ardupilot

mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 22:48:29 -04:00

Author	SHA1	Message	Date
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
Randy Mackay	6dbcbdcb43	AC_WPNav: limit max loiter position error move interpretation of pilot input to wpnav lib	2013-04-14 10:38:58 +09:00
Randy Mackay	7c559333f5	Copter: get_throttle_rate's target_speed a float	2013-04-14 10:38:51 +09:00
Randy Mackay	926c404994	AC_WPNav: Leonard's loiter target smoothing	2013-04-14 10:38:39 +09:00
Randy Mackay	ee7f40cfe9	Copter: Leonard's alt-hold feed forward	2013-04-14 10:38:37 +09:00
Randy Mackay	f82ce449d7	AC_WPNav: add angle limits and set from AC's throttle controller	2013-04-14 10:38:34 +09:00
Randy Mackay	553f40a99c	Copter: bug fix to loiter delay change delay to seconds to allow delays longer than 65seconds	2013-04-14 10:38:30 +09:00
Randy Mackay	a65960a009	Copter: use velocity based set_loiter_target	2013-04-14 10:38:28 +09:00
Randy Mackay	e592baae11	Copter: remove remnants of fast_corner	2013-04-14 10:38:20 +09:00
Randy Mackay	4de5f67a91	Copter: replace wp_nav.get_target_alt with get_destination_alt	2013-04-14 10:38:17 +09:00
Randy Mackay	5b93990e41	Copter: removed next_WP Use the wp_nav.get_target_alt or controller_desired_alt in it's place	2013-04-14 10:38:07 +09:00
Randy Mackay	1516972eaa	Copter: add panorama to CIRCLE mode Yaw will slowly rotate if CIRCLE_RADIUS is set to zero Circle center is projected forward CIRCLE_RADIUS from current position and heading	2013-04-14 10:38:01 +09:00
Randy Mackay	58ed8cd544	Copter: replace set_next_WP with direct call to wp_nav	2013-04-14 10:37:55 +09:00
Randy Mackay	49828eba7d	Copter: integrate AC_WPNav	2013-04-14 10:37:48 +09:00
Randy Mackay	cdb532a594	Copter: bug fix for loiter target	2013-04-11 18:24:20 +09:00
Randy Mackay	e637a8fb29	Copter: remove old commented out code from setup.pde	2013-04-11 10:12:21 +09:00
tobias	217b8d7a59	cleanup: use const for struct Location pointers and references this allows the compiler to generate more efficient code	2013-04-09 12:10:32 +10:00
Randy Mackay	9036b97a16	Copter: fix build error Removed last print_test_disabled call	2013-04-05 23:03:17 +09:00
Randy Mackay	fc0c451b69	Copter: remove #ifdef checks for Atmega1280	2013-04-05 22:48:10 +09:00
Randy Mackay	1dcd46bffc	Copter: reduce compiler warnings	2013-04-05 22:25:58 +09:00
Randy Mackay	95d944f610	Copter: Jason's bug fix for loiter's set_next_WP_latlon	2013-04-05 13:46:07 +09:00
Randy Mackay	777c6a308e	AP_InertialNav: use shared GRAVITY_MSS constant	2013-04-05 11:48:41 +09:00
Randy Mackay	d1afd2fb9b	Copter: make guided mode start at current location	2013-04-03 23:06:46 +09:00
Randy Mackay	0be23c8090	Copter: fix THR_ALT_P documentation	2013-04-03 22:38:34 +09:00
Randy Mackay	3bf847f675	Copter: Jason's faster cos_yaw, sin_yaw	2013-04-02 15:50:29 +09:00
Randy Mackay	40f6416b3d	Copter: update Log_Read_Compass comment	2013-04-02 11:02:14 +09:00
Randy Mackay	7cf2255822	Copter LEDs: replace bitRead with bitmask Consolidate all checks of led_mode to leds.pde Add #defines for bitmasks comparisons Some formatting changes	2013-04-01 13:10:12 +09:00
Randy Mackay	a9eb626cb8	Copter: update default Rate Yaw P to 0.20 (was 0.25)	2013-04-01 11:49:50 +09:00
Randy Mackay	7ccb14344c	Copter: update version to 2.9.1b-dev	2013-04-01 11:47:56 +09:00
Randy Mackay	7d4eea271f	Copter: update Release notes again for 2.9.1b release Missed item re increasing max inav accel correction to 3 m/s	2013-04-01 11:46:42 +09:00
