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3262 Commits

Author SHA1 Message Date
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
rmackay9
ab1978ad50 Copter: Leonard Hall's inertial nav based loiter 2013-01-22 18:38:00 +09:00
Jonathan Challinger
6565d83e73 InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz. 2013-01-22 18:37:45 +09:00
Andrew Tridgell
f303554259 Copter: run serial0 at 57600 on PX4 2013-01-22 09:50:22 +11:00
Andrew Tridgell
ae5f46abc9 Copter: fixed mavlink fetch of 16 character parameter 2013-01-21 16:52:01 +11:00
Robert Lefebvre
dde713aaa5 Arducopter: Backing out my changes for a new Loiter Repositioning mode. Leonard and Jonathan's work will trump this. 2013-01-20 21:32:00 +09:00
Andrew Tridgell
a341d59ed0 Copter: fixed test code warnings 2013-01-20 22:13:20 +11:00
Michael Oborne
74e3d64e62 AC Fix BATT_CURR_PIN number 2013-01-20 06:33:29 +08:00
Andrew Tridgell
580abf1106 Copter: fixed PX4 mag orientation 2013-01-17 17:23:34 +11:00
Randy Mackay
577bf865b3 Copter: update firmware version to 2.9-dev 
The -dev extension indicates that we are post 2.9 release
 2013-01-17 13:03:33 +09:00
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Randy Mackay
ccaa7a52ef Copter: RTL bug fix to initial step is always a climb and not a descent 
Also bug fix to hold yaw on take-off
 2013-01-15 12:17:52 +09:00
Randy Mackay
2dab40abeb Copter: bug fix to altitude check of verify takeoff 
set_next_WP function was not setting the alt_change_flag properly
 2013-01-15 12:17:45 +09:00
Randy Mackay
148c227d73 Copter: update firmware version to rc5 2013-01-15 12:17:41 +09:00
Randy Mackay
04677bfb95 Copter: constrain auto roll and pitch to 45 degrees 2013-01-15 12:17:32 +09:00
Andrew Tridgell
56f22f9226 Copter: use common log reading function 2013-01-15 14:03:51 +11:00
jschall
d6b3d370c3 Correct spelling of run_navigation_contollers 2013-01-14 16:45:15 -08:00
Randy Mackay
5418827f22 Copter: update parameter descriptions for FRAME and CH7_OPT 2013-01-14 15:49:26 +09:00
Randy Mackay
98f5e27dc3 Copter: small correction to RTL_ALT_FINAL param description 2013-01-14 15:21:19 +09:00
Randy Mackay
8bbc93bb04 Copter: added CH7 switch to enabling/disable the sonar in flight 
This indirectly switches surface tracking on/off which is useful to
avoid tracking the tops of uneven objects when far above the ground
 2013-01-14 14:00:08 +09:00
Randy Mackay
df2137ed72 Copter: constrain loiter so that it never commands more than 45 degrees of lean in lat or lon directions 2013-01-14 13:34:19 +09:00
Randy Mackay
fef7569dee Copter: added experimental LOITER_REPOSITIONING #define to config.h 
APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
 2013-01-14 13:34:14 +09:00
Randy Mackay
76f032160c Copter: relax altitude check in verify_takeoff 
Previously we checked if the alt > target_alt but because there is
little to no overshoot with the new accel based alt controller this
check was failing for some users.
 2013-01-14 13:34:06 +09:00
Randy Mackay
8ac95d6034 ArduCopter: updated release notes for 2.9-rc4 2013-01-13 20:01:13 +11:00
Randy Mackay
c1fa850d10 ArduCopter: update firmware version to 2.9-rc4 2013-01-13 20:01:09 +11:00
Randy Mackay
c447b4b79b ArduCopter: move setting of land's yaw mode to the do_land function 2013-01-13 20:01:06 +11:00
Randy Mackay
08dc730d40 ArduCopter: bug fix to LAND flight mode not actually landing if initiated from failsafe 
An hidden bit of failsafe functionality in the set_mode function was
switching the throttle mode back to THROTTLE_AUTO instead of
THROTTLE_LAND
 2013-01-13 20:01:03 +11:00
Randy Mackay
175f69a64f ArduCopter: smooth throttle when switching from manual throttle to alt hold 
new set_accel_throttle_I_from_pilot_throttle function copies the
difference between the pilot's throttle and hover throttle to the
accelerometer based throttle controller's I term.
 2013-01-13 20:00:59 +11:00
Randy Mackay
9ad6f711f8 ArduCopter: replace FS_THR_RTL_MIN_DISTANCE with wp_radius 
This effectively means that an RTL kicked off by a failsafe will
immediately switch to LAND mode only if within 2 meters.  Previously the
radius was much wider (15m).
 2013-01-13 20:00:47 +11:00
Randy Mackay
19abdc3cd3 ArduCopter: update release notes for rc3 2013-01-13 20:00:43 +11:00
Randy Mackay
12f885c33c ArduCopter: disable ITERM logging by default 
This message takes 1ms to write and we are running over our limits on
some loops.
 2013-01-13 20:00:39 +11:00
Randy Mackay
fbed8b8861 ArduCopter: alphabetized the contributors list 
Jonathan Challinger added
 2013-01-13 20:00:28 +11:00
Randy Mackay
5965914039 ArduCopter: increase firmware version to 2.9-rc3 2013-01-13 20:00:25 +11:00
Andrew Tridgell
b0c710b67f Copter: move read_AHRS() before run_rate_controllers() 
this ensures the rate controllers use the latest data
 2013-01-13 20:00:14 +11:00
rmackay9
f25f1cb3bf ArduCopter: changed alt hold to use the sonar if enabled and healthy 2013-01-13 19:56:19 +11:00
rmackay9
21b6c78d12 ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes 
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
 2013-01-13 19:51:47 +11:00
Pat Hickey
164246c7d8 ArduCopter: better instructons for setup_motors cli test 
* i just spent hours confused about this
 2013-01-13 00:17:17 -08:00
Andrew Tridgell
72c8a14e76 Copter: fix trad heli log build 2013-01-13 17:57:47 +11:00
Andrew Tridgell
78fd5bb23f Copter: get rid of remaining Log.pde warnings 2013-01-13 17:53:39 +11:00
Andrew Tridgell
36e38eeef7 Copter: ensure ahrs.init() is called 2013-01-13 17:32:48 +11:00
Andrew Tridgell
3039c37f95 Copter: use macros from common header 2013-01-13 17:31:42 +11:00
Pat Hickey
d7eeeab79e ArduCopter: fix new style Log.pde build for PX4. 
randy - you should please review these changes to make sure you wanted
to have the int16_t type in all of these structs, or how you want to
convert all these other integer types to int16_t if you do need it that
way.
 2013-01-12 13:11:25 -08:00
Randy Mackay
87627d883b ArduCopter: use new logging method for remaining packet types 
Additional changes include renaming RAW dataflash type to IMU
 2013-01-13 00:17:44 +09:00
Randy Mackay
177da0ca74 ArduCopter: fixed minor bug in logging of parameter changes to dataflash 
It is questionable whether we should even bother writing these to the
dataflash as there is no way to recognise which parameter has been
affectded
 2013-01-13 00:15:34 +09:00
Randy Mackay
b4bbae56c6 ArduCopter: reduce redundant event logging 
We now only write state changes to the dataflash log when they have
changed.
