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2745 Commits

Author SHA1 Message Date
Jason Short c3aa56459a Copter: remove unused Toy param 2013-11-02 21:34:50 +09:00
Jason Short 520a535c21 Copter: TOY mode updates 2013-11-02 21:34:48 +09:00
Andrew Tridgell f6f6caafc8 Copter: int gyros on arm, not on first boot 
this makes first boot much faster
 2013-11-02 21:41:11 +11:00
Randy Mackay 977983904f Copter: arming check that throttle is above failsafe 2013-11-02 14:06:19 +09:00
Randy Mackay aaf642c223 Copter: disable autotune if pilot moves yaw stick 2013-11-02 12:12:46 +09:00
Randy Mackay 94f301181e Copter: recalc distance to home during arming 
fixes an rare edge case in which the fence could trigger immediately
after arming
 2013-11-01 23:54:32 +09:00
Randy Mackay 798c4e2278 Copter: more Ch7/Ch8 event logging 
Additional event logging for SaveWP, Fence, Acro trainer, Save Trim
 2013-11-01 11:53:16 +09:00
Randy Mackay babc54ec60 Copter: default Ch7 to DO_NOTHING 
Ch7/Ch8 Save_WP feature triggers when switch is brought high (instead of
low) to be consistent with other aux features
 2013-11-01 11:42:33 +09:00
Randy Mackay 97770ae352 Copter: rc10, rc11 available even without MOUNT 2013-10-31 22:55:02 +09:00
Randy Mackay de08116320 Copter: disable some aux channels on hexa and octas 
Resolves issue #324
 2013-10-31 15:22:34 +09:00
Randy Mackay 65980ace68 Copter: remove some commented out send_text code 2013-10-30 13:44:56 +09:00
Randy Mackay 8a6c2a6588 Copter: add alt and throttle checks to crash detector 2013-10-30 13:33:09 +09:00
Randy Mackay 2326b2e5f5 Copter: crash checker 
Crash is determined to have happened when the copter is 20deg more than
the ANGLE_MAX parameter continuously for more than 2 seconds
Not activated when in ACRO mode or while flipping
 2013-10-29 22:15:12 +09:00
Randy Mackay 8386b658e9 Copter: add ANGLE_RATE_MAX param 
Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes
 2013-10-29 11:27:05 +09:00
Randy Mackay 9176bf2e97 Copter: add @Increment to battery failsafe descriptions 2013-10-29 11:24:04 +09:00
Andrew Tridgell 2016bf1f31 Copter: fixed HIL build 2013-10-28 18:35:39 +11:00
Andrew Tridgell a44e3191df Copter: fixed baro-only preflight cal 
this was causing a full level, which mucked up the INS calibration
 2013-10-28 16:54:32 +11:00
Randy Mackay 9df7185075 Copter: remove unused #defines from config.h 2013-10-28 12:37:41 +09:00
Randy Mackay 465cb8ab25 Copter: add features that can be disabled to APM_Config.h 2013-10-28 12:36:52 +09:00
Randy Mackay 36832aaa61 Copter: remove ins from InertialNav object instantiation 2013-10-27 13:41:52 +09:00
Tobias a7e7084f27 Copter/position_vector: remove const specifiers on objects returned by 
value
 2013-10-27 13:41:46 +09:00
Tobias 7564cc02af Copter: use const refs instead of unneeded copies 2013-10-27 13:41:06 +09:00
Tobias d6d5f0bbe4 Copter: Log.pde: replace unused copy with ref (saves again some bytes) 2013-10-27 13:40:40 +09:00
Tobias 4d4b419d25 Copter: add comment (unit of G_Dt) 2013-10-27 13:39:17 +09:00
Randy Mackay 8e62035328 Copter: remove unnecessary check of flight mode from fence response 2013-10-24 16:42:14 +09:00
Randy Mackay d86ac9041e Copter: report RC receiver health to GCS 2013-10-24 16:32:55 +09:00
Andrew Tridgell 6138dca2b2 Copter: set system time on GPS lock 2013-10-24 14:22:48 +11:00
Andrew Tridgell 92bf4b9c89 Copter: added MAVLink SYSTEM_TIME message 2013-10-24 14:22:47 +11:00
Randy Mackay 7c5982c573 Copter: remove unnecessary Log_Write_Optflow 2013-10-23 20:46:35 +09:00
