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3184 Commits

Author SHA1 Message Date
Randy Mackay af657d58b9 Copter: RCIN dataflash logging 2013-11-27 16:46:25 +09:00
Randy Mackay 7ae3014c14 Copter: parameter @Units to Percent*10 2013-11-26 22:35:11 +09:00
Randy Mackay 14b3547830 Copter: rename some parameter Display Names 
Also move some parameter descriptions to @User Advanced
 2013-11-26 22:17:02 +09:00
Randy Mackay c32d77c626 Copter: fix @Group for SingleCopter 2013-11-26 21:50:29 +09:00
Andrew Tridgell 9c812d5028 Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:05:32 +11:00
Andrew Tridgell 49062d8a37 Copter: removed extra features of copter telemetry merge 2013-11-26 13:05:32 +11:00
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
Andrew Tridgell 21eac34cd1 Copter: log system ID if available 2013-11-26 13:00:03 +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 1645748e43 Copter: update @Range for Rate PIDs and Sonar 
This will reduce false positives in DroneShare's tlog analyser
 2013-11-25 12:52:37 +09:00
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 667c3ecbf8 Copter: commit to kick-off auto rebuild for -rc7 release 2013-11-22 10:34:35 +09:00
Randy Mackay 96fdc129b1 Copter: update -rc7 release notes 2013-11-22 09:55:23 +09:00
Randy Mackay 8eb46ced53 Copter: revert pre-arm check for slow GPS 2013-11-22 09:53:21 +09:00
Randy Mackay 1a0f80ee64 Copter: AC3.1-rc7 version and release notes 2013-11-21 17:30:08 +09:00
Randy Mackay 0bc505514a Copter: pre-arm check that INAV has no errors 2013-11-21 17:02:07 +09:00
Randy Mackay 965af43121 Copter: add INAV error count to PM dataflash msg 2013-11-21 17:02:04 +09:00
Randy Mackay 0219c85ee3 Copter: increase min LAND_SPEED to 30cm/s 2013-11-19 16:46:16 +09:00
Randy Mackay e6a2940718 Copter: prefix SingleCopter's MOT param description 
This should allow single copter's MOT_ parameter descriptions to be more
easily recognised as belonging to SingleCopter when viewed on the wiki's
arducopter-parameters page
 2013-11-19 13:38:17 +09:00
Randy Mackay b47cd6d5be Copter: fix SingleCopter motor parameters link 2013-11-19 13:25:53 +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 24dc4391bb Copter: display pre-arm check failure reason every 30sec 2013-11-18 17:20:39 +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 699a5bd381 Copter: radio, batt failsafe disarm if copter is landed in Loiter or AltHold 2013-11-18 15:51:17 +09:00
Randy Mackay 7dd4ab835f Copter: CURR dataflash msg to output throttle_out 
Previously it was outputting throttle-in which is not as useful in
autonomous modes
 2013-11-18 13:30:48 +09:00
Randy Mackay 1359a8fea5 Copter: log INS errors in PM message 2013-11-18 12:16:21 +09:00
Randy Mackay e32e83f2f0 Copter: commit to kick off MP rebuild 
Required to push back MP Beta Firmwares version to AC3.1-rc5
 2013-11-17 00:56:46 +09:00
Randy Mackay cf21774cf4 Copter: update AC3.1-rc6 release notes again 2013-11-16 17:14:41 +09:00
Randy Mackay 9485363c53 TradHeli: dynamic flight speed minimum to 5m/s 2013-11-16 16:58:14 +09:00
Randy Mackay a98fb174c4 Copter: batt failsafe triggers RTL from AUTO 2013-11-16 14:55:49 +09:00
Randy Mackay fd60285121 Copter: update AC3.1-rc6 release notes 2013-11-16 14:49:03 +09:00
Randy Mackay 87127f0ab8 Copter: allow battery failsafe to trigger RTL 2013-11-16 14:46:57 +09:00
Randy Mackay a812ef4660 Copter: minor comment update for set_mode 2013-11-16 13:56:15 +09:00
Randy Mackay bc1e06757b Copter: allow GPS failsafe to trigger AltHold 
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO.  This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
 2013-11-16 13:55:59 +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 5cc8772947 Copter: bug fix to Tricopter motor logging 
Fourth motor taken from yaw channel's radio_out instead of random
location in memory
 2013-11-16 10:48:02 +09:00
Randy Mackay 8c9ab50ba2 TradHeli: restore CC_COMP and PIRO_COMP 2013-11-15 22:58:43 +09:00
Randy Mackay 0f67e25d37 TradHeli: set throttle_min to zero by default 2013-11-15 22:58:38 +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
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 527f05ddec Copter: remove unused init_rate_controllers 2013-11-15 22:58:22 +09:00
Randy Mackay 4537e0aa15 Copter: add deadzone to ch8 for TradHeli 2013-11-15 22:58:20 +09:00
Randy Mackay 1f6bc7bd9c Copter: log TradHeli ch7, ch8 in MOT message 2013-11-15 22:58:17 +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
Robert Lefebvre 232a116973 TradHeli: Use Leaky Integrator on Yaw Rate controller 
Use when rotor is not running to prevent the rudder from slowly moving over
