Paul Riseborough
c4c0f819b5
AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step
2015-05-01 16:37:26 +09:00
Paul Riseborough
5dc29699ab
AP_NavEKF: Publish the INS delta quaternion
2015-05-01 16:37:25 +09:00
Paul Riseborough
d273302ce7
AP_NavEKF: Improve rate of accel bias learning before flight
2015-05-01 16:37:24 +09:00
Paul Riseborough
8dc6354a54
AP_NavEKF: Prevent touchdown baro errors tripping height innovation check
...
Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits.
Resetting the vertical position state to the measured height after disarming prevents this.
2015-05-01 16:37:23 +09:00
Jonathan Challinger
2f38dd1b67
AP_NavEKF: use quaternion functions to apply IMU delta angles
2015-05-01 16:37:22 +09:00
Jonathan Challinger
9c374eb4a8
AP_NavEKF: apply constrained floor to barometer innovation while landing
2015-05-01 16:37:21 +09:00
Jonathan Challinger
3c6446fadd
AP_NavEKF: refactor meaHgtAtTakeOff filter
2015-05-01 16:37:20 +09:00
Paul Riseborough
744de74c16
AP_NavEKF: Reduce ground effect baro induced height errors during takeoff
2015-05-01 16:37:19 +09:00
Paul Riseborough
13616d6436
AP_NavEKF: Add takeoff and touchdown expected to reported filter status
2015-05-01 16:37:19 +09:00
Jonathan Challinger
8c92524b8a
AP_NavEKF: add takeoffExpected and touchdownExpected
2015-05-01 16:37:18 +09:00
Jonathan Challinger
b6b55bf6f2
AP_NavEKF: integrate gravity over correct time period
2015-05-01 16:37:17 +09:00
Jonathan Challinger
cb0c424da1
AP_NavEKF: rewrite readIMUData
2015-05-01 16:37:16 +09:00
Jonathan Challinger
bb88a4f8fe
AP_InertialSensor: healthy() checks bounds
2015-05-01 16:37:15 +09:00
Jonathan Challinger
af80f20a51
AP_InertialSensor: add get_primary_gyro, fix get_primary_accel
2015-05-01 16:37:14 +09:00
Randy Mackay
0acc06d713
AP_Motors: minor comment for interlock
2015-05-01 14:30:45 +09:00
Robert Lefebvre
05f18bb014
Copter: Rename output_min() to enable_motor_output()
2015-05-01 14:30:44 +09:00
Robert Lefebvre
41a6cc64ff
Copter: Log Emergency Stop and Motor Interlock status
2015-05-01 14:30:43 +09:00
Robert Lefebvre
d8a0952b5a
Copter: Explicitly define aux_switch enum.
2015-05-01 14:30:42 +09:00
Robert Lefebvre
da2854403e
Copter: Explicitly define tuning_func enum value
2015-05-01 14:30:42 +09:00
Robert Lefebvre
4e51ce6d75
Copter: rename "estop" to "emergency stop".
...
No functional change
2015-05-01 14:30:41 +09:00
Robert Lefebvre
9d9f20a6cb
Copter: Add Motor Interlock/E-Stop Conflict Prearm Check
2015-05-01 14:30:40 +09:00
Robert Lefebvre
fab8604f16
Copter: Change Auto Yaw #define table into Enum.
2015-05-01 14:30:39 +09:00
Robert Lefebvre
32b4e70cb7
Copter: Deprecate Aux Switch Multi-Mode
2015-05-01 14:30:38 +09:00
Robert Lefebvre
22a7fba289
Copter: Change autopilot modes into Enum
2015-05-01 14:30:37 +09:00
Robert Lefebvre
39d23519b1
Copter: Change CH6_Tuning #defines into Enum
2015-05-01 14:30:36 +09:00
Robert Lefebvre
167507e28b
Copter: non-functional format fixes in switches.pde
2015-05-01 14:30:35 +09:00
Robert Lefebvre
a357ef43a4
Copter: Move Aux Switch flags into new Enum
2015-05-01 14:30:34 +09:00
Robert Lefebvre
8610da7fbc
Copter: autopilot modes to check for motor interlock status
2015-05-01 14:30:33 +09:00
Robert Lefebvre
a035d5ad1b
Copter: Fix initialization of Motor Interlock Aux Sw function.