Also replaced <tab> with <space> in AP_State.pde
 2013-01-13 00:13:10 +09:00
Andrew Tridgell
af478d52bc Copter: use the new logging methods for 2 packet types 
the rest still need to be converted
 2013-01-12 18:15:23 +11:00
Andrew Tridgell
0fe7901422 Copter: only print perf data when SCHED_DEBUG is non-zero 2013-01-12 12:06:40 +11:00
Andrew Tridgell
dcb181d2d8 Copter: use new AP_Scheduler library 2013-01-12 12:02:57 +11:00
Andrew Tridgell
585459ece9 Copter: tweak the serial buffer sizes 
we only need the large buffers for HIL
 2013-01-11 10:31:55 +11:00
Andrew Tridgell
2e57720444 Copter: move memcheck_init() earlier in setup 2013-01-11 10:24:21 +11:00
Andrew Tridgell
21e979910f Copter: improved 'FRAME' docs 2013-01-10 15:44:13 +11:00
Pat Hickey
0ff6ed12b1 ArduCopter Makefile: Don't include targets.mk directly (included by apm.mk) 2013-01-09 13:15:38 -08:00
James Bielman
7374e5d84e ArduCopter: Use 16-bit arithmetic when comparing event tick counters. 
- On the ARM, once the tick counter wrapped, we stopped running events
  because the wraparound case wasn't being handled correctly.  Make
  sure the comparison is 16 bits to prevent this.
 2013-01-09 11:19:52 -08:00
James Bielman
7827a4a54a ArduCopter: Add AP_HAL_SMACCM support. 
- Added default configuration to "config.h".
- Added main function to run under FreeRTOS with HWF4.
 2013-01-09 11:19:51 -08:00
James Bielman
ab37f833db MS5611: Fix CONFIG_MS5611_SERIAL definitions. 
- Make sure the values are defined as integers.  We were always using
  SPI rather than using I2C when desired.
 2013-01-09 11:19:51 -08:00
Andrew Tridgell
e575c5eba0 Copter: read baro at 50Hz 2013-01-09 23:46:05 +11:00
Andrew Tridgell
269804e866 Copter: use barometer.accumulate() 
this gives us more consistent timing and faster baro reads on APM1
 2013-01-09 23:08:19 +11:00
Andrew Tridgell
91ad870f11 Copter: check bitmask in more logging functions 2013-01-09 23:06:40 +11:00
Andrew Tridgell
a237b6cc7b Copter: update for new AP_Param API 2013-01-09 13:30:58 +11:00
Andrew Tridgell
860f4b2605 Copter: merge the latest 2.9 changes into master 2013-01-08 14:37:40 -08:00
Andrew Tridgell
d11dde578f Copter: a useful bit of timing debug code 
enable when looking at main loop timing
 2013-01-07 11:07:44 +11:00
Andrew Tridgell
647b3b09b6 Copter: ensure we process deferred mavlink messages 2013-01-07 11:07:39 +11:00
Andrew Tridgell
d952ccf968 Copter: added main_loop_ready() function 
this tells us when the main loop is ready to run. MAVLink won't send a
message if the main loop could run.
 2013-01-07 11:07:34 +11:00
Andrew Tridgell
b079a96eaf Copter: removed GPS_STATUS message 
this message is huge, and completely pointless now that we have
num_satellites in GPS_RAW_INT
 2013-01-05 20:39:31 +11:00
Andrew Tridgell
c48714be16 Copter: enabled PX4 sensors 2013-01-05 20:39:31 +11:00
James Bielman
264db3670e AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C. 
- Update ArduCopter and ArduPlane modules to pass the correct serial
  driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
 2013-01-03 13:48:06 -08:00
rmackay9
ed79e8c954 ArduCopter: correct TRIM_THROTTLE parameter comments 2013-01-03 00:39:18 +09:00
rmackay9
861a66e26e ArduCopter: remove @brief from GCS_MAVLINK class's comments because they mess up the mission planner's parsing of parameter descriptions 2013-01-03 00:34:10 +09:00
rmackay9
ba8e9c8f9e ArduCopter: revert path for reading gcs parameter descriptions 2013-01-02 23:51:27 +09:00
rmackay9
d56e9cc701 ArduCopter: change path for GCS_Mavlink parameter descriptions 2013-01-02 23:42:05 +09:00
rmackay9
4ef7e7b1c6 ArduCopter: add parameter descriptions for GCS_Mavlink objects 2013-01-02 23:36:48 +09:00
Andrew Tridgell
94e3322e24 Copter: fixed build on px4 2013-01-02 22:09:02 +11:00
rmackay9
886329898c ArduCopter: minor fixup to a few parameter descriptions 2013-01-02 18:50:25 +09:00
rmackay9
ac028cca74 ArduCopter: remove spaces to allow MP to parse RC Channel parameter descriptions 2013-01-02 18:40:59 +09:00
rmackay9
42a5d183da ArduCopter: added parameter descriptions for optflow, throttle and loiter pid controllers 2013-01-02 18:32:11 +09:00
rmackay9
ffa923981c ArduCopter: added parameter description for navigation and some throttle controllers 2013-01-02 17:44:21 +09:00
rmackay9
4a975d35ce ArduCopter: add parameter descriptions for loiter's lat and lon rate controllers 2013-01-02 17:20:58 +09:00
rmackay9
c595a1e9a2 ArduCopter: updated parameters for roll, pitch and yaw rate controllers. 
Also added reference to AP_Motors_Class.cpp so that parameter descriptions can be seen in mission planner.
 2013-01-02 17:05:57 +09:00
Andrew Tridgell
374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell
e56a7eacec Copter: don't pass board version to motors 2013-01-02 15:28:34 +11:00
Andrew Tridgell
394dccf9a8 Copter: make config defaults match 2.9 2013-01-02 15:27:42 +11:00
Andrew Tridgell
ead38f917f Copter: use GRAVITY_MSS 2013-01-02 14:45:08 +11:00
Robert Lefebvre
b9594e7123 Parameters: Fixing a typo 2013-01-01 20:13:00 -05:00
Andrew Tridgell
4236b10edc Copter: fixed board ID string 2013-01-02 10:18:05 +11:00
Andrew Tridgell
17a63dc76a Copter: fixes for AP_HAL merge 2013-01-02 09:55:55 +11:00
Andrew Tridgell
51d987a890 Copter: removed unusued variable 2013-01-02 09:55:55 +11:00
rmackay9
9b2956b377 ArduCopter: increase throttle rate P to 6.0 (was 1.0) and alt hold P to 2.0 (was 1.0) 2013-01-02 09:55:37 +11:00
rmackay9
228ad2198f ArduCopter: update firmware version to 2.9-rc2 2013-01-02 09:55:37 +11:00
rmackay9
2181ec2ab0 ArduCopter: log watchdog event to dataflash 2013-01-02 09:55:37 +11:00
rmackay9
16f99ebcab ArduCopter: fix to sub system used to record failsafe in dataflash ERR message 2013-01-02 09:55:37 +11:00
rmackay9
672fdfbf71 ArduCopter: added ERR dataflash message 
Failsafe events changed to errors so they are more obvious.
Errors recorded to dataflash for failure to init compass and optical flow sensor.
Errors recorded for pwm failure.
Resolved a compile error when dataflash logging is disabled.