 2013-11-15 22:58:02 +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 eaef5315bf TradHeli: bugfix to update swash in run_rate_controllers 2013-11-15 22:57:47 +09:00
Randy Mackay 34fb70cfc7 TradHeli: formatting and param description changes 2013-11-15 22:57:45 +09:00
Randy Mackay 46118b59d7 TradHeli: integrate motor lib changes 2013-11-15 22:57:43 +09:00
Randy Mackay 72597cc5bd TradHeli: remove setup via CLI 
Saves 6k of flash
 2013-11-15 22:57:39 +09:00
Robert Lefebvre 0e2ddb0378 Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete. 2013-11-15 22:57:34 +09:00
Robert Lefebvre c5b119288d TradHeli: Add Motor Runup check to the auto_arming check. 2013-11-15 22:57:31 +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
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 e23e4bc7d8 TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector 2013-11-15 22:57:18 +09:00
Robert Lefebvre 324c866ae1 TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started. 2013-11-15 22:57:16 +09:00
Robert Lefebvre f7c63be357 TradHeli: leaky-I-term based on dynamic_flight_detector 2013-11-15 22:57:14 +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 57b291b1c5 Copter: reject change_command if not in AUTO 2013-11-14 13:49:37 +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
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 159d6320bf Copter: move SINGLE parameters to start at 75 2013-11-12 23:40:38 +09:00
Randy Mackay 06ce98a2f4 Copter: add SINGLE_FRAME definition 2013-11-12 23:40:32 +09:00
ssq870424 07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00
Randy Mackay 13fd33c2d8 Copter: gps failsafe disabled until we get first 3d lock 2013-11-12 11:13:05 +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 03831cdd28 Copter: GPS ok only when not glitching 
Removed redundant checks to GPS_ok before setting flight mode to RTL
(this check is already performed inside the set_mode function)
Removed reset of home distance and bearing when GPS lock is lost, it now
remains at the last known value
 2013-11-11 22:24:18 +09:00
Randy Mackay e4d8c673f3 Copter: force gyro calibration on start-up 2013-11-10 21:51:54 +09:00
Andrew Tridgell 6b1f59372c Copter: show git and firmware version in tlog 2013-11-09 10:09:20 +11:00
Andrew Tridgell b41f4898e0 Copter: report INS health 2013-11-07 12:48:17 +11:00
Andrew Tridgell 2f6cfd1ff8 Copter: update for AHRS API changes 2013-11-04 21:21:42 +11:00
Randy Mackay 620109d894 Copter: formatting fix to config.h 2013-11-03 12:57:02 +09:00
Robert Lefebvre 8868af7c2f TradHeli: Change default Auto-Yaw to Yaw Look Ahead 
This leads to smoother flight in Auto modes, particularly with fast waypoints.
 2013-11-03 12:56:57 +09:00
Jason Short 66b8ca3a27 Copter: updated toy gains 2013-11-03 10:14:10 +09:00
Jason Short 2a82d1b0b0 Copter: CH7 SaveWP fix corner case 
If the user is on the ground and flips CH7, do nothing instead of recording a bad takeoff altitude. Do another check to avoid a land right after a takeoff.
 2013-11-02 21:34:55 +09:00
Randy Mackay 8278767d0a Copter: remove unused get_acro_yaw 2013-11-02 21:34:53 +09:00
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
Randy Mackay f1969d5662 Copter: switch from NAV_ROI to DO_SET_ROI 2013-07-14 17:37:05 +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 6bfcd28ade Copter: thr failsafe will not RTL if in batt failsafe 
resolves issue #413
 2013-07-13 19:49:25 +09:00
Randy Mackay 5a40ee7a38 Copter: fix to gps present check in mavlink extended status 1 msg 2013-07-13 10:27:50 +09:00
Randy Mackay 66d7f7b026 Copter: GCS_mavlink only send waypoints to gcs3 if initialised 
Also Load parameter defaults at initialisation (although defaults are
all zero anyway so should have no effect)
 2013-07-13 10:12:01 +09:00
Randy Mackay aefb38e486 Copter: remove param to disable accel based throttle controller 2013-07-12 22:57:30 +09:00
Randy Mackay d5b4c44926 Copter: comment fix for flight mode switch delay const 2013-07-12 22:29:14 +09:00
Rayjan Wilson 07ca8ef87a attempt to change from 1/10th second to 2/10th second on flight mode switch 2013-07-12 21:57:35 +09:00
Randy Mackay 53bff2b63e Copter: cli to report ch8 radio values 2013-07-12 21:46:03 +09:00
Randy Mackay 2f4221391e Copter: set_dead_zone renamed to set_default_dead_zone 
Dead zones now set as part of rc initialisation instead of only after
eeprom is erased.
Change in use of parameter means value passed in should be 1/2 what it
was previously
 2013-07-12 11:44:23 +09:00
Randy Mackay 1685ff274d TradHeli: compile error fix related to new ACRO 
The motors_runup_complete must be a feature that Rob has implemented in
his clone which has not yet reached master.  We will need to restore
these lost few trad-heli specific lines once Rob's changes make it to
master.
