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307 Commits

Author SHA1 Message Date
Ju1ien fd9502d3fa Copter: Improve surface tracking dynamics 
This little fix will allow much higher sonar_gain without the
oscillating effect it used to bring.
 2014-06-06 15:32:49 +09:00
Andrew Tridgell 640b64f5e4 Copter: convert to new GPS API 2014-04-01 06:38:24 +11:00
Randy Mackay 3910ab807f Copter: replace input filtering with smoothing gain 2014-03-04 22:23:50 +09:00
Randy Mackay fdae812814 Copter: DO_SET_ROI persists across waypoints 
Users should add a DO_SET_ROI command with zero lat, lon and alt to
restore the yaw control to the default control (which is normally
look-at-next-wp)
 2014-02-18 21:36:02 +09:00
Randy Mackay 5e8fede19e Copter: comment fix to Attitude.pde 2014-02-15 05:27:50 +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 90c5fe4be4 Copter: surface_tracking takes current_alt_target param 2014-02-15 05:27:46 +11:00
Randy Mackay 223c6fd4de Copter: remove deadwood, update_thr_cruise always runs 2014-02-15 05:27:45 +11:00
Randy Mackay c632211c8c Copter: get_of_roll, get_of_pitch moved to control_ofloiter 2014-02-15 05:27:42 +11:00
Randy Mackay 96c61fcf28 Copter: removed get_throttle_land 
Now in the control_land.pde
 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 b29a963fd6 Copter: remove unused Attitude.pde functions 2014-02-15 05:27:36 +11:00
Randy Mackay b34664ea07 Copter: remove unused altitude error 2014-02-15 05:27:34 +11:00
Randy Mackay abb42bcb41 Copter: remove unused run_rate_controllers 2014-02-15 05:27:34 +11:00
Randy Mackay 77c38f4de4 Copter: integrate init take-off 2014-02-15 05:27:34 +11:00
Randy Mackay faf1e99f1a Copter: surface tracking to use pos_control 2014-02-15 05:27:33 +11:00
Randy Mackay 7784fc7645 Copter: update pos_control's hover throttle 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
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 8f5585423c Copter: use ahrs trig values 2014-02-08 18:16:49 +09:00
Ju1ien 311bba1419 Copter: landing_complete stays true until thr is raised 
The idea of the fix is we can't leave land while throttle is 0 and then
we ignore the baro and it's disturbances.
 2014-01-22 14:38:35 +09:00
Randy Mackay a9f1a2ee5e Copter: disarm on land even if pilot throttle not zero 
default behaviour remains as before, this is an compile time option only
 2014-01-15 11:31:00 +09:00
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 7ef04bb73b Copter: rename nav_yaw to control_yaw 2013-11-27 22:48:20 +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 60bc9f4539 TradHeli: angle error to zero while motors runup 
Set angle error to zero in get_roll_rate_stabilized_bf,
get_pitch_rate_stabillize_bf, get_yaw_rate_stabilized_bf.
Original commit by Rob Lefebvre
 2013-11-15 22:58:34 +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 eaef5315bf TradHeli: bugfix to update swash in run_rate_controllers 2013-11-15 22:57:47 +09:00
Randy Mackay 46118b59d7 TradHeli: integrate motor lib changes 2013-11-15 22:57:43 +09:00
Robert Lefebvre ffb605d06d TradHeli: Modify the constrain on the auto throttle controller to prevent it from commanding full down collective if we think we are on the ground still. 2013-11-15 22:57:22 +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 f7c63be357 TradHeli: leaky-I-term based on dynamic_flight_detector 2013-11-15 22:57:14 +09:00
Randy Mackay f5b1114aea Copter: range check pilot requested lean angles 
This fixes a bug uncovered by MHA in which the receiver output 900 pwm
for roll and pitch to the APM which was interpreted as requesting an 80
deg lean angle which the copter then attempted to do!
 2013-11-13 14:21:21 +09:00
Randy Mackay f29f7d9777 Copter: bug fix to take-off in Loiter and AltHold 
Always set the target altitude after take-off to be current altitude +
20cm.  This resolves a bug in which the target altitude could end up
being a couple of meters higher than the current altitude if the user
entered Loiter / Alt Hold mode before inertial nav altitude estimate had
settled.
 2013-11-11 22:29:09 +09:00
Randy Mackay 8278767d0a Copter: remove unused get_acro_yaw 2013-11-02 21:34:53 +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 d2bbc06502 Copter: allow throttle deadband to be redefined in APM_Config.h 2013-10-13 20:41:11 +09:00
Randy Mackay 6876107a15 Copter: autotune disables rate output from stab controller 2013-10-13 11:56:01 +09:00
Randy Mackay 7cc8a9038f Copter: move failsafe flags into structure 2013-09-26 19:37:15 +09:00
Randy Mackay e5535e35b3 Copter: remove unused reset_stability_I 2013-09-24 21:42:05 +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 13ee672eae Copter: remove unused get_acro_pitch and roll 2013-09-09 10:11:23 +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 ac620e2140 Copter: Loiter and AltHold won't breach alt fence 2013-08-15 16:06:27 +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