 2013-01-02 09:55:37 +11:00
rmackay9
677b38a48e ArduCopter: first implementation of surface tracking using sonar 
Note: not yet enabled as part of any flight mode
 2013-01-02 09:55:37 +11:00
rmackay9
92e271e517 AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1 2013-01-02 09:55:37 +11:00
rmackay9
d400e5040b ArduCopter: turn on INERTIAL_NAV_Z in the config.h file so that it takes effect when built for the mission planner 2013-01-02 09:55:37 +11:00
rmackay9
daac540e08 ArduCopter: get_throttle_althold - add check to avoid divide by zero 2013-01-02 09:55:37 +11:00
rmackay9
0decd870dc ArduCopter: inertial nav - only initialise horizontal position when home is initialised 2013-01-02 09:55:37 +11:00
rmackay9
4c14010029 ArduCopter: update release notes for 2.9-rc1 2013-01-02 09:55:37 +11:00
rmackay9
576af6d487 ArduCopter: bug fix to althold desired rate calculation. Fix from Jonathan. 2013-01-02 09:55:37 +11:00
rmackay9
02bf3ea027 ArduCopter: Battery failsafe triggers RTL only if we are more than 15m from home, otherwise it performs a LAND 2013-01-02 09:55:37 +11:00
rmackay9
ff40fa6aab ArduCopter: alt hold bug fix - should use 2x linear distance when calculating the desired rate 
Bug fix from Leonard.
 2013-01-02 09:55:37 +11:00
rmackay9
68b62abd38 ArduCopter with the new Camera and Relay classes for APM1 and APM2. 
All changes by Sandro Benigno
 2013-01-02 09:55:37 +11:00
rmackay9
393c893cdb ArduCopter: bug fix (attempt #2) for accel based throttle controller 
Thanks to Jonathan for this.
 2013-01-02 09:25:58 +11:00
rmackay9
e583ade62d ArduCopter: bug fix to accel based throttle controller (was using m/s instead of cm/s) 2013-01-02 09:24:31 +11:00
rmackay9
e77b54c7dc ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete. 2013-01-02 09:24:31 +11:00
rmackay9
e850ab7ccd ArduCopter: add AUTO_VELZ_MIN, AUTO_VELZ_MAX and PILOT_VELZ_MAX to allow better control of climb/descent rate in auto and manual throttle modes 2013-01-02 09:24:31 +11:00
Craig@3DR
0ed25cf719 Global change all references from 
GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
 2013-01-02 09:24:31 +11:00
rmackay9
5526ca204c ArduCopter: on throttle failsafe, only initiate RTL if we are at least 15m from home 2013-01-02 09:22:51 +11:00
rmackay9
466097b383 ArduCopter: use inertial nav for current altitude and climb rate 2013-01-02 09:22:51 +11:00
rmackay9
5ba363b007 ArduCopter: move gcs_check function (which sends to ground station) to run when 50hz loop is not running 
Also removed redundant heartbeat message
 2013-01-02 09:21:35 +11:00
rmackay9
331a73c4ac ArduCopter: remove duplicate (?) send of MSG_EXTENDED_STATUS1 2013-01-02 09:20:08 +11:00
rmackay9
6baddf4aee ArduCopter: remove unused variable last_5hz 2013-01-02 09:20:08 +11:00
rmackay9
1f5fdcdaa8 ArduCopter: remove unnecessary "Initialising APM message..." 2013-01-02 09:20:08 +11:00
Jason Short
8b62c4630b ACM: Restore Multi-mode support 2013-01-02 09:20:08 +11:00
rmackay9
bd0e018ca0 ArduCopter: restore auto-trim method but now use AHRS.add_trim 2013-01-02 09:20:08 +11:00
Craig@3DR
e350bfbba8 Removed 2 more degree symbols from comments 2013-01-02 09:20:08 +11:00
rmackay9
b786cf40f7 ArduCopter: change GPS dataflash message to output unfiltered gps lat and lon 2013-01-02 09:19:39 +11:00
rmackay9
d3cbf733ba ArduCopter: ensure RTL performs a land if a failsafe has been triggered 2013-01-02 09:19:39 +11:00
Robert Lefebvre
6e64b1b357 ACM: Precision Loiter RePositioning code. 
Protected behind a #define
 2013-01-02 09:19:39 +11:00
rmackay9
0fa6fdf407 ArduCopter: remove unused wait_for_yes function 2013-01-02 09:19:39 +11:00
rmackay9
e6519330f4 ArduCopter: remove unused rc_override variables to save 21 bytes 2013-01-02 09:19:17 +11:00
rmackay9
396024e802 ArduCopter: move scaleLongUp and scaleLongDown initialisation to init_home 2013-01-02 09:19:17 +11:00
rmackay9
7a5e4b8549 ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log 2013-01-02 09:19:17 +11:00
rmackay9
1b5ff6aac6 ArduCopter: restore initial climb to RTL 2013-01-02 09:19:17 +11:00
rmackay9
52802cb29e ArduCopter: limit output throttle to 800 only for TRI which does not have the new stability patch 2013-01-02 09:19:17 +11:00
rmackay9
34e18ae12a ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle 2013-01-02 09:19:17 +11:00
rmackay9
ac8af9a53f ArduCopter: Leonard Hall's changes to alt hold including adding low pass filter to climb rate 
get_throttle_rate_stabilized changed to simply update the target altitude instead of talking directly to the rate controller.
get_throttle_althold changed to use sqrt of distance when calculating the desired rate towards the target altitude.
added reset of accel based throttle PID's I term.
unrelated small bug fix from Randy to allow CH6 tuning of throttle rate D term.
 2013-01-02 09:19:17 +11:00
rmackay9
f4c50353b9 ArduCopter: allow tuning of the Throttle Rate D term 2013-01-02 09:16:48 +11:00
Robert Lefebvre
9605bd8ee1 ACM: Trying to set a default MPU6K filter rate of 10Hz for TradHeli. Doesn't Work. 2013-01-02 09:14:55 +11:00
rmackay9
d926360e81 ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts 2013-01-02 09:14:31 +11:00
rmackay9
881dae1e27 ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters 
Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
 2013-01-02 09:13:42 +11:00
rmackay9
6da68c53a5 ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled 2013-01-02 09:13:42 +11:00
rmackay9
d8e3d5c10c ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h 2013-01-02 09:12:40 +11:00
rmackay9
5633164fa0 ArduCopter: bug fix for compass.accumulate check in main loop (millis vs micros issue) 2013-01-02 09:12:40 +11:00
rmackay9
50d46898fb ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden 2013-01-02 09:12:17 +11:00
rmackay9
ddc578fd18 ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode 2013-01-02 09:12:17 +11:00
rmackay9
0ab82f8c4e ArduCopter: clear ahrs roll and pitch trims after an accel level command 2013-01-02 09:12:17 +11:00
rmackay9
7ea34d4fb7 ArduCopter: updated accel based throttle to use ahrs's get_accel_ef method 
Also removed slow low pass filter meant to correct for accelerometer calibration.  This is no longer required now that we have the improved calibration method.
 2013-01-02 09:11:25 +11:00
rmackay9
4dfe3a2d73 ArduCopter: remove weird character from navigation.pde 2013-01-02 09:11:25 +11:00
Robert Lefebvre
ab95f04a91 ACM: TradHeli 
Change name of attitude rate feed-forward parameters.
