Jonathan Challinger
1356deab8b
Copter: add control_mode_reason
2016-04-14 12:24:04 +09:00
Jonathan Challinger
6b5ba86f21
Copter: simplify GCS failsafe
2016-04-14 12:24:04 +09:00
Jonathan Challinger
a0ce8af633
Copter: use enum type for control_mode
2016-04-14 12:24:04 +09:00
Lucas De Marchi
6eac84812c
ArduCopter: remove readme file
...
The readme file in root directory is already sufficient.
2016-04-09 08:32:22 -07:00
Ricardo de Almeida Gonzaga
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
Andrew Tridgell
c035ade402
Copter: removed slow_start() from throw mode
2016-04-01 11:59:30 +09:00
Randy Mackay
5090e6f4fb
Copter: init G_Dt with MAIN_LOOP_SECONDS definition
2016-04-01 11:59:30 +09:00
Leonard Hall
a9cda8b384
Copter: add convert_pid_parameters to ease migration to new PID gains
2016-04-01 11:59:30 +09:00
Randy Mackay
479a789325
Copter: remove call to attitude_control.set_dt
...
This is now passed into the constructor
2016-04-01 11:59:30 +09:00
Randy Mackay
c352e1bedf
Copter: fix attitude control parameter declaration
2016-04-01 11:59:30 +09:00
Randy Mackay
1f20a5ef69
Copter: access angle and rate PIDs through attitude controller
2016-04-01 11:59:30 +09:00
Randy Mackay
bde498375c
Copter: remove attitude PIDs
...
These are now part of AC_AttitudeControl
2016-04-01 11:59:30 +09:00
Randy Mackay
ef5dbae707
Copter: remove setting of heli_servo_rsc pwm range
...
This object is not used
2016-04-01 11:59:30 +09:00
Randy Mackay
1f37f5a0e7
Copter: remove tradheli swash, yaw and rsc servos
...
These are all created within the AP_MotorsSingle class now except for servo_rsc which was unused
2016-04-01 11:59:30 +09:00
Randy Mackay
d2a42a7a0e
Copter: remove heli_radio_passthrough
...
Replaced with set_radio_passthrough which can be used for all frames
2016-04-01 11:59:30 +09:00
Randy Mackay
ce1fb7fb06
Copter: passthrough pilot input to motors to allow wiggling servos
2016-04-01 11:59:30 +09:00
Randy Mackay
0abea7af68
Copter: remove slow_start from stabilizing
2016-04-01 11:59:30 +09:00
Randy Mackay
1c98cd9d52
Copter: remove slow_start from althold
2016-04-01 11:59:30 +09:00
Randy Mackay
f6c26ad285
Copter: remove slow start from acro
2016-04-01 11:59:30 +09:00
Randy Mackay
3c3b74adc8
Copter: remove slow_start from takeoff
2016-04-01 11:59:30 +09:00
Randy Mackay
8180fad4b4
Copter: tradheli sends radio passthrough in 0 to 1 range
2016-04-01 11:59:30 +09:00
Randy Mackay
f0575de776
Copter: tradheli logs rotors speed in 0 to 1 range
2016-04-01 11:59:30 +09:00
Randy Mackay
3eaf7a4582
Copter: set tradheli rotor speed using 0 to 1 range
2016-04-01 11:59:30 +09:00
Randy Mackay
7fc37e7801
Copter: set tradheli external gyro gain in 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
be7ad2d83a
Copter: loiter uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
02ac2d0e4e
Copter: land uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
94b35d659e
Copter: guided uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
4deb6fd39d
Copter: flip uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
f91874afad
Copter: drift uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
83ae78b38e
Copter: circle uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
10f8e36f9b
Copter: brake uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
965f3827b4
Copter: poshold uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
478b9af0f3
Copter: autotune uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
4f192d0bc7
Copter: auto uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
a927db3e6a
Copter: rtl uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
d37f70f767
Copter: sport uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
f6a6b360a8
Copter: stabilize uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Leonard Hall
d2642065dd
Copter: althold uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Randy Mackay
668561ff0e
Copter: acro uses AP_Motors set_desired_spool_state
2016-04-01 11:59:30 +09:00
Leonard Hall
6c40d6f774
Copter: remove single frame's servo objects
2016-04-01 11:59:30 +09:00
Leonard Hall
8d0a6765f1
Copter: removed unnecessary #define for motor declaration
2016-04-01 11:59:30 +09:00
Leonard Hall
44180e44df
Copter: remove coax servo objects
...
