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4009 Commits

Author SHA1 Message Date
Randy Mackay
09a98b89b7 Copter: add RTL to front of RTLState enum values 
This removes the confusing Land enum value which also appears in the
flight mode enum
 2015-05-19 13:55:50 +09:00
Randy Mackay
260e7679dd Copter: add BRAKE to FLTMODE parameter descriptions 2015-05-17 15:58:42 +09:00
Randy Mackay
4681dd2802 Copter: GCS failsafe triggers disarm if landed 2015-05-17 15:47:41 +09:00
Randy Mackay
f4ad23b9f0 Copter: version to AC3.3-rc4 2015-05-17 14:52:20 +09:00
Randy Mackay
214b461c2f Copter: AC3.3-rc3 release notes 2015-05-17 14:52:15 +09:00
Randy Mackay
dd9f271d43 Copter: brake disarms if landed 2015-05-17 14:44:36 +09:00
Randy Mackay
8d05eaae16 Copter: add aux switch for Brake flight mode 2015-05-17 14:44:35 +09:00
Randy Mackay
7acdcd8905 Copter: rename stop to brake 2015-05-17 14:44:34 +09:00
Leonard Hall
542e5fb54c Copter: backoff autotune discovered Stab P to 90% 2015-05-17 11:06:09 +09:00
Tom Pittenger
44fd72cb1f Copter: compiler warning stuff 
float to double promotion via fabs instead of fabsf
float to int via abs instead of fabsf
 2015-05-16 08:21:36 +10:00
Andrew Tridgell
aac652a1b4 Copter: support setting just accel trim with preflight-cal 
use param5==2
 2015-05-16 07:56:34 +10:00
Randy Mackay
d8b7e4a199 Copter: add support for 4th mavlink channel 2015-05-15 15:07:27 +09:00
Andrew Tridgell
848ceefcec Copter: call Log_Write_POS() 2015-05-15 14:28:16 +10:00
Andrew Tridgell
64ce1e0381 Copter: fix for new compass API 2015-05-15 14:25:45 +10:00
Tom Pittenger
c89530a97c Copter: Write new mission to log without telling GCS 2015-05-13 20:26:04 +09:00
Randy Mackay
484bf628e1 Copter: fix comments related to home-alt set in-flight 2015-05-13 18:00:34 +09:00
Randy Mackay
9dbef1c6ee Copter: check fence alt without home being set 
Alt limit is based on EKF origin if home-alt is not set.  This is
generally the same but could be different if there's a lot of baro drift
before take-off or the vehicle is carried to a different altitude after
power-on.
 2015-05-13 16:10:48 +09:00
Randy Mackay
1f96cbd015 Copter: home-alt set to EKF-origin if captured in flight 2015-05-13 16:10:45 +09:00
Randy Mackay
2a1a105462 Copter: current alt is alt above-ekf-origin until home set 2015-05-13 16:10:43 +09:00
Randy Mackay
7d9ed6f03d Copter: update version back to AC3.3-dev 2015-05-12 22:14:31 +09:00
Randy Mackay
41077be4ad Copter: parachute failure message if landed 2015-05-12 22:03:58 +09:00
Randy Mackay
3269cd63cb Copter: parachute check uses alt-above-home 
Baro alt is tied to the alt above EKF origin which isn't correct
 2015-05-12 22:03:56 +09:00
Randy Mackay
ae87f9be6e Copter: use accel_calibrated_ok_all 2015-05-12 16:32:18 +09:00
Randy Mackay
d20a7deee1 Copter: clarify SYSID_MAV parameter description 2015-05-11 09:23:02 +09:00
Andrew Tridgell
d61848817b Copter: double the threshold for accel inconsistency on IMU3 
IMU3 varies in temperature a lot compared to IMU1/IMU2, so needs a
higher threshold to prevent false positives
 2015-05-09 18:28:59 +10:00
Tom Pittenger
2e191e5a3d Copter: replace fabs() with fabsf() 2015-05-09 09:57:25 +10:00
Tom Pittenger
baed82d1c2 Copter: if receiving last mission item then log new mission to dataflash 2015-05-08 21:01:52 +10:00
Lucas De Marchi
b7ebff409b ArduCopter: re-align defines after ifdef removal 
Re-align the defines after removal of 100Hz main loop rate.
 2015-05-08 14:55:43 +09:00
Lucas De Marchi
4f6c32cb35 ArduCopter: remove dangling ifdefs for 100Hz main loop 
ArduCopter doesn't support main loop of 100Hz anymore. Remove the
missing ifdefs checking for MAIN_LOOP_RATE.
