Randy Mackay
006cf58b2d
Copter: fix merge error for g.angle_max
2014-02-15 05:27:51 +11:00
Randy Mackay
38d5148b99
Copter: remove reset_I_all
...
Each controller should reset the I terms as needed
2014-02-15 05:27:47 +11:00
Randy Mackay
aec67cd3df
Copter: integrate control_autotune
2014-02-15 05:27:44 +11:00
Randy Mackay
bca309eb1e
Copter: replace takeoff_complete with landed_complete
2014-02-15 05:27:43 +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
Dneault
4b3699f985
Copter: coax allows ch5 and higher for do_set_servo cmd
2014-02-07 12:36:22 +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
Randy Mackay
0f957bdc5a
Copter: lean angle arming check
2014-01-17 17:31:28 +09:00
Randy Mackay
a7f03619f2
Copter: add inav vs baro arming check
...
In-flight Barometer sanity checking will be a more complete solution but
until then this should catch some bad pre-flight barometer behaviour
2014-01-17 17:21:42 +09:00
Randy Mackay
8a29d63d89
Copter: faster baro calibration when arming
...
using update_calibration() instead of the full calibrate() cuts
1.5seconds of the arming time
2014-01-15 23:28:24 +09:00
Randy Mackay
6d55895d30
Copter: simplify do-set-servo mission command
...
This potentially changes the servo number that must be supplied if using
an APM1 but it now shares the same logic as arduplane and also adds
protection that the servo is not attached to the motor.
removed debug message from previous commit.
2014-01-15 14:36:50 +09:00
Randy Mackay
67c2bc7d0b
Copter: add support for MAV_CMD_DO_SET_SERVO
2014-01-15 14:03:04 +09:00
Randy Mackay
84881470b1
Copter: suspend logging while disarmed
2014-01-07 22:43:47 +09:00
Kevin Hester
2044300057
Copter: Split out prearm failures of low HDOP separately from !gps lock
...
(on the iris list there was some confusion on why the copter was blinking
yellow but yet they had gps lock)
2013-12-26 10:10:06 +09:00
Andrew Tridgell
d265e54043
Copter: changes for compass healthy API
2013-12-09 17:47:22 +11:00
Andrew Tridgell
ffdcb715c3
Copter: updates for compass API change
2013-12-09 17:34:06 +11:00
Randy Mackay
59cea4b88c
Copter: remove CopterLED from main code
2013-11-30 18:20:55 +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
ed9f369492
Copter: shorten g.arming_check_enabled variable
...
g.arming_check_enabled shortened to g.arming_check
2013-11-25 17:23:39 +09:00
Randy Mackay
8eb46ced53
Copter: revert pre-arm check for slow GPS
2013-11-22 09:53:21 +09:00
Randy Mackay
0bc505514a
Copter: pre-arm check that INAV has no errors
2013-11-21 17:02:07 +09:00
Randy Mackay
7a2f49f7da
Copter: arming check for gps if GPS FS set to LAND_EVEN_STABILIZE
...
Setting the GPS Failsafe to LAND_EVEN_STABILIZE means the copter will
LAND if it loses GPS even if it's in a manual flight mode like
Stabilize. With this setting it makes sense to check the GPS quality
before arming even if we're in stabilize mode.
2013-11-18 23:59:26 +09:00
Randy Mackay
d003334b75
Copter: pre-arm check for ACRO_BAL_ROLL and PITCH
2013-11-18 16:38:05 +09:00
Randy Mackay
9ee308efd5
Copter: auto disarm in Loiter, AltHold after 15sec
2013-11-18 16:13:15 +09:00
Randy Mackay
46118b59d7
TradHeli: integrate motor lib changes
2013-11-15 22:57:43 +09:00
Randy Mackay
f0f6e85b39
Copter: ARMING_CHECK made into bitmask
...