Randy Mackay	49e3e040b6	Copter: update Release notes ahead of 2.9.1b release	2013-04-01 11:46:37 +09:00
Randy Mackay	24dd167607	Copter: ACRO bug fix from Jason	2013-04-01 11:44:28 +09:00
Michael Oborne	541fa13291	cleanup comments	2013-03-31 17:14:54 +08:00
Michael Oborne	e80f2c094e	HIL fix location, alt, mag from hil state message	2013-03-31 16:42:16 +08:00
Michael Oborne	59f80410d5	Add ability to compile sensor hil with sitl	2013-03-31 16:35:23 +08:00
Andrew Tridgell	b280857025	Copter: use common angle wrap code	2013-03-29 13:14:31 +11:00
Randy Mackay	f7d977fe37	Copter: add support for GPS fix type 2D	2013-03-27 11:41:47 +09:00
Andrew Tridgell	b955aed976	Copter: fixed GPS test (detection of uBlox needs 10Hz poll)	2013-03-21 22:45:07 +11:00
Andrew Tridgell	d22a7c64c9	Copter: only enter CLI is link is idle when 3 enters are hit this will prevent binary contents of RADIO packets being interpreted as CLI enter line-feeds	2013-03-21 21:56:02 +11:00
Andrew Tridgell	ce8313e8fb	Copter: only allow CLI within 20s of startup and when motors not armed	2013-03-21 17:34:11 +11:00
Randy Mackay	80bd593814	Copter: disarm motors when entering CLI	2013-03-21 12:07:00 +09:00
Randy Mackay	dcf21eee8f	Copter: only allow entering the CLI within 30 seconds of start-up	2013-03-21 11:54:04 +09:00
Andrew Tridgell	ae96c77add	Copter: added shell command in CLI test menu	2013-03-20 12:35:50 +11:00
Randy Mackay	38e81adae0	InertialNav: remove unnecessary "virtual" from function definitions This saves about 30bytes of RAM	2013-03-19 17:51:16 +09:00
Randy Mackay	a17421da27	Copter: scale HIL accels consistently with Plane code	2013-03-19 15:07:15 +09:00
Randy Mackay	b4b9d80c2f	Copter: bug fix to accept HIL accel values correctly	2013-03-19 11:33:58 +09:00
John Stäck	46a831fc03	Copter: add parameter "set" and "show" commands to setup menu. Squashed commit of the following: commit 4243a0bb89de2f850606c623aac6a5b583c333ae Author: John Stack <stack@spotify.com> Date: Thu Mar 7 09:28:16 2013 +0100 Undo change to system.pde, not needed. commit dae2dbbbd6e13621fccc1d0a221aae8d83240417 Author: John Stack <stack@spotify.com> Date: Wed Mar 6 22:47:50 2013 +0100 Remove leftover bits of old menu setup commit ccefc8fe0d237364b06a1478348f8552720d7598 Author: John Stack <stack@spotify.com> Date: Wed Mar 6 22:40:30 2013 +0100 Roll the param menu into setup. commit c61dad17bf32a3080d8eca2389c6e25f98767545 Author: John Stack <stack@spotify.com> Date: Wed Mar 6 08:08:42 2013 +0100 Make the param menu a compile-time option, by defining PARAM_MENU commit 0f35c4e88ec7aba5035b4880e9994e4783da75a9 Author: John Stack <stack@spotify.com> Date: Wed Mar 6 07:57:22 2013 +0100 Use find(), which works well. commit 3b81b29597fcee49193330d7b6d3f3aed99a476c Author: John Stack <stack@spotify.com> Date: Tue Mar 5 07:57:33 2013 +0100 Whitespace fixes commit 6b9ccc5fe1de1e40a24eb9ff89006b9bd80e3662 Author: John Stack <stack@spotify.com> Date: Tue Mar 5 07:28:20 2013 +0100 Add cli menu to change any parameter.	2013-03-18 15:49:41 +09:00
Andrew Tridgell	952c56e990	Copter: fixed barometer init in HIL sensors mode	2013-03-18 16:20:25 +11:00
Andrew Tridgell	ac06b5e62d	Copter: remove unused function	2013-03-18 16:20:25 +11:00
Randy Mackay	36834e77b5	Copter: remove support for CLI Slider	2013-03-18 14:07:04 +09:00
Randy Mackay	597a4b912a	Copter: fix to allow building HIL_MODE_SENSORS	2013-03-18 13:41:52 +09:00