 2015-05-08 14:55:41 +09:00
Randy Mackay
4f52aaa3a3 Copter: fix tradheli arming message 2015-05-08 14:14:38 +09:00
Leonard Hall
7cccb73103 Copter: yet more Autotune Updates 2015-05-08 14:14:28 +09:00
Leonard Hall
92fe75f396 Copter: more Autotune updates 2015-05-08 14:14:26 +09:00
Leonard Hall
05103d9f9c Copter: Autotune update 2015-05-08 14:14:23 +09:00
Leonard Hall
7fd632200c Copter: Add additional check to Throttle Mix/Comp 2015-05-08 14:14:19 +09:00
Andrew Tridgell
6dc3cff000 Copter: added LOG_BITMASK 1<<19 for logging raw accel/gyro data 
useful for checking vibration handling
 2015-05-07 12:09:00 +10:00
Randy Mackay
6ef1ebb5dd Copter: replace 2xM_PI_F with M_2PI_F 2015-05-05 14:22:27 +09:00
Andrew Tridgell
189a8fd007 Copter: removed fast_atan 2015-05-05 13:57:06 +10:00
Andrew Tridgell
b88c12ad1f Copter: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:08 +10:00
Andrew Tridgell
d8146ff3f6 Copter: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger
5704a5a2a7 Copter: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:03 +10:00
Tom Pittenger
c8bc44fc6e Copter: compile warnings: float to double. print statements require doubles 2015-05-05 13:27:00 +10:00
Tom Pittenger
e17e793781 Copter: compiler warnings: float to double 2015-05-05 13:26:58 +10:00
Tom Pittenger
188403242a Copter: compiler warnings: fixed a bracked that was removed on accident 2015-05-05 13:26:57 +10:00
Tom Pittenger
3f614534b3 Copter: compiler warnings: unnecessary float promotion 2015-05-05 13:26:57 +10:00
Tom Pittenger
20dc48ed16 Coter: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:53 +10:00
Andrew Tridgell
5a36b9955e Copter: fix for HAL_SITL rename 2015-05-05 09:45:57 +10:00
Randy Mackay
054f05d285 Copter: AC3.3-rc3 version 2015-05-02 17:20:26 +09:00
Randy Mackay
22350c793b Copter: AC3.3-rc3 release notes 2015-05-02 17:20:24 +09:00
Randy Mackay
0812e16008 Copter: explicitly define flight modes enum 
Thanks to Luis Vale for spotting this
 2015-05-02 13:24:33 +09:00
Randy Mackay
89c0c2e532 Copter: update AC3.3-rc2 release notes 2015-05-02 11:55:38 +09:00
Randy Mackay
606086cd6f Copter: version to AC3.3-rc2 2015-05-02 11:34:19 +09:00
Randy Mackay
77c2991867 Copter: AC3.3-rc2 release notes 2015-05-01 22:02:22 +09:00
Jonathan Challinger
fb96335b46 Copter: get_RTL_alt returns alt above home 2015-05-01 16:37:36 +09:00
Robert Lefebvre
05f18bb014 Copter: Rename output_min() to enable_motor_output() 2015-05-01 14:30:44 +09:00
Robert Lefebvre
41a6cc64ff Copter: Log Emergency Stop and Motor Interlock status 2015-05-01 14:30:43 +09:00
Robert Lefebvre
d8a0952b5a Copter: Explicitly define aux_switch enum. 2015-05-01 14:30:42 +09:00
Robert Lefebvre
da2854403e Copter: Explicitly define tuning_func enum value 2015-05-01 14:30:42 +09:00
Robert Lefebvre
4e51ce6d75 Copter: rename "estop" to "emergency stop". 