Allows arming checks to be individually enabled or disabled for baro,
compass, GPS, INS, parameters, RC and board voltage
2013-11-15 17:13:56 +09:00
Randy Mackay
fe822ba0b6
Copter: pre-arm check of INS health
2013-11-15 17:13:53 +09:00
Jason Short
371dc8c616
Copter: Drift Mode
...
Changes Toy mode declarations to Drift mode.
Requires GPS, Mode 2 transmitter
Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.
2013-11-14 14:43:15 +09:00
Randy Mackay
0778454434
Copter: disarm routine shortcut
...
Extra check so we only run the disarm check when we are actually armed.
The ground stations sometimes send many disarm messages which can be
ignored
2013-11-14 13:14:51 +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
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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
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
6b9b5c5617
Copter: pre-arm check speed is less than 50cm/s
2013-10-20 21:56:00 +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
bf74a64fec
Copter: add GPS glitch to arming checks
2013-10-13 14:04:54 +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
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
a53d28e018
Copter: remove support for dmp ahrs
2013-09-27 10:42:49 +09:00
Andrew Tridgell
d9fe0552f0
Copter: allow Vcc checks on Pixhawk
2013-09-12 13:43:06 +10:00
Randy Mackay
a68966e077
Copter: integrate sprayer pump test
2013-09-11 17:05:25 +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
52ef77393c
Copter: integrate Toshiba_LED_PX4
2013-08-30 13:01:35 +10:00
Randy Mackay
e985253f1a
Copter: integrate notify
2013-08-30 13:01:35 +10:00
Randy Mackay
fe56ac3839
Copter: only allow auto_trim in STABILIZE
2013-08-15 21:11:23 +09:00
Randy Mackay
34e874282e
Copter: only check hdop when circular fence enabled
2013-08-15 16:03:57 +09:00
Randy Mackay
d000967a76
Copter: pre-arm check for gps hdop < 2
2013-08-15 13:06:36 +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
39ab4f62ef
Copter: add SPORT mode
2013-08-05 21:04:41 +09:00
Olivier-ADLER
87d062905e
Copter: 3 positions switch support for CH7 and CH8 - new 3 positions SIMPLE / SUPERSIMPLE mode
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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
dbc18ee900
Copter: allow arming in AltHold and Loiter if landed
2013-07-28 18:18:47 +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
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
2b5f6e2668
Copter: pre-arm checks for rc ch 1~4 min and max
2013-07-13 21:38:22 +09:00
Randy Mackay
213472102c
Copter: pre-arm check of throttle failsafe value
...
Check throttle min is above throttle failsafe trigger and that trigger
is above ppm encoder's loss-of-signal value of 900
2013-07-13 20:25:34 +09:00
Randy Mackay
ed3bf2c1e7
Copter: relax pre-arm checks for mag field
...
previously it was 50% ~ 150% of expected mag field but now expanded to
35% ~ 165%.
2013-07-07 18:00:36 -10:00
Randy Mackay
79d2fe6271
Copter: double flash arming light when pre-arm checks fail
...
Hardly my finest work but it's temporary because we're going to replace
all the led, buzzer etc with a library called AP_Notify in the near
future.