 2013-07-11 22:33:55 +09:00
Leonard Hall 64ce9b017d Copter: Body frame ACRO upgrade 2013-07-11 17:53:25 +09:00
Randy Mackay 6dd446ac79 Copter: firmware version to 3.0.1 2013-07-11 16:45:05 +09:00
Andrew Tridgell 5ae62f4f04 Copter: fixed build with specified GPS driver 2013-07-11 14:27:42 +10:00
Randy Mackay ac5d925115 Copter: revert Loiter Pos P to 1.0 (was 0.8) 2013-07-11 12:20:31 +09:00
Randy Mackay 1590a5d58a Copter: increase Yaw Rate I 0.02 2013-07-11 12:20:29 +09:00
Randy Mackay ab1a7baf71 Copter: project stopping point for loiter command 2013-07-11 11:39:47 +09:00
Randy Mackay d77f7bc803 Copter: default Loiter Pos P to 0.8 (was 0.2) 2013-07-11 08:13:17 +09:00
Randy Mackay ec65764750 Copter: typo in release notes 2013-07-11 08:04:45 +09:00
Randy Mackay ab09dc46fb Copter: update release notes 2013-07-10 21:20:01 +09:00
Randy Mackay 345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter 
Also removed unused _lean_angle_max variable
 2013-07-10 20:00:32 +09:00
Randy Mackay 8cb7bd628e Copter: change firmware version to 3.0.1-rc2 2013-07-10 15:52:21 +09:00
Randy Mackay f459d35e3e Copter: roll-pitch fix to allow I to reduce 
Contributed by Leonard Hall
 2013-07-10 15:52:15 +09:00
Andrew Tridgell da4137b731 Copter: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell c544a076ca Copter: enable camera logging by default 
these messages only happen on user defined camera triggering, so
should be low rate
 2013-07-10 12:24:02 +10:00
Craig@3DR bbd4fbd2fb Copter: trigger + logging on camera update_location() 2013-07-10 08:39:59 +10:00
Tobias cf426fcb3e Copter: fixed a compiler warning 
* removed useless comparison: if (int8_t t >= 255) ...
* revealed by -Wtype-limits
* saved 6 bytes
 2013-07-08 14:53:30 +10:00
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
tobias 4e73cf810e Copter: added cast to remove compiler warning 2013-07-08 12:07:50 +10:00
Randy Mackay 45f47de98d Copter: reduce default Loiter Pos P to 0.2 (was 1.0) 2013-07-07 16:00:09 -10:00
Randy Mackay 9361e9fe32 Coper: compile error fix when FENCE disabled 2013-07-05 17:22:05 -10:00
Randy Mackay 227185fd0f Copter: remove constraint on rate yaw controller 2013-07-05 14:18:58 -10:00
Randy Mackay 40612ed551 Copter: yaw limit fix to allow I to reduce 
We now allow the I term even if we've hit the yaw limits as long as
updating the I term will reduce it
 2013-07-05 13:52:03 -10:00
Randy Mackay 0cf4ac088a Copter: restore LEDs to off state when auto-trim completes 2013-07-04 16:38:28 -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
tstellanova 459c47fa46 Fix test_ins 
Fix output format of test_ins and fix the number of parameters passed
to printf
 2013-07-02 23:42:48 -10:00
Randy Mackay 404cd5f3da Copter: rename g.pid_throttle to g.pid_throttle_rate 
Small code clean-up to make throttle rate controller's pid more obvious
 2013-06-30 00:04:21 -10:00
Randy Mackay b3da8a462f Copter: CH6 tuning definition clean-up 
Renamed and reorganised the CH6 #defines and parameter definitions
 2013-06-29 23:51:43 -10:00
Dr Gareth Owen e0dcd680f7 proposed radio failsafe bug fix 2013-06-27 17:13:01 -10:00
Randy Mackay 917ae883a0 Copter: revert prev changes to battery failsafe 
The battery failsafe should remain independent of any throttle failsafe
behaviour settings
 2013-06-27 10:30:46 -10:00
Robert Gayle 917edcab11 Copter: added FS_THR_ENABLED_ALWAYS_LAND (=3) option: don't attempt RTL, just land 2013-06-27 10:19:38 -10:00
Olivier-ADLER eaa0e36954 Copter: CompassMot current calibration 
Was using a hardcoded (330) value instead of COMPASS_MAGFIELD_EXPECTED define
 2013-06-26 20:54:03 -10:00
Jonathan Challinger b21bc5a85a Copter: Fixed bug in battery current integration 2013-06-26 17:22:37 +09:00
Randy Mackay 0592475959 Copter: change firmware version to 3.0.0-rc1 2013-06-26 14:03:28 +09:00
Randy Mackay cb0e262e24 Copter: GPS Failsafe switch to LAND if circular fence enabled 2013-06-26 11:57:59 +09:00
Randy Mackay 45dfbecaba Copter: update 3.0.1 version and release notes 2013-06-26 00:09:36 +09:00
Randy Mackay 022148ec0d Copter: LAND only control horizontal position if we have GPS lock 2013-06-25 22:34:58 +09:00
Randy Mackay 66cecbfdc3 Copter Fence: bug fix to avoid repeatedly invoking LAND mode 2013-06-25 22:23:31 +09:00
Olivier-ADLER 24e1f074d0 Copter: Fence missing GPS 3D fix check 
Fence was missing GPS 3D fix check before selecting recovery decision.
 2013-06-25 22:23:29 +09:00
Randy Mackay facd8fc89f Copter: calculate home position and bearing when we have 2D Fix 2013-06-25 22:23:26 +09:00
Olivier-ADLER f1bedc70ac Copter: SuperSimple mode bug 
SuperSimple bearing was updated without checking for GPS 3D Fix availability.