Randy Mackay	d1344e8c39	Copter: remove #define for CROSSTRACK_GAIN Note: the cross track is still calculated inside the inertial nav based loiter and wp controls but it's no longer requires a tunable parameter	2013-03-17 16:56:18 +09:00
Randy Mackay	1b6fcad90a	Copter: remove tilt compensation parameter Note: this idea of feed forward tilt compensation is being incorporated into the inertial nav based loiter and wp controllers but does not require a separate tunable parameter	2013-03-17 16:53:32 +09:00
Randy Mackay	61e29173e3	Copter: remove unused crosstrack variables and parameters Cross track is still calculated internally to the wpnav controller so we should move this to a library and still report it to the ground station	2013-03-17 16:46:31 +09:00
Randy Mackay	a1295c042b	Copter: fix init of wp_verify_byte so wp alt is always required	2013-03-17 16:37:30 +09:00
Randy Mackay	fdcb78ccf7	Copter: leonard's smoother alt-hold transition Target altitude when entering alt-hold is based on a projection from current alt and climb rate	2013-03-17 13:24:49 +09:00
Randy Mackay	37040adfaa	Copter: bug fix for auto missions over 320m get_throttle_althold_with_slew's target_alt parameter defined as int16_t (instead of int32_t) meaning missions with altitudes >320m could wrap around and become negative.	2013-03-17 11:14:35 +09:00
Randy Mackay	150046f2b8	Copter: GPS Failsafe implemented Switches to LAND mode 5 seconds after losing GPS if you're in a flight mode that requires a GPS	2013-03-16 17:27:46 +09:00
Randy Mackay	f9539384a1	Copter: rename failsafe to failsafe_radio Makes way for separation of failsafes for throttle, gps and gcs	2013-03-16 17:14:21 +09:00
Randy Mackay	f263e81ed7	Copter: remove unused GPS and baro filters Saves 24bytes of RAM Removing the baro filter leads to noisier Baro Alt appearing in the log so we should make the inertial nav altitude appear in the CTUN message	2013-03-16 00:20:15 +09:00
Randy Mackay	5380973225	Copter: only start delay timer after reaching wp location and altitude	2013-03-06 12:50:41 +09:00
Randy Mackay	a73f50494c	TradHeli: remove duplicate RC_FAST_SPEED definition	2013-03-04 23:45:23 +09:00
Randy Mackay	cb6ffc7acf	Copter: minor formatting fix for report_ins	2013-03-04 23:14:14 +09:00
Randy Mackay	998511f506	Copter: use unsigned long for dataflash log for gps time Updated some formatting of comments in the same file	2013-03-04 23:13:06 +09:00
Randy Mackay	33bd984a91	Copter: remove unused input_voltage parameter	2013-03-03 23:23:54 +09:00
Randy Mackay	cb84ec9d9b	Copter: add current based compass compensation	2013-03-03 23:02:36 +09:00
Andrew Tridgell	c2fd1512ff	Copter: use voltage_average() so as to avoid INPUT_VOLTS	2013-03-03 16:16:01 +11:00
Randy Mackay	0d5e731a65	Copter: add compassmot to cli Allows user to setup compensation for motor's interference on the compass	2013-03-02 17:54:18 +09:00
Randy Mackay	476a6d0164	Copter: fix for acro throttle bug	2013-03-02 10:28:44 +09:00
Randy Mackay	6b2b69535f	Copter: Compass log stores/retrieves motor offsets	2013-03-02 00:03:20 +09:00
Randy Mackay	d8515ff85e	Compass: basic compensation for motor interference	2013-03-02 00:03:16 +09:00
Andrew Tridgell	637ecd5279	Copter: updates for new dataflash API	2013-03-01 07:18:26 +11:00
Andrew Tridgell	9a3bd17cfb	Copter: fixes for new DataFlash API	2013-03-01 07:18:25 +11:00
Randy Mackay	e0506bd622	Copter: inav circle initial implementation	2013-02-26 11:35:35 +09:00
Randy Mackay	c8f09ac219	Copter: fix compile error for PX4 re Compass logging	2013-02-25 13:26:58 +09:00
