Leonard Hall
cfe12f38a5
Copter: Adjust Autotune backoff of accel
2015-03-27 06:24:53 -07:00
Randy Mackay
765b8ded02
Copter: ekf check triggers if position bad
2015-03-27 00:04:41 -07:00
Randy Mackay
74b98b89d0
Copter: remove dcm check
2015-03-27 00:04:37 -07:00
Leonard Hall
35d1cbd053
Copter: Autotune fix P test
2015-03-23 07:40:00 -07:00
Leonard Hall
cedd423c30
Copter: Autotune Yaw limits update
2015-03-23 07:39:58 -07:00
Leonard Hall
7cd78f63bf
Copter: Stop autotune repeatedly saving gains
2015-03-23 07:39:55 -07:00
Andrew Tridgell
a4be1fede8
Copter: run all boards at 400Hz
...
SITL and Linux can now run at 400Hz
2015-03-22 18:57:43 -07:00
Randy Mackay
b4df5b35f0
Copter: fix compiler error when mount disabled
2015-03-21 21:52:27 +09:00
Randy Mackay
a3933f7a1f
Copter: handle do_mount_control mission commands
2015-03-21 21:52:24 +09:00
Randy Mackay
9a5ff97c61
Copter: send invalid batt curr if monitor unhealthy
2015-03-20 11:05:33 +09:00
Randy Mackay
c41ecca8d5
Copter: re-order position_ok function
...
no functional change
2015-03-19 15:15:49 +09:00
Randy Mackay
522ef8f91f
Copter: rename MOT df msg to MOTB
...
This will slightly reduce confusion with the MOT message from AC3.1.5
that eventually became RCOUT
2015-03-18 21:25:45 +09:00
Randy Mackay
b679fd0be0
Copter: log RATE with ATT
2015-03-18 21:25:42 +09:00
Randy Mackay
d9b65cec22
Copter: fix compiler error re ch9, ch12 on some boards
...
channel 9 and 12 are not exist on some builds.
2015-03-17 22:16:48 +09:00
Randy Mackay
3be0a47c02
Copter: minor formatting fix
2015-03-17 21:18:51 +09:00
Randy Mackay
20311c3ba2
Copter: remove CH7_OPTION definition
...
We can replace the unused definitions and just set the aux switch
defaults to do-nothing directly in the parameter table
2015-03-17 21:18:50 +09:00
Randy Mackay
e6c3f4f97b
Copter: move aux switch enum to defines.h
2015-03-17 21:18:49 +09:00
Robert Lefebvre
fd0cb0beed
Copter: Create check_duplicate_auxsw() method to streamline pre-arm check code
2015-03-17 21:18:48 +09:00
Robert Lefebvre
1afeb05398
Copter: Create check_if_auxsw_mode_used() to check for function usage
2015-03-17 21:18:47 +09:00
Robert Lefebvre
97cd3614eb
Copter: Change Aux Switch function list to enum.
2015-03-17 21:18:46 +09:00
Robert Lefebvre
a5af151a91
Copter: Initial expansion of Aux Switch to Ch7-12
2015-03-17 21:18:41 +09:00
Randy Mackay
b10730f35c
Copter: remove THR_MAX parameter
2015-03-16 14:49:34 +09:00
Randy Mackay
2a47337dc1
Copter: fix multiple flight-mode fail log messages
...
When the vehicle failed to enter a flight mode it was logging the
failure repeatedly in the dataflash
2015-03-13 22:15:27 +09:00
Víctor Mayoral Vilches
79e152cd93
Copter: Update compass to the new interface
2015-03-13 18:46:16 +11:00
Randy Mackay
9c6531ebeb
Copter: simplify APM_Config after removing APM1,2 support
2015-03-13 16:41:05 +09:00
Randy Mackay
088a49abbf
Copter: remove APM1, APM2 support
2015-03-13 16:41:03 +09:00
Randy Mackay
fbfc94cf69
Copter: remove GPS glitch and failsafe
...