2015-05-01 14:30:31 +09:00
Robert Lefebvre
16cf9471ae
Copter: Remove ap.motors_interlock, use only flag in AP_Motors
2015-05-01 14:30:31 +09:00
Robert Lefebvre
9b15ea6f5c
Copter: Change throttle_zero to check interlock and E-stop status
2015-05-01 14:30:30 +09:00
Robert Lefebvre
2010410c44
Copter: Add numbers to Aux Switch Enum comments
2015-05-01 14:30:28 +09:00
Robert Lefebvre
b82113acc7
Copter: Modify auto-disarm process for throttle interlock
2015-05-01 14:30:27 +09:00
Robert Lefebvre
7349827eb1
Copter: Add Aux Switch E-Stop Function
2015-05-01 14:30:26 +09:00
Robert Lefebvre
1a482de5e2
AP_MotorsHeli: Overload output_armed_zero_throttle
2015-05-01 14:30:25 +09:00
Robert Lefebvre
6bdace30d2
AP_Motors: Add throttle interlock functionality
...
AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
2015-05-01 14:30:24 +09:00
Robert Lefebvre
4a0a4de687
Copter: update motors.throttle_interlock every time motors_output is run
2015-05-01 14:30:23 +09:00
Robert Lefebvre
7d745587a4
Copter: Add using_interlock flag, employ it in arming process
2015-05-01 14:30:22 +09:00
Robert Lefebvre
e4c5915330
Copter: initial creation of motor_interlock
2015-05-01 14:30:21 +09:00
Randy Mackay
ee94db09a8
Copter: minor GCS_MAVLink comments
...
No functional change
2015-05-01 12:56:40 +09:00
Randy Mackay
1fa8e10fc7
Copter: fix floating point const compiler warning
2015-05-01 12:56:38 +09:00
Randy Mackay
e0ef57fdb5
Copter: add PILOT_TKOFF_ALT_DEFAULT definition
...
No functional change
2015-05-01 12:56:35 +09:00
Leonard Hall
33a274c928
Copter: take-off uses PosControl's add_takeoff method
...
Also balances pilot and takeoff climb rates
Also removes takeoff's direct use of poscontrol target
Combined effort of Randy and Leonard
2015-05-01 12:56:32 +09:00
Randy Mackay
31edd6a72b
AC_PosControl: add_takeoff_climb_rate method
...
This function simply increments the current altitude target given a
climb rate and dt
2015-05-01 12:56:30 +09:00
Randy Mackay
772a1acc37
Copter: cancel takeoff if mode changed
2015-05-01 12:56:28 +09:00
Randy Mackay
ab608a8fcd
Copter: minor takeoff param name change
...
No functional change
2015-05-01 12:56:25 +09:00
Randy Mackay
70f9739d77
Copter: add takeoff comments
2015-05-01 12:56:23 +09:00
Randy Mackay
6f5b5c24f2
Copter: rename tkoff_ to takeoff_
2015-05-01 12:56:21 +09:00
Jonathan Challinger
73d961cebc
Copter: mavlink initiated takeoff in alt-hold modes
...
adds PILOT_TKOFF_ALT for target altitude above home in cm for pilot initiated takeoff
2015-05-01 12:56:18 +09:00
Jonathan Challinger
b10cf0f38a
Copter: pre-takeoff throttle for sprung throttle sticks
...
Adds PILOT_THR_BHV, PILOT_TKOFF_DZ parameters
2015-05-01 12:56:16 +09:00