Randy Mackay	d6ff5ae261	Copter: add roll-pitch slew for auto modes Added reporting of roll, pitch inputs for ACRO, AUTO	2013-02-24 14:42:04 +09:00
Randy Mackay	e297ba7d18	Copter: update default loiter gains for inertial nav	2013-02-24 14:42:00 +09:00
Randy Mackay	102b5da59d	Copter: remove unnecessary #defines from APM_Config.h	2013-02-24 14:41:56 +09:00
Randy Mackay	cbde042ec5	Copter: remove non-inav loiter and wp controllers lon_speed, lat_speed changed to float do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically removed fast_corners functionality (may need to be reimplemented with new inertial nav controllers)	2013-02-24 14:41:52 +09:00
Randy Mackay	609676e26c	Copter: add logging of compass values Removed rarely used ITERM because we didn't have enough bits in the log mask	2013-02-24 14:41:48 +09:00
Randy Mackay	6f27bc7ae5	Copter: remove filters from inav loiter	2013-02-24 14:41:44 +09:00
Randy Mackay	1410063a14	Copter: new ROLL_PITCH_WP_INAV roll-pitch mode small corrections to allow waypoints to work with new inertial nav wp controller	2013-02-24 14:41:40 +09:00
Randy Mackay	574756908d	Copter: set wpinav controller targets in nav calls All navigation commands now properly set wpinav controller targets except CIRCLE related commands.	2013-02-24 14:41:36 +09:00
Randy Mackay	00bc28adcc	Copter: take-off code cleanup remove redundant setting of loiter target. explicitely set throttle mode to THROTTLE_AUTO	2013-02-24 14:41:32 +09:00
Randy Mackay	67c69a19ee	Copter: remove baro-only alt hold Saves 8 bytes of memory and more importantly simplifies the alt hold calculations	2013-02-24 14:41:29 +09:00
Randy Mackay	37d3e1d7e4	Copter: add zero slope checks to wpinav also added RTL fix to set wpinav target explicitly	2013-02-24 14:41:25 +09:00
Randy Mackay	b74da54c98	Copter: enable inav xy by default	2013-02-24 14:41:21 +09:00
Randy Mackay	53ab1d5d9b	Copter: add advance track call to actually move towards waypoint Also added unrelated check that waypoint is valid before updating waypoint distance.	2013-02-24 14:41:17 +09:00
Randy Mackay	766ccdf6f8	Copter: add selection of inertial nav wp controller to APM_Config.h	2013-02-24 14:41:13 +09:00
Randy Mackay	fcf102b2cf	Copter: inertial nav waypoint controller #define added to allow compile time selection of traditional or inav based loiter and wp controllers	2013-02-24 14:41:09 +09:00
Jason Short	4c3ee76900	AC: Moving flip speed back to 400°/s to prevent oscillation around change in speed. Would like to add a more gradual speed change in the finish. Might require a new state as the copter passes -90°	2013-02-23 13:14:15 +09:00
Jason Short	7d5b975da2	AC: Flip code fix Flight tested it today and made some flips. Throttle adjusted in Manual throttle modes. Not tested in AP throttle modes such as alt hold.	2013-02-23 13:14:11 +09:00
Randy Mackay	8e4c9518ea	Copter: increase low voltage check to 10.5v Change requested by Rob Lefebvre and Richie Wilson	2013-02-23 00:36:51 +09:00
Jason Short	abd0fb9099	AC : global static variables should not be initialized to zero	2013-02-22 17:34:18 +09:00
Andrew Tridgell	4c7a1a1806	Copter: change PX4 main baud rate back to 115200 we now use USB console	2013-02-22 07:04:23 +11:00
Randy Mackay	2ecf34e509	Copter: update version to 2.9.1 ahead of release	2013-02-19 13:52:04 +09:00
Randy Mackay	d48aebea8e	Copter: updated release notes for 2.9.1-rc2	2013-02-19 13:49:53 +09:00
Randy Mackay	9904e9f4db	Copter: update firmware version to 2.9.1-rc1	2013-02-19 13:43:36 +09:00