The EKF failsafe now captures all failures that could lead to a bad
position including GPS glitches and a bad compass meaning we do not need
this protection in the main flight code.
2015-03-13 16:40:46 +09:00
Randy Mackay
6f6847c025
Copter: use only InertialNav_EKF
...
remove calls to unsupported functions including ignore_next_error,
set_altitude, etc.
2015-03-13 16:40:37 +09:00
Randy Mackay
d7f624be39
Copter: remove baro_glitch protection
2015-03-13 16:40:27 +09:00
Randy Mackay
0476558049
Copter: remove USE_EKF from ch7/ch8 switch
2015-03-13 16:40:20 +09:00
Andrew Tridgell
d9342ed854
Copter: allow motor test using raw pwm without RC cal
2015-03-12 17:49:39 +11:00
Randy Mackay
553261d4ce
Copter: send EKF_STATUS_REPORT in extra3 stream
2015-03-12 12:20:03 +09:00
Randy Mackay
0447f6216a
Copter: get_pilot_desired_lean_angles uses angle_max of at least 10deg
...
Removes the unlikely event of a divide by zero if ANGLE_MAX is set to
zero and sticks were in middle
2015-03-11 22:24:44 +09:00
Jonathan Challinger
ecefe78417
Copter: interpret input in stabilize as a tilt vector
2015-03-11 22:24:42 +09:00
Randy Mackay
721d551239
Copter: extend AUTOTUNE_AXIS param description
2015-03-11 17:28:47 +09:00
Randy Mackay
b475a2fe10
Copter: AutoTune formatting fixes
...
no functional change
2015-03-11 17:28:46 +09:00
Leonard Hall
c537c38646
Copter: add update_throttle_low_comp
...
sets the priority of throttle vs attiude control so that attitude is
favoured (i.e. high throttle-low-comp) during dynamic flight while
throttle is favoured when vehicle may be landing.
2015-03-10 12:20:24 +09:00
Leonard Hall
36c91970f1
Copter: Autotune algorithm update
2015-03-09 18:02:55 +09:00
Leonard Hall
9bfb0e1f40
Copter: Autotune comment changes and formatting
2015-03-09 18:02:52 +09:00
Leonard Hall
1c57c6a266
Copter: Autotune update yaw filt and rate P max
2015-03-09 18:02:50 +09:00
Randy Mackay
72d1113501
Copter: set accel and gyro disabled during calibration
2015-03-09 17:58:38 +11:00
Randy Mackay
3e45052a75
Copter: reply with failed if gyro or accel cal fails
2015-03-09 17:58:38 +11:00
Randy Mackay
10724f5738
Copter: reject preflight calibration when armed
2015-03-09 17:58:38 +11:00
Andrew Tridgell
3f906f6bd1
Copter: added CLI_ENABLED option
2015-03-09 17:58:37 +11:00
Andrew Tridgell
47e9409d00
Copter: set gyros disabled when calibrating
2015-03-09 17:58:36 +11:00
Andrew Tridgell
9b9aa3dc33
Copter: use new interactive accelcal
2015-03-07 21:56:40 +11:00
Randy Mackay
033bcd849b
Copter: add 0.6 to EKF and DCM CHECK_THRESH param description
2015-03-06 17:58:37 +09:00
Randy Mackay
e0acd250d1
Copter: set Notify firmware_update flag before reboot
2015-03-06 17:26:53 +09:00
Randy Mackay
61ed812fc4
Copter: set Notify's autopilot_mode flag
2015-03-06 17:26:49 +09:00
Leonard Hall
778edfda72
Copter: default yaw rate filter to 5hz
2015-03-06 16:08:32 +09:00
Leonard Hall
d5bbe6de03
Copter: remove TRIM_THROTTLE
...
throttle_trim is replaced by throttle_average which is initialised to
the throttle_mid parameter value at startup
2015-03-06 14:02:19 +09:00
Leonard Hall
c78480e14f
Copter: rename loiter_pos to pos_xy
...
Also renamed throttle_rate to vel_z, throttle_accel to accel_z
2015-03-06 14:02:17 +09:00
Leonard Hall
e232867661
Copter: move LOITER_RATE to 2-axis PI controller
...