2013-07-04 16:26:22 -10:00
Dr Gareth Owen
4c6d6ea96e
changed yaw reset to when armed to not use initial_simple_bearing
2013-06-02 11:29:30 +09:00
Randy Mackay
e3cd494709
Copter: remove debug message
2013-06-01 18:21:30 +09:00
Randy Mackay
7b50ecc73c
Copter: pre-arm check for mag field length
2013-05-31 12:23:19 +09:00
Randy Mackay
a1821c89e7
Copter: pre-arm check for board voltage < 5.8V
2013-05-31 11:31:27 +09:00
Randy Mackay
c6e383be0f
Copter: disable board voltage pre-arm check for PX4
2013-05-31 11:27:54 +09:00
Randy Mackay
c3d21a457f
Copter: add pre-arm board voltage check
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Copter will not arm unless board voltage is over 4.5V
2013-05-28 21:50:31 +09:00
Randy Mackay
6ecd2d74a3
Copter: beep twice during arming
2013-05-27 13:55:34 +09:00
Randy Mackay
ec7ee47099
Copter: scaling stability patch
2013-05-27 11:21:31 +09:00
Randy Mackay
4fa101292a
Copter: add baro health to pre-arm checks
2013-05-25 12:24:47 +09:00
Randy Mackay
bd44c2f73d
Copter: all pre-arm checks to be disabled
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set ARMING_CHECK parameter to zero to disable
2013-05-20 14:48:04 +09:00
Randy Mackay
43c377ca67
Copter: add compass calibration to pre-arm check
2013-05-20 14:19:47 +09:00
Randy Mackay
6efdabb104
Copter: move auto disarm into a separate function
2013-05-20 14:05:50 +09:00
Randy Mackay
1dbe98b566
Copter: display reason for pre-arm-check failures in GCS
2013-05-20 13:03:18 +09:00
Randy Mackay
f4846b417a
Copter: compiler fix for disabled logs
2013-05-19 22:55:40 +09:00
Randy Mackay
9d0f40b432
Copter: add pre_arm_rc_check
...
Motors are not be enabled unless we have passed rc checks which include
checking the radio in calibration has been performed.
2013-05-16 16:32:00 +09:00
Randy Mackay
bd6edecdec
Copter: restore logging of arm/disarm event
2013-05-13 18:07:28 +09:00
Randy Mackay
324200b52c
Copter: disable centrifugal correction when disarmed
2013-05-06 15:32:08 +09:00
Randy Mackay
372ebb602c
Copter: disable centrifugal force correction when disarmed
2013-05-05 16:55:06 +09:00
Randy Mackay
cca05ee8ae
Copter: start dataflash logging when arming
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Stop nearly empty logs from being produced.
Removed redundant armed bit from ap state.
2013-05-03 14:49:55 +09:00
Randy Mackay
90af3262c5
Copter: pre-arm check for compass
2013-04-27 23:50:40 +09:00
Randy Mackay
58d1da2d80
Copter: integrate AC_Fence in place of limits
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Lesser functionality than limits but saves more than 150 bytes and it
works
2013-04-27 11:14:07 +09:00
Randy Mackay
63a48f76e2
Copter: add pre-arm check of radio and accel
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Only checks throttle channel and accelerometer scaling
2013-04-23 00:01:20 +09:00
Randy Mackay
d2bd818b2d
Copter: bug fix for auto_armed logic
...
Zero throttle when switching into an auto flight mode would cause the
motors to stop.
2013-04-17 21:28:42 +09:00
Randy Mackay
7cf2255822
Copter LEDs: replace bitRead with bitmask
...
Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
2013-04-01 13:10:12 +09:00
Randy Mackay
38e81adae0
InertialNav: remove unnecessary "virtual" from function definitions
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This saves about 30bytes of RAM
2013-03-19 17:51:16 +09:00
Randy Mackay
67c69a19ee
Copter: remove baro-only alt hold
...
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
rmackay9
bd0e018ca0
ArduCopter: restore auto-trim method but now use AHRS.add_trim
2013-01-02 09:20:08 +11:00
rmackay9
52802cb29e
ArduCopter: limit output throttle to 800 only for TRI which does not have the new stability patch
2013-01-02 09:19:17 +11:00
rmackay9
881dae1e27
ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters
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Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
2013-01-02 09:13:42 +11:00
rmackay9
6da68c53a5
ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled
2013-01-02 09:13:42 +11:00
Andrew Tridgell
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
Pat Hickey
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
rmackay9
072ffec493
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
Robert Lefebvre
b32d7c8b63
ACM: TradHeli
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Prevent helis from arming while RSC control is switched on.
2012-11-26 19:03:28 -05:00
Robert Lefebvre
637c9a1a72
ACM: TradHeli
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Removing this "throttle" output restriction for TradHelis.
2012-11-26 18:44:03 -05:00
Andrew Tridgell
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
rmackay9
bcb9519fd7
ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues
2012-11-11 22:42:10 +09:00