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3653 Commits

Author SHA1 Message Date
Robert Lefebvre
ff71b0fa35 TradHeli: Create new function to move data between AP_MotorsHeli and AP_AttitudeControl. 2014-07-08 20:17:57 +09:00
Robert Lefebvre
1aa3961151 Arducopter: Improve comments for scheduler. Add timing table for AVR processors. 2014-07-08 20:17:54 +09:00
Jonathan Challinger
c07ded9a79 Copter: Don't use land detector to stop stabilizing in stabilize 2014-07-08 19:41:41 +09:00
Andrew Tridgell
6416a4d0e6 Copter: fixed apm1-hil build 2014-07-08 15:41:39 +10:00
Andrew Tridgell
a4b9b989b7 Copter: convert to new AP_RangeFinder API 2014-07-08 15:08:18 +10:00
Andrew Tridgell
9f5eb3b464 Copter: remove log CLI code when CLI disabled 2014-07-08 14:28:19 +10:00
Jonathan Challinger
09a01a4668 Copter: Wait 4 seconds before beginning to land during failsafes 2014-07-06 20:25:04 +09:00
Jonathan Challinger
cd08ec5a5f Copter: allow auto-disarm in autotune mode 2014-07-06 19:27:27 +09:00
Jonathan Challinger
ff1f54b390 Copter: allow disarm in autotune mode 2014-07-06 19:27:23 +09:00
Jonathan Challinger
5b36e65cb9 Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents 2014-07-06 19:20:25 +09:00
Randy Mackay
2dfef17caf Copter: guided reset yaw only when initialised 2014-07-06 17:02:13 +09:00
Randy Mackay
81355d1adf Copter: DO_SET_ROI accepted outside missions 
Moved ROI logic to new set_auto_yaw_roi function.
 2014-07-06 17:02:06 +09:00
MousS
ae8fb3f1c5 Copter: MAV_CMD_CONDITION_YAW accepted outside missions 2014-07-06 17:01:15 +09:00
Randy Mackay
46badc05bc Copter: guided mode sets desired velocity instead of target velocity 2014-07-06 17:01:12 +09:00
Randy Mackay
f5640dadbf Copter: guided mode velocity controller 2014-07-06 17:01:08 +09:00
Randy Mackay
b027c71491 Copter: restore pv_get_horizontal_distance_cm function 2014-07-06 17:01:05 +09:00
Randy Mackay
12720bbbe1 Copter: accept condition-yaw commands in guided 2014-07-06 17:00:46 +09:00
Randy Mackay
279926e386 Copter: accept guided pos updates when doing NAV_GUIDED cmd 2014-07-06 17:00:35 +09:00
Randy Mackay
fdc0ec837b Copter: add nav_guided suport to Auto mode 2014-07-06 17:00:31 +09:00
Randy Mackay
af4490a3d5 Copter: remove mode from guided_set_dest 
This duplicate check stopped us from reusing guided
guided_set_destination as part of Auto's nav_guided command
 2014-07-06 17:00:29 +09:00
Andrew Tridgell
21b0b3bc15 Copter: log up to 3 mags 2014-07-04 12:07:59 +10:00
Niels Joubert
10b4757706 ArduCopter: Move MAVLink size check into library 2014-06-30 10:30:17 +10:00
Niels Joubert
4abbda616f ArduCopter: GPS Callback for calculating base position 2014-06-30 10:29:56 +10:00
Andrew Tridgell
edafe7100b Copter: update for AP_Mount change 2014-06-18 12:04:48 +10:00
Randy Mackay
e0f4a570c6 Copter: loiter turns radius from command's p1 field 2014-06-17 20:53:56 +10:00
Randy Mackay
01da4e29fb Copter: use relative_alt flag when decoding change_alt command 2014-06-17 20:53:41 +10:00
Randy Mackay
50e024fe8f Copter: flag current alt as relative 
This is required so common Log_Write_Camera can calculate relative and
abs altitudes provided by either copter or plane

pair programmed with Craig Elder
 2014-06-17 14:11:42 +10:00
Randy Mackay