servos moved to AP_MotorsCoax class
2016-04-01 11:59:30 +09:00
Leonard Hall
5dde87734c
Copter: heli acro, stabilize use pilot throttle as float
2016-04-01 11:59:30 +09:00
Leonard Hall
07b311f6a8
Copter: brake sets desired spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
7366bc8a56
Copter: pos_hold uses 0 to 1 throttle and sets motor spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
80a11e4d3d
Copter: autotune uses throttle in 0 to 1 range and sets motor spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
068fc7feac
Copter: flip uses 0 to 1 throttle and sets motor spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
8a49745e96
Copter: sport uses throttle in 0 to 1 range and sets motor spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
263052da21
Copter: drift uses 0 to 1 throttle and sets motor spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
100fcf799e
Copter: land sets desired spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
f71157c508
Copter: circle sets desired spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
cce426dcb8
Copter: rtl uses throttle in 0 to 1 range and sets motor spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
f8d03b58d1
Copter: loiter uses 0 to 1 throttle and sets motor spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
42f5de44d4
Copter: guided sets desired spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
f221d4d757
Copter: auto sets desired spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
70433d25e3
Copter: althold uses 0 to 1 throttle range and spool logic
...
stabilizes even while landed
sets desired motor spool state
check for spool up before takeoff
2016-04-01 11:59:30 +09:00
Leonard Hall
2180514dde
Copter: acro uses 0 to 1 throttle and sets desired spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
f56ff4d564
Copter: stabilize uses 0 to 1 throttle and sets motor spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
76a8de8a53
Copter: CTUN logs throttle_in, angle boost in 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
7bcdc76655
Copter: get_pilot_desired_climb_rate accepts control_in as 0 to 1000
...
Previously the input was expected to be throttle_min (i.e. 130) to 1000
2016-04-01 11:59:30 +09:00
Leonard Hall
20debc962a
Copter: update get_throttle_pre_takeoff for 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
37e6977813
Copter: update get_non_takeoff_throttle for 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
74983669be
Copter: set_accel_throttle_I_from_pilot_throttle uses 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
c3403a128c
Copter: throttle passed to compass in 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
a44f7f650b
Copter: throttle sent to GCS uses 0 to 1 range
...
This is probably not correct because we should be sending the throttle as a 0 to 1 number using the full possible output range. This uses the reduced range passed in when the copter is being stabilized (i.e. between throttle-min and throttle-max)
2016-04-01 11:59:30 +09:00
Leonard Hall
f8d7b677d4
Copter: update_thr_average uses 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
fd2509f6ed
Copter: get_pilot_desired_throttle outputs in 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
e132ea34d9
Copter: g.rc_3.control_in range 0 to 1000
...
Previously the range was throttle_min (normally 130) to 1000 but we can remove this awkward range and use 0 to 1000 now that the attitude controller and motor library inputs are in the 0 to 1 range.
2016-04-01 11:59:30 +09:00
Leonard Hall
a00a9601a4
Copter: AP_MotorsCoax now uses 4 servos
2016-04-01 11:59:30 +09:00
Leonard Hall
a0409e4f9e
TradHeli: dynamic flight check uses throttle in 0 to 1 range
2016-04-01 11:59:30 +09:00
Andrew Tridgell
f19922fec5
Copter: added LAND_SPEED_HIGH parameter
...
this is the descent rate for the first part of a landing. Separating
this from WPNAV_SPEED_DN allows for independent tuning of fast fwd
flight from landings
2016-03-30 15:54:20 +11:00
Gustavo Jose de Sousa
6074385873
ArduCopter: waf: build all frame types
2016-03-26 15:43:08 -03:00
Gustavo Jose de Sousa
9bec8e5133
ArduCopter: waf: add missing library AC_InputManager
...
That is used by heli.
2016-03-26 15:43:08 -03:00
Gustavo Jose de Sousa
a4c099feaa
waf: create program groups for main products
...
Currently we need to build a different binary for each type of copter frame.
This is a preparation for setting all those binaries to a group called
"copter". We create the groups for the rest of the main products for
consistency.
2016-03-26 15:43:08 -03:00
Andrew Tridgell
224c99af72
Copter: change code URL
2016-03-25 20:46:54 +11:00
Andrew Tridgell
31000ac756
Copter: moved Log_Write_Rate() to common code
2016-03-25 12:13:59 +11:00
Lucas De Marchi
34155c09e6
ArduCopter: Update path locations for parameters
...
