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3637 Commits

Author SHA1 Message Date
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This has been replaced by guided_limit structure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
NullVoxPopuli e578fb1615 Copter: add A-Tail to FRAME parameter description 2014-08-18 14:31:03 +09:00
priseborough 162b824424 Copter : Distinguish between EKF and INAV errors 2014-08-18 14:17:50 +09:00
Randy Mackay ccc8068443 Copter: range check ACRO_EXPO to be no more than 1 2014-08-18 12:56:22 +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 f490a289de Revert "Copter: use rcmap when sending radio_in to GCS" 
This reverts commit 716f625924.
 2014-08-16 20:31:24 +09:00
Randy Mackay 716f625924 Copter: use rcmap when sending radio_in to GCS 2014-08-16 15:27:49 +09:00
Randy Mackay 5b114dcad5 Copter: remove unused WP_OPTION definitions 
This also kicks off the build for AC3.2-rc5
 2014-08-16 12:18:48 +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
Randy Mackay 0a88281a76 Copter: bug fix to rally point alt 
rally point library uses absolute altitudes, we were passing in relative
altitudes which caused the vehicle to climb before heading to the rally
point
 2014-08-14 21:09:54 +09:00
Randy Mackay 6fc5014a84 Copter: increase sonar timeout to 1sec 
Contributed by Julien Dubois.
 2014-08-14 19:37:00 +09:00
Randy Mackay 7686660c73 Copter: use baro healthy() 2014-08-14 16:03:23 +09:00
Randy Mackay 1e374ab42b Copter: report baro health to GCS 2014-08-14 16:02:49 +09:00
Leonard Hall 85213dccbf Copter: Autotune Fix 2014-08-14 11:47:40 +09:00
Randy Mackay f3fd79597f Copter: add ACRO_EXPO parameter 2014-08-14 11:47:37 +09:00
lthall 3ba1c0c4aa Copter: ACRO add expo 
adds 30% expo to roll and pitch
 2014-08-14 11:47:06 +09:00
Andrew Tridgell e260f1c569 Copter: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Randy Mackay 4723ed5e6e Copter: rename EKF check's error message to dataflash 
It checks more than the compass so the old error message was misleading.
 2014-08-09 15:48:42 +09:00
Randy Mackay af7e5a75e9 Copter: correct EKF_CHECK parameter description 2014-08-09 15:32:54 +09:00
Randy Mackay 0518439841 Copter: move relay from ch6 to ch7/ch8 2014-08-09 13:37:12 +09:00
Randy Mackay 226e42f1d7 Copter: rename EKF_CHECK_THRESH parameter 2014-08-07 21:43:57 +09:00
Andrew Tridgell 4d284a695d Copter: fix for changed AP_Terrain API 2014-08-06 17:59:19 +10:00
Randy Mackay e5f89baab0 Copter: increase RATE IMAX param desc ranges 
Also remove unused STB_RLL_I and STB_RLL_IMAX descriptions because these
parameters no longer exist
 2014-08-06 13:24:10 +09:00
ggregory8 013b1333b1 Copter: Add guided_takeoff_start and guided_takeoff_run functions 2014-08-05 10:25:33 +09:00
ggregory8 e8b0c7a7e7 Copter: Handle MAV_CMD_NAV_TAKEOFF command to takeoff in guided mode only 2014-08-05 10:25:31 +09:00
ggregory8 3832c46998 Copter: Add takeoff enum for guided_mode 2014-08-05 10:25:29 +09:00
Randy Mackay 610e747f27 Copter: minor formatting fix 2014-08-04 21:04:10 +09:00
Randy Mackay 52a3dc2bde Copter: reset target alt to current alt when landed 2014-08-04 16:56:03 +09:00
Randy Mackay 279aff87f2 Copter: bug fix to land-detector 
vehicle should become un-landed only when throttle out is above the
get-non-throttle-takeoff value
 2014-08-04 16:53:39 +09:00
Randy Mackay c7ba44db2d Copter: increase ekf check threshold for inav 
This increases the accel correction from 60cm/s to 80cm/s before the ekf
check will trigger a land
 2014-08-04 15:06:37 +09:00
Randy Mackay 7b9fa1ea79 Copter: rate IMAX increase to 1000 2014-08-04 11:31:02 +09:00
Randy Mackay b8f98aba8f Copter: fix baro glitch resolved message in dataflash 
Caught by Julien Dubois, thanks!