8c488ebd87 Copter: use common Log_Write_Camera 
pair programmed with Craig Elder
 2014-06-17 14:11:39 +10:00
Randy Mackay
8c48b65175 Copter: bug fix to remove home variable 
pair programmed with Craig Elder
 2014-06-11 12:01:48 +09:00
Randy Mackay
d0194b7a9d Copter: remove home variable 
home has moved to ahrs
saves 15 bytes of RAM
 2014-06-11 11:05:15 +09:00
Randy Mackay
5c305989b9 Copter: set home alt to absolute alt 2014-06-11 11:04:52 +09:00
Randy Mackay
09fc777ab9 Copter: slow motors after landing in AUTO 
This resolves an issue in which the vehicle could tip over if the pilot
did not reduce the throttle to zero soon after landing in AUTO mode
 2014-06-10 22:56:53 +09:00
Jason Short
a873942f73 Fix to restore Gimbal control after Mission with ROI 2014-06-10 20:03:05 +09:00
Randy Mackay
810c87969c Copter: Ch7/8 switch to enable/disable feed forward and accel limiting 2014-06-10 20:03:04 +09:00
Randy Mackay
91b1d20b70 Heli: integrate AttControl's set_yaw_target_to_current_heading 2014-06-10 20:02:52 +09:00
Randy Mackay
08801eebf2 Copter: integrate AttControl's set_yaw_target_to_current_heading 2014-06-10 20:02:51 +09:00
lthall
babe655b8f Copter: Remove acro acceleration slew todo 
It has already been done :)
 2014-06-10 20:02:37 +09:00
Randy Mackay
4221833028 Copter: flip records starting attitude 
Previously flip relied on the attitude controller not updating the earth
frame target during the flip which can't be guaranteed.  Safer for flip
to maintain it's own copy of the original attitude .
 2014-06-10 20:02:32 +09:00
Randy Mackay
75c328a752 TradHeli: integrate init_targets rename to relax_bf_rate_controller 2014-06-10 20:02:30 +09:00
Randy Mackay
77d5d682c1 Copter: integrate init_targets rename to relax_bf_rate_controller 
Also remove unnecessary init_targets from flight mode init functions.
 2014-06-10 20:02:29 +09:00
Randy Mackay
083f2898a9 Copter: use fast_atan2 for bearings to home and next WP 2014-06-06 18:51:06 +09:00
Randy Mackay
f5f206b055 Copter: set inav alt to zero when arming 2014-06-06 18:42:45 +09:00
Ju1ien
abd1370b2c Copter: flag stays landed unless pilot raises throttle 2014-06-06 18:42:30 +09:00
Valentin Brossard
9fcfea5404 Copter: accept DO_CHANGE_SPEED outside of missions 
https://github.com/diydrones/ardupilot/issues/1095
 2014-06-06 16:13:22 +09:00
Ju1ien
fd9502d3fa Copter: Improve surface tracking dynamics 
This little fix will allow much higher sonar_gain without the
oscillating effect it used to bring.
 2014-06-06 15:32:49 +09:00
Randy Mackay
db000f2287 Copter: remove setting rate and thr D term filters 2014-05-29 17:40:24 +09:00
Robert Lefebvre
5eb206e6bb Copter: Add 'handle' to allow #define updating of AC_PID filter rate for Throttle Accel. 2014-05-29 17:39:16 +09:00
Robert Lefebvre
df1de4260d Copter: Set Rate PID D-term filter rates on initialization. 2014-05-29 17:39:12 +09:00
Robert Lefebvre
5ee87f7561 Copter: Change TradHeli to use new AC_HELI_PID class. 2014-05-29 17:39:04 +09:00
Randy Mackay
6496872885 Copter: release notes for AC3.1.5 2014-05-28 11:23:58 +09:00
Andrew Tridgell
1dbbdde8ef Copter: use new GCS_Common.cpp functions 2014-05-28 09:35:57 +10:00
Randy Mackay
0b5ff80b3e Copter: remove unused pos vector functions 
removed pv_latlon_to_vector, pv_get_lat, pv_get_lon.