 2013-01-02 09:10:40 +11:00
rmackay9
8e032b89ee ArduCopter: create 2.9 branch and update firmware version 2013-01-02 09:10:40 +11:00
Andrew Tridgell
cf8e648558 CLI: fixed accel setup 
disable mavlink callback in CLI
 2012-12-24 08:51:33 +11:00
Andrew Tridgell
9931009db2 Math: use pythagorous2() in some more places 2012-12-20 15:16:18 +11:00
Andrew Tridgell
78d98023f4 Copter: remove use of 'byte' 2012-12-20 14:58:07 +11:00
Pat Hickey
1878290510 ArduCopter: fixes for AP_InertialSenor_UserInteract 2012-12-20 14:53:23 +11:00
Andrew Tridgell
3c0440b0b4 Math: use common degrees() and radians() functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell
06357c40f2 Copter: use new functions 2012-12-20 14:53:22 +11:00
Pat Hickey
2ad4fed8cd Rover/Copter/Plane: change from vsnprintf to vsnprintf_P 2012-12-20 14:52:38 +11:00
Pat Hickey
54b98c0a7c ArduPlane: use hal's vsnprintf 2012-12-20 14:52:37 +11:00
Andrew Tridgell
a02f723f3a Copter: fixed HIL builds 2012-12-20 14:52:37 +11:00
Andrew Tridgell
2e8e84ba8b Copter: switch to using targets.mk 2012-12-20 14:52:36 +11:00
Pat Hickey
eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell
9e986801c9 Copter: fixed SITL for ArduCopter 2012-12-20 14:52:34 +11:00
Andrew Tridgell
08b1c2d590 Copter: fixed GPS init 2012-12-20 14:52:33 +11:00
Pat Hickey
9a28ed2df6 ArduCopter: refactor Makefile targets in terms of Arduino.mk targets 2012-12-20 14:52:31 +11:00
Andrew Tridgell
7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Pat Hickey
22ac39a4ef ArduCopter: disable and remove InertialNav defines from APM_Config 
* We're not going to have the RAM available to support those in general release
 2012-12-20 14:52:29 +11:00
Pat Hickey
d5d97be837 ArduCopter: add param loader properly implement parameters 
* thanks tridge!
 2012-12-20 14:52:29 +11:00
Pat Hickey
5e63491994 ArduCopter: fix issues with HAL/HIL mixup and baro/compass instances 2012-12-20 14:52:29 +11:00
Pat Hickey
21d0da84a6 ArduCopter: temporarily disable AP_Param::setup_sketch_results 
* rebased away tridge's AP_Param changes as they seemed possibly buggy?
 2012-12-20 14:52:29 +11:00
Pat Hickey
a0151aa66c ArduCopter: fix cliSerial null ptr, do AP_Param::setup_sketch_defaults 
* plus make SITL DataFlash available.
 2012-12-20 14:52:29 +11:00
Pat Hickey
1e48d0fc69 Makefile Targets rewritten to use per-target extension style 2012-12-20 14:52:29 +11:00
Pat Hickey
524e52f449 ArduCopter: changed makefile to inherit environments properly 2012-12-20 14:52:29 +11:00
Pat Hickey
d93d932831 ArduCopter: defines fixes 
Conflicts:

	libraries/AP_Common/Arduino.mk
 2012-12-20 14:52:28 +11:00
Pat Hickey
2aa4657315 ArduCopter: changes to use CONFIG_HIL_BOARD 2012-12-20 14:52:28 +11:00
Pat Hickey
ade7099d75 ArduCopter: add AP_HAL_MAIN 2012-12-20 14:52:28 +11:00
Pat Hickey
5bd7046a95 ArduCopter: sketch cpp builds! 2012-12-20 14:52:28 +11:00
Pat Hickey
8b49208771 ArduCopter: some fixes 2012-12-20 14:52:28 +11:00
Pat Hickey
13c044ab3e ArduCopter: fixes to radio.pde 2012-12-20 14:52:28 +11:00
Pat Hickey
7af03127f6 ArduCopter: more work 2012-12-20 14:52:28 +11:00
Pat Hickey
b90889dd11 ArduCopter: add ArduPlane's compat.h & compat.pde 2012-12-20 14:52:28 +11:00
Pat Hickey
70f4739522 ArduCopter: more fixes 2012-12-20 14:52:28 +11:00
Pat Hickey
4b84e99f85 remove dumb user hooks comments 2012-12-20 14:52:28 +11:00
Pat Hickey
901c692ee3 arducopter: type fix 2012-12-20 14:52:28 +11:00
Pat Hickey
f281d9265e ArduCopter: reworked sonar analog source creation 2012-12-20 14:52:28 +11:00
Pat Hickey
d9e0bbbbab ArduCopter: first pass at AP_HAL porting 
* changed all the byte types to uint8_t
* fixed up much of the serial stuff
 2012-12-20 14:52:27 +11:00
Pat Hickey
b7a7eceef8 ArduCopter: add nocore.inoflag and Arduino.h 2012-12-20 14:51:40 +11:00
Pat Hickey
ada10f6eb2 ArduCopter: change comment references to AP_Var to AP_Param 
* jsut to clean up the grep for "AP_Var"
 2012-12-20 14:51:31 +11:00
Pat Hickey
a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey
3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Jason Short
0419dc8dfd ACM: Simplified control mode code 2012-12-14 13:30:48 -08:00
Jason Short
19ae5c30eb ACM : Formatting 2012-12-13 20:12:39 -08:00
rmackay9
52177c63f7 ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised 2012-12-11 00:14:29 +09:00
rmackay9
af77425636 ArduCopter: fix Failed to Init Optflow message at startup 2012-12-11 00:09:45 +09:00
rmackay9
2f748f8382 ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE 2012-12-10 23:47:14 +09:00
rmackay9
d31efebd44 ArduCopter: rename throttle failsafe parameters. 
Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
 2012-12-10 23:38:43 +09:00
rmackay9
2f1b2b70e6 ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees 2012-12-10 22:27:46 +09:00
rmackay9
dadad8677e ArduCopter: added descriptions for most parameters that did not have them 
Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
 2012-12-10 21:45:57 +09:00
rmackay9
f522ef078e ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude 2012-12-10 17:30:50 +09:00
rmackay9
047f848cc7 ArduCopter: remove ThirdOrderCompFilter from list of includes 2012-12-10 09:14:44 +09:00
rmackay9
154e3c33f7 ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9
cfe2507c0b ArduCopter: reduce Rate Roll/Pitch P to 0.150 (was 0.175) and increase I to 0.1 (was 0.01) 2012-12-09 18:08:45 +09:00
rmackay9
56ceb230cb ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission 2012-12-09 18:04:31 +09:00
rmackay9
0f7bb79d89 ArduCopter: add comments to tuning parameters. 
Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
 2012-12-09 16:44:42 +09:00
rmackay9
9a05d3bd36 ArduCopter: add comments at the top of many navigation functions 2012-12-09 15:50:50 +09:00
rmackay9
8c2423f618 ArduCopter: code clean-up. Changed update_nav_wp to use a switch statement and relocated to navigation.pde 2012-12-09 15:24:19 +09:00
rmackay9
b36eb406d4 ArduCopter: allow alt hold to be engaged with alt < 1m because sometimes we get baro drift. 
Also initialisation of target altitude is done in set_throttle_mode function.
