Randy Mackay
12a4ce70fd
Copter: remove control_roll, pitch, yaw variables
2014-02-15 05:27:47 +11:00
Randy Mackay
b0673d693b
Copter: move set_mode, to flight_mode.pde
2014-02-15 05:27:47 +11:00
Randy Mackay
7afa0a767c
Copter: correct circle rate tuning to use circle_nav
2014-02-15 05:27:46 +11:00
Randy Mackay
989a03a643
Copter: remove unused flags and variables
2014-02-15 05:27:45 +11:00
Randy Mackay
223c6fd4de
Copter: remove deadwood, update_thr_cruise always runs
2014-02-15 05:27:45 +11:00
Randy Mackay
aec67cd3df
Copter: integrate control_autotune
2014-02-15 05:27:44 +11:00
Randy Mackay
d90d3d8dca
Copter: integrate control_flip
2014-02-15 05:27:44 +11:00
Randy Mackay
ec989c720c
Copter: integrate heli_control_acro
2014-02-15 05:27:43 +11:00
Randy Mackay
922dff0514
Copter: integrate heli_control_stabilize
2014-02-15 05:27:43 +11:00
Randy Mackay
bca309eb1e
Copter: replace takeoff_complete with landed_complete
2014-02-15 05:27:43 +11:00
Randy Mackay
3b0de0d23d
Copter: integrate trad heli AttControl
2014-02-15 05:27:43 +11:00
Randy Mackay
1457a9d31a
Copter: auto_mode to global scope
2014-02-15 05:27:41 +11:00
Randy Mackay
af890e0f8d
Copter: add AC_Circle include
2014-02-15 05:27:40 +11:00
Randy Mackay
8b9eb7ab2b
Copter: WPNav constructor change
2014-02-15 05:27:39 +11:00
Randy Mackay
055ce4e53e
Copter: integrate control_rtl
2014-02-15 05:27:39 +11:00
Randy Mackay
011de6683e
Copter: land_detector moved to control_land
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
dc6f622d48
Copter: move NTUN logging to 10hz loop
2014-02-15 05:27:36 +11:00
Randy Mackay
0a2adbac1b
Copter: renaming functions after moving xy control
2014-02-15 05:27:36 +11:00
Randy Mackay
5fd9410ff5
Copter: much renaming as xy pos controller moves
2014-02-15 05:27:36 +11:00
Randy Mackay
d380e6b4d3
Copter: integrate add ref to AC_Pos_Control from WP_Nav
2014-02-15 05:27:35 +11:00
Randy Mackay
49367c5a30
Copter: GCS.h include fix
2014-02-15 05:27:35 +11:00
Randy Mackay
7e37b16ccb
Copter: move update_flight_mode to fast loop
2014-02-15 05:27:35 +11:00
Randy Mackay
b34664ea07
Copter: remove unused altitude error
2014-02-15 05:27:34 +11:00
Randy Mackay
5649b7f4d9
Copter: integrate AC_PosControl constructor changes
2014-02-15 05:27:33 +11:00
Randy Mackay
33552b63d8
Copter: early integration of AC_PosControl
2014-02-15 05:27:33 +11:00
Randy Mackay
7f56b28767
Copter: move thr control to control_stabilize
2014-02-15 05:27:33 +11:00
Randy Mackay
2253cf9769
Copter: run main loop at 400hz for pixhawk
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
Andrew Tridgell
0a3476bbf1
Copter: change to new board_voltage() API
2014-02-14 21:50:59 +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
89b222f1cf
Copter: only report gps glitch when usb disconnected
2014-02-11 11:43:24 +09:00
Randy Mackay
8f5585423c
Copter: use ahrs trig values
2014-02-08 18:16:49 +09:00
Randy Mackay
5bcc2f5ca5
Copter: version to AC3.2-dev
2014-02-08 11:32:59 +09:00
Randy Mackay
5d929351ca
Copter: removed unused servo3, servo4 from coax
2014-02-07 12:36:17 +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
Andrew Tridgell
5a3a7f1cec
Copter: use new RC_Channels API
2014-02-06 10:17:16 +11:00
Randy Mackay
a078d00e6a
Copter: firmware to AC3.1.2-rc1
2014-01-30 14:00:20 +09:00
Randy Mackay
34f14a7c13
Copter: version to AC3.1.1-rc2
...