it would probably be best if these were moved into the Math library
 2014-05-27 16:30:32 +09:00
Randy Mackay
d4a892c650 Copter: AC3.2-rc2 release notes and version 2014-05-27 14:44:15 +09:00
Randy Mackay
20719e23fd Copter: enable PARACHUTE and RALLY for all but APM 2014-05-27 14:43:33 +09:00
Randy Mackay
af10a6817c Copter: remove command_description.txt 
Description in this file were out of date or incomplete and it is better
for people to refer to the MAVLink documentation or the
/libraries/GCS_MAVLink/message_definitions/common.xml and
ardupilotmega.xml files
 2014-05-27 10:58:42 +09:00
Andrew Tridgell
a55c511f63 Copter: updates for new GCS_MAVLink API 2014-05-21 12:45:25 +10:00
Andrew Tridgell
cdcaad3079 Copter: update baud rate parameter descriptions 2014-05-21 12:45:25 +10:00
Andrew Tridgell
cc6fba4cad Copter: change baudrates parameters to 16 bit 2014-05-21 12:45:25 +10:00
Randy Mackay
d5a0ca4f3c Copter: integrate init_loiter_target name change 2014-05-19 12:27:29 +09:00
Randy Mackay
63135a044f Copter: remove setting Z-axis target in Hybrid 
This workaround is no longer required because AC_WPNav's
set_loiter_target call no longer sets the position controller's z-axis
target
 2014-05-19 12:27:23 +09:00
Arthur Benemann
e1b7e53c04 Copter: only acceept Guided waypoints in Guided mode 
Fix #1068. When receiving guided waypoints do not change to GUIDED mode. This serves as a safety precaution for GCS, since they must switch to guided mode before sending the waypoints.
 2014-05-17 12:02:53 +09:00
Randy Mackay
481a55867e Copter: only send sonar distance to GCS when sonar enabled 2014-05-16 14:46:56 +09:00
Ben Nizette
8c7b4feac1 Copter: send sonar distance to GCS via MAVLink 
At the moment, the copter sonar set up does not have access to the
raw sonar readings so this code sets the voltage field to zero.
 2014-05-16 14:46:11 +09:00
Andrew Tridgell
836b365bc8 Copter: use setup_uart() 2014-05-16 11:45:11 +10:00
Andrew Tridgell
427a638296 Copter: added reporting of AHRS health 2014-05-15 21:14:21 +10:00
Randy Mackay
9f81e286d1 Copter: add Pixhawk pin to RSSI_PIN's @Value 
Also prepend APM2 to existing definitions
 2014-05-15 17:13:43 +09:00
Randy Mackay
f7a9ee24ef Copter: minor comment update 2014-05-15 16:21:35 +09:00
Randy Mackay
715e9c0474 Copter: reset mission when disarming 2014-05-15 16:21:32 +09:00
Randy Mackay
7d4c74c28e Copter: when leaving AUTO only stop mission if running 
This resolves an issue in which the mission would not automatically
start from the beginning if it had previously been run to completion
 2014-05-15 16:21:30 +09:00
Randy Mackay
a38e00c048 Copter: remove unused HIGH, LOW definitions 
Minor commit to kick off the auto build so AC3.2-rc1 will go out
 2014-05-09 16:35:21 +09:00
Randy Mackay
3f329d0857 Copter: version to AC3.2-rc1 2014-05-09 13:48:47 +09:00
Randy Mackay
e75d6a2da6 Copter: remove meaningless check from motor_test 2014-05-09 13:48:44 +09:00
Randy Mackay
0c7a3f1ec5 Copter: remove unused Log_Write_GPS function 2014-05-09 13:48:41 +09:00
Randy Mackay
b4dcad725c Copter: remove unused servo_write function 2014-05-09 13:48:38 +09:00
Randy Mackay
1e8b99ad17 Copter: update release notes for AC3.2-rc1 2014-05-09 13:48:35 +09:00
Andrew Chapman
3f0a52cb53 Copter: ch7/8 switch for auto pause/continue 
- added new mode for CH7/CH8 (#24, auto mission reset)
- changed mission.start() to mission.start_or_resume() in auto_init()
 2014-05-08 23:09:42 +09:00
Andrew Chapman
8640e11728 Copter: bug fix rally point landing target 
was drifting toward home by some distance as (0,0,0) was hard-coded in
control_rtl.pde. Fixed, tested in SITL
 2014-05-08 23:09:40 +09:00
Randy Mackay
197d83e32a Copter: bug fix to sport roll pitch control 2014-05-08 16:16:02 +09:00
Randy Mackay