Randy Mackay f52c6add89 Copter: reenable optical flow by default 
correct optflow test compile error
 2013-10-23 20:42:03 +09:00
Randy Mackay 8ea3e68620 Copter: bug fix for loading missions while armed 2013-10-23 14:12:03 +09:00
Randy Mackay 030f479ac1 Copter: firmware update to AC3.1-rc5 2013-10-22 16:04:13 +09:00
Randy Mackay fb49cd82c1 Copter: add LAND to aux switch 
Fix aux switch AUTO and RTL so they resets flight mode if still in those
modes when switch brought low
 2013-10-22 13:13:36 +09:00
Randy Mackay c98d375e49 Copter: update @Units to pwm on throttle params 2013-10-21 20:33:56 +09:00
Randy Mackay bbc4cb263f Copter: only allow autotuning when flying 2013-10-21 17:58:10 +09:00
Randy Mackay 6b9b5c5617 Copter: pre-arm check speed is less than 50cm/s 2013-10-20 21:56:00 +09:00
Randy Mackay 5499c6ea6d Copter: autotune bug fix for starting autotune 
log completion to dataflash
 2013-10-20 13:54:36 +09:00
Randy Mackay 6d76652e48 Copter: autotune set original gains on reset 
Update from Leonard
 2013-10-20 11:47:59 +09:00
Michael Oborne 78c4e03fd5 sensor hil fix 2013-10-19 23:04:22 +09:00
Randy Mackay 4036f50fc2 Copter: bug fix to convert old batt params to BATT_ lib 2013-10-19 22:55:47 +09:00
Randy Mackay 6c0cb5f84d AutoTune: bug fix and GCS messages 2013-10-19 21:54:18 +09:00
Randy Mackay 390a8c02a5 Copter: enable AUTOTUNE by default 2013-10-18 13:58:08 +09:00
Randy Mackay 0cbedded0d Copter: autotune to use 2pos switch only 
method of recording state also changed
other code clean-up
pair programmed withe Leonard
 2013-10-18 13:57:50 +09:00
Randy Mackay 2e75d5dec3 Copter: autotune log when limits reached 2013-10-17 11:05:31 +09:00
Randy Mackay c59dee045c Copter: autotune restore orig pids if user changes flight mode 2013-10-17 10:56:53 +09:00
Randy Mackay f13b45467f Copter: autotune bug fix for restarting tuning from suspended state 2013-10-17 10:56:10 +09:00
Randy Mackay 5ac3bf4915 Copter: adjust autotune P and D min and max 2013-10-17 10:20:16 +09:00
Randy Mackay 7c7f235a97 Copter: ignore flight mode change requests if we're already in the desired mode 2013-10-15 11:53:56 +09:00
Randy Mackay deb171a869 Copter: correct UserHooks typos 2013-10-15 11:18:00 +09:00
Randy Mackay aa7a1a5af3 Copter: correct GCS send times task estimates 2013-10-13 20:53:51 +09:00
Randy Mackay d2bbc06502 Copter: allow throttle deadband to be redefined in APM_Config.h 2013-10-13 20:41:11 +09:00
Randy Mackay 959f59f623 Copter: correct mount tasks scheduler time 
Having the estimate too high would mean it would likely never run
 2013-10-13 14:13:59 +09:00
Randy Mackay f344c77cca Copter: AC3.1-rc4 version and release notes 2013-10-13 14:12:18 +09:00
Randy Mackay bf74a64fec Copter: add GPS glitch to arming checks 2013-10-13 14:04:54 +09:00
Randy Mackay 8de6c34252 Copter: comments update for GPS_HDOP_GOOD parameter 2013-10-13 13:53:26 +09:00
Randy Mackay 32f53624d6 Copter: rename low_battery to failsafe.battery 2013-10-13 13:52:52 +09:00
Randy Mackay 0e740bd4e1 Copter: enable AUTOTUNE for mission planner build 2013-10-13 11:57:50 +09:00
Randy Mackay 6876107a15 Copter: autotune disables rate output from stab controller 2013-10-13 11:56:01 +09:00
Andrew Tridgell b69f08c03e Copter: reduce timer speed to 500 on APM2 
this reduces the cost of timer interrupts
 2013-10-13 11:03:41 +09:00
Andrew Tridgell 09a1d35e62 Copter: fixed build for no COPTER_LEDS 2013-10-13 11:03:33 +09:00
Andrew Tridgell d38d9ea88f Copter: changes for AP_Mount API 2013-10-13 11:03:26 +09:00
Randy Mackay 8706810d55 Copter: scheduler times corrections 2013-10-13 11:03:22 +09:00
