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
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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
7233a567fb
TradHeli: add accessor for phase_angle
2013-11-15 22:58:41 +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
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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
b71c6bfd76
TradHeli: add RSC_RUNUP_TIME param and rotor speed estimate
2013-11-15 22:58:29 +09:00
Randy Mackay
bc4dba0eea
TradHeli: ext gyro gain range 0 to 1000
2013-11-15 22:58:26 +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
Randy Mackay
942c14258b
TradHeli: ramp up changes
...
Rewrote tail and main rotor ramp up methods
Moved direct drive ESC speed control into rsc_control method
Pass in ch7 servo as servo_aux to TradHeli motors object constructor
split CH7_SETPOINT parameter into GYR_GAIN and DIRECTDRIVE parameters
replaced RSC_RATE with uint8_t RSC_RAMP_TIME parameter
rename GOV_SETPOINT parameter to RSC_SETPOINT
RSC_MODE parameter description updated to indicate it controls the
source of main rotor speed
2013-11-15 22:58:13 +09:00
Robert Lefebvre
9ac051c56d
TradHeli: BugFix to ColYaw
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Credit to Jolyon Saunders for finding this bug.
2013-11-15 22:58:11 +09:00
Robert Lefebvre
bba7fdc7c3
TradHeli: ch6 tuning of ext gyro to use control_in
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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
4426060ccc
TradHeli: COLYAW not applied when the motor is not running
2013-11-15 22:58:06 +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
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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
7ae0d3320b
TradHeli: add landing collective min
2013-11-15 22:57:58 +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
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Move check_dynamic_flight to run as scheduled task
2013-11-15 22:57:53 +09:00
Randy Mackay
1f65bb537f
TradHeli: add get_pilot_desired_collective
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Perhaps this should be moved to the main code's heli.pde sketch
2013-11-15 22:57:51 +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
13a412ee21
TradHeli: make parameters and variables private
...
add accessors for variables and params required in main code
replace tabs with spaces
2013-11-15 22:57:41 +09:00
Randy Mackay
72597cc5bd
TradHeli: remove setup via CLI
...
Saves 6k of flash
2013-11-15 22:57:39 +09:00
Randy Mackay
2cc48ffcd6
Copter: formatting and param description changes
2013-11-15 22:57:37 +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
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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
f5488bc447
HAL: MPU6k and Baro SPI to 8Mhz
2013-11-15 21:58:32 +09:00
Andrew Tridgell
08a6503364
HAL_AVR: force all devices on SPI0 to low speed when one is low speed
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this forces MS5611 to low speed when MPU6K is low speed
2013-11-15 21:58:30 +09:00
Randy Mackay
f0f6e85b39
Copter: ARMING_CHECK made into bitmask
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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
Andrew Tridgell
71bb462ad0
AP_InertialSensor: use fabsf()
2013-11-15 10:43:10 +11:00
Andrew Tridgell
aef9289476
AP_InertialSensor: added INS_PRODUCT_ID values
2013-11-15 10:43:10 +11:00
Randy Mackay
d54b1ea446
CopterMotors: fix example sketch
2013-11-14 22:27:10 +09:00