 2014-08-04 09:11:21 +09:00
Randy Mackay b29f8968ce Copter: clarify EKF check msg to GCS 
remove "compass" from the error message because the failure can also be
caused by GPS glitches
 2014-08-02 16:14:20 +09:00
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 d386ac6f85 Copter: remove unused local var from Flip 2014-08-01 15:14:42 +09:00
Randy Mackay e17da607b1 Copter: remove empty Telemetry.pde 2014-08-01 15:14:41 +09:00
Randy Mackay 4e2683421c Copter: disable parachute and rally on APM1 2014-08-01 15:14:40 +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 004eb168fb Copter: remove unused var from ekf check 2014-08-01 15:06:19 +09:00
Andrew Tridgell 81230ab518 Copter: disable dump_log when no APM2 2014-08-01 15:57:28 +10:00
Andrew Tridgell a49d133d2a Copter: disable Log_Read if no CLI 2014-08-01 15:46:28 +10:00
Randy Mackay 7a2288523e Copter: version and release notes for AC3.2-rc4 2014-08-01 13:56:09 +09:00
Randy Mackay 2c0699c9ed Copter: auto-disarm in Drift, Sport, OF_Loiter 2014-07-31 22:58:43 +09:00
Randy Mackay b52f8351e8 Copter: rename EKFCHECK_COMPASS to EKFCHECK_THRESH 
Renamed because this threshold is now used for both compass and velocity
variance.
Also minor reorganisation of ekfcheck but no functional change.
 2014-07-31 22:58:43 +09:00
priseborough d9bb3965ac Copter: prevent false triggering of ekf_check 2014-07-31 22:58:29 +09:00
Randy Mackay 85b4ba6142 Copter: Thr and Batt failsafe disarm when landed 
When throttle/radio failsafe or battery failsafe are triggered, the
vehicle will disarm if it is landed even if the throttle is not at zero.
Auto mode will disarm if landed and mission has not started.  This
ensures that the vehicle does not disarm during a mission land command
that appears mid way through a mission.
 2014-07-31 15:00:06 +09:00
Randy Mackay 77d5b2171e Copter: rename control_modes.pde to switches.pde 2014-07-31 15:00:04 +09:00
Randy Mackay b09568ffb5 Copter: use hal.rcout to send servo output to GCS 2014-07-30 17:31:11 +09:00
Andrew Tridgell 3ccac6736d Copter: rename TELEM2_PROTOCOL to SERIAL2_PROTOCOL 
this matches SERIAL2_BAUD
 2014-07-30 14:49:10 +10:00
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
Andrew Tridgell 91ec4e56d5 Copter: fixed ESC calibration on Pixhawk 
this ensures motors are armed after safety is pressed, and also gives
print out of channel inputs and outputs on USB console for debug
purposes

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-07-29 13:59:28 +10:00
Randy Mackay c9667131dd Copter: log flight mode after arming 2014-07-29 11:43:47 +09:00
Randy Mackay 55f679b54b BaroGlitch: shorten param prefix to BAROGLTCH_ 2014-07-28 22:21:46 +09:00
Randy Mackay 7cc1501dc6 Copter: integrate baro glitch protection 2014-07-28 22:16:20 +09:00
Andrew Tridgell b36e4b4122 Copter: avoid integer underflow in mavlink txspace check 2014-07-27 22:18:51 +10:00
Randy Mackay df4bc3d617 Copter: pass motor_mask to ServoRelayEvents 2014-07-26 16:33:26 +09:00
Randy Mackay 71cbcacf50 Copter: fix arming tone to sound before arming 
Also fixed bug in which vehicle could appear to be armed (according to
LEDs) but is not.  This could occur if pilot had raised the throttle
very high during the calibration that happens just before arming.
 2014-07-25 13:09:07 +09:00
Andrew Tridgell cda78aa2c3 Copter: fixed auto-doc prefix for TERRAIN 2014-07-25 13:12:10 +10:00
Andrew Tridgell 8e65e5bff0 Copter: replace HAVE_AP_TERRAIN with AP_TERRAIN_AVAILABLE 2014-07-25 07:59:54 +10:00
Andrew Tridgell 8d04deff6a Copter: added terrain status reporting 2014-07-24 21:50:20 +10:00
Andrew Tridgell 0562907d9f Copter: added AP_Terrain library 2014-07-24 21:46:06 +10:00
Andrew Tridgell e9fedbdb79 Copter: removed use of removed MAV_CMD_NAV_ commands 2014-07-24 21:40:16 +10:00
akdslr dc67058771 ArduCopter: Removed CONFIG_SONAR_SOURCE, SONAR_SOURCE_ADC, and SONAR_SOURCE_ANALOG_PIN since no longer used 2014-07-24 14:41:55 +10:00
akdslr 06fa2e3f60 ArduCopter test: Renamed the test from sonar to rangefinder and added info on all devices 2014-07-24 14:41:55 +10:00
akdslr 1354cd7120 ArduCopter Parameters: Changed the SONAR prefix to RNGFND, renamed SONAR_GAIN, and CH6-8 value descriptions 2014-07-24 14:41:54 +10:00
Supergoldfish 13563f4344 Copter: added Sonar Voltage reporting to GCS mavlink 
Rangefinder class will return 0 if not applicable.