0af9d502d9 Copter: set pos controller speeds before circle init 
This ensures stopping point is calculated correctly
 2014-05-08 16:15:59 +09:00
Randy Mackay
3cc5b9446f Copter: AUTO and Guided call wp_and_spline_init 2014-05-08 16:15:55 +09:00
Randy Mackay
11918869a5 Copter: RTL calls wp_and_spline_init 2014-05-08 16:15:52 +09:00
Randy Mackay
ff1a58e078 Copter: increase LOITER_RATE_IMAX to 1000 
This allows us to load up the I term with the vehicle's current
acceleration during mode transitions

pair programmed with Randy
 2014-05-08 16:15:34 +09:00
Randy Mackay
fb2be07b44 Copter: update AC_WPNav instantiation 2014-05-08 16:15:29 +09:00
Randy Mackay
10d7ab5840 Copter: update release notes for AC3.1.4 2014-05-08 11:58:37 +09:00
Randy Mackay
afb9c0a5c7 Copter: update release notes for AC3.1.4-rc1 2014-05-02 14:23:13 +09:00
Randy Mackay
0ad3c1e15e Copter: add EKF to Ch7/Ch8 Opt parameter description 2014-05-02 10:02:23 +09:00
Randy Mackay
d857427444 Copter: disable RALLY points by default 
This saves 2k of flash which allows the code to fix on the APM1/2
 2014-04-30 21:46:21 +09:00
Randy Mackay
a3036fc443 Copter: init pos_control z-axis after setting speed and accel 2014-04-30 21:46:17 +09:00
Randy Mackay
a4c675c23e Copter: add PILOT_ACCEL_Z parameter 
Allows configurable z-axis acceleration when pilot is controlling
altitude
 2014-04-30 21:46:13 +09:00
Randy Mackay
7d7a2aced7 Copter: init vert speed and accel for each flight mode 
This resolves issue #1021 in which LAND mode could descend at the
PILOT_VELZ rate instead of the WPNAV_SPEED_DN

Pilot defined acceleration is used for AltHold, AutoTune , Circle,
Hybrid, Loiter, OF_Loiter and Sport flight modes
Waypoint Nav (ie. AutoPilot) acceleration is used for Auto, Land, RTL
 2014-04-30 21:46:10 +09:00
Randy Mackay
466e9db1f9 Copter: integrate AC_WPNav get_speed_xy name change 2014-04-30 21:46:07 +09:00
Randy Mackay
5b3438850d Copter: fix typo in Log_Write_Baro 
Log_Write_Baro should be an empty function when logging is disabled
Fix contributed by Jason Short
 2014-04-30 08:50:51 +09:00
Craig Elder
241557e5e0 Copter: Corrected typo in RC_FEEL_RP parameter description 2014-04-28 23:56:49 -07:00
Randy Mackay
416e9457ce Copter: remove cli motor test 2014-04-29 11:41:17 +09:00
Randy Mackay
ae9477600c Copter: add mavlink motor_test 
Based on original work by Nils Hogberg
 2014-04-29 11:31:45 +09:00
Craig Elder
00033bd302 Copter: Update RC_FEEL_RP Description 2014-04-28 17:44:09 -07:00
Randy Mackay
b9b3a39a83 Copter: fence enable/disable via MAVLink 2014-04-27 16:18:17 +09:00
Randy Mackay
d3411e45bb Copter: use get_current_nav_index() 2014-04-27 16:00:44 +09:00
Randy Mackay
5fe86a657e Copter: land_do_not_use_GPS has no return value 2014-04-27 15:41:41 +09:00
Randy Mackay
0665cf6b28 Copter: RTL alt should not be above fence alt 
Resolves issue #435
If the altitude fence is enabled, when the vehicle RTLs it will return
at the lower of the RTL_ALT and the FENCE_ALT_MAX
 2014-04-27 15:41:37 +09:00
Randy Mackay
4686eef266 Copter: GPS failsafe ensures LAND is pilot-controlled 
This resolves issue #880 in which if a GPS failsafe occurred while the
vehicle was already in LAND mode, the LAND would continue to be GPS
controlled LAND instead of pilot-controlled LAND
 2014-04-27 15:11:47 +09:00
Randy Mackay
dba8fac515 Copter: remove unused variables from fence.pde 
saves 2 bytes
 2014-04-27 11:11:12 +09:00
Randy Mackay
1aeaa5955b Copter: integrate 10sec manual recovery after fence breach 2014-04-27 11:11:09 +09:00
Randy Mackay
20de5b3006 Copter: Loiter clears out pilot acceleration when failsafe occurs 
This ensures invalid pilot desired accelerations are cleared from the
loiter controller.  This is probably not strictly necessary because the
vehicle should switch out of Loiter and into RTL during failsafe.