 2013-06-25 22:23:13 +09:00
Andrew Tridgell 3e82f644ea Copter: enabled CAM_TRIGG_DIST parameter 2013-06-25 12:52:44 +10:00
Andrew Tridgell 76d1791073 Copter: CONFIG_RELAY is not used 2013-06-25 12:47:07 +10:00
Andrew Tridgell 23eade8f74 Copter: enable RELAY_* parameters 2013-06-25 12:46:53 +10:00
Randy Mackay a48a7f9775 Copter: minor param definition unit changes 2013-06-23 15:52:46 +09:00
Randy Mackay cd30103b76 Copter: increase default CIRCLE_RATE to 20deg/sec 2013-06-19 12:40:33 +09:00
Randy Mackay 245bc3d3fd Copter: show pilot input in dataflash ATT message even when in AUTO 
AUTO mode ignores pilot input but we still want to be able to see the
pilot's input in the Roll-In and Pitch-In columns of the dataflash's ATT
message
 2013-06-19 12:37:13 +09:00
Randy Mackay acb4907313 Copter: update FS_THR_VALUE parameter description 
One user was setting FS_THR_VALUE too low, below 900 which means
ArduCopter would not trigger when the ppmencoder pulled ch3 low after
updates from the ppmencoder stopped
 2013-06-18 15:56:39 +09:00
Randy Mackay b1a014e12e Copter: update firmware version to 3.0.0 2013-06-18 10:03:40 +09:00
Randy Mackay c42ed1e5eb Copter: add @Increment to PID parameters descriptions 2013-06-16 21:53:50 +09:00
Randy Mackay 069bd17928 Copter: reduce default AltHold P to 1.0 (was 2.0) 
This helps reduce jumpiness due to althold feed forward
 2013-06-16 15:32:25 +09:00
Randy Mackay b1e089fe29 Copter: update AC3.0-rc6 version and release notes 2013-06-16 11:48:03 +09:00
Randy Mackay 272f0e5032 Copter: reduce twitch when entering CIRCLE mode 
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
 2013-06-15 18:18:30 +09:00
Andrew Tridgell 3ec381094e Copter: fix VOLT_DIVIDER docs 2013-06-07 08:40:37 +10:00
Andrew Tridgell 8703d39475 Copter: the INS object is needed for HIL_MODE_SENSORS 
otherwise we can't level, so can't arm
 2013-06-04 18:09:06 +10:00
Randy Mackay 181beb004d Copter: update AC3.0-rc5 release notes 2013-06-04 15:26:02 +09:00
Randy Mackay fcf2429e39 Copter: remove throttle controller's ability to limit lean angle 2013-06-04 15:25:59 +09:00
Randy Mackay dd92a2ba07 Copter: AC3.0-rc5 version and release notes 2013-06-04 15:25:56 +09:00
Andrew Tridgell ba959fd594 Copter: remove unused define 2013-06-04 10:36:34 +10:00
Randy Mackay 1b08f12d53 Circle: allow counter clockwise rotation 2013-06-03 22:12:56 +09:00
Randy Mackay 40f5226518 Copter: reset yaw angle only when motors not spinning 2013-06-03 22:12:52 +09:00
Andrew Tridgell 340c451caf Copter: fixed off-by-one in rcmapper 
oops ...
 2013-06-03 22:22:26 +10:00
Andrew Tridgell 595d3c694a Copter: make it possible to change board orientation at runtime 2013-06-03 16:52:52 +10:00
Andrew Tridgell 725293b9c3 Copter: removed use of rc_ch[] global array 2013-06-03 16:23:48 +10:00
Randy Mackay 213eaa8db6 Copter: integrate draft RCMapper 2013-06-03 16:23:47 +10:00
Randy Mackay 993bccc60e Copter: point nose at landing point if specified 2013-06-03 15:20:37 +09:00
Randy Mackay 9f59f2724f Copter: bug fix for take-off when throttle is zero 
Verify_takeoff was always returning false if throttle was zero.  The
pilot should be able to move their throttle back to zero immediately
after initiating the mission
 2013-06-03 14:18:56 +09:00
Randy Mackay 13c41e74f2 Copter: reduce pre-arm board voltage check to 4.3V 2013-06-02 20:47:58 +09:00
Randy Mackay 036e6f4f2c Copter: updated AC3-rc4 release notes 2013-06-02 12:21:06 +09:00
Randy Mackay 9e91def774 Copter: update firmware version and release notes 2013-06-02 12:19:36 +09:00
Olivier-ADLER 735406fa77 Copter : POSITION_HOLD mode -> allow user position control 2013-06-02 11:49:18 +09:00
Olivier-ADLER 68470c9176 Copter : Land submode - Check for GPS 3D Fix instead of checking for available home position 2013-06-02 11:49:12 +09:00
Dr Gareth Owen 18e566ccc5 failsafe gps lost bug fix 2013-06-02 11:41:59 +09:00
Randy Mackay b462bfed84 Copter: remove unused print_wp function 2013-06-02 11:32:38 +09:00
Dr Gareth Owen 4c6d6ea96e changed yaw reset to when armed to not use initial_simple_bearing 2013-06-02 11:29:30 +09:00
Dr Gareth Owen 79bd8b4fd0 rtl resets yaw to same as when armed - unless user specifies otherwise 2013-06-02 11:29:27 +09:00
Randy Mackay 0460147a15 Copter: guided mode yaw fix 
Nose of copter now points at next guided point if it is more than 10m
away
 2013-06-02 11:25:35 +09:00
Randy Mackay 5203ba9fe3 Copter: alt hold feed forward filter 2013-06-01 21:13:47 +09:00
Randy Mackay 99f5462a03 Copter: circle mode fixes 2013-06-01 18:21:30 +09:00
Randy Mackay e3cd494709 Copter: remove debug message 2013-06-01 18:21:30 +09:00
Randy Mackay 23ce35d292 Copter: remove unused NAV_WP_INAV #define 2013-06-01 18:21:28 +09:00
Randy Mackay 5e2fc32410 Copter: remove unused cli wp report 2013-05-31 21:04:27 +09:00
Randy Mackay 1722e438d8 Copter: pass alt hold gain to WP_Nav library 2013-05-31 21:04:10 +09:00
Randy Mackay d875e95da3 Copter: remove nav and wp tests from cli 
This are more fully tested in the autotester
 2013-05-31 15:23:39 +09:00
Randy Mackay ae91c4a237 Copter: alphabetise order of cli test menu 2013-05-31 15:16:06 +09:00
Randy Mackay e2495b7a49 Copter: alphabetise order of cli setup menu 2013-05-31 15:16:06 +09:00