 2014-07-23 20:57:36 +09:00
Randy Mackay e9861de2ac Copter: fix to drift's yaw rate 
The ACRO_P parameter needs to be multiplied by the roll and pitch
velocities to calculate the final yaw rate
 2014-07-23 17:13:08 +09:00
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
Randy Mackay a4a4334b13 Copter: add EKFCHECK_COMPASS parameter 2014-07-22 23:13:22 +09:00
Randy Mackay 65bc498d4e Copter: add ekf check of compass 
Checks the EKF's compass variance or the inertial navigations x and y
acceleration corrections
 2014-07-22 23:13:20 +09:00
Randy Mackay eb696e247b Copter: CLI report_compass prints results for all compasses 2014-07-22 22:01:25 +09:00
Randy Mackay 3c702e5fc5 Copter: compass mot configures all compasses 2014-07-22 22:01:24 +09:00
Randy Mackay af28270669 Copter: bug fix for throttle failsafe 
Missing bracket could cause throttle failsafe to be triggered even when
disabled or motors disarmed
 2014-07-21 20:58:16 +09:00
lthall 9202149fb1 Copter: integrate pre-takeoff throttle feedback 
This feature slightly revs the motors in response to the pilot's input
before takeoff AltHold, Loiter, AutoTune, PosHold and Sport flight modes

pair-programmed with Randy Mackay
 2014-07-18 11:41:50 +09:00
Randy Mackay 11678ba936 Copter: remain landed until throttle output above 25 percent 2014-07-18 11:41:46 +09:00
lthall edd7334544 Copter: add pre_takeoff throttle feedback 
pair-programmed with Randy Mackay
 2014-07-18 11:41:28 +09:00
Randy Mackay e339149044 Copter: update AC3.2-rc3 ReleaseNotes yet again 2014-07-17 14:27:03 +09:00
Randy Mackay 73fcfbd174 Copter: add no-break to case to resolve compiler warning 
This also helps kick off the auto builder for AC3.2-rc3
 2014-07-17 12:10:45 +09:00
Randy Mackay eb762bc890 Copter: update AC3.2-rc3 Release Notes 2014-07-17 11:52:07 +09:00
Randy Mackay df28db1361 Copter: minor formatting update 2014-07-17 11:49:38 +09:00
Craig Elder 07d43534c1 Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 19:41:43 -07:00
Craig Elder 3c9c943b67 Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:03:29 -07:00
Craig Elder e85c9f078d Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:02:32 -07:00
Randy Mackay 34984cc2d1 Copter: update AC3.2-rc3 Release Notes 2014-07-16 17:55:04 +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
bugobliterator 2fd165d023 Copter: Add esc_calib to as an app in cli 
Usage Notes:
- when in cli mode select setup
- inside setup use esc_calib <chan_mask> to launch esc calibration
  e.g. esc_calib 1010 : enable calibration for Motor 2 and Motor 4
 2014-07-14 09:44:36 +10:00
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
Robert Lefebvre 022425584b TradHeli: Move two static bools into heli_flags structure to save 2 bytes RAM. 2014-07-13 17:11:30 +09:00
Robert Lefebvre 4b9aea2c55 Parameters: Update Tune Comments with new options 2014-07-13 17:11:27 +09:00
Robert Lefebvre aff98e34e5 TradHeli: Force recalc scalers after setting main loop time in MotorsHeli so that ramp scalers are right for 32-bit. 2014-07-13 17:11:25 +09:00
lthall f53181ec66 Copter: Acro balance fix 2014-07-13 15:51:49 +09:00
Andrew Tridgell 71d2333ea8 Copter: changes for more common mavlink code 2014-07-13 15:37:50 +10:00
Andrew Tridgell 28f251005b Copter: fixed typos in parameter markup 2014-07-12 11:26:15 +10:00
Randy Mackay 7f9cd20377 Copter: set UARTs non-blocking at end of initialisation 
Previously we were setting to non-block after arming but this reduce the
chance of bumping into a NuttX USB driver issue that can cause the uart