No functional change
 2015-05-01 14:30:41 +09:00
Robert Lefebvre
9d9f20a6cb Copter: Add Motor Interlock/E-Stop Conflict Prearm Check 2015-05-01 14:30:40 +09:00
Robert Lefebvre
fab8604f16 Copter: Change Auto Yaw #define table into Enum. 2015-05-01 14:30:39 +09:00
Robert Lefebvre
32b4e70cb7 Copter: Deprecate Aux Switch Multi-Mode 2015-05-01 14:30:38 +09:00
Robert Lefebvre
22a7fba289 Copter: Change autopilot modes into Enum 2015-05-01 14:30:37 +09:00
Robert Lefebvre
39d23519b1 Copter: Change CH6_Tuning #defines into Enum 2015-05-01 14:30:36 +09:00
Robert Lefebvre
167507e28b Copter: non-functional format fixes in switches.pde 2015-05-01 14:30:35 +09:00
Robert Lefebvre
a357ef43a4 Copter: Move Aux Switch flags into new Enum 2015-05-01 14:30:34 +09:00
Robert Lefebvre
8610da7fbc Copter: autopilot modes to check for motor interlock status 2015-05-01 14:30:33 +09:00
Robert Lefebvre
a035d5ad1b Copter: Fix initialization of Motor Interlock Aux Sw function. 2015-05-01 14:30:31 +09:00
Robert Lefebvre
16cf9471ae Copter: Remove ap.motors_interlock, use only flag in AP_Motors 2015-05-01 14:30:31 +09:00
Robert Lefebvre
9b15ea6f5c Copter: Change throttle_zero to check interlock and E-stop status 2015-05-01 14:30:30 +09:00
Robert Lefebvre
2010410c44 Copter: Add numbers to Aux Switch Enum comments 2015-05-01 14:30:28 +09:00
Robert Lefebvre
b82113acc7 Copter: Modify auto-disarm process for throttle interlock 2015-05-01 14:30:27 +09:00
Robert Lefebvre
7349827eb1 Copter: Add Aux Switch E-Stop Function 2015-05-01 14:30:26 +09:00
Robert Lefebvre
4a0a4de687 Copter: update motors.throttle_interlock every time motors_output is run 2015-05-01 14:30:23 +09:00
Robert Lefebvre
7d745587a4 Copter: Add using_interlock flag, employ it in arming process 2015-05-01 14:30:22 +09:00
Robert Lefebvre
e4c5915330 Copter: initial creation of motor_interlock 2015-05-01 14:30:21 +09:00
Randy Mackay
ee94db09a8 Copter: minor GCS_MAVLink comments 
No functional change
 2015-05-01 12:56:40 +09:00
Randy Mackay
1fa8e10fc7 Copter: fix floating point const compiler warning 2015-05-01 12:56:38 +09:00
Randy Mackay
e0ef57fdb5 Copter: add PILOT_TKOFF_ALT_DEFAULT definition 
No functional change
 2015-05-01 12:56:35 +09:00
Leonard Hall
33a274c928 Copter: take-off uses PosControl's add_takeoff method 
Also balances pilot and takeoff climb rates
Also removes takeoff's direct use of poscontrol target

Combined effort of Randy and Leonard
 2015-05-01 12:56:32 +09:00
Randy Mackay
772a1acc37 Copter: cancel takeoff if mode changed 2015-05-01 12:56:28 +09:00
Randy Mackay
ab608a8fcd Copter: minor takeoff param name change 
No functional change
 2015-05-01 12:56:25 +09:00
Randy Mackay
70f9739d77 Copter: add takeoff comments 2015-05-01 12:56:23 +09:00
Randy Mackay
6f5b5c24f2 Copter: rename tkoff_ to takeoff_ 2015-05-01 12:56:21 +09:00
Jonathan Challinger
73d961cebc Copter: mavlink initiated takeoff in alt-hold modes 
adds PILOT_TKOFF_ALT for target altitude above home in cm for pilot initiated takeoff
 2015-05-01 12:56:18 +09:00
Jonathan Challinger
b10cf0f38a Copter: pre-takeoff throttle for sprung throttle sticks 
Adds PILOT_THR_BHV, PILOT_TKOFF_DZ parameters
 2015-05-01 12:56:16 +09:00
Jonathan Challinger
e286323abc Copter: get_non_takeoff_throttle uses floats 2015-05-01 12:56:13 +09:00
Jonathan Challinger
0dbe94c9a1 Copter: set motor air density ratio 2015-04-29 14:36:17 +09:00
Jonathan Challinger
36cc832931 Copter: guided_posvel run update_z_controller at 400hz 2015-04-29 12:26:41 +09:00
Randy Mackay
da629ce976 Copter: minor format fix 2015-04-29 12:03:34 +09:00
Jonathan Challinger
f5fd89833d Copter: update YAW_LOOK_AHEAD to use inav velocity direction 2015-04-29 12:02:45 +09:00
Jonathan Challinger
e5b6cf9966 Copter: use circular limit on tilt angle for arm check 2015-04-29 12:02:43 +09:00
Randy Mackay
85b0a18f61 Copter: fix MNT param description 
extra underscore was appearing in the parameter descriptions on the web
