealthy terrain status 
Copter does not yet rely on the terrain data (it's for informational
purposes only) so we will temporarily disable the failure flags to the
GCS to avoid support calls
 2014-09-09 22:19:20 +09:00
Randy Mackay
bf18fb896a Copter: send extended status to GCS only after initialisation 2014-09-09 22:17:46 +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
db12df2237 Copter: minor ReleaseNotes format change 
This also helps to kick off the build of AC3.2-rc7
 2014-09-04 16:19:02 +09:00
Randy Mackay
05233fbf02 Cotper: AC3.2-rc7 release notes 2014-09-04 15:41:10 +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
05a37dd54d Copter: add short delay to arming to allow RC input 
The short delay gives time for the RC inputs to be processed which
removes the chance of a false-positive on the "late frame" radio check.
A false positive could lead to an immediate disarm right after arming.
 2014-09-04 15:11:57 +09:00
Randy Mackay
59404c25e3 Copter: pre-arm consistency check of accels 2014-09-03 13:51:44 +09:00
Randy Mackay
4a06941a39 Copter: individual accel and gyro status to GCS 2014-09-03 11:22:51 +09:00
Randy Mackay
d7343d5dc7 Copter: check all gyros and accels in pre-arm check 2014-09-03 11:22:49 +09:00
Randy Mackay
818b3b74f6 Copter: sanity check throttle deadzone 2014-09-02 12:40:15 +09:00
Jason Short
82481f30a3 Copter: move drift thr assist to separate function 
no changes in functionality.
 2014-08-31 14:22:56 +09:00
Randy Mackay
48d143d4ef Copter: minor format change to release notes 
This also helps kick off the rebuild so AC3.2-rc6 appears in the mission
planner
 2014-08-31 12:29:37 +09:00
Randy Mackay
ebfd828087 Copter: update AC3.2-rc6 release notes 
forgot compass-not-calibrated bug fix
 2014-08-31 12:06:03 +09:00
Randy Mackay
d04a4834fa Copter: update AC3.2-rc6 release notes 
Forgot to add GPS driver buffer overflow item
 2014-08-31 12:02:00 +09:00
Randy Mackay
13f994d3ad Copter: AC3.2-rc6 release notes 2014-08-31 11:55:06 +09:00
Randy Mackay
07420521ab Copter: default LAND_REPOSITION to 1 2014-08-31 10:44:09 +09:00
Jason Short
0dd9797fe6 Copter: restore CLI set parameter feature 
Added back the ability to set params from CLI
 2014-08-31 10:36:42 +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
Randy Mackay
2b0a7c59bc Copter: remote arming check reference to compass learning 2014-08-26 22:34:04 +09:00
Randy Mackay
63d0cddfa4 Copter: make landing detector more strict 
Made more strict by requiring 50 consecutive iterations where the climb
rate is below +- 40cm/s.  Previously it was 50 cumulative.

Removed check of failsafe.radio when clearing the land flag because it
could result in the vehicle taking off if the user picked it up.
 2014-08-25 21:12:05 +09:00
Randy Mackay
65ed77e803 Copter: ensure motors don't stop during flip 2014-08-23 23:40:13 +09:00
Randy Mackay
e1e010c504 Copter: remove unused flip_stop 2014-08-23 23:40:11 +09:00
Randy Mackay
4184c1d6e5 Copter: flip minor comments and formatting 2014-08-23 23:40:09 +09:00
Jason Short
882edaf787 Copter: add pitch axis flipping 
Added Pitch axis flipping. You must be pushing forward or back 3° to make it flip in Pitch axis or it will flip in the default roll axis.
Added some extra throttle control to maintain altitude
removed the CH7 ability to exit Flip mode. It will exit only if completing flip or user aborts with control sticks.
 2014-08-23 23:40:07 +09:00
Randy Mackay
a83a47682d Copter: remove get_angle_targets_for_reporting fn 
this saves a tiny amount of time by removing the memory copy of a
Vector3f
 2014-08-22 22:56:21 +09:00
Andrew Tridgell
7618ffde63 Copter: show firmware version on param fetch 
fixes pull #1320

thanks Arthur!
 2014-08-22 21:13:11 +10:00
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
Randy Mackay
2cd6d986d5 TradHeli: call passthrough_bf_roll_pitch_rate_yaw 2014-08-22 16:29:00 +09:00
Robert Lefebvre
968f1d64ae Logging: Fix comment error. 2014-08-22 16:28:54 +09:00
Robert Lefebvre
a4f710a363 TradHeli: Add yaw-only rate request function for flybar acro mode. 2014-08-22 16:28:52 +09:00
Robert Lefebvre
3316fe8f63 TradHeli: Reset flybar passthrough to false when exiting Acro mode. 2014-08-22 16:28:50 +09:00
Robert Lefebvre
f5ddaab35b TradHeli: Set Flybar passthrough mode in Acro Initialization function. 2014-08-22 16:28:47 +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
c87283af98 Copter: remove inav check 
the EKF check works reliably but attempts to check the inertial nav for
errors has not been successful.  I could not find a way to reliably
catch flyaways without also introducing false positives (and thus
unwanted LANDings)
 2014-08-20 14:39:56 +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
a693907429 Copter: add ACRO_EXPO param values 2014-08-19 12:51:27 +09:00
Andrew Tridgell
90f306cd3c Copter: set GPS non-blocking 
the new GPS driver only ever needs a non-blocking port
 2014-08-19 10:08:17 +10:00