Randy Mackay 6be6bd5aed Copter: remove unused battery analog sources 2013-10-13 11:03:20 +09:00
Randy Mackay d2bda8c235 Copter: split up medium loop 2013-10-13 11:03:15 +09:00
Randy Mackay e9cefbafd1 Copter: higher priority for throttle loop, lower telemetry 2013-10-13 11:03:10 +09:00
Andrew Tridgell 64d34dc125 Copter: give UARTA 512 bytes 
this reduces load by allowing more contiguous writes to the serial
buffers
 2013-10-13 11:02:55 +09:00
Andrew Tridgell 3b9566bc09 Copter: support MAV_CMD_DO_SET_CAM_TRIGG_DIST 2013-10-11 21:40:57 +11:00
Craig3DRobotics 93cbfbe46c Copter:Parameter descriptions updated 2013-10-09 15:31:31 -07:00
Randy Mackay 8d1085feea Copter: pre-arm expects mag len of 330 for APM1 (was 530) 2013-10-09 14:10:16 +09:00
Randy Mackay 7e657ce856 AutoTune: abandon tuning if rate P hits minimum 
Fixes from Leonard
 2013-10-09 13:35:43 +09:00
Randy Mackay fc47e05105 Copter: update firmware version to AC3.1-rc3 2013-10-09 11:13:15 +09:00
Andrew Tridgell 450323f4ae Copter: enable logging on Linux 2013-10-08 19:20:35 +11:00
Andrew Tridgell 4b68dd48f7 Copter: use ins.wait_for_sample() for main loop 
this takes advantage of the INS specific method to wait for a sample
 2013-10-08 19:20:34 +11:00
Randy Mackay 9435eb4a15 Copter: remove unused flags and consolidate ap and ap_system 2013-10-08 15:25:14 +09:00
Andrew Tridgell 6145924481 Copter: switch Linux to L3G4200D ins driver 2013-10-08 11:50:54 +11:00
Randy Mackay fbb295a0a1 Copter: correct HLD_LAT_P and HLD_LON_P ranges 2013-10-07 14:45:39 +09:00
Kevin Hester d29781104f AC: fix autodocs for SUPER_SIMPLE so the GCSes can show the right options 2013-10-07 11:33:02 +09:00
Randy Mackay f56617710f Copter: pre-arm RC checks ch3's min and max 2013-10-07 11:17:16 +09:00
Randy Mackay efc02161c4 Copter: add safe switch arming check 2013-10-05 22:23:53 +09:00
Randy Mackay 0c0de7c53e Copter: simple mode speedup 
super simple and simple mode headings separated
g.super_simple converted into a bitmap by flight mode switch position
 2013-10-05 18:26:56 +09:00
Randy Mackay ba92c4891a Copter: make AutoTune a compile-time option 2013-10-04 15:50:50 +09:00
Randy Mackay 31cea0140d Copter: Leonard's AutoTuning for Roll and Pitch 2013-10-04 15:50:47 +09:00
Randy Mackay 09de917b27 Copter: mavlink ext status to use abs pressure 2013-10-04 13:20:58 +09:00
Randy Mackay a33060b66d Copter: mavlink extended status gps bit not-healthy when glitching 
add optflow health to extended status
mavlink heartbeat status to critical on any failsafe
extended status msg to use SYS_STATUS_SENSOR enum
 2013-10-03 22:11:55 +09:00
Randy Mackay 3c5797c479 Copter: sent current as -1 to GCS when can't be monitored 2013-10-03 11:16:31 +09:00
Randy Mackay dab4f032f9 Copter: integrate BattMonitor 2013-10-03 11:16:28 +09:00
Andrew Tridgell 32a016a66f Copter: updates for AP_HAL::MemberProc 2013-09-30 21:06:43 +10:00
Andrew Tridgell 3665bec26d Copter: fixed build for Linux 2013-09-28 22:04:16 +10:00
Andrew Tridgell 9e42e536a7 Copter: make the scheduling a bit more multi-tasking OS friendly 
we can afford to sleep a bit in the main loop
 2013-09-28 22:04:16 +10:00
Andrew Tridgell 234eaceb14 Copter: update for Stub -> HIL 2013-09-28 22:04:15 +10:00
Andrew Tridgell a0f9055a9d Copter: use new scheduler API 2013-09-28 21:24:03 +10:00
Randy Mackay c3f7146f03 Copter: improve check of frame type to catch spelling errors 2013-09-27 14:35:16 +09:00
Randy Mackay e295d4555d Copter: send frame type in mavlink heartbeat msg 2013-09-27 14:35:13 +09:00