 2015-04-29 09:07:36 +09:00
Randy Mackay
276b2dcf5e Copter: move lost copter check to separate function 
Also run from scheduler instead of from arm/disarm stick checks
Run at 10hz instead of 1hz
soundalarm_counter to uint8
Disable if equivalent aux switch is setup
Remove SEVERITY_LOW message because the GCSs never print these anyway
 2015-04-29 00:05:03 +09:00
svefro
5bee93cba3 Copter: Lost copter alarm through sticks 2015-04-29 00:05:01 +09:00
Julien Dubois
b7a6e3bf2c Copter: fix update_thr_average to run at 100hz 
Committed by Randy on Julien's behalf
 2015-04-28 22:44:59 +09:00
Randy Mackay
64629914a4 Copter: fix RTL alt when no using Rally points 2015-04-28 17:20:00 +09:00
David Dewey
0545185218 Copter: RTL at no less than 2m above home alt 2015-04-28 17:19:56 +09:00
Andrew Chapman
4311cd4e7a Copter: add logging for CH6 parameter tuning 
Logs CH6 tuning values to a new PTUN log struct, specific to
APM::Copter at this point
 2015-04-28 14:14:01 +09:00
Randy Mackay
2baf79ee7a Copter: remove TUNE param descr for AHRS Yaw/RP kP 2015-04-28 14:00:24 +09:00
Andrew Tridgell
cb2427ef9e Copter: removed special cases for DCM gain changes on arm/disarm 
copter no longer uses DCM, so it doesn't need these special cases
 2015-04-28 14:07:39 +10:00
Robert Lefebvre
1aa696bc10 Copter: Implement Stop Mode 2015-04-26 16:11:47 +09:00
Robert Lefebvre
8e4268ddd3 Copter: Initial creation of control_stop file 2015-04-26 16:11:43 +09:00
Tom Pittenger
66c7090f00 Copter: fix compile warnings by converting .f to .0f 2015-04-24 14:24:52 +09:00
Tom Pittenger
b57437042e Copter: fix compile warnings for unused functions 2015-04-24 14:10:00 +09:00
Randy Mackay
94dc973c29 Copter: update ARMING_CHECK parm description 2015-04-24 11:12:03 +09:00
Randy Mackay
6e623bce28 Copter: remove optical flow init failure message 
the sensor only becomes healthy once it has received data which will
take a few seconds after initialisation meaning this failure message
will always be displayed even when the sensor is fine.
 2015-04-24 10:58:07 +09:00
Randy Mackay
37e8d1a338 Copter: PosController alt limit from fence and EKF 2015-04-24 10:58:03 +09:00
Randy Mackay
3719ea53e4 Copter: add range finder status to extended status msg 2015-04-24 10:57:34 +09:00
Randy Mackay
5e359c977f Copter: replace range finder health with status 2015-04-24 10:57:30 +09:00
Randy Mackay
1ff443d667 Copter: add rangefinder pre-arm check 2015-04-24 10:57:08 +09:00
Paul Riseborough
133b8f5ad7 Copter: Allow EKF to pull data from range finder object 2015-04-24 10:56:53 +09:00
Niels Joubert
a52d554a10 ArduCopter: Handle GPS Data Injection 2015-04-24 08:01:32 +10:00
Niels Joubert
704e75d140 ArduCopter: Remove kruft from old RTK driver 2015-04-24 08:01:32 +10:00
Randy Mackay
bfd24801ea Copter: minor format fix 2015-04-21 21:47:19 +09:00
Arthur Benemann
7cf883a61c Copter: increase the telemetry receive function rate to 400Hz 
gimbal loop runs at 100Hz so to respond in time the gcs_check_input must run at a faster rate, the process are asyncronus
 2015-04-21 21:45:31 +09:00
Jaime Machuca
5de15464b6 Copter: add call to send digicam configure messages from a mission item 
Also add log_picture to separate logging and feedback from
the do_take_picture function so that it can be used when pictures
are triggered from a mission command
 2015-04-20 13:50:19 +09:00
Randy Mackay
a27f383612 Copter: remove duplicate IMU/ATT logging 
Previously IMU and ATT data could be logged at both a high rate
and a low rate.  This patch makes it skip the low rate logging
if the high rate is enabled
 2015-04-20 13:49:09 +09:00
Randy Mackay
06b3935beb Copter: LOG_BITMASK parameter def get All+FastIMU, All+FastATT 2015-04-20 13:49:06 +09:00
Randy Mackay
dfb720bab6 Copter: rename FULL_IMU logging to IMU_FAST 
This naming is consistent with the earlier ATTITUDE_FAST option and
clarifies that it's the rate that's increased rather than the content.
