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903 Commits

Author SHA1 Message Date
Randy Mackay 20989fd5e9 Copter: allow ch6 tuning of EKF 2014-02-15 05:48:20 +11:00
Andrew Tridgell 99b3517a47 Copter: use AP_InertialNav_NavEKF when available 2014-02-15 05:48:15 +11:00
Andrew Tridgell c6e25483b4 Copter: use a common home with AHRS 2014-02-15 05:48:15 +11:00
Andrew Tridgell 79a29d12f2 Copter: fixed build for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell af5a3dff93 Copter: enable use of AHRS_NavEKF 2014-02-15 05:29:47 +11:00
Andrew Tridgell 24f2ac20de Copter: removed HIL_MODE_ATTITUDE 
this really can't work any more, as AHRS can't support it
 2014-02-15 05:29:46 +11:00
Andrew Tridgell 644bf71f56 Copter: fixed build for InertialNav change 2014-02-15 05:29:46 +11:00
Randy Mackay 0df1dc267b Copter: integrate WPNav constructor change 2014-02-15 05:27:50 +11:00
Randy Mackay 1b8055aed9 Copter: remove unused t7 const 
Saves 4 bytes
 2014-02-15 05:27:49 +11:00
Randy Mackay 2b3995ccb5 Copter: integrate refs for RC_Channels in motor defs 2014-02-15 05:27:49 +11:00
Randy Mackay 6380a39d3a Copter: remote update_trig from main code 2014-02-15 05:27:48 +11:00
Randy Mackay 12a4ce70fd Copter: remove control_roll, pitch, yaw variables 2014-02-15 05:27:47 +11:00
Randy Mackay b0673d693b Copter: move set_mode, to flight_mode.pde 2014-02-15 05:27:47 +11:00
Randy Mackay 7afa0a767c Copter: correct circle rate tuning to use circle_nav 2014-02-15 05:27:46 +11:00
Randy Mackay 989a03a643 Copter: remove unused flags and variables 2014-02-15 05:27:45 +11:00
Randy Mackay 223c6fd4de Copter: remove deadwood, update_thr_cruise always runs 2014-02-15 05:27:45 +11:00
Randy Mackay aec67cd3df Copter: integrate control_autotune 2014-02-15 05:27:44 +11:00
Randy Mackay d90d3d8dca Copter: integrate control_flip 2014-02-15 05:27:44 +11:00
Randy Mackay ec989c720c Copter: integrate heli_control_acro 2014-02-15 05:27:43 +11:00
Randy Mackay 922dff0514 Copter: integrate heli_control_stabilize 2014-02-15 05:27:43 +11:00
Randy Mackay bca309eb1e Copter: replace takeoff_complete with landed_complete 2014-02-15 05:27:43 +11:00
Randy Mackay 3b0de0d23d Copter: integrate trad heli AttControl 2014-02-15 05:27:43 +11:00
Randy Mackay 1457a9d31a Copter: auto_mode to global scope 2014-02-15 05:27:41 +11:00
Randy Mackay af890e0f8d Copter: add AC_Circle include 2014-02-15 05:27:40 +11:00
Randy Mackay 8b9eb7ab2b Copter: WPNav constructor change 2014-02-15 05:27:39 +11:00
Randy Mackay 055ce4e53e Copter: integrate control_rtl 2014-02-15 05:27:39 +11:00
Randy Mackay 011de6683e Copter: land_detector moved to control_land 2014-02-15 05:27:38 +11:00
Randy Mackay d92e894af6 Copter: get_throttle_surface_tracking returns climb rate 2014-02-15 05:27:37 +11:00
Randy Mackay 65f7bf92f4 Copter: replace yaw_mode with auto_yaw_mode 2014-02-15 05:27:37 +11:00
Randy Mackay dc6f622d48 Copter: move NTUN logging to 10hz loop 2014-02-15 05:27:36 +11:00
Randy Mackay 0a2adbac1b Copter: renaming functions after moving xy control 2014-02-15 05:27:36 +11:00
Randy Mackay 5fd9410ff5 Copter: much renaming as xy pos controller moves 2014-02-15 05:27:36 +11:00
Randy Mackay d380e6b4d3 Copter: integrate add ref to AC_Pos_Control from WP_Nav 2014-02-15 05:27:35 +11:00
Randy Mackay 49367c5a30 Copter: GCS.h include fix 2014-02-15 05:27:35 +11:00
Randy Mackay 7e37b16ccb Copter: move update_flight_mode to fast loop 2014-02-15 05:27:35 +11:00
Randy Mackay b34664ea07 Copter: remove unused altitude error 2014-02-15 05:27:34 +11:00
Randy Mackay 5649b7f4d9 Copter: integrate AC_PosControl constructor changes 2014-02-15 05:27:33 +11:00
Randy Mackay 33552b63d8 Copter: early integration of AC_PosControl 2014-02-15 05:27:33 +11:00
Randy Mackay 7f56b28767 Copter: move thr control to control_stabilize 2014-02-15 05:27:33 +11:00
Randy Mackay 2253cf9769 Copter: run main loop at 400hz for pixhawk 2014-02-15 05:27:33 +11:00
Randy Mackay cbe56bba25 Copter: integrate AC_AttitudeControl 2014-02-15 05:27:32 +11:00
Randy Mackay 7b9a48107e Copter: move angle_max parameter to AP_Vehicle 2014-02-15 05:27:32 +11:00
Andrew Tridgell 0a3476bbf1 Copter: change to new board_voltage() API 2014-02-14 21:50:59 +11:00
Randy Mackay 2219f21744 Copter: add RC_FEEL_RP parameter 
Values from 0 ~ 100 control amount of filtering on roll and pitch input.