Randy Mackay a0c8bf238e Copter: move motors test to test menu 
Also allow test to be run from mission planner's cli window
 2013-05-31 15:16:05 +09:00
Randy Mackay 1807840d4f Copter: fixed comments re mag field pre-arm check 2013-05-31 12:28:04 +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
Andrew Tridgell 2488c4fdc3 Copter: update docs on volt/current pin 2013-05-31 07:57:15 +10:00
Dr Gareth Owen f175111243 added GPS check before mode change. New mode_requires_gps() function. 2013-05-30 20:33:15 +09:00
Andrew Tridgell 0e31a2f582 Copter: fixed indent-tabs-mode 2013-05-30 09:55:51 +10:00
Andrew Tridgell 30df8796ce Copter: fixed loading of waypoints 
copter code assumes that command_total includes the home waypoint
 2013-05-29 21:44:08 +10:00
Andrew Tridgell 903d5636bb Copter: added support for partial mission load 
this allows individual waypoints to be updated in missions
 2013-05-29 16:25:05 +10:00
Randy Mackay c3d21a457f Copter: add pre-arm board voltage check 
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 cdcf442f55 Copter: enable GPS failsafe by default 2013-05-27 11:25:37 +09:00
Randy Mackay ec7ee47099 Copter: scaling stability patch 2013-05-27 11:21:31 +09:00
Randy Mackay 838fb3f4e2 Copter: don't spin motors in ALTHOLD with zero throttle 2013-05-27 10:42:22 +09:00
Randy Mackay 4fa101292a Copter: add baro health to pre-arm checks 2013-05-25 12:24:47 +09:00
Randy Mackay d1791bab76 Copter: fix barometer cli test 2013-05-25 12:21:29 +09:00
Dr Gareth Owen 1aca66460e 7 yaw when armed option changed so overridable by user 2013-05-24 11:14:06 +09:00
Randy Mackay 967aa81e9b Copter: add XL-EZ4 to SONAR_TYPE parameter description 2013-05-23 09:46:57 +09:00
Randy Mackay 22e9b95c3c Copter: version update to 3.0.0-rc3 2013-05-22 17:46:28 +09:00
Randy Mackay 72f29bd0db Copter: remove debug message from compassmot 2013-05-22 11:30:30 +09:00
Randy Mackay c404c46e5a Copter: add Fence to CH7/CH8 param description 2013-05-21 16:31:16 +09:00
Andrew Tridgell 4508e645f1 Copter: fixed parameters to pass new script 2013-05-21 17:02:13 +10:00
Randy Mackay bb3073fab1 Copter: minor parameter description fixes 2013-05-21 15:56:09 +09:00
Randy Mackay 5ee68db6f0 TradHeli: add parameter descriptions 
small formatting changes too
 2013-05-21 15:33:41 +09:00
Randy Mackay 9139fb54ac Copter: param update for AP_Baro and AP_Scheduler 2013-05-21 14:22:11 +09:00
Randy Mackay 00bd1bf8ea Copter: RESETTOARMEDYAW order and comments 
We should keep the order in the case statement the same as the #define
order.
 2013-05-21 10:58:34 +09:00
Dr Gareth Owen f646b79e5f indent correct again 2013-05-21 10:40:36 +09:00
Dr Gareth Owen d9fc37c01c indent correct 2013-05-21 10:40:34 +09:00
Dr Gareth Owen e9d640ced8 added ch7 option to reset yaw back to what it was when quad was armed 2013-05-21 10:40:30 +09:00
Randy Mackay db552adf02 Copter: typo in LOG_BITMASK param description 2013-05-21 10:30:59 +09:00
Randy Mackay 669850e6d4 Copter: add parameter description for LOG_BITMASK 
Should allow a dropdown in the GCS so it can be set more easily without
going into the cli
 2013-05-21 10:29:40 +09:00
Randy Mackay bd44c2f73d Copter: all pre-arm checks to be disabled 
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 d10e3bc75f Copter: send_text_P bug fix for short messages 2013-05-20 12:52:20 +09:00
Randy Mackay 885ce7db03 Copter: remove DigitalReadFast 
With APHal all reads are fast
 2013-05-20 11:29:34 +09:00
Randy Mackay 21f3534a93 Copter: remove DigitalWriteFast 
With APHal all writes are fast
 2013-05-20 11:27:35 +09:00
Randy Mackay 55f1b3b2ae Copter: reorganise medium loop 
Shifted compass logging to happen when compass is read.
Updated comments.
 2013-05-20 11:18:51 +09:00
Randy Mackay c840e2a8c2 Copter: code clean-up move 10hz loop after 50hz loop 2013-05-20 11:05:14 +09:00
Randy Mackay f4846b417a Copter: compiler fix for disabled logs 2013-05-19 22:55:40 +09:00
Randy Mackay 4ad395e7be Copter: merge WPNAV into NTUN dataflash message 2013-05-19 22:53:35 +09:00
Randy Mackay 072f3dbe30 Copter: display interference % in compassmot 2013-05-19 22:03:48 +09:00
Randy Mackay 9fdab5e8fe Copter: remove unused AUTO_SLEW_RATE parameter 2013-05-17 16:09:17 +09:00
Randy Mackay 8c99936431 Copter: update CH7_OPT, CH8_OPT to include Multi Mode 2013-05-17 16:07:11 +09:00
Randy Mackay 38239c652a Copter: ch8 aux switch 
Ch8 can be used as an aux switch like ch7.  Has all the same options as
ch7 and there is a safety check to ensure both switches aren't set to
the same function so as to avoid interfering with each other
 2013-05-17 14:42:28 +09:00
Randy Mackay 566daf883a Copter: remove unused MODE bit from LOG_BITMASK 
We always log the mode so no need for this bit
 2013-05-17 12:26:42 +09:00
Randy Mackay 5b00ce24ed Copter: minor user hooks cleanup 
Only define and call functions if the appropriate #define in
APM_Config.h has been added
 2013-05-17 12:19:07 +09:00
Randy Mackay 6a173eb7ad Copter: remove unused dump_state function 
Feel free to add this back in when doing debug.  Let's not have too much
debug permanently in the code because it makes it harder to read.