 2014-04-25 14:45:19 +09:00
Randy Mackay
05d9dc5cba Copter: RTL always land if in radio failsafe 
Resolves issue in which vehicle would get stuck at RTL_ALT_FINAL if
failsafe occured.
Also clear out pilot acceleration from loiter controller if failsafe
occurs during the final descent.
 2014-04-25 14:45:16 +09:00
Randy Mackay
40650aeb68 Copter: roll and pitch nudging in RTL descent 2014-04-25 14:17:03 +09:00
Michael Oborne
68f439acbe Fix auto doc group names 2014-04-25 07:53:03 +08:00
Randy Mackay
19f1e7fec4 Copter: disable Parachute by default 
This saves 1k of flash and we are desperately low on the APM1/APM2.
Hopefully we can find savings somewhere and re-enable it by default.
 2014-04-24 19:02:32 +09:00
Randy Mackay
ea64438ef9 Copter: RTL ensures heading is back to initial heading 
This fixes the issue in which a short RTL_LOIT_TIME could cause the
vehicle's heading to be caught between it's heading when it arrived at
home and the initial armed heading.  With this fix it now waits above
home until the timer has run out AND the heading is within 2degrees of
the initial armed heading.
 2014-04-24 18:54:49 +09:00
Randy Mackay
e23115516d Copter: disarm after completing RTL 
Note that an RTL command executed in AUTO mode will also disarm when it
lands and pilot's throttle is put to zero and no further commands will
be executed.  This is normally not an issue because missions generally
end with an RTL (instead of having the RTL in the middle) and a work
around is available in that the LAND command could be used instead of
RTL.
 2014-04-24 17:27:30 +09:00
Randy Mackay
a5602c5f14 Copter: updated contributors list 
Add JulianD and SandroT and replaced tabs with spaces
 2014-04-24 11:28:41 +09:00
Ju1ien
78a3e0f5a2 Copter: Hybrid removed Wind_comp_estimate filter 
Removed useless call of function
hybrid_get_wind_comp_lean_angles(hybrid.wind_comp_roll,
hybrid.wind_comp_pitch);
Removed 10Hz filter for hybrid_update_wind_comp_estimate()
 2014-04-24 11:28:37 +09:00
Randy Mackay
287af8f66e Copter: disable optical flow by default 
We have run out of flash on the APM2, it was a choice between Hybrid
flight mode and OF_Loiter
 2014-04-23 15:27:08 +09:00
Randy Mackay
55e7e1eb3e Copter: allow HYBRID to be disabled to save flash 
Hybrid flight mode costs 4.5k of flash which currently puts us over the
limit for APM1 and APM2 unless optical flow or other features are
disabled
 2014-04-23 15:27:05 +09:00
Randy Mackay
ba94fc9796 Copter: Hybrid move reset_I into structure 
Saves 1 byte of RAM
 2014-04-23 15:00:09 +09:00
Ju1ien
ff532a06ec Copter: Hybrid fixes to wind_comp, brake pitch timer, thr peaks 
There was an error in the velocity axis used to update
brake_timeout_pitch (vel_right instead of vel_fw)

The wind_comp was not enough filtered for the Pixhawk (400Hz), so I
added a specific time constant (TC_WIND_COMP) to have the expected
filter with 400Hz controllers.

About throttle peaks, after some tests and from logs, they happen when
hybrid switches to loiter.