Randy Mackay a53d28e018 Copter: remove support for dmp ahrs 2013-09-27 10:42:49 +09:00
Andrew Tridgell 394645560a Copter: update for new INS API 2013-09-27 10:49:00 +10:00
Andrew Tridgell 566eaf7d41 Copter: fixed flymaple build with copterleds 2013-09-27 10:32:22 +10:00
Andrew Tridgell a0b6481dfd Copter: removed SMACCM support 2013-09-26 22:38:31 +10:00
Randy Mackay 5cac1b3c92 Copter: ignore aux switch during radio failsafe 2013-09-26 20:19:39 +09:00
Randy Mackay fd2e87b710 Copter: disable tuning during radio failsafe 2013-09-26 20:05:25 +09:00
Randy Mackay 6b97994dcd Copter: ignore switch changes during transitions in or out of radio failsafe 2013-09-26 19:37:22 +09:00
Randy Mackay 7cc8a9038f Copter: move failsafe flags into structure 2013-09-26 19:37:15 +09:00
Randy Mackay 02f7310689 Copter: make it easier for Arduino users to easily reduce flash space by turning off features 2013-09-26 13:15:30 +09:00
Randy Mackay 2c96ed3f22 Copter: disable optical flow 
This at least allows ArduCopter to be compiled with arduino until we
find larger flash savings
 2013-09-24 21:59:19 +09:00
Randy Mackay 589200042d Copter: remove declination setup from CLI 2013-09-24 21:45:54 +09:00
Randy Mackay 09756e16b7 Copter: remove battery setup from CLI 2013-09-24 21:45:54 +09:00
Randy Mackay 3bf1352701 Copter: shorten motor tests printf 2013-09-24 21:45:53 +09:00
Randy Mackay 8cce837f77 Copter: remove accel level from cli 
the accel command should always be used in place of level
 2013-09-24 21:45:52 +09:00
Randy Mackay 77b5cb5d3f Copter: correct typo in error #define 2013-09-24 21:45:52 +09:00
Randy Mackay 8a886c0e19 Copter: remove err msg for undefined throttle mode 
Printing errors like this to the console are unlikely to ever be seen
 2013-09-24 21:45:51 +09:00
Randy Mackay 284aa2217f Copter: remove old comments 2013-09-24 21:45:43 +09:00
Randy Mackay e5535e35b3 Copter: remove unused reset_stability_I 2013-09-24 21:42:05 +09:00
Randy Mackay d7782e1356 Copter: remove tune from cli to save 300bytes flash 2013-09-24 21:42:02 +09:00
Randy Mackay 1cc2c8d6a5 Copter: reduce compassmot flash by 500 bytes 2013-09-24 21:41:59 +09:00
Randy Mackay c596b27719 Copter: add dataflash error for GPS glitch 2013-09-24 21:41:48 +09:00
Randy Mackay 6c5294f89e Copter: integrate GPS_Glitch parameters 2013-09-24 21:41:45 +09:00
Randy Mackay 29b30cf752 Copter: gps failsafe on lengthy glitches 2013-09-24 21:41:30 +09:00
Randy Mackay 4c8227c050 Copter: update AP_Notify for gps failsafe and glitching 2013-09-24 21:41:28 +09:00
Randy Mackay 262fcb301a InertialNav: rename set_current_position to set_home_position 2013-09-24 21:41:19 +09:00
Randy Mackay 2f5b32bada Copter: integrate GPS_Glitch's check_position 2013-09-24 21:41:16 +09:00
Andrew Tridgell 3378c7901a Copter: added support for the flymaple board 2013-09-24 13:51:28 +10:00
Andrew Tridgell 91315715fe Copter: removed CONFIG_PUSHBUTTON 
not used anywhere any more
 2013-09-23 18:10:22 +10:00
Andrew Tridgell 3ffeff04a7 Copter: removed logging of MAVLink parameter changes 
not much point to this
 2013-09-23 18:10:22 +10:00
Andrew Tridgell a8796f2f76 Copter: make compat functions static 
this prevents conflicts with libmaple
 2013-09-23 18:10:22 +10:00
Andrew Tridgell 35e3c887d2 Copter: use new baro API 2013-09-21 21:30:54 +10:00
Andrew Tridgell b6a0577723 Copter: only send RC_CHANNELS_SCALED in HIL 
saves a bit of telemetry bandwidth
 2013-09-21 09:30:30 +10:00
Andrew Tridgell faddef69e6 Copter: fixed baud rates on APM1 2013-09-21 09:30:29 +10:00