 2015-04-20 13:49:04 +09:00
Randy Mackay
2dbff9c544 Copter: remove scheduler table for 100hz CPUs 
We only support high performance CPUs capable of 400hz
 2015-04-20 13:49:01 +09:00
Peter Barker
5a45de5e00 Copter: IMU full-rate logging LOG_BITMASK flag 2015-04-20 13:48:58 +09:00
Randy Mackay
1c6c03b0eb Copter: firmware back to V3.3-dev 2015-04-18 11:51:53 +09:00
Jonathan Challinger
9a025024b5 Copter: use LowPassFilterVector3f for land detector accel filter 2015-04-17 10:46:56 +09:00
Jonathan Challinger
eafbd94d51 Copter: run land detector at 400hz 2015-04-17 10:46:53 +09:00
Jonathan Challinger
f93ff2d3ec Copter: use new lowpass filter 2015-04-17 10:46:50 +09:00
Leonard Hall
ca66b51ba9 Copter: Autotune parameter update 2015-04-16 21:00:50 +09:00
Leonard Hall
93d5c39248 Copter: add filter for the land detector 
Individual access filtering will be replaced with a single 3-axis low pass
filter in the near future
 2015-04-16 21:00:48 +09:00
Leonard Hall
1fcb0f4d53 Copter: pos_control param prefix shortened to PSC 2015-04-16 21:00:42 +09:00
Leonard Hall
49d3357e1d Copter: add z-axis accel logging 2015-04-16 21:00:35 +09:00
Leonard Hall
b50f065cab Copter: use relax alt hold controllers 2015-04-16 21:00:28 +09:00
Jonathan Challinger
91a03ae0e7 Copter: add PILOT_THR_FILT and call set_throttle_out functions with that value 2015-04-16 21:00:11 +09:00
Jonathan Challinger
b27b9dd86e Copter: use new throttle interface 2015-04-16 20:59:48 +09:00
Jonathan Challinger
0cff3a4292 Copter: fixup Windows newlines 2015-04-16 13:29:57 +09:00
Leonard Hall
ee91be66cf Copter: Update of land detector 2015-04-16 13:29:54 +09:00
Leonard Hall
2b5fb850dd Copter: Autotune adjustments 2015-04-15 22:04:26 +09:00
Randy Mackay
f2993edc36 Copter: move MSG_BATTERY2 higher in select 
No functional change
 2015-04-15 20:49:21 +09:00
Dario Lindo Andres
7dbd6c8509 ArduCopter: Enable MSG_BATTERY2 through Mavlink 
For allow to show battery_2 voltage and current on GCS.
 2015-04-15 20:49:18 +09:00
Leonard Hall
f8a6684c12 Copter: Autotune update 2015-04-15 20:34:42 +09:00
Jonathan Challinger
4e09c9832b Copter: fix guided_posvel and guided_vel to update pos_control at same rate as wpnav 2015-04-14 16:29:04 +09:00
Randy Mackay
55d8f440d4 Copter: fix alt sent to fence_check to be meters 2015-04-14 16:10:09 +09:00
Jonathan Challinger
be8c118b63 Copter: change altitude fence to work on home altitudes instead of origin altitudes 2015-04-14 16:10:08 +09:00
Jonathan Challinger
0f9e50d61c Copter: fix rtl completion altitude 2015-04-14 16:10:06 +09:00
Jonathan Challinger
b344a7ed17 Copter: fix set_position_target altitudes 2015-04-14 16:10:05 +09:00
Jonathan Challinger
301d4cc4a6 Copter: fix guided takeoff altitude 2015-04-14 16:10:05 +09:00
Jonathan Challinger
920ac12214 Copter: pv_location_to_vector use pv_alt_above_origin 2015-04-14 16:10:04 +09:00
Jonathan Challinger
e5a6023827 Copter: pass inertial_nav to fence 2015-04-14 16:10:03 +09:00
Jonathan Challinger
fddaca4cf7 Copter: rename get_throttle_surface_tracking to get_surface_tracking_climb_rate 2015-04-14 16:10:01 +09:00
Randy Mackay
ea5c24b70b Copter: rename lost_copter to vehicle_lost 2015-04-13 17:44:44 +09:00
Jaime Machuca
3c00b0a0a8 Copter: ch7/ch8 for lost copter sound 2015-04-13 17:44:39 +09:00
Randy Mackay
a20a89181c Copter: enable CPU failsafe after initialisation 
This removes a false positive during startup that lead to an error
appearing at the start of the dataflash log
 2015-04-13 15:58:13 +09:00