There is always a difference between Alt and DesiredAlt (DAlt), but,
when loiter engages, it initializes DAlt = Alt and the copter tries
immediatelly to reach that new setpoint. So the solution would be to
init_loiter_target() just as it was in pre-onion code : only x/y and not
z. and to be able to pass parameters like that
wp_nav.init_loiter_target(inertial_nav.get_position(), Vector3f(0,0,0));

Well, from this new code structure, it seems not possible with current
functions so I've used set_loiter_target that init position passed as
parameter and velocity to 0 (as expected).
BTW, I think there was something wrong with set_loiter_target function,
the "Vector3f& position" parameter was not used at all...
I moved the reset flag from init_loiter_target to set_loiter_target.
 2014-04-23 15:00:04 +09:00
Ju1ien
14cbb09804 Copter: hybrid add Brake or Loiter to Pilot override transition 
Corrected a little mistake in get_wind_comp...()
Mixed transition not only from loiter but as well from brake to manual
override
 2014-04-23 15:00:01 +09:00
Ju1ien
43b1dd748b Copter: hybrid init brake roll and pitch at loiter exit 2014-04-23 14:59:59 +09:00
Ju1ien
d745060c80 Copter: fix Hybrid flight mode in Parameter description 2014-04-23 14:59:56 +09:00
Ju1ien
f8e8d4024d Copter: Hybrid's max brake angle to 30deg 2014-04-23 14:59:53 +09:00
Ju1ien
b3e8112d24 Copter: Hybrid fix wind_comp time constant 
Corrected timer init values and wind_comp time constant to get the best
behaviour

Check if wider deadband required (current is 30).
We were using a comparison to a 70-100 cdeg deadband in our initial
code. The deadband was there to avoid unwanted switches in case of
inaccurate fingers/radio

Adjusted timers to 100/400Hz

I_term does not init when in hybrid loiter
 2014-04-23 14:59:43 +09:00
Randy Mackay
4778c73de2 Copter: Hybrid 10hz updates to wind comp lean angles 2014-04-23 14:59:40 +09:00
Randy Mackay
f87ab21063 Copter: Hybrid estimates wind when speed under 10cm/s 2014-04-23 14:59:38 +09:00
Randy Mackay
d36f137bf8 Copter: allow arming, disarming in Hybrid mode 2014-04-23 14:59:35 +09:00
Randy Mackay
e2aaafe40b Copter: hybrid works for 100hz and 400hz 2014-04-23 14:59:33 +09:00
Randy Mackay
705ff3f44f Copter: add hybrid_mix_controls 
Allow wind comp estimate to run when vehicle travelling up to 30cm/s
(was 10cm/s)
 2014-04-23 14:59:30 +09:00
Randy Mackay
e48c93d93c Copter: restructure hybrid into more states 2014-04-23 14:59:28 +09:00
Randy Mackay
f467d7bc20 Copter: add Hybrid parameters 2014-04-23 14:59:25 +09:00
Randy Mackay
754bae5748 Copter: refactor and split out wind compensation 2014-04-23 14:59:23 +09:00
Randy Mackay
d9c685323a Copter: add hybrid state struct, formatting changes 2014-04-23 14:59:20 +09:00
Randy Mackay
b5ed23f592 Copter: integrate skeleton Hybrid mode 2014-04-23 14:59:17 +09:00
Ju1ien
832fc62016 Copter: control_hybrid initial version 2014-04-23 14:59:15 +09:00
Randy Mackay
5fc071f5f9 Copter: restore SITL to run at 100hz 2014-04-21 21:46:22 +09:00
Andrew Tridgell
e07b70de4e Copter: set AHRS vehicle class 2014-04-21 18:13:13 +10:00
Randy Mackay
01538c5290 Copter: remove unused lon_error, lat_error 2014-04-21 15:06:32 +09:00
Randy Mackay
8ac14023b4 Copter: set main loop rate from CPU class 
Previously this was determined by the board
 2014-04-21 13:32:00 +09:00
Randy Mackay
a1edf347bf Copter: STB_RLL_P and STB_PIT_P @Range 3 to 12 2014-04-21 10:41:01 +09:00