 2012-12-09 14:48:01 +09:00
rmackay9
b4e5176e2a ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz. 2012-12-09 14:27:33 +09:00
Robert Lefebvre
aa4d4f8c24 ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode. 2012-12-08 20:41:05 -05:00
Robert Lefebvre
0eb57bf93d ACM: TradHeli 
Fix to make update_throttle_cruise work with stab_throttle scaling.
 2012-12-08 15:12:39 -05:00
Robert Lefebvre
1b97a92098 ACM: Code Cleanup 2012-12-08 14:49:38 -05:00
rmackay9
f98a807d36 ArduCopter: remove debug related to yaw mode used for alt hold 2012-12-08 14:24:50 +09:00
rmackay9
9dd978576b ArduCopter: auto yaw changes to allow pilot override of yaw during missions 
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw).  We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
 2012-12-08 14:23:32 +09:00
rmackay9
85c8bdce15 ArduCopter: removed unused and out-of-date #defines from APM_Config.h 2012-12-08 13:38:39 +09:00
rmackay9
68ca123224 ArduCopter: remove some unused #defines 2012-12-07 15:17:35 +09:00
rmackay9
99b32a39c4 ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis 2012-12-07 13:01:40 +09:00
rmackay9
cca9f9dbce ArduCopter: do_set_servo fix to resolve -1 being assigned to uint8_t 2012-12-07 12:58:44 +09:00
rmackay9
3a90fc77f9 ArduCopter: add dataflash logging of camera events 2012-12-07 00:57:08 +09:00
rmackay9
d74cf54b5d ArduCopter: allow triggering of camera from a mission 2012-12-06 23:48:30 +09:00
rmackay9
d3de77f74c ArduCopter: fix do_set_servo so that it works again 2012-12-06 20:18:33 +09:00
rmackay9
653535b9a1 ArduCopter: added CH7 option to trigger camera 
Restructured reading of channel 7 into a switch statement.
 2012-12-06 17:47:01 +09:00
rmackay9
4ca27defb3 ArduCopter: update comments related to CH7 switch options 2012-12-06 17:40:36 +09:00
rmackay9
75401756f2 ArduCopter: maintain loiter control even below 1m while landing 2012-12-06 12:40:53 +09:00
rmackay9
2dd4694eef ArduCopter: adjusted pid_throttle_accel dt to 0.01 (100hz) 2012-12-06 10:32:12 +09:00
rmackay9
269e02ee93 ArduCopter: bug fix - initialise inertial nav 2012-12-06 10:32:07 +09:00
rmackay9
8d682b9812 ArduCopter: disable INERTIAL_NAV_XY by default 2012-12-06 10:32:02 +09:00
rmackay9
39d524212f ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter. 
When disabled the original velocity based throttle controller is used.
 2012-12-06 10:31:57 +09:00
rmackay9
a5bb54e36e ArduCopter: RTL clean-up and slightly improved landing sensor 
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
 2012-12-06 10:31:52 +09:00
rmackay9
6da07ef1d2 ArduCopter: increase CONTROL_SWITCH_COUNTER so that flight mode switch must be changed for at least 1/10th of a second 2012-12-06 10:31:46 +09:00
rmackay9
072ffec493 ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position 2012-12-06 10:31:41 +09:00
rmackay9
aa5e7e63a0 ArduCopter: switch on INS in APM_Config.h (i.e. on by default for users uploading through Arduino IDE) 2012-12-06 10:31:36 +09:00
rmackay9
bdb47c449a ArduCopter: pass linear altitude error to throttle rate controllers. 
Previously the requested rate used the square root of the altitude error.

Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
 2012-12-06 10:31:31 +09:00
rmackay9
d7f76ebd87 ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI) 2012-12-06 10:31:25 +09:00
rmackay9
7b4ed2d227 ArduCopter: restored landing detector to landing throttle mode. 
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
 2012-12-06 10:31:20 +09:00
rmackay9
560bb1d738 ArduCopter: removed unused AUTO_THROTTLE_HOLD #define 2012-12-06 10:31:15 +09:00
rmackay9
7035529953 ArduCopter: remove unused get_desired_climb_rate function 2012-12-06 10:31:09 +09:00
rmackay9
a94826f182 ArduCopter: add set_throttle_mode to better control initialisation of variables 2012-12-06 10:31:04 +09:00
rmackay9
1036b35128 ArduCopter: added back in angle boost and recombined for heli and multicopter 2012-12-06 10:30:55 +09:00
rmackay9
3cbef57c64 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy 
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
 2012-12-06 10:30:49 +09:00
Robert Lefebvre
8c18a60766 ACM: Small fix to Yaw Look Ahead 2012-12-04 14:50:14 -05:00
Robert Lefebvre
1d589c0b7d ACM: TradHeli 
Fixes for Attitude rate controllers.
 2012-12-04 14:42:04 -05:00
Robert Lefebvre
5723021be1 ACM: TradHeli 
Creating Rate Feed-Forward Parameters
 2012-12-04 13:47:38 -05:00
Robert Lefebvre
3e65dd3ded ACM: TradHeli APM_Config.h changes 2012-12-04 13:32:40 -05:00
Robert Lefebvre
315a7e8000 ACM: Yaw Look Ahead Changes 2012-12-04 13:26:41 -05:00
Robert Lefebvre
9130045298 ACM: Code Cleanup 2012-11-30 17:05:12 -05:00
rmackay9
8141f0b600 ArduCopter: bug fix - increase mpu6k sample rate to 100hz 2012-11-30 23:49:18 +09:00
Andrew Tridgell
6fbf5ec8f2 Copter: update ArduCopter for new ins interface 2012-11-30 07:15:18 +11:00
Michael Oborne
68aa5e4682 AC add ability to start new accel_scale via mavlink 2012-11-28 21:38:58 +08:00
Andrew Tridgell
2949d58b71 Copter: re-enable sending of GLOBAL_POSITION_INT message 
this gives important raw GPS velocity information, plus relative and
absolute height
 2012-11-28 11:26:19 +11:00
Robert Lefebvre
07d7d90882 ACM: TradHeli 
Bringing in Low Pass Filter for Rate Controllers
 2012-11-26 21:51:23 -05:00
Robert Lefebvre
6b8c39dd10 ACM: Creating Yaw_Look_Ahead yaw mode. 
This function is not fully tested yet.
 2012-11-26 21:37:13 -05:00
Robert Lefebvre
3f0e8dd358 ACM: TradHeli 
Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib
 2012-11-26 21:21:12 -05:00
Robert Lefebvre
e8d619acad ACM: Begin creation of TradHeli rate control. 
May affect Multi-Rotors.
 2012-11-26 21:02:41 -05:00
Robert Lefebvre
6b1fee767a ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Robert Lefebvre
9e45e906fb ACM: TradHeli 
Move some TradHeli #defines into one place in APM_Config to clean up config.h and defines.h
 2012-11-26 19:09:55 -05:00
Robert Lefebvre
b32d7c8b63 ACM: TradHeli 
Prevent helis from arming while RSC control is switched on.
 2012-11-26 19:03:28 -05:00
Robert Lefebvre
95eeda7cf7 ACM: TradHeli 
Removing Angle Boost function.
Does not make sense for helis due to aerodynamics.  Can cause more problems than it solves.
 2012-11-26 18:58:21 -05:00
Robert Lefebvre
8056b78c55 ACM: TradHeli 
Remove Rate I-term reset when throttle stick is on the bottom.  This could be very bad for helis since it's plausible to use full downstick while flying.