Andrew Tridgell 46688454c4 Copter: removed flash_leds() calls 2013-09-19 18:38:28 +10:00
Andrew Tridgell 754bdbd25f Copter: use new usb_connected() HAL function 2013-09-19 16:24:23 +10:00
Randy Mackay 642a9b3df4 Copter: update AC3.1-rc2 release notes for COMPASS_ORIENT change 2013-09-19 13:00:11 +09:00
Randy Mackay 79399e4fb4 Copter: AC3.1-rc2 version and release notes 2013-09-18 13:30:26 +09:00
Randy Mackay 65adb78f31 Copter: increase default battery capacity to 3500mAh 2013-09-15 11:54:07 +09:00
Randy Mackay 0fa8e44377 Copter: remove cli eprom dump 2013-09-15 11:44:53 +09:00
Randy Mackay 0232b25f6e Copter: update LED_MODE bitmask @values to always enable leds 2013-09-15 11:38:47 +09:00
Randy Mackay ea3d388796 Copter: update release notes to add slow take-off 2013-09-13 20:53:39 +09:00
Randy Mackay daa0cb7914 Copter: enable motor slow start in auto mode 2013-09-13 14:32:19 +09:00
Randy Mackay 98a2ffd65c Copter: remove redundant reset_i_all from startup 2013-09-13 12:30:25 +09:00
Andrew Tridgell 3720efc7c9 Copter: changed to AP_Vehicle.h 2013-09-13 11:47:03 +10:00
Randy Mackay b4b2128977 Copter: update @Range comments for THR_MIN 
This should help reduce change of someone setting THR_MIN above 300 (30%
throttle)
 2013-09-12 22:45:18 +09:00
Randy Mackay c5bd1a76ed Copter: comment update re low battery event 2013-09-12 22:41:28 +09:00
Randy Mackay 653a5036ae Copter: #define for initial altitude jump during take-off 
Developers can add a line like to APM_Config.h to reduce the initial
jump when taking off in Loiter or AltHold flightmodes:
#define ALT_HOLD_TAKEOFF_JUMP 0
 2013-09-12 22:31:42 +09:00
Randy Mackay 072b231c3f Copter: integrate slow start feature 2013-09-12 22:29:53 +09:00
Randy Mackay 36bbed8fdd Copter: removed calls to set motor's max throttle 2013-09-12 22:28:38 +09:00
Andrew Tridgell adc923b989 Copter: update battery pin docs 2013-09-12 13:43:15 +10:00
Andrew Tridgell d9fe0552f0 Copter: allow Vcc checks on Pixhawk 2013-09-12 13:43:06 +10:00
Andrew Tridgell 7c62736e59 Copter: fixed Vcc 2013-09-12 13:26:19 +10:00
Andrew Tridgell 4545445850 Copter: fixed SR0 and SR3 autodocs 2013-09-12 09:53:13 +10:00
Randy Mackay a68966e077 Copter: integrate sprayer pump test 2013-09-11 17:05:25 +09:00
Randy Mackay 152f5da880 Copter: integrate AP_Notify batt and radio failsafes 2013-09-11 14:36:38 +09:00
Randy Mackay 9095c6ab30 Copter: update Release notes for AC3.1-rc1 again 2013-09-11 09:51:47 +09:00
Randy Mackay 8e0cacad39 Copter: disable low battery events when usb connected 2013-09-09 21:27:05 +09:00
Kevin Hester 240a9ccaf0 AC: if vehicle is !flying show hb state as MAV_STATE_STANDBY 
This helps GCSes determine the appropriate UI for the current vehicle
mode.
 2013-09-09 20:51:54 +09:00
Randy Mackay 43c4ba304d Copter: update Release Notes for AC3.1-rc1 2013-09-09 20:04:30 +09:00
Randy Mackay 1d55fa6818 Copter: add arm check of GPS hdop when in Loiter 2013-09-09 14:03:40 +09:00
Randy Mackay 1abb439051 Copter: move acro's var initialisation to roll-pitch and yaw controller initialisation 2013-09-09 10:54:13 +09:00
Randy Mackay 942ba0476b Copter: remove manual_attitude and throttle flags 2013-09-09 10:44:53 +09:00
Randy Mackay b7579bb028 Copter: move init of global nav variables to set_nav_mode 2013-09-09 10:37:44 +09:00
Randy Mackay 4842335a24 Copter: add #include for AC_Sprayer 2013-09-09 10:18:06 +09:00
Randy Mackay 13ee672eae Copter: remove unused get_acro_pitch and roll 2013-09-09 10:11:23 +09:00
Craig3DRobotics 630095adaa Revert "Copter: Corrected SR0 & SR3 parameter descriptions" 
This reverts commit 6568234018.
