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Author SHA1 Message Date
Randy Mackay
a1ea43461a Copter: typo fix for baro vs inav alt disparity definition 2014-09-19 22:41:28 +09:00
Randy Mackay
b8c74b7363 Copter: define limit for baro vs inav alt disparity 2014-09-19 22:41:25 +09:00
Andre Kjellstrup
be2f308802 Copter: reset battery_fs after dis/rearming 2014-09-19 22:41:20 +09:00
priseborough
bf1ccba742 AP_NavEKF : Reduce sensitivity on filter divergence check 
Flying aerobatics with Trad Heli has shown that the divergence check can be false triggered when large magnetometer errors and GPS dropouts are present.
This can also happen with multi rotors if large yaw rates are present.
This was an unintended consequence of the ekfsmoothing patch which improved filter stability during high rate manoeuvres, but made the divergence test more sensitive.
 2014-09-16 10:37:00 +09:00
Jonathan Challinger
3993927cb7 Copter: Log NTUN while in LAND mode with GPS 2014-09-16 10:35:43 +09:00
Randy Mackay
b212c02057 Copter: version to AC3.2-Iris 
Interim release 3DRobotics's use with IRIS+ frames
 2014-09-12 15:06:57 +09:00
Randy Mackay
0a3ec84e86 Copter: THR_ACCEL_IMAX default to 800 2014-09-12 15:04:29 +09:00
Randy Mackay
5fd39ce436 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 14:55:36 +09:00
Randy Mackay
64cc4986bd Copter: THR_ACCEL_IMAX param range increased 2014-09-12 14:55:33 +09:00
Randy Mackay
75a1e46d82 Copter: version to AC3.2-rc9 2014-09-11 20:28:43 +09:00
Randy Mackay
a7233c48be Copter: AC3.2-rc9 release notes 2014-09-11 20:28:35 +09:00
Andrew Tridgell
939df78a2f HAL_VRBRAIN: fixed storage bug in VRBRAIN too 2014-09-11 20:22:12 +09:00
Andrew Tridgell
d24159204e HAL_PX4: fixed dirty_mask calculation in FRAM storage 
this could lead to a number of bytes on 512 byte boundaries not being
written when changed in ram, so they would revert on next boot
 2014-09-11 20:21:02 +09:00
Randy Mackay
12f3e96cc1 Copter: version to AC3.2-rc8 2014-09-11 16:36:43 +09:00
Randy Mackay
1ed11c7c37 Copter: AC3.2-rc8 release notes 2014-09-11 16:35:29 +09:00
priseborough
058fb8f3ee AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing' 
This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation.
 2014-09-11 16:35:27 +09:00
priseborough
01536e0c80 AP_NavEKF : Clean up time stamps 
Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and various calls to the hal.scheduler->millis() object have been consolidated.
 2014-09-11 16:35:25 +09:00
Randy Mackay
cac10a3041 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 22:20:33 +09:00
Randy Mackay
e706c24542 Copter: send extended status to GCS only after initialisation 2014-09-09 22:20:31 +09:00
Andrew Tridgell
c8e652432d DataFlash: allow use of a smaller writebuf for PX4v1 
this fixes logging on PX4v1
 2014-09-09 16:45:13 +09:00
Randy Mackay
0aab3a024e TradHeli: update AttControl params to match multicopters 2014-09-09 16:45:12 +09:00
Randy Mackay
4b47a618a4 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)
 2014-09-09 16:45:11 +09:00
Randy Mackay
62a4e66481 Copter: increase EKF_CHECK_THRESH default to 0.8 
Also remove unused #define related to inertial nav check (now removed)
 2014-09-09 15:18:15 +09:00
Randy Mackay
faf124771a Copter: version to AC3.2-rc7 2014-09-04 15:44:10 +09:00
Randy Mackay
fe07df5562 Cotper: AC3.2-rc7 release notes 2014-09-04 15:43:36 +09:00
Randy Mackay
cdc4038f27 Copter: pre-arm consistency check of gyros 2014-09-04 15:23:56 +09:00
Randy Mackay
dbb0283dba 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 15:23:53 +09:00
Randy Mackay
b214b8ba15 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 15:23:51 +09:00
Randy Mackay
8e7b93d1b7 Copter: pre-arm consistency check of accels 2014-09-03 13:52:58 +09:00
Randy Mackay
8b91900b74 Copter: individual accel and gyro status to GCS 2014-09-03 11:38:47 +09:00
Randy Mackay
6c0b9a2cfc Copter: check all gyros and accels in pre-arm check 2014-09-03 11:38:45 +09:00
Randy Mackay
7fc5d693c2 INS: add get_accel_health_all and get_gyro_health_all 
Returns true only if all available accels or gyros are healthy
 2014-09-03 11:38:42 +09:00
Randy Mackay
5ead80994e InertialSensor: reorder .cpp file to match .h 
No functional changes
 2014-09-03 11:38:40 +09:00
Randy Mackay
1ee6481517 Copter: sanity check throttle deadzone 2014-09-02 12:40:55 +09:00
Emile Castelnuovo
0f2083a9b8 AP_HAL: added missing CONFIG_HAL_BOARD_SUBTYPE #define for HAL_BOARD_VRBRAIN 2014-09-01 10:48:14 +09:00
Randy Mackay
162d421e5d Copter: update AC3.2-rc6 release notes 
forgot compass-not-calibrated bug fix
 2014-08-31 12:05:33 +09:00
Randy Mackay
7236d0621a Copter: update AC3.2-rc6 release notes 
Forgot to add GPS driver buffer overflow item
 2014-08-31 12:02:33 +09:00
Randy Mackay
acecc78454 Copter: version to AC3.2-rc6 2014-08-31 11:56:58 +09:00
Randy Mackay
be2dabe58e Copter: AC3.2-rc6 release notes 2014-08-31 11:56:15 +09:00
Emile Castelnuovo
938f6f2c47 Build: VRBRAIN corrected order of MAG startup for 4.5 board 2014-08-31 11:40:22 +09:00
Emile Castelnuovo
4fa8f82c59 Build: VRBRAIN corrected order of MAG startup 2014-08-31 11:40:20 +09:00
Emile Castelnuovo
e995641e48 AP_HAL_VRBRAIN: enable 2nd GPS for VRBRAIN 5 2014-08-31 11:40:17 +09:00
Emile Castelnuovo
ada7be6ae1 AP_HAL: VRBRAIN corrected EEPROM size and added terrain folder on MicroSD 2014-08-31 11:40:15 +09:00
LukeMike
f6fada2d49 VRBRAIN: added startup of internal mag's driver for VR Brain Standard 5 2014-08-31 11:40:13 +09:00
Emile Castelnuovo
781f15ba59 AP_relay: added default relay pin for VRBRAIN 2014-08-31 11:40:11 +09:00
Emile Castelnuovo
5d7a2726e2 AP_HAL_VRBRAIN: added management for external relay 1 and 2 2014-08-31 11:40:09 +09:00
Randy Mackay
15508c49ef Copter: default LAND_REPOSITION to 1 2014-08-31 11:40:06 +09:00
Jason Short
515c0d8630 Copter: restore CLI set parameter feature 
Added back the ability to set params from CLI
 2014-08-31 11:40:04 +09:00
Randy Mackay
68df421484 Copter: throttle deadzone parameter 
Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
 2014-08-31 10:19:03 +09:00
Randy Mackay
ff94120fbd AC_WPNav: resolve twitch when passing spline waypoints 
The target positions target velocity was being reset to zero as we
passed through a spline waypoint.
 2014-08-28 17:03:14 +09:00