Randy Mackay	6601bd37cf	Copter: integrate automatic roll and pitch trims	2013-02-19 12:51:24 +09:00
Michael Oborne	61e5b09f28	Send FS state to gcs for AC	2013-02-09 10:11:36 +08:00
Andrew Tridgell	19a282dad0	Copter: removed use of ins.temperature()	2013-02-07 15:05:47 +11:00
Pat Hickey	d418197898	ArduCopter: fixed memory unsafe member access in GCS_MAVLINK * Smokey, this is not 'Nam. this is bowling. there are rules	2013-02-02 22:43:56 -08:00
Randy Mackay	9d34ead486	Copter: fix up some casting issues for wp_distance	2013-02-01 22:42:50 +09:00
Randy Mackay	df1c0d92bd	Copter: manual throttle scaling fix Scaling of bottom half of throttle was changed from THR_MIN ~ 500. Previously it was from 0 ~ 500.	2013-02-01 22:37:33 +09:00
Randy Mackay	a0b65a262b	Copter: use scaled throttle for accel-throttle's I term Accel throttle's I term is taken from scaled manual throttle	2013-02-01 22:37:25 +09:00
Randy Mackay	06a71af12f	Copter: THR_MID used to scale manual throttle	2013-02-01 22:37:16 +09:00
Randy Mackay	4813526725	Copter: bug fix for autotrim's roll axis backwards	2013-01-31 17:42:29 +09:00
rmackay9	9c3b9907dd	Copter: bug fix to set sonar_alt_health to zero when disabled	2013-01-31 17:00:28 +09:00
Randy Mackay	70371be4a1	Copter: use AP_Math's longitude_scale bug fix to base scaling on home location instead of next_WP which may not have been initialised	2013-01-27 23:35:12 +09:00
Randy Mackay	6f5050a8b9	Copter: minor casting fixup for wp_distance	2013-01-27 11:27:43 +09:00
Randy Mackay	ce370bab0c	Copter: rename CUR and CURR to CURRENT for logging Based on user complaint that enable/disable was using CUR while message was appearing as CURR	2013-01-26 17:20:41 +09:00
Randy Mackay	fb1358a629	Copter: make all message output csv	2013-01-26 17:05:38 +09:00
Randy Mackay	d2767b911c	AP_Math: switch get_distance_cm to return uint32_t Includes changes required on ArduCopter and ArduPlane side as well	2013-01-26 17:04:12 +09:00
Randy Mackay	0056bfadd7	Copter: rename ROLL_PITCH_LOITER new name ROLL_PITCH_LOITER_INAV makes it more clear that it should only be used with the new inertial nav loiter controllers	2013-01-25 23:27:31 +09:00
Randy Mackay	b74fe10aa9	Copter: set each flight mode's nav_mode Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be overwritten	2013-01-25 15:57:55 +09:00
Randy Mackay	aaecc25ac7	Copter: leonard's inav2 Moved loiter controller to navigation.pde	2013-01-25 15:16:35 +09:00
Randy Mackay	fd02cfe706	Copter: added set_nav_mode to control initialisation of nav controllers Renamed run_navigation_controllers() to run_autopilot() Renamed update_nav_wp() to update_nav_mode() Renamed wp_control to nav_mode to be more consistent with roll-pitch, yaw and throttle controllers	2013-01-25 15:16:29 +09:00
Randy Mackay	8af605cafc	Copter: set update rate to 50hz during esc calibration Also modified some comments in the code re the esc calibration	2013-01-25 11:34:48 +09:00
Randy Mackay	deafbf1f56	Copter: inav loiter comment changes removed unused get_loiter_vel function	2013-01-24 11:14:38 +09:00
Randy Mackay	68fc9ac1d8	Copter: add "f" to end of float constants This is a small performance improvement for the px4	2013-01-23 14:51:37 +09:00
Randy Mackay	911e090e07	Copter: typo fixed for trad heli config	2013-01-23 12:35:10 +09:00
Randy Mackay	9a09f086d2	Copter: Leonard Hall's inertial nav ver 2	2013-01-23 12:34:49 +09:00
Andrew Tridgell	47cc247046	Copter: limit number of bytes read per GCS check	2013-01-23 09:34:54 +11:00

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3262 Commits