 2013-09-06 09:58:19 -07:00
Craig3DRobotics f1a674ad26 Copter: Correction on SR0 & SR3 parameter description. 2013-09-05 22:28:34 -07:00
Andrew Tridgell 979636936d Copter: support reboot to bootloader 2013-09-04 11:59:02 +10:00
Andrew Tridgell 52f5b1e5a7 Copter: update to GPLv3 license headers 2013-08-30 13:01:39 +10:00
Andrew Tridgell 1b99ef5e4f Copter: added a delay in ESC calibration 
this allows AP_Notify to run via the delay callback
 2013-08-30 13:01:36 +10:00
Andrew Tridgell e1e32fcf08 Copter: fixed build with AP_AHRS changes 2013-08-30 13:01:35 +10:00
Andrew Tridgell 25d517f5d6 Copter: updates for new notify API 2013-08-30 13:01:35 +10:00
Randy Mackay 4aef49a006 Copter: re-order #defines of AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay 52ef77393c Copter: integrate Toshiba_LED_PX4 2013-08-30 13:01:35 +10:00
Randy Mackay 46c24fdf39 Copter: integrate ToshibaLED 2013-08-30 13:01:35 +10:00
Randy Mackay e985253f1a Copter: integrate notify 2013-08-30 13:01:35 +10:00
Randy Mackay 7c78936bc5 Copter: land by default at end of RTL 2013-08-30 10:34:23 +09:00
Craig3DRobotics 6568234018 Copter: Corrected SR0 & SR3 parameter descriptions 2013-08-29 12:19:04 -07:00
Randy Mackay 81074ebb3c Copter: update Y6 defaults 2013-08-28 13:05:01 +09:00
Randy Mackay 6052017b13 Copter: allow override of auto throttle mode 2013-08-28 11:45:07 +09:00
Randy Mackay 45aeb1a921 Copter: split up loiter into 4 steps 
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
 2013-08-28 11:33:10 +09:00
Andrew Tridgell d5e28e72cc Copter: support new RADIO_STATUS msg 2013-08-24 17:59:13 +10:00
Randy Mackay 7159c539e6 Copter: skip mode change checks when disarmed 
Note: there will be a follow up commit to move the checks into a
separate function so they can be called just before arming
 2013-08-22 13:25:27 +09:00
Randy Mackay d8eb7fb82f Copter: remove x100 from IMAX definitions 2013-08-19 22:38:34 +09:00
Andrew Tridgell a06f8a156d Copter: fixed PX4 build 2013-08-19 21:12:41 +10:00
Randy Mackay fd047cc968 Copter: AUTO ch7/ch8 option 2013-08-19 18:09:23 +09:00
Randy Mackay 2696e160e6 Copter: surface tracking improvement 
Separate correction speeds for pilot input vs altitude-above-ground
errors to allow slower correction to sonar signals.
Change SONAR_GAIN parameter to be altitude error -> desired speed.  This
means it should be set 10x larger than before.
Replace hard-coded sonar cut-off percentage of 70% with
SONAR_RELIABLE_DISTANCE_PCT.
Reduce sonar cut-off percentage to 60%.
Add desired sonar altitude to dataflash log's CTUN message.
 2013-08-19 09:52:59 +09:00
Randy Mackay 88332b4acb Copter: revert to 3 element sonar's mode filter 2013-08-19 09:47:48 +09:00
Randy Mackay 3a5a15a15f Copter: allow CH6 tuning of sonar gain 2013-08-18 15:44:54 +09:00
Randy Mackay fe56ac3839 Copter: only allow auto_trim in STABILIZE 2013-08-15 21:11:23 +09:00
Randy Mackay 69da4e99f8 Copter: add ch7/ch8 Auto and Land option 
CH7/CH8 high initiates AUTO mode, low initiates Land.  Ideally high
would be a new take-off flight mode so this may need some rework.