to become unresponsive and also makes Copter consistent with Plane
 2014-07-11 15:27:29 +09:00
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
Randy Mackay 0fc73a0a21 Copter: rename control_hybrid to poshold 2014-07-11 14:06:53 +09:00
Randy Mackay b565d43d5d Copter: PREFLIGHT_SET_SENSOR_OFFSETS used to set compass offsets 
remove deprecated ardupilot specific SET_MAG_OFFSETS
 2014-07-10 20:25:18 +09:00
Randy Mackay 2c085c300d Copter: only save compass offsets when learning is on 2014-07-10 20:25:16 +09:00
Randy Mackay b799020e25 Copter: pre-arm check uses compass configured method 2014-07-10 20:24:53 +09:00
svefro e892b4cd04 Copter: Ch7/8 option to retract mount 
-Define AUX_SWITCH_RETRACT_MOUNT in defines.h
-Added 27=Retract Mount to Parameters.pde CH7 and CH8
-added int on CH7/8opt AUX_SWITCH_RETRACT_MOUNT
-Added Case #if Mount == ENABLE to set mount mode
made set_mode public in AP_Mount.h lib
 2014-07-10 13:03:28 +09:00
Randy Mackay e1a6b07e60 Copter: setting ESC param to 2 skips high throttle check 
This allows the all-at-once ESC calibration to be performed on a setup
in which the RC input takes some time to come online.
 2014-07-09 13:25:08 +09:00
Robert Lefebvre 4b5167e529 TradHeli: Change behavior of Acro and Stabilize modes when disarmed. Servos should move realistically for testing when disarmed. 2014-07-08 20:18:32 +09:00
Robert Lefebvre 5b13b2b3da TradHeli: Stabilize mode should use get_pilot_desired_collective, not get_pilot_desired_throttle. 2014-07-08 20:18:29 +09:00
Robert Lefebvre 032f321348 TradHeli: Acro mode uses full collective range. 2014-07-08 20:18:27 +09:00
Robert Lefebvre c7ccd22d96 TradHeli: Set main loop rate time in motors class. 2014-07-08 20:18:24 +09:00
Robert Lefebvre 7ef4c11c92 TradHeli: Initialize Rate FF filters. 2014-07-08 20:18:16 +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 08e135151a TradHeli: Add Mode Filter on RC8 input for RSC Controller. 2014-07-08 20:18:00 +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
Jonathan Challinger c07ded9a79 Copter: Don't use land detector to stop stabilizing in stabilize 2014-07-08 19:41:41 +09:00
Andrew Tridgell 6416a4d0e6 Copter: fixed apm1-hil build 2014-07-08 15:41:39 +10:00
Andrew Tridgell a4b9b989b7 Copter: convert to new AP_RangeFinder API 2014-07-08 15:08:18 +10:00
Andrew Tridgell 9f5eb3b464 Copter: remove log CLI code when CLI disabled 2014-07-08 14:28:19 +10:00
Jonathan Challinger 09a01a4668 Copter: Wait 4 seconds before beginning to land during failsafes 2014-07-06 20:25:04 +09:00
Jonathan Challinger cd08ec5a5f Copter: allow auto-disarm in autotune mode 2014-07-06 19:27:27 +09:00
Jonathan Challinger ff1f54b390 Copter: allow disarm in autotune mode 2014-07-06 19:27:23 +09:00
Jonathan Challinger 5b36e65cb9 Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents 2014-07-06 19:20:25 +09:00
Randy Mackay 2dfef17caf Copter: guided reset yaw only when initialised 2014-07-06 17:02:13 +09:00
Randy Mackay 81355d1adf Copter: DO_SET_ROI accepted outside missions 
Moved ROI logic to new set_auto_yaw_roi function.
 2014-07-06 17:02:06 +09:00
MousS ae8fb3f1c5 Copter: MAV_CMD_CONDITION_YAW accepted outside missions 2014-07-06 17:01:15 +09:00
Randy Mackay 46badc05bc Copter: guided mode sets desired velocity instead of target velocity 2014-07-06 17:01:12 +09:00
Randy Mackay f5640dadbf Copter: guided mode velocity controller 2014-07-06 17:01:08 +09:00
Randy Mackay b027c71491 Copter: restore pv_get_horizontal_distance_cm function 2014-07-06 17:01:05 +09:00