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8,651 Commits 71 Branches 510 Tags 771 MiB
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2344 Commits

Author SHA1 Message Date
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