 2013-08-15 16:08:33 +09:00
Randy Mackay ac620e2140 Copter: Loiter and AltHold won't breach alt fence 2013-08-15 16:06:27 +09:00
Randy Mackay 6a2daf1a33 Copter: reduce sonar sensitivity to spikes 2013-08-15 16:04:17 +09:00
Randy Mackay 34e874282e Copter: only check hdop when circular fence enabled 2013-08-15 16:03:57 +09:00
Randy Mackay b40cd07ce9 Copter: switch to LOITER when exiting mission 2013-08-15 13:09:57 +09:00
Randy Mackay d000967a76 Copter: pre-arm check for gps hdop < 2 2013-08-15 13:06:36 +09:00
Randy Mackay 8b79798e8d Copter: Leonard's sport fix re slow roll 2013-08-11 22:15:27 +09:00
Randy Mackay 34b11f7be0 Copter: angle limiter fix for max lean angle 2013-08-11 14:55:49 +09:00
Randy Mackay 6969ab573d Copter: configurable max lean angle 
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
 2013-08-11 12:53:22 +09:00
Randy Mackay 5049595a2c Copter: SPORT mode to use alt hold 2013-08-10 15:42:02 +09:00
Randy Mackay d0dc5813cf Copter: move CIRCLE_RADIUS definition 2013-08-07 14:03:28 +09:00
Randy Mackay e1fe4946fb Copter: Sprayer enable added to CH7/CH8 switch 2013-08-05 21:12:29 +09:00
Randy Mackay 74fb500efe Copter: integrate AC_Sprayer 2013-08-05 21:12:23 +09:00
Randy Mackay 49dbdce89c Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P 2013-08-05 21:05:00 +09:00
Randy Mackay 82082e044c Copter: remove ACRO's axis enabled parameter 
Acro is now body frame (with earth frame leveling) while Sport is earth
frame acro
 2013-08-05 21:04:57 +09:00
Randy Mackay 786d6824ae Copter: Acro Trainer added to Ch7/Ch8 switch 2013-08-05 21:04:55 +09:00
Randy Mackay 21e523b9ac Copter: Acro trainer separated into limited and leveled 2013-08-05 21:04:53 +09:00
Randy Mackay e32342163d Copter: rename ACRO variables 2013-08-05 21:04:50 +09:00
Leonard Hall d2deaaa686 Copter: Acro add rate constrain and combine limit calc 2013-08-05 21:04:47 +09:00
Randy Mackay 65276d360b Copter: SPORT to use YAW_HOLD 2013-08-05 21:04:44 +09:00
Randy Mackay 39ab4f62ef Copter: add SPORT mode 2013-08-05 21:04:41 +09:00
Randy Mackay a18d55a9d3 Copter: update version to 3.1-dev 2013-08-05 14:26:52 +09:00
Andrew Tridgell 086c7d70d8 Copter: use const references for Vector3f parameters 
this is more efficient than passing a whole structure on the stack

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:24 +10:00
Andrew Tridgell c4f11e6c74 Copter: fix longitude_scale() call for new API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:21 +10:00
Andrew Tridgell 2690edfc5f Copter: ask for IMU samples at 100Hz 
this produces the same result, but makes things simpler in the driver
 2013-08-02 21:37:15 +10:00
Andrew Tridgell 01e19a32fe Copter: use the new scheduler load_average() call 
this also simplifies the main loop
 2013-08-02 18:46:34 +10:00
Randy Mackay 9672742b42 Copter: bug fix to look_ahead_yaw 
Fix received from David Dewey
Was incorrectly using the direction instead of heading when deciding
whether to point forward or not.  Reduced YAW_LOOK_AHEAD_MIN_SPEED to
1m/s because bug meant it was nearly always pointing forward and 10m/s
(the old value) seemed too high
 2013-08-01 14:12:55 +09:00
Randy Mackay c30cfa21c5 Copter: resolve compiler warning re unused variable 2013-07-29 16:46:25 +09:00
Randy Mackay 0f8f5bc048 Copter: remove unused ap.gps_status flag 2013-07-29 16:46:05 +09:00
Randy Mackay 2c48c20088 Copter: generalize 3 pos switch for all ch7/ch8 options 2013-07-29 16:28:04 +09:00
Olivier-ADLER 87d062905e Copter: 3 positions switch support for CH7 and CH8 - new 3 positions SIMPLE / SUPERSIMPLE mode 
3 positions modes must use mode number >= 100
pre-arm check correction for CH7 - CH8 check
 2013-07-29 15:12:10 +09:00
Randy Mackay c173f0c7d9 Copter: change CH7/CH8 pre-arm check string 2013-07-29 14:32:27 +09:00
Randy Mackay 0d75203d87 Copter: minor format change to exit_mission function 2013-07-28 18:19:05 +09:00
Randy Mackay 12da2d160a Copter: set landing_complete flag to false on start-up 2013-07-28 18:19:03 +09:00
Randy Mackay 3b59cde1b8 Copter: deactivate accel throttle controller when landed 2013-07-28 18:19:01 +09:00
Randy Mackay da37089dc2 Copter: remove landing checks in loiter controller 2013-07-28 18:18:57 +09:00
Randy Mackay 8eefbdce44 Copter: turn off stability patch when landed in Loiter 2013-07-28 18:18:54 +09:00
Randy Mackay 9a1a999fba Copter: landing check changes 2013-07-28 18:18:50 +09:00
Randy Mackay dbc18ee900 Copter: allow arming in AltHold and Loiter if landed 2013-07-28 18:18:47 +09:00
Randy Mackay 24d15517ff Copter: clear thr accel I term on take-off 2013-07-28 18:18:45 +09:00
Randy Mackay 05248738e2 Copter: bug fix for take-off in loiter 2013-07-28 18:18:43 +09:00
Randy Mackay c3daf78340 Copter: reset loiter target when landed 2013-07-28 18:18:41 +09:00
Randy Mackay fe412437c2 Copter: add flags for upper and lower throttle limits 
Freeze desired altitude when motors hit a limit
 2013-07-28 18:18:39 +09:00
Olivier-ADLER bf6120d8b7 Copter: Move CH7 - CH8 check from read_aux_switches() to pre_arm_checks. 
