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2066 Commits

Author SHA1 Message Date
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