 2013-05-17 12:11:23 +09:00
Randy Mackay 1426f40319 Copter: remove unused JDrones motor PID overrides 2013-05-17 12:05:20 +09:00
Randy Mackay 19394918dd Copter: simplify APM_Config.h 
Remove items that can be more easily set with parameters
 2013-05-17 12:01:39 +09:00
Randy Mackay 28c37dd798 Copter: do pre-arm checks when arming from GCS 2013-05-17 11:22:32 +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 0540acfec9 Copter: change to compassmot instructions 2013-05-15 12:35:16 +09:00
Randy Mackay 33d1129904 Copter: remove unused TB_RATIO parameter 2013-05-14 16:56:55 +09:00
Randy Mackay e843bf3dfd Copter: bug fix for POSITION mode throttle 
Was using alt-hold throttle controller instead of manual throttle
controller
 2013-05-14 11:56:09 +09:00
Randy Mackay a2e298bbfc Copter: change to default RTL yaw behaviour 
We will not point the nose home for RTL but will point the nose for all
other waypoints
 2013-05-14 11:52:39 +09:00
Randy Mackay 319f3ef560 Copter: flexible CH6 declination tuning range 2013-05-13 23:37:30 +09:00
Randy Mackay 6ba9431be4 Copter: update firmware version and release notes ahead of -rc2 2013-05-13 22:16:25 +09:00
Randy Mackay e130c8041c Copter: remove unused event definitions 2013-05-13 18:07:44 +09:00
Randy Mackay bd6edecdec Copter: restore logging of arm/disarm event 2013-05-13 18:07:28 +09:00
Randy Mackay 94a05a9285 Merge branch 'master' of https://github.com/diydrones/ardupilot 2013-05-13 18:01:53 +09:00
Randy Mackay bb7aec2600 Copter: log compass failur to dataflash 2013-05-13 18:01:30 +09:00
Andrew Tridgell c44fd42349 Copter: fixed RSSI reading on PX4 
needed for different analog input scaling
 2013-05-13 15:19:05 +10:00
Randy Mackay 429f900460 Copter: bug fix for RTL bearing 
Also smooth RTL's initial climb stage by projecting stopping point
 2013-05-11 16:21:25 +09:00
Randy Mackay ad656c7e8a Copter: allow lat/lon to be specified for land 2013-05-10 22:37:15 +09:00
Randy Mackay b3bca271d4 Copter: rename verify_must to verify_nav_command 
Perhaps easier to understand if we use the "nav" and "conditional"
command labels
 2013-05-10 12:06:29 +09:00
Randy Mackay b65d714675 Copter: set yaw-mode in do_loiter mission command 2013-05-10 10:51:46 +09:00
Randy Mackay 98732ae4e8 Copter: remove redundant init of controllers when auto is started 
individual do_* commands are responsible for setting roll-pitch, yaw and
throttle modes.  Removing this redundant setting of the controllers
removes the short period (10th second max) where loiter and waypoint
controller's desired roll and pitch were used even before the
controllers have been run once.
 2013-05-10 10:51:13 +09:00
Randy Mackay 870b9b0fbb Copter: only run nav controllers when auto-armed 
This stops run-up in target position and nav controller I terms ahead of
throttle being raised
 2013-05-10 10:46:17 +09:00
Randy Mackay 1b52ee211a Copter: bug fix for RTL yaw control 
Nose was only pointing home if your initial altitude was above the
RTL_ALT
 2013-05-09 21:44:46 +09:00
Randy Mackay ed5ddfd9db WPNav: initialise desired roll, pitch 
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
 2013-05-09 18:32:02 +09:00
Randy Mackay d0fb332e9f Copter: init_rc_out in cli's compassmot setup 
Bug fix to allow cli's compass motor compensation to be run from the
mission planner's terminal window
 2013-05-09 13:30:08 +09:00
Andrew Tridgell 95120ed43d Copter: use library gcs_severity 2013-05-09 09:28:49 +10:00
Randy Mackay 1b2d8636ca Copter: set wp to "fast" if they have no delay 2013-05-09 00:18:36 +09:00
Randy Mackay 9824f6c223 Copter: add flight mode strings to Parameter info 2013-05-08 16:41:45 +09:00
Randy Mackay 0a148cce19 Copter: log target alt in meters 2013-05-08 16:41:16 +09:00
Andrew Tridgell 9feb46c834 Copter: use new accel cal interact over MAVLink 2013-05-08 16:19:26 +10:00
Randy Mackay 324200b52c Copter: disable centrifugal correction when disarmed 2013-05-06 15:32:08 +09:00
Andrew Tridgell 703a1ba438 Copter: avoid copying the DCM matrix 2013-05-05 21:51:09 +10:00
Randy Mackay 372ebb602c Copter: disable centrifugal force correction when disarmed 2013-05-05 16:55:06 +09:00
Randy Mackay ae2ad8e819 Copter: remove unused radius_of_earth constant 2013-05-05 13:13:48 +09:00
Randy Mackay 6836964e3c Copter: resolve compiler warning re fence 2013-05-04 23:18:16 +09:00
Randy Mackay 1cfd5900a8 Copter: add support for H-quad frame 
H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
 2013-05-03 23:13:40 +09:00
Randy Mackay 647a93e78e Copter: remove jerk when entering RTL or AUTO 
Loiter target position was not being initialised properly.