Moving this to pre-arm checks save some processing time and is safer.
 2013-07-26 09:30:24 +09:00
Randy Mackay c5851d2ddf Copter: remove throttle rate's I and D calcs 2013-07-23 11:02:04 +09:00
Randy Mackay 740970efa6 Copter: remove stabilize's call to calc I terms 
I terms all moved to rate controllers so this will be a small
performance improvement
 2013-07-23 10:37:10 +09:00
Randy Mackay c9a875da52 Copter: remove unused earth frame rate controllers 2013-07-21 14:08:39 +09:00
Randy Mackay 43379f20c3 Copter Motors: replace limit bitmask with structure 2013-07-21 13:58:24 +09:00
Olivier-ADLER ac0886334d Copter: Failsafe GCS typo in comments 
replaced GPS by GCS word in different comments locations
 2013-07-20 20:54:51 +09:00
Randy Mackay 11e7e9eaf1 Copter: WP_YAW_BEHAVIOUR param update for Look Ahead 2013-07-20 15:46:19 +09:00
Randy Mackay c937fe45e1 Revert "Copter: Remove CH7 & CH8 Enable / Disable of GeoFence" 
This reverts commit e25b8933f3.
 2013-07-20 15:00:08 +09:00
Randy Mackay 7ea971d948 Copter: check set_mode for failure 
Previously if set_mode failed it would return the copter to stabilize
mode.  With this commit set_mode returns a true/false indicating whether
it succeeded or not so the caller can make the decision as to the
appropriate response which could be to stay in the current flight mode
or try another flight mode.
 2013-07-20 11:01:10 +09:00
Robert Lefebvre 2a9f4bbbad TradHeli: Creating new unified roll/pitch rate controller. 2013-07-19 16:16:12 +09:00
Robert Lefebvre 23ea151ca5 TradHeli: Fix Heli rate controller filter rates. 2013-07-19 16:16:10 +09:00
Robert Lefebvre c812d07993 TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future. 2013-07-19 16:16:08 +09:00
Robert Lefebvre b4863dc997 TradHeli: Change to throttle controller to allow swash plate collective to move, even if disarmed, if we are in Acro or Stab. This is slightly dangerous... as a user could cause a problem if they do not follow the proper usage procedures. If they do not route the ESC through the APM, but instead direct to Rx. And then if they do not Arm, they could take off in Stab mode while disarmed, but then when they switch to Alt_Hold, it will drop the collective to the bottom and they will fall. This can be saved by switching back to Stab. And it requires operation outside of the normal operating procedure. 
This change is being made because most heli users expect to be able to check the swash plate operation before arming and taking off.
 2013-07-19 16:16:04 +09:00
Robert Lefebvre cea0812b82 TradHeli: Rate PID Improvement. Limit Integrator wind-up when PID output is saturated. Also a little bit of general clean-up for readability. 2013-07-19 16:16:01 +09:00
Craig3DR e25b8933f3 Copter: Remove CH7 & CH8 Enable / Disable of GeoFence 2013-07-18 17:06:53 +09:00
Andrew Tridgell 0b27bb05d4 Copter: fixed FENCE and WPNAV parameter doc generation 2013-07-18 14:58:24 +10:00
Randy Mackay 41ba4a1ed2 Copter: initialise ch7 and ch8 aux switches 
This ensures that if you have simple mode or sonar attached to an
auxiliary switch it will be enabled or disabled according to the switch
immediately after start-up
 2013-07-16 22:05:59 +09:00
Randy Mackay 1dcc5886d0 Copter: ensure take-off alt is at least 1m 
fixes issue #377
 2013-07-16 15:51:18 +09:00
Randy Mackay e6412b6996 Copter: do not spin motors during arming process 2013-07-16 12:47:57 +09:00
Jonathan Challinger 9f51a4a4f7 Copter: Cancel arming if throttle input above cruise_throttle. 2013-07-16 12:47:55 +09:00
Jonathan Challinger 2725f219cb Copter: Warn user with motors while copter is arming 2013-07-16 12:47:51 +09:00
Randy Mackay 02b64e259d Copter: bug fix for descent during loiter_turns 2013-07-15 20:44:56 +09:00
Andrew Tridgell 9a159a5e23 Copter: make wp_distance static 
removed hack with AP_Camera library
 2013-07-15 09:56:45 +10:00
Randy Mackay 47ab02d686 Copter: bug fix to ROI to pull target from conditional command queue 2013-07-14 17:37:06 +09:00