100 = no filter so crisp feel, 0 = a lot of filtering so very sluggish
response
 2014-02-12 16:28:41 +09:00
Randy Mackay 89b222f1cf Copter: only report gps glitch when usb disconnected 2014-02-11 11:43:24 +09:00
Randy Mackay 8f5585423c Copter: use ahrs trig values 2014-02-08 18:16:49 +09:00
Randy Mackay 5bcc2f5ca5 Copter: version to AC3.2-dev 2014-02-08 11:32:59 +09:00
Randy Mackay 5d929351ca Copter: removed unused servo3, servo4 from coax 2014-02-07 12:36:17 +09:00
Dneault f48e106271 Copter: add coax heli support 
Motors should be attached to RCOutputs 1 and 2, Flaps should be connected
to RC outputs 3 and 4
 2014-02-07 12:36:04 +09:00
Andrew Tridgell 5a3a7f1cec Copter: use new RC_Channels API 2014-02-06 10:17:16 +11:00
Randy Mackay a078d00e6a Copter: firmware to AC3.1.2-rc1 2014-01-30 14:00:20 +09:00
Randy Mackay 34f14a7c13 Copter: version to AC3.1.1-rc2 
This update applies to pixhawk only
 2014-01-21 21:23:11 +09:00
Andrew Tridgell e8b8cc1a5d Copter: converted to AP_ServoRelayEvents 2014-01-20 17:06:29 +11:00
Andrew Tridgell e3804e2846 Copter: fixes for AP_Relay API change 2014-01-20 17:06:29 +11:00
Andrew Tridgell 50a90a1043 Copter: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Randy Mackay ae4f368f16 Copter: allow ch6 tuning of loiter speed 2014-01-15 15:22:52 +09:00
Randy Mackay dd5521aa06 Copter: update version to AC3.1.1-rc1 2014-01-14 21:01:54 +09:00
Andrew Tridgell 8a41b18a1f Copter: use uppercase names on SD card where possible 2014-01-14 12:46:26 +11:00
Randy Mackay df9d1614e2 Copter: remove PID logging 
Almost never used and eats up limited log description space
 2014-01-13 17:23:39 +09:00
Randy Mackay 9f2f44f0f6 Copter: integrate shrunken optflow 2014-01-09 12:31:53 +09:00
Randy Mackay 1793ee804e Copter: remove armed check before logging 2014-01-07 22:43:49 +09:00
Randy Mackay 99f851fc87 Copter: bugfix for starting in LOITER 
Loiter's Roll-Pitch mode was not being set on start-up.