Add a few more comments
 2013-05-03 16:58:00 +09:00
Randy Mackay cca05ee8ae Copter: start dataflash logging when arming 
Stop nearly empty logs from being produced.
Removed redundant armed bit from ap state.
 2013-05-03 14:49:55 +09:00
Andrew Tridgell b6e3e59bc3 Copter: simplify setHIL for baro 2013-05-02 15:26:54 +10:00
Andrew Tridgell 55da049c69 Copter: fixes for AP_Baro_HIL 2013-05-02 15:09:16 +10:00
Andrew Tridgell db57c8d7c5 Copter: removed the deprecated HIL sensors interface 
must use the new HIL_STATE message now
 2013-05-02 15:00:50 +10:00
Andrew Tridgell 172d9724df Copter: use new HIL compass API 2013-05-02 15:00:07 +10:00
Andrew Tridgell 0d027b7a23 Copter: updates for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell 105bd32a2e Copter: fixed some uses of constrain_float() to be right type 2013-05-02 10:29:57 +10:00
Andrew Tridgell 25c576cad7 Copter: replaced constrain() with constrain_float() 2013-05-02 10:26:49 +10:00
Michael Oborne 743d7f2b74 Fix Param description 2013-05-02 09:49:21 +10:00
Randy Mackay d9601916ee Copter: update firmware version and release notes for 3.0.0-rc1 2013-05-01 17:53:11 +09:00
Randy Mackay 3aca35777f Copter: use mavlink fence message 
Note: we should consider moving this send via mavlink into the fence
library
 2013-05-01 17:06:58 +09:00
Randy Mackay bab9fa25e5 Copter: add GCS failsafe 2013-04-29 21:30:22 +09:00
Randy Mackay 31e430948a Copter: use renamed RCInput valid_channels 2013-04-29 15:06:30 +09:00
Randy Mackay 76d0f7f74d Copter: fix compiler warning re unused float_int 2013-04-28 17:22:58 +09:00
Randy Mackay cc2232b2f3 Copter: remove outdated tests 
We primarily use sitl now for testing making these unit tests less
important and having large blocks of commented out code that perhaps
doesn't compile anymore makes the code messy
 2013-04-28 17:21:33 +09:00
Randy Mackay d146d6aaa6 Copter: restore update_altitude to run at 10hz 2013-04-28 17:15:13 +09:00
Randy Mackay 90af3262c5 Copter: pre-arm check for compass 2013-04-27 23:50:40 +09:00
Randy Mackay 57731bb3f9 Copter: adopt compass test from arduplane 2013-04-27 23:33:04 +09:00
Randy Mackay c232d7af4b Copter: correct fence parameter 2013-04-27 11:14:11 +09:00
Randy Mackay 58d1da2d80 Copter: integrate AC_Fence in place of limits 
Lesser functionality than limits but saves more than 150 bytes and it
works
 2013-04-27 11:14:07 +09:00
Randy Mackay 45aab0de92 Copter: add I2C error count to PM message 2013-04-26 22:39:22 +09:00
Andrew Tridgell 300a8d2bbc Copter: support all 12 channels on PX4 
last 4 channels are on the FMU pins
 2013-04-25 20:10:53 +10:00
Randy Mackay 74dca6da22 Copter: move update_commands to run_autopilot fn 
update_commands was being run in the medium_loop counter but it is
easier to understand the flow of the code if it is consolidated along
with other autopilot calls.
 2013-04-24 20:59:49 +09:00
Andrew Tridgell fb0f5d46ba Copter: use BIT_IF_SET() 
this should fix the problem with simple mode on PX4

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-23 23:05:42 +10:00
Andrew Tridgell 5ad9deecfb Copter: cleanup some bit if tests to be clearer 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-23 23:03:34 +10:00
Andrew Tridgell 8ec1eaa8b1 build: removed obsolete cmake rules 
these have not been maintained for over a year
 2013-04-23 11:07:53 +10:00
Randy Mackay 63a48f76e2 Copter: add pre-arm check of radio and accel 
Only checks throttle channel and accelerometer scaling
 2013-04-23 00:01:20 +09:00
Randy Mackay 07b6efafd8 Copter: use DEGX100 constant for position_vector calcs 2013-04-22 21:03:46 +09:00
Randy Mackay 0b29754920 Copter: simplify roll-pitch stabilize controller 
remove check of whether to freeze i term when attitude is less than 5
degrees from horizontal.  I terms have been moved to the rate
controllers.