There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway.
Also removed what appears to be some deadwood.
 2012-11-26 18:49:24 -05:00
Robert Lefebvre
637c9a1a72 ACM: TradHeli 
Removing this "throttle" output restriction for TradHelis.
 2012-11-26 18:44:03 -05:00
Andrew Tridgell
5818aaad42 Copter: fixed build error 
thanks to Marco for pointing this out
 2012-11-24 20:39:35 +11:00
Andrew Tridgell
f6ec932d63 Copter: added reboot in CLI and over MAVLink 
useful for getting out of CLI
 2012-11-24 18:20:37 +11:00
Andrew Tridgell
cd07d965a7 Copter: ported RSSI_PIN option from ArduPlane 
this is useful for OSD users
 2012-11-22 20:59:33 +11:00
rmackay9
3372355e07 ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d 2012-11-22 12:50:39 +09:00
rmackay9
eb6d8fca57 ArduCopter: added ReleaseNotes.txt 2012-11-22 09:51:04 +09:00
Robert Lefebvre
6ffc115236 Changes to get_throttle_rate() 
Commented out a bit of code that is not used currently
Change the output constrains to #defines so they can be easily changed, particularly for use in TradHeli.
 2012-11-21 17:11:38 -05:00
Andrew Tridgell
dbdb3e1194 ACM: allow fetch of parameters by index 
this makes it more efficient to re-fetch parameters that are missing
 2012-11-22 00:16:57 +11:00
Andrew Tridgell
bcae83c4f6 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
Andrew Tridgell
704da2a5d9 MAVLink: make it possible to enter the CLI over the radio 
this only works on the APM2, where UART0 is also the radio port
 2012-11-21 14:11:05 +11:00
Michael Oborne
a5e3ce4655 remove cli planner mode - no longer used 2012-11-21 07:45:45 +08:00
Michael Oborne
0c84b8abf1 fix unit max. and unit type 2012-11-21 07:42:53 +08:00
Andrew Tridgell
bcf740a82f ACM: support 16 character parameter names 2012-11-20 21:38:58 +11:00
Andrew Tridgell
c008ca7560 ACM: fixed documentation of disabling voltage/current pins for ArduCopter 2012-11-20 20:26:14 +11:00
Andrew Tridgell
69fbcc8683 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
rmackay9
810da878e7 ArduCopter: performance monitoring - changed loop counters to uint16_t. 
Removed an unused items from dataflash logging of Performance.
 2012-11-19 11:55:47 +09:00
Andrew Tridgell
dafaa2efc8 SITL: disable optical flow on the desktop build 
it doesn't work yet, as no sensor emulator is available
 2012-11-19 09:04:03 +11:00
Andrew Tridgell
a3c3c59b82 ACM: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
rmackay9
07a7a1acd8 ArduCopter: replaced digitalRead and digitalWrite with faster calls 
improved performance logging to dataflash
 2012-11-19 01:16:07 +09:00
Andrew Tridgell
531e62d3b5 MAVLink: improve usefulness of logged GPS velocities 
we need them to align with time to use them for accelerations
 2012-11-17 17:45:30 +11:00
Jason Short
5f57678a9c ACM Nav_throttle- removed sign inversion 2012-11-16 17:38:57 -08:00
Robert Lefebvre
9c6e914bf8 Added Leonard to Contributor List. 2012-11-16 15:43:03 -05:00
rmackay9
e92b560df5 ArduCopter: low baterry failsafe 2012-11-15 23:35:41 +09:00
rmackay9
73ed6c9dbf ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
rmackay9
258442770d ArduCopter: flight mode changes ignored while in throttle failsafe 
reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
 2012-11-13 12:50:51 +09:00
rmackay9
cdfd3f9ccc ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap' 
Changed ArduPlane to keep function consistent with ArduCopter
 2012-11-12 13:30:04 +09:00
rmackay9
dcd98eee78 ArduCopter: remove some variables no longer required with introduction of AP_state 2012-11-12 12:41:25 +09:00
rmackay9
ac5dcc8d49 ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables 2012-11-12 12:35:58 +09:00
Jason Short
ea7f639ebf ACM: Added fast descent with Bill P's equation for managed accerlation 2012-11-11 18:23:45 -08:00
Jason Short
69db678252 ACM: attitude.pde - adjusted the FF of the alt hold algorithm, the old way was pretty crap. increased the output range of rate controller. 2012-11-11 18:22:54 -08:00
Jason Short
c1b759d5d8 ACM: Added a speed filter for throttle cruise, increased alt change rate for alt hold, increased the max climb_rate reporting 2012-11-11 18:17:33 -08:00
Jason Short
f344eb875a ACM: Allow greater than 45° pitch and roll in Stab 2012-11-11 18:07:58 -08:00
Jason Short
be63481a8c ACM : Logging.pde formatting 2012-11-11 18:06:50 -08:00
Jason Short
9e0b0b9fcd ACM : loging ApState at faster rate 2012-11-11 18:00:10 -08:00
Jason Short
9735a0eff1 ACM: Allow for user defined roll and pitch input max 2012-11-11 18:00:10 -08:00
Andrew Tridgell
fddfb0b1a3 MAVLink: update compass health in SYS_STATUS 
this will make it easier to tell if a I2C error occurred in flight
 2012-11-12 11:26:54 +11:00
rmackay9
bcb9519fd7 ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues 2012-11-11 22:42:10 +09:00
rmackay9
e212744f4c ArduCopter: failsafe improvements 
resolves momentary throttle drop to zero before failsafe engages
resolves motor cut after 30seconds if flying in stabilize without GPS (now switches to ALT_HOLD with target altitude zero)
disables motors if throttle was zero before failsafe event
 2012-11-11 22:11:12 +09:00
rmackay9
96872493ae ArduCopter: remove unnecessary debug print mesage from save_trim function 2012-11-10 23:10:29 +09:00
rmackay9
95f6357d35 ArduCopter: fix APM2 build 2012-11-10 22:06:23 +09:00
Jason Short
883bb7cfc0 ACM formatting 2012-11-09 22:15:16 -08:00
Jason Short
fb2180ddcd ACM : climb rate option using Bill P's equation 2012-11-09 22:15:16 -08:00
Jason Short
129ec35c35 ACM crosstrack min distance 2012-11-09 22:15:16 -08:00
Jason Short
4b5e0a5046 ACM Logging Events 2012-11-09 22:15:16 -08:00
Jason Short
6dba79e3a7 ACM Log, formatting 2012-11-09 22:15:16 -08:00
Jason Short
549489ddbb ACM : Setup, format 2012-11-09 22:15:16 -08:00
Jason Short
ecdc281315 ACM | removing old files 2012-11-09 22:15:16 -08:00
Jason Short
d2a5928c06 Ap state updates 2012-11-09 22:15:15 -08:00
Jason Short
4d7b9137fe ACM: Added max RTL altitude 2012-11-09 22:15:15 -08:00
Jason Short
bfca0ff9bc ACM: added ap_state.pde 2012-11-09 22:15:15 -08:00
Jason Short
5ad38a32bf ACM : Attitude : added nav param reset 2012-11-09 22:15:15 -08:00