Also rename LOITER_RATE to VEL_XY for parameters, definitions, variables
2015-03-06 14:02:15 +09:00
Leonard Hall
1ec5eedd23
Copter: ch6 tuning of yaw rate filter
2015-03-06 14:02:13 +09:00
Leonard Hall
2b0fb45fe8
Copter: integrate PID input filter
2015-03-06 14:02:11 +09:00
Leonard Hall
d233ca3133
Copter: add Time and rate_target to AutoTune logging
2015-03-06 14:02:09 +09:00
Leonard Hall
8ba195a3a2
Copter: add Mot and Rate dataflash logging
2015-03-06 14:02:07 +09:00
Leonard Hall
1ebf2c40f5
Copter: Autotune rewrite
...
Includes the following:
Increase Autotune Limits
Low Rate_P_Max prevents correct Rate_D prediction.
make adjustment proportional
increase the maximum value of Rate_P
adjustment for zero overshoot
Speed up autotune
Reduce D bounce back requirement
adapt matthewlloyd's switching
Includes many enhancements to the basic code but doesn't bring in his
speed up ideas
Reduce Stab P down
Add Calibration
Repeat side to increase speed
Update Autotune PI ratios
fixup comments
autotune incorporate aggressiveness parameter
sets max accel for roll, pitch, yaw
Update accel calc and set Yaw D to zero
Calculate Accel correctly on SP Limit
Send saved gains msg to GCS
updates PID filter
increase accel backoff
save max accel if rate feedfwd enabled
keep stabilizing
2015-03-06 14:02:04 +09:00
Leonard Hall
a9a6e8856b
Copter: add AUTOTUNE_AGGR parameter
2015-03-06 14:02:02 +09:00
Leonard Hall
864168e5ea
Copter: add AUTOTUNE_AXES bitmask parameter
...
This is used to allow tuning just some axis
2015-03-06 14:02:01 +09:00
Randy Mackay
c711179ffe
Copter: set_mid_throttle renamed to set_hover_throttle
2015-03-03 15:48:56 +09:00
Randy Mackay
bae424fa88
Copter: pass in loop_rate to motors constructor
2015-03-03 15:48:37 +09:00
Leonard Hall
8eedb2c040
Copter: sent battery voltage and current to motors
2015-03-03 15:48:26 +09:00
Leonard Hall
3e8563dd8b
Copter: ch6 tuning definition for yaw min headroom
2015-03-03 15:48:17 +09:00
Randy Mackay
c5b3bc5698
Copter: handle LED_CONTROL and pass to Notify
2015-03-02 16:58:08 +09:00
Andrew Tridgell
7c975808f8
Copter: provide terrain height to rangefinder
...
used for power saving
2015-02-23 14:15:14 +11:00
Andrew Tridgell
74ef1b8d2f
Copter: removed HomeState from defines.h
...
now in AP_Common.h
2015-02-21 10:14:32 +11:00
João Fortuna
b99f38d39d
Copter: Fixed MAVLINK stream trigger calculation.
2015-02-20 13:10:57 +09:00
Andrew Tridgell
307b9e807f
Copter: reduced build warnings
...
removed some unused code, and mark some functions with UNUSED_FUNCTION
2015-02-18 11:13:48 +11:00
Andrew Tridgell
191d803968
Copter: make PERF info message into a STATUSTEXT message
...
this makes it appear properly in tlogs. Also show both min and max
loop times
2015-02-16 10:02:53 +11:00
Randy Mackay
da4a36c4e0
Copter: fix nack result_unsupported when arming fails
...
We should return unsupported if param1 does not equal 0 or 1
2015-02-14 14:27:47 +09:00
Randy Mackay
7ae1436b97
Copter: nack result_failed when arming fails
...