 2013-12-30 17:18:10 +09:00
Andrew Tridgell 7c39d867bb Copter: use file based logs in SITL 2013-12-29 07:14:21 +11:00
Andrew Tridgell 97df2f64c9 Copter: use common available_memory() 2013-12-28 16:02:32 +11:00
Randy Mackay ab1bb6886c Copter: remove reference to COPTER_LEDS 2013-12-19 16:19:48 +09:00
Randy Mackay d362bb45fd Copter: move sensor init from setup(to init_ardupilot 
This fixes a bug in which the external led was not being disabled if the
EPM was enabled (they share pins).  The cause of the problem was the EPM
was being initialised before it's parameters had been loaded
 2013-12-19 14:12:19 +09:00
ctech4285 2b5d8aa5b7 Copter: integrate EPM library 2013-12-17 15:36:42 +09:00
Andrew Tridgell dd749c1de3 Copter: when using file logs use "logs" directory 2013-12-17 11:51:36 +11:00
Andrew Tridgell f37a2c979d Copter: don't need Log_Write_IMU2() now 2013-12-09 17:34:07 +11:00
Andrew Tridgell 0cacc7eaeb Copter: log both primary and secondary INS samples 2013-12-09 17:34:06 +11:00
Randy Mackay f8165c2864 Copter: ignore yaw input during radio failsafe 2013-12-06 13:50:07 +09:00
Randy Mackay 8fcbb7e59b Copter: OF_Loiter update control_roll and pitch 2013-12-02 11:58:59 +09:00
Randy Mackay ec65fd136d Copter: enable external leds 2013-11-30 22:54:13 +09:00
Randy Mackay 59cea4b88c Copter: remove CopterLED from main code 2013-11-30 18:20:55 +09:00
Randy Mackay a744658b47 Copter: combine nav_roll and control_roll 
Control_roll, control_pitch now always hold the desired lean angle
whether it be from the pilot or autopilot.
 2013-11-27 23:11:30 +09:00
Randy Mackay f08cc010ea Copter: firmware to ArduCopter V3.2-dev 2013-11-27 22:50:12 +09:00
Randy Mackay 7ef04bb73b Copter: rename nav_yaw to control_yaw 2013-11-27 22:48:20 +09:00
Randy Mackay 10d6a9a34e Copter: replace Log_Write_Motors with Log_Write_RCOU 2013-11-27 20:18:18 +09:00
Randy Mackay af657d58b9 Copter: RCIN dataflash logging 2013-11-27 16:46:25 +09:00
Andrew Tridgell a49710f20e Copter: added uartD support 
this also brings GCS_Mavlink.pde closer to the plane implementation
 2013-11-26 13:05:32 +11:00
Randy Mackay b8bfe008e1 Copter: run GPS glitch detection even when not armed 2013-11-22 21:46:32 +09:00
Randy Mackay 4e6d41bc8e Copter: remove unused gps_fix_count 2013-11-22 11:53:50 +09:00
Randy Mackay fe6ad3579c Copter: log GPS messages even when no fix 2013-11-22 11:51:48 +09:00
Randy Mackay 1a0f80ee64 Copter: AC3.1-rc7 version and release notes 2013-11-21 17:30:08 +09:00
Randy Mackay 24dc4391bb Copter: display pre-arm check failure reason every 30sec 2013-11-18 17:20:39 +09:00
Randy Mackay 321036b72e Copter: update contributors list 2013-11-16 12:10:38 +09:00
Randy Mackay 50f583f116 Copter: AC3.1-rc6 version and release notes 2013-11-16 11:35:01 +09:00
Randy Mackay 81fc24586e TradHeli: remove calls to get_manual_collective in auto throttle 
set_collective_for_landing method makes this unnecessary
 2013-11-15 22:58:36 +09:00
Randy Mackay c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay 197fc67897 TradHeli: move pilot desired rotor speed to heli.pde 2013-11-15 22:58:24 +09:00
Randy Mackay 19ddb8e5f3 TradHeli: integrate constructor changes to main code 2013-11-15 22:58:15 +09:00
Robert Lefebvre bba7fdc7c3 TradHeli: ch6 tuning of ext gyro to use control_in 
This could also be used to control the other Heli Ch7 functions (direct drive tail rotor control).  This should be tidied up.

Credit: Jolyon Saunders
 2013-11-15 22:58:08 +09:00
Robert Lefebvre 9ae66c1773 TradHeli: add support for drive tail rotors 
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
 2013-11-15 22:58:04 +09:00
Randy Mackay 3ce16113b5 TradHeli: use landing collective when landed or landing 2013-11-15 22:58:00 +09:00
Randy Mackay 633e91b7d4 Copter: initialise roll, pitch, yaw modes to stabilize 
This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
 2013-11-15 22:57:56 +09:00
Randy Mackay ae87759e6d TradHeli: add THROTTLE_MANUAL_HELI 
Move check_dynamic_flight to run as scheduled task
 2013-11-15 22:57:53 +09:00
Randy Mackay 46118b59d7 TradHeli: integrate motor lib changes 2013-11-15 22:57:43 +09:00
Robert Lefebvre f67d95ac75 TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly. 2013-11-15 22:57:28 +09:00
Randy Mackay 8f2c9591ff TradHeli: dynamic_flight flag based on inertial nav speed 
Created new heli.pde for heli_integrated_swash and check_dynamic_flight
 2013-11-15 22:57:20 +09:00
Robert Lefebvre e23e4bc7d8 TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector 2013-11-15 22:57:18 +09:00