Jason Short
3c78c4a7a3 ACM : Attitude.pde added ap bitfield for failsafe bit 2012-11-09 22:15:15 -08:00
Jason Short
a42c6bb609 ACM : Attitude.pde removed stabilize D 2012-11-09 22:15:15 -08:00
Jason Short
e4cec91e59 ACM : Arducopter Added ap state bitfield, system bitfield 2012-11-09 22:15:15 -08:00
Jason Short
cdabc3878b ACM: Arducopter - remove the stabilize D scheduling 2012-11-09 22:15:15 -08:00
Jason Short
d2a0913b2d ACM : formatting 2012-11-09 22:15:15 -08:00
rmackay9
2b714ff7b0 ArduCopter: remove unused functions wrap_360f, wrap_180f and wrap_PI 2012-11-08 15:20:08 +09:00
rmackay9
14cbe37d3e ArduCopter: remove unused get_stabilize_rate_yaw 2012-11-07 23:28:25 +09:00
rmackay9
b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9
ad431d2f25 ArduCopter: fixed HIL build caused by optical flow semaphore changes 2012-11-07 21:13:34 +09:00
rmackay9
cec96a76d7 ArduCopter: comment out InertialNav related Alt Hold and Loiter PID changes from APM_Config.h 2012-11-07 19:21:36 +09:00
rmackay9
1f801714e8 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
rmackay9
d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9
a1b4ec6d0e ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Andrew Tridgell
e8ab62f6e5 ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT 
these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
 2012-11-05 15:23:41 +11:00
Jason Short
8a8ed7a711 ACM : Formatting 2012-10-28 12:12:38 -07:00
Jason Short
36040461df ACM : Formatting 2012-10-28 12:12:38 -07:00
Jason Short
e138b0a1d7 ACM: Added simple mode bearing logging for bug hunting 2012-10-28 12:12:38 -07:00
Jason Short
1713279ace ACM: Formatting 2012-10-27 14:13:46 -07:00
Jason Short
5149a8c723 ACM: Added notes, credit to decel code. added speed_min to calc. 2012-10-27 14:13:24 -07:00
Jason Short
73bc90f9b8 ACM: config.h cleanup 
Added LOG_ITERM default to enabled
 2012-10-27 09:59:57 -07:00
rmackay9
cebcc226ee ArduCopter: change TOY_M throttle mode to THROTTLE_HOLD 2012-10-26 10:56:06 +09:00
rmackay9
4877348c49 ArduCopter: remove some unhelpful constraints on nav_lat and nav_lon. 
Increase other constraints from 3200 to 32000.  These constraints are there to ensure int32_t do not cause an overflow when added to an int16_t.
 2012-10-24 22:04:35 +09:00
rmackay9
5e8043fd9c ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters 
Changes on behalf of Leonard Hall
 2012-10-23 21:30:50 +09:00
Andrew Tridgell
406a5dc328 ACM: save another 20 bytes 2012-10-22 18:59:51 +11:00
Andrew Tridgell
9592be5af7 ACM: saved some more memory for strings 2012-10-22 18:57:08 +11:00
rmackay9
78316adf75 ArduCopter: replace Serial.print with Serial.print_P to save memory. 
Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
 2012-10-22 16:45:24 +09:00
Jason Short
6a40fcd56a ACM : fix compiler warning on non returning function 2012-10-21 14:37:42 -07:00
Jason Short
8842a7dc1b ACM : Cast to int32_T 
Don't think it really needs it, but I feel better with the cast.
 2012-10-21 14:36:05 -07:00
Jason Short
a0752dc7dc ACM Acceleration management 
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
 2012-10-21 14:32:39 -07:00
rmackay9
a37a9b5b67 ArduCopter: updated firmware version to 2.8 2012-10-20 09:50:53 +09:00
rmackay9
4395fad6e9 ArduCopter: incremented eeprom format version to force users to accept the new defaults. 
Particularly important is the roll-pitch I term move from the stabilize to rate controllers.
 2012-10-19 16:14:51 +09:00
Pat Hickey
d4bb8a10d7 Update ArduCopter and ArduPlane dependencies on AP_Menu 2012-10-18 20:53:39 -07:00
Robert Lefebvre
bfade7d0ed Fixed that last commit 
#define Stupid_Mistake
 2012-10-18 16:50:42 -04:00
Robert Lefebvre
592f4040fd Changed RLT Yaw Mode for TradHeli. Also a few comment cleanups. 2012-10-18 16:39:05 -04:00
rmackay9
1c08e48b4b ArduCopter: updated firmware version to 2.7.4-Zeta 2012-10-18 23:30:28 +09:00
rmackay9
583f2e49a3 ArduCopter: integrated Leonard Hall's improved ACRO mode 2012-10-18 23:24:34 +09:00
rmackay9
a2a3eed063 ArduCopter: bug fix for telemetry not working on APM1. 
SPI3 is also UART3.  On APM1 we use UART3 for telemetry and don't need SPI3.
 2012-10-18 19:15:21 +09:00
rmackay9
d2912e4e01 ArduCopter: added spi_semaphore to stop conflicts between dataflash and optical flow sensor on APM1 2012-10-18 17:04:44 +09:00
rmackay9
401fb4101c ArduCopter: removed deprecated mag offset routine. 
Also removed commented-out block of code from navigation.pde.
 2012-10-17 19:47:21 +09:00
rmackay9
9e3c2dd105 ArduCopter: updated firmware version to 2.7.4-Epsilon 2012-10-17 19:27:11 +09:00
rmackay9
8519fe55d3 ArduCopter: more out-of-date commented out code removed 2012-10-17 19:25:14 +09:00
rmackay9
b944d9df26 ArduCopter: bug fix in earthframe->body frame translation. 
Provided by Leonard Hall.

Also removed large unnecessary comments.
 2012-10-17 19:15:25 +09:00
rmackay9
7d7de976c3 ArduCopter: reduced optical flow's I and IMAX terms 2012-10-17 17:47:43 +09:00
rmackay9
956b347d68 ArduCopter: updated firmware version to 2.7.4-Delta 2012-10-17 10:20:41 +09:00
rmackay9
5fbe53a84d ArduCopter: bug fix for get_yaw_rate_stabilized_ef 
Provided by Leonard Hall
 2012-10-17 10:18:24 +09:00
Andrew Tridgell
f828956cb8 battery: use set_pin() to allow pins to be changed at runtime 2012-10-16 17:20:49 +11:00
Robert Lefebvre
063cb41a11 Adding some comments to parameters. 2012-10-15 09:37:02 -04:00
rmackay9
4016f3ba85 ArduCopter: update version information ahead of testing 2012-10-15 18:15:38 +09:00
LeonardTHall
d7b7e1cefa New Yaw controller using rate feed forward and stabilize. 
Signed-off-by: LeonardTHall <LeonardTHall@gmail.com>
 2012-10-15 11:37:49 +09:00
rmackay9
ee5dab9647 ArduCopter: enable ACRO mode's AXIS_LOCK by default 2012-10-14 19:50:45 +09:00
rmackay9
997fe85880 ArduCopter: fixed acro mode 
Changes included:
Removing earth frame roll_rate_trim, pitch_rate_trim and yaw_rate_trim.
Switch ACRO mode to use YAW_ACRO instead of YAW_HOLD.
Changed YAW_ACRO to use stabilize yaw when axis_enabled.
Reset ACRO roll, pitch and yaw targets to current attitude when first entering ACRO.