Thanks to Francisco Ferreira for noticing that.
2016-03-23 17:50:38 -03:00
Randy Mackay
a8bea0af03
Copter: allow switching to throw without position estimate
...
The vehicle arming check will still stop the user from arming in throw mode without a good position estimate.
2016-03-22 16:21:58 +09:00
Nitay Megides
f77eed8f95
Copter: add break after prec landing case clause
...
(And fixed indentation)
2016-03-21 09:34:55 +09:00
Don Gagne
cae7ea0d13
Add @Volatile, @ReadOnly support
2016-03-17 10:58:05 +11:00
Lucas De Marchi
e88ba38595
ArduCopter: replace header guard with pragma once
2016-03-16 18:40:44 +11:00
Don Gagne
e9651dacfe
Copter: update parameter description increments
2016-03-08 09:27:50 +09:00
Randy Mackay
2e669a35e7
Copter: deploy landing gear when parachute is released
2016-03-04 10:48:19 +09:00
Randy Mackay
0dffeec07f
Copter: use ahrs.get_origin instead of ekf.getOriginLLH
...
This ensures we get the origin from the active EKF
2016-03-03 16:20:54 +09:00
Randy Mackay
a93a0d370a
Copter: add throw mode to aux switches
2016-03-03 15:30:03 +09:00
Randy Mackay
dca89e7fe7
Copter: throw static variables moved to global scope
2016-03-03 12:18:27 +09:00
Randy Mackay
24cfbeebd0
Copter: add throw_exit
2016-03-03 12:18:25 +09:00
Randy Mackay
959c0eccfd
Copter: reject changing to throw mode while armed
2016-03-03 12:18:23 +09:00
Randy Mackay
20b6688e77
Copter: add throw to FLTMODE param descriptions
2016-03-03 12:18:20 +09:00
Paul Riseborough
1aade494fc
AP_State: enable use of motor interlock during throw mode
2016-03-03 12:18:18 +09:00
Paul Riseborough
a7b69366a1
Copter: Add flight mode for throw launch
...
The is commit adds a new flight mode called 'Throw' to Copter that enables the copter to be thrown into the air to start motors. This mode can only be netered when the copters EKF has a valid position estimate and goes through the following states
Throw_Disarmed - The copter is disarmed and motors are off.
Throw_Detecting - The copter is armed, but motors will not spin unless THROW_MOT_START has been set to 1. The copter is waiting to detect the throw. A throw with an upwards velocity of at least 50cm/s is required to trigger the detector.
Throw_Uprighting - The throw has been detected and the copter is being uprighted with 50% throttle to maximise control authority. This state transitions when the copter is within 30 degrees of level.
Throw_HgtStabilise - The copter is kept level and height is stabilised about the target height which is 3m above the height at which the throw release was detected. This state transitions when the height is no more than 0.5m below the demanded height.
Throw_PosHold - The horizontal motion is arrested and the copter is kept at a constant position and height.
2016-03-03 12:18:13 +09:00
Randy Mackay
e428abde42
Copter: enable precision landing by default
2016-02-29 19:17:20 +09:00
dgrat
5148e41c1a
AP_Math: Cleaned macro definitions
...
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
2016-02-27 02:51:33 -03:00
Randy Mackay
077999d2aa
Copter: 3.3.3 release notes
2016-02-24 11:03:25 +09:00
Tom Pittenger
6568402b28
Copter: convert to using static send_statustext
...
- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
2016-02-24 09:18:06 +11:00
Tom Pittenger
09dd2a1b3d
Copter: use set_dataflash() for static logging
2016-02-24 09:18:05 +11:00
Lucas De Marchi
09e7cbe005
ArduCopter: remove unused CMAKE define
...
This is a leftover from previos cmake build system.
2016-02-19 19:15:39 -02:00
Peter Barker
44c63b8873
Copter: move use of defines after config.h and defines.h
2016-02-19 12:34:23 -02:00
Leonard Hall
8e790d3f91
Copter: autotune adjustment for large copters
2016-02-18 20:49:12 +09:00
Jonathan Challinger
e09e9a313e
Copter: interpret MAV_FRAME_GLOBAL_RELATIVE_ALT as MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
2016-02-06 09:36:51 +09:00