 2013-04-22 18:47:56 +09:00
Andrew Tridgell 82c604dd67 Copter: more constrain fixes 2013-04-22 13:26:49 +10:00
Andrew Tridgell d5875676b1 Copter: use a reference to DCM matrix 2013-04-22 13:26:49 +10:00
Andrew Tridgell c2c037ec0d Copter: use the right constrain() type in Attitude code 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 13:26:49 +10:00
Randy Mackay a9da3c9d3d Copter: remove unused throttle functions 
removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
 2013-04-21 23:43:04 +09:00
Andrew Tridgell 9cec664236 Copter: fixed format of PM message log 2013-04-21 23:46:35 +10:00
Randy Mackay 94d4ecef11 Copter: reduce throttle rate D to zero 2013-04-21 16:28:07 +09:00
Randy Mackay 2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Andrew Tridgell c53ede506d Copter: make if statement clearer 2013-04-21 07:25:52 +10:00
Bill Bonney 36041bb9ff Copter: Enable CURRENT logging by default to dataflash 2013-04-21 07:25:34 +10:00
Andrew Tridgell 8b31f276a2 Copter: switch to block based logs for SITL 2013-04-20 20:45:51 +10:00
Randy Mackay 745df9b13c Copter: add SONAR_GAIN to tune reaction to sonar 
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
 2013-04-20 15:58:36 +09:00
Randy Mackay 50515e28e1 Copter: replace fabs with fabsf 2013-04-20 15:40:56 +09:00
Randy Mackay a53e5f747b Copter: add fourth yaw behaviour, look-at-home 
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
 2013-04-20 15:36:24 +09:00
Andrew Tridgell 02c3083f60 Copter: print flight mode as string 2013-04-20 15:18:22 +10:00
Andrew Tridgell ce3ee97e73 Copter: removed duplicate print_latlon() declarations 2013-04-20 13:57:45 +10:00
Andrew Tridgell 93d075404c Copter: added board voltage to current message 2013-04-20 13:52:37 +10:00
Andrew Tridgell a0708460a4 Copter: convert to new logging system 2013-04-20 13:52:37 +10:00
Andrew Tridgell 67484a2ea1 Copter: make copter code compatible with the new logging system 
not fully converted yet
 2013-04-20 13:52:36 +10:00
Randy Mackay 37abfdc65a Copter: make CIRCLE_RATE a tunable parameter 
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
 2013-04-20 12:03:55 +09:00
Randy Mackay d65d7d95e2 Copter: bug fix for take-off so it never descends 
If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
 2013-04-18 22:30:24 +09:00
Randy Mackay 0fc9c8739e Copter: add WP_YAW_BEHAVE parameter 
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose.  Almost nobody
ever knew about or used this parameter.
 2013-04-18 15:30:18 +09:00
Randy Mackay 18c1373847 Copter: remove unused AUTO_VELZ defaults 
These have now moved to AC_WPNav
 2013-04-18 14:57:08 +09:00
Randy Mackay f5955d8915 Copter: auto climb and descent params removed 
These params now reside in the AC_WPNav library
 2013-04-18 14:52:21 +09:00
Randy Mackay 9b351feade Copter: shorted INAV dataflash log message length 
Velocities are now output in WPNav message
 2013-04-17 22:39:30 +09:00
Randy Mackay f7524e5741 Copter: remove unnecessary cast to float in Log 2013-04-17 22:35:02 +09:00
Randy Mackay 7c8527e6a6 Copter: resolve compiler warning 2013-04-17 22:14:47 +09:00
Randy Mackay 2b4a7d60a9 Copter: remove unused throttle modes 
These were useful for testing the alt-hold when it was first introduced
but now they just add complexity
 2013-04-17 22:14:22 +09:00
Randy Mackay 56809a9df2 Copter: remove unused nav_ok and alt_sensor_flag 2013-04-17 21:57:57 +09:00
Randy Mackay 0b808abbed Copter: remove unused waypoint_valid function 2013-04-17 21:28:43 +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
Andrew Tridgell 501eb4f0b4 Copter: made more variables static 2013-04-17 21:35:11 +10:00
Andrew Tridgell 61c2befd4d Copter: fixed logging for new API 2013-04-17 21:34:42 +10:00
Randy Mackay 82989d85f2 Copter: remove unused #defines 2013-04-16 22:34:12 +09:00
Randy Mackay 0663da7c9e Copter: loiter rate IMAX to 4m/s/s and D to zero 2013-04-16 22:28:18 +09:00
Randy Mackay b8974dec99 Copter: compass learn off by default 2013-04-16 18:47:39 +09:00
Randy Mackay a7b32caf72 Copter: bug fix for loiter_time check 
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
 2013-04-15 23:57:22 +09:00
Randy Mackay a185fa950c Copter: Jason's fix to auto disarming 
Added check so that it only starts counting down when motors are armed.
This removes the issue in which the copter sometimes disarms shortly
aftering being armed.
 2013-04-15 23:36:45 +09:00
Randy Mackay 8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
Andrew Tridgell cf6ae4a746 Copter: remove ahrs.set_barometer() 2013-04-15 10:52:32 +10:00
Randy Mackay 8c7a1597dc Copter: remove debug comment from RTL 2013-04-14 18:28:13 +09:00
Randy Mackay 629d23b7e2 Copter: remove WP_SPEED and WP_RADIUS parameters 
AC_WPNav library has equivalent params with very similar names
 2013-04-14 13:27:37 +09:00
Randy Mackay b58c26bcd5 Copter: remove pid_nav_lat, pid_nav_lon 2013-04-14 12:12:51 +09:00
Randy Mackay bffe4fa412 Copter: remove NAV_LAT and NAV_LON 
Loiter and navigation controllers now combined
 2013-04-14 12:09:45 +09:00
Randy Mackay 700fb1b179 Copter: replace sin_yaw_y, cos_yaw_x in circle mode 2013-04-14 10:39:30 +09:00
Randy Mackay 366616e32c Copter: reduce default loiter PIDs 2013-04-14 10:39:28 +09:00
Randy Mackay 1ee825ee9a Copter: move alt and wp checking to AC_WPNAV 
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
 2013-04-14 10:39:23 +09:00
Randy Mackay 2db8365c90 Copter: add AC_WPNav to parameters list 2013-04-14 10:39:02 +09:00
Randy Mackay bc87118062 AC_WPNav: add get_target_alt method 2013-04-14 10:39:00 +09:00