This update applies to pixhawk only
2014-01-21 21:23:11 +09:00
Andrew Tridgell
e8b8cc1a5d
Copter: converted to AP_ServoRelayEvents
2014-01-20 17:06:29 +11:00
Andrew Tridgell
e3804e2846
Copter: fixes for AP_Relay API change
2014-01-20 17:06:29 +11:00
Andrew Tridgell
50a90a1043
Copter: enable AP_BoardConfig
2014-01-20 17:06:28 +11:00
Randy Mackay
ae4f368f16
Copter: allow ch6 tuning of loiter speed
2014-01-15 15:22:52 +09:00
Randy Mackay
dd5521aa06
Copter: update version to AC3.1.1-rc1
2014-01-14 21:01:54 +09:00
Andrew Tridgell
8a41b18a1f
Copter: use uppercase names on SD card where possible
2014-01-14 12:46:26 +11:00
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
9f2f44f0f6
Copter: integrate shrunken optflow
2014-01-09 12:31:53 +09:00
Randy Mackay
1793ee804e
Copter: remove armed check before logging
2014-01-07 22:43:49 +09:00
Randy Mackay
99f851fc87
Copter: bugfix for starting in LOITER
...
Loiter's Roll-Pitch mode was not being set on start-up.
2013-12-30 17:18:10 +09:00
Andrew Tridgell
7c39d867bb
Copter: use file based logs in SITL
2013-12-29 07:14:21 +11:00
Andrew Tridgell
97df2f64c9
Copter: use common available_memory()
2013-12-28 16:02:32 +11:00
Randy Mackay
ab1bb6886c
Copter: remove reference to COPTER_LEDS
2013-12-19 16:19:48 +09:00
Randy Mackay
d362bb45fd
Copter: move sensor init from setup(to init_ardupilot
...
This fixes a bug in which the external led was not being disabled if the
EPM was enabled (they share pins). The cause of the problem was the EPM
was being initialised before it's parameters had been loaded
2013-12-19 14:12:19 +09:00
ctech4285
2b5d8aa5b7
Copter: integrate EPM library
2013-12-17 15:36:42 +09:00
Andrew Tridgell
dd749c1de3
Copter: when using file logs use "logs" directory
2013-12-17 11:51:36 +11:00
Andrew Tridgell
f37a2c979d
Copter: don't need Log_Write_IMU2() now
2013-12-09 17:34:07 +11:00
Andrew Tridgell
0cacc7eaeb
Copter: log both primary and secondary INS samples
2013-12-09 17:34:06 +11:00
Randy Mackay
f8165c2864
Copter: ignore yaw input during radio failsafe
2013-12-06 13:50:07 +09:00
Randy Mackay
8fcbb7e59b
Copter: OF_Loiter update control_roll and pitch
2013-12-02 11:58:59 +09:00
Randy Mackay
ec65fd136d
Copter: enable external leds
2013-11-30 22:54:13 +09:00
Randy Mackay
59cea4b88c
Copter: remove CopterLED from main code
2013-11-30 18:20:55 +09:00
Randy Mackay
a744658b47
Copter: combine nav_roll and control_roll
...
Control_roll, control_pitch now always hold the desired lean angle
whether it be from the pilot or autopilot.
