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1902 Commits

Author SHA1 Message Date
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