Previously result_unsupported was returned which is a less accurate
description of the failure
2015-02-14 14:03:41 +09:00
Randy Mackay
77d8f88e45
Copter: fence, rtl, land use alt-above-home
2015-02-12 15:08:00 +09:00
Randy Mackay
4d566bf462
Copter: current_loc.alt is alt-above-home
2015-02-12 15:07:59 +09:00
Randy Mackay
7e11ec9a6f
Copter: surf tracking, do-land use inav alt
...
Also CTUN logging of inav alt switched to get directly from inertial nav
lib instead of using current_loc.alt
2015-02-12 15:07:00 +09:00
Randy Mackay
cb66bf8b98
Copter: functions to convert alt-above-home vs alt-above-origin
2015-02-12 15:01:05 +09:00
Randy Mackay
9bd3a7249a
Copter: disable inertial nav
2015-02-12 15:01:03 +09:00
Randy Mackay
fbe87afb9c
Copter: pre-arm check of EKF origin vs home
...
EKF origin must be within 50km of home or numerical errors get too large
2015-02-12 15:01:00 +09:00
Randy Mackay
e7579198c9
Copter: when arming set home to current loc only if not locked
2015-02-12 15:00:58 +09:00
Randy Mackay
9e156d2f81
Copter: always update current_loc regardless of inav state
...
If inertial nav is not initialised these will be set to zero anyway
2015-02-12 15:00:56 +09:00
Randy Mackay
7029b11414
Copter: support do_set_home command from GCS and mission
2015-02-12 15:00:54 +09:00
Randy Mackay
d5fd6d2a99
Copter: use home_is_set function
2015-02-12 15:00:52 +09:00
Randy Mackay
e081b9d1c7
Copter: home is set becomes three state
2015-02-12 15:00:50 +09:00
Randy Mackay
a4fd36a775
Copter: fix compile error when fence disabled
...
Fix provided by iyia12co
2015-02-12 12:03:54 +09:00
Andrew Tridgell
81302fe190
Copter: implement MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES
2015-02-12 09:04:20 +11:00
Jonathan Challinger
0cc83b1826
Copter: use hal.util soft_armed state
2015-02-11 20:25:11 +11:00
Andrew Tridgell
4ade22c94b
Copter: use common send_autopilot_version()
2015-02-11 19:50:51 +11:00
Jonathan Challinger
62c63e9b35
Copter: support AUTOPILOT_VERSION_REQUEST message
2015-02-11 19:11:53 +11:00
Jonathan Challinger
c5d66cdfba
Copter: add send_autopilot_version
2015-02-11 19:11:53 +11:00
Randy Mackay
e7ac9d27f5
Copter: AC3.2.1 release notes
...
No changes from AC3.2.1-rc2
2015-02-11 14:08:57 +09:00
Randy Mackay
99ca779718
Copter: fix to allow arming in Guided from GCS
2015-02-10 22:12:38 +09:00
Randy Mackay
4ff75f0371
Copter: perf info ignores slow loop due to arming
2015-02-09 23:07:18 +09:00
Randy Mackay
8b5f1575ad
Copter: remove pre-arm check of RC3_TRIM
...
RC3_TRIM parameter is not used so we can remove this check
2015-02-06 17:55:28 +09:00
Randy Mackay
a70f98552e
Copter: rename xy_mode
2015-02-06 17:00:58 +09:00
Jonathan Challinger
e71ad72fc0
Copter: update usage of update_xy_controller
2015-02-06 17:00:51 +09:00
Robert Lefebvre
0b1f217420
Copter: Add PreArm check for radio trims.
2015-02-05 11:17:58 +09:00
Robert Lefebvre
2186dec271
Copter: Remove trim_radio() function.
2015-02-05 11:17:56 +09:00
Randy Mackay
ecaf3280e5
Copter: update AC3.2.1-rc2 release notes
2015-02-03 15:58:33 +09:00
Jonathan Challinger
4311fa8952
Copter: 90-atan2(-x,y) is the same as atan2(y,x)
2015-02-03 14:48:02 +09:00
Jonathan Challinger
f77b359e83
Copter: increase get_roi_yaw from 40hz to 100hz
2015-02-03 14:46:17 +09:00