2013-11-27 23:11:30 +09:00
Randy Mackay
f08cc010ea
Copter: firmware to ArduCopter V3.2-dev
2013-11-27 22:50:12 +09:00
Randy Mackay
7ef04bb73b
Copter: rename nav_yaw to control_yaw
2013-11-27 22:48:20 +09:00
Randy Mackay
10d6a9a34e
Copter: replace Log_Write_Motors with Log_Write_RCOU
2013-11-27 20:18:18 +09:00
Randy Mackay
af657d58b9
Copter: RCIN dataflash logging
2013-11-27 16:46:25 +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
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
1a0f80ee64
Copter: AC3.1-rc7 version and release notes
2013-11-21 17:30:08 +09:00
Randy Mackay
24dc4391bb
Copter: display pre-arm check failure reason every 30sec
2013-11-18 17:20:39 +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
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
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
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
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
46118b59d7
TradHeli: integrate motor lib changes
2013-11-15 22:57:43 +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
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
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
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
Andrew Tridgell
2f6cfd1ff8
Copter: update for AHRS API changes
2013-11-04 21:21:42 +11:00
Jason Short
520a535c21
Copter: TOY mode updates
2013-11-02 21:34:48 +09:00
Randy Mackay
aaf642c223
Copter: disable autotune if pilot moves yaw stick
2013-11-02 12:12:46 +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
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
36832aaa61
Copter: remove ins from InertialNav object instantiation
2013-10-27 13:41:52 +09:00
Tobias
4d4b419d25
Copter: add comment (unit of G_Dt)
2013-10-27 13:39:17 +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
030f479ac1
Copter: firmware update to AC3.1-rc5
2013-10-22 16:04:13 +09:00
Randy Mackay
bbc4cb263f
Copter: only allow autotuning when flying
2013-10-21 17:58:10 +09:00
Randy Mackay
5499c6ea6d
Copter: autotune bug fix for starting autotune
...
log completion to dataflash
2013-10-20 13:54:36 +09:00
Michael Oborne
78c4e03fd5
sensor hil fix
2013-10-19 23:04:22 +09:00
Randy Mackay
6c0cb5f84d
AutoTune: bug fix and GCS messages
2013-10-19 21:54:18 +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
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
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
32f53624d6
Copter: rename low_battery to failsafe.battery
2013-10-13 13:52:52 +09:00
Randy Mackay
6876107a15
Copter: autotune disables rate output from stab controller
2013-10-13 11:56:01 +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
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
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
dab4f032f9
Copter: integrate BattMonitor
2013-10-03 11:16:28 +09:00
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
Randy Mackay
c3f7146f03
Copter: improve check of frame type to catch spelling errors
2013-09-27 14:35:16 +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
a0b6481dfd
Copter: removed SMACCM support
2013-09-26 22:38:31 +10:00
Randy Mackay
fd2e87b710
Copter: disable tuning during radio failsafe
2013-09-26 20:05:25 +09:00
Randy Mackay
7cc8a9038f
Copter: move failsafe flags into structure
2013-09-26 19:37:15 +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
e5535e35b3
Copter: remove unused reset_stability_I
2013-09-24 21:42:05 +09:00
Randy Mackay
c596b27719
Copter: add dataflash error for GPS glitch
2013-09-24 21:41:48 +09:00
Randy Mackay
4c8227c050
Copter: update AP_Notify for gps failsafe and glitching
2013-09-24 21:41:28 +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
754bdbd25f
Copter: use new usb_connected() HAL function
2013-09-19 16:24:23 +10:00
Randy Mackay
79399e4fb4
Copter: AC3.1-rc2 version and release notes
2013-09-18 13:30:26 +09:00
Randy Mackay
daa0cb7914
Copter: enable motor slow start in auto mode
2013-09-13 14:32:19 +09:00
Andrew Tridgell
3720efc7c9
Copter: changed to AP_Vehicle.h
2013-09-13 11:47:03 +10:00
Randy Mackay
43c4ba304d
Copter: update Release Notes for AC3.1-rc1
2013-09-09 20:04:30 +09:00