 2012-10-14 17:47:46 +09:00
rmackay9
240b0b43fd ArduCopter: small comment fixes related to battery monitoring 2012-10-13 20:52:14 +09:00
rmackay9
4a41a3d210 ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor 2012-10-13 18:40:46 +09:00
Robert Lefebvre
dae81d2068 Added #define for Tilt_Compensation. 
Also added some detail to WP_Speed_Max parameter.
 2012-10-12 14:51:31 -04:00
Robert Lefebvre
4e649a381c Added comment detail for Tilt_Comp Parameter. 
Reduced parameter default value for TradHeli.
 2012-10-11 13:17:39 -04:00
rmackay9
1e79d265a1 ArduCopter: remove unnecessary (probably slightly harmful) extra barometer read 
The barometer reads including reading temperature was all moved to a timer but this extra read (originally to read the temperature) was probably forgotten.
 2012-10-11 18:31:10 +09:00
rmackay9
cf3e49eea2 ArduCopter: changed sin_pitch and sin_roll to faster equivalents 2012-10-11 17:54:42 +09:00
rmackay9
03933df5b7 ArduCopter: set default rate roll and pitch I terms to 0.010, and rate yaw to 0.015 
Updated after discussing with Marco
 2012-10-11 17:25:01 +09:00
rmackay9
35fa50234f ArduCopter: move I terms from stabilize to rate controllers 2012-10-11 17:20:05 +09:00
rmackay9
2848bb8ee6 ArduCopter: freeze I terms if motor limits breached 2012-10-11 17:20:00 +09:00
Andrew Tridgell
601fe89baa ACM-HIL: fixed optflow declaration 2012-10-11 11:51:25 +11:00
Pat Hickey
bbc7f050e5 ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors 
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
    mavelous <mavelous@googlegroups.com>

    Michael,

    Per our discussion today,

    In a MAVLINK_MSG_ID_COMMAND_LONG
    A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
    with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
    uses param index 1 to specify an arm/disarm motors event: 1 to arm,
    0 to disarm

    Thanks for working this out with me. Sorry to get it so completely
    wrong the first time around!

    Best
    Pat
 2012-10-10 18:59:55 +08:00
Pat Hickey
da374f9043 ArduCopter: Provide AP_Semaphore instance for SPI3 bus on APM2. 2012-10-09 11:39:39 -07:00
rmackay9
b876733c0d ArduCopter: added message to console when entering ESC Calibration on startup 2012-10-09 12:31:05 +09:00
rmackay9
c0ad98be31 ArduCopter: failsafe added to shutdown motors if mainloop fails 2012-10-09 12:30:17 +09:00
rmackay9
fa0963d592 ArduCopter: APM_Config.h - make it ever so slightly easier to enable INERTIAL_NAV 2012-10-08 12:31:51 +09:00
rmackay9
3c9ba94f42 ArduCopter: bug fix to ROI when no camera mount is specific 2012-10-08 12:31:10 +09:00
rmackay9
7cf60e61b4 ArduCopter: bug fix in earth-frame to body-frame conversion for roll 2012-10-07 19:14:40 +09:00
rmackay9
05fd04134a ArduCopter: fix heli build 2012-10-06 13:46:19 +09:00
rmackay9
61d0c8e35c ArduCopter: added AP_Semaphore to list of includes 2012-10-06 12:41:58 +09:00
rmackay9
af1d6a9b82 ArduCopter: reduce Stabilize Yaw P term to 4.5 2012-10-03 14:19:49 +09:00
rmackay9
e375a27058 ArduCopter: prioritise rate controllers, rate controller targets converted to body frame 2012-10-03 14:10:31 +09:00
rmackay9
ea4f256f8e ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements 
To save a parameter, the current sensor pin is assumed to always be 1 higher than the voltage pin.
 2012-10-02 22:16:19 +09:00
Michael Oborne
a38fef65c7 AP,AC Add ability to override an altitude in any auto mode, on the current active target 2012-09-30 07:29:33 +08:00
rmackay9
95763e610b ArduCopter: allow DMP to run in parallel with DCM 
Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
 2012-09-30 00:25:40 +09:00
rmackay9
8c6fd340d7 AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
rmackay9
41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
rmackay9
bae53807b2 ArduCopter: tiny formatting change in defines.h 2012-09-27 17:40:54 +09:00
rmackay9
280488fa5e ArduCopter: bug fix to display ITERM enabled/disabled properly from cli 
Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
 2012-09-27 17:40:30 +09:00
rmackay9
ed881117e0 ArduCopter: updated version to 2.7.4-Beta 2012-09-25 23:39:15 +09:00
rmackay9
fff5d51694 ArduCopter: reduced Loiter Rate I to 0.04 (was 0.08) 2012-09-25 19:08:31 +09:00
rmackay9
a71aa21514 ArduCopter: increase default Loiter Rate P to 5.0 2012-09-25 12:19:44 +09:00
rmackay9
b2f12c4854 ArduCopter: optical flow initialisation changes now that optical flow library automatically works on APM1, APM2 and APM2.5 2012-09-24 18:39:33 +09:00
rmackay9
889d1bb36c ArduCopter: alt hold bug fix - removed reset next_WP in init_home 2012-09-23 01:00:06 +09:00
rmackay9
b3ff368589 ArduCopter: position lead filters modified to use lag which varies by gps 2012-09-20 15:49:09 +09:00
rmackay9
361ff0c08f ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in. 2012-09-18 23:19:23 +09:00
rmackay9
93ae29a3e9 ArduCopter: added throttle curve (although disabled by default) for all multicopters 2012-09-18 23:05:08 +09:00
rmackay9
498cbb063b ArduCopter: set fast gains while auto trim is being executed 2012-09-18 09:03:29 +09:00
Andrew Tridgell
5fd39bb928 ACM: updates for new GPS detection 
a GPS can now be attached after startup
 2012-09-17 14:45:47 +10:00
rmackay9
6f32f52377 ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables. 2012-09-17 13:44:29 +09:00
rmackay9
303ca11c4c HIL: changes to fix HIL for ArduCopter after recent timing changes. 
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
 2012-09-15 18:42:56 +09:00
rmackay9
b6d2d4723f ArduCopter: print firmware version of code instead of zero. 2012-09-13 21:49:11 +09:00
rmackay9
9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
Jason Short
072085d2d8 ACM : better debugging text 2012-09-12 23:06:06 -07:00
Jason Short
6b6075ed30 ACM l Prevent pre-mature finish of mission 2012-09-12 23:06:06 -07:00
Jason Short
834f961409 ACM : Fix enduf 2012-09-10 21:25:53 -07:00
Jason Short
4c8e257ea2 ACM : forced setup_show to dump params during log dump for better analysis. 2012-09-10 20:52:30 -07:00
Jason Short
34e07c826f ACM : Added centralized Iterm logging at a lower rate. Logs all iterms. 2012-09-10 20:26:48 -07:00
Jason Short
e8e8c27db4 ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t 2012-09-10 20:22:57 -07:00
Jason Short
a73bc70553 ACM : Params - formatting cleanup 2012-09-10 20:22:11 -07:00
Andrew Tridgell
841d2700b6 ACM: use spare CPU cycles to read the magnetometer 2012-09-10 11:38:18 +09:00
rmackay9
fd110a2723 ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU. 
This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
 2012-09-10 11:37:53 +09:00
rmackay9
42406c827a ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU. 2012-09-10 11:37:48 +09:00