Randy Mackay
b9845047f4 Copter: bug fix AP_Rally param directory 2014-04-19 22:37:01 +09:00
Randy Mackay
7af5d4a8ce Copter: remove RALLY_WP_SIZE definition 2014-04-19 15:00:30 +09:00
Andrew Chapman
fa3732ac6d Copter: integrate AP_Rally 2014-04-19 15:00:23 +09:00
Randy Mackay
817c893f21 Copter: bug fix for conditional_distance command 
Due to a race condition, the wp_distance was not being updated before
the conditional_distance
 2014-04-17 22:23:28 +09:00
Randy Mackay
f29ad3a2e0 Copter: bug fix for when WP_YAW_BEHAVIOR is 0 2014-04-17 16:53:06 +09:00
Randy Mackay
c53a0fcfd9 Copter: conditional yaw fix 
waypoint command was setting auto_yaw_mode when it was run after the
do-cmd
yaw_look_at_heading was being set to current heading which was
overwriting the caller's desired heading
 2014-04-17 16:41:36 +09:00
Randy Mackay
7f00bd7f5d Copter: default WAYPOINT to current pos if lat, lon, alt are zero 2014-04-16 20:33:43 +09:00
Randy Mackay
d2dad1b2c1 Copter: remove unused circle_desired_rotations 
desired num rotations is already held in command so we save 1byte of RAM
 2014-04-16 16:28:11 +09:00
Randy Mackay
e6d2692eab Copter: Loiter_Turns moves to edge of circle if location provided 2014-04-16 16:28:08 +09:00
Randy Mackay
f6676be400 Copter: integrate change in AC_Circle init 
Removed init_loiter_target when vehicle landed.  We should add some
initialisation of the circle controller when landed.
 2014-04-16 16:28:06 +09:00
jschall
ff9838ea27 Copter: Document stream rate parameter functionality 2014-04-15 16:05:45 +09:00
Kevin Hester
4bfd6b8ddd Copter: fixup line endings to be newline 2014-04-15 15:54:13 +09:00
Randy Mackay
cf86e304f0 Copter: add V-Tail to FRAME param's @Value 2014-04-15 12:18:31 +09:00
Randy Mackay
729026d80c Drift: get velocity using const reference 2014-04-14 11:34:17 +09:00
Emile Castelnuovo
f5a68fdba1 Copter: clear RC in overrides on GCS failsafe. 2014-04-13 22:59:51 +09:00
TeamOSEOLA
7dda8afd60 Copter: Fixed GPS_ok() status checking 
Fixed the GPS_ok() so that TRUE is returned in the cases of DGPS and Assisted GPS fixes, not just 3D fix.
 2014-04-11 09:01:35 +10:00
Andrew Tridgell
1189978334 Copter: ensure we log both GPS at the time we receive a message 2014-04-10 10:30:10 +10:00
Randy Mackay
e7d73aa856 Copter: enable GCS failsafe to RTL by default 
This only triggers if the user has been using the GCS's RC override
 2014-04-09 10:50:35 +09:00
Randy Mackay
037a0b4e5a Copter: dos2unix Parameters.h 2014-04-08 23:30:15 +09:00
Emile Castelnuovo
a9bd4e9da1 VRBRAIN: added ignore board voltage check for VRBRAIN boards. 2014-04-08 16:19:20 +10:00
Emile Castelnuovo
9e31f032c2 Copter: added VRBRAIN board #includes and #defines 2014-04-08 16:19:20 +10:00
Randy Mackay
8a4d82f43a Copter: AC3.1.3 release notes 2014-04-07 14:28:12 +09:00
Randy Mackay
9bf9e0ede9 Copter: check parachute is enabled before manual_release 2014-04-07 13:37:15 +09:00
Randy Mackay
01e5ae6e5c Copter: integrate parachute alt_min units change 2014-04-07 13:37:12 +09:00
Randy Mackay
47c1cb8b99 Copter: log parachute events 2014-04-07 13:36:59 +09:00
Randy Mackay
2b4d2697b2 Copter: process MAV_CMD_DO_PARACHUTE commands 2014-04-07 13:36:56 +09:00
Randy Mackay
56768a8d61 Copter: add min alt check to parachute release 2014-04-07 13:36:50 +09:00
Randy Mackay
340f3a7f9d Copter: ch7/ch8 parachute release 2014-04-07 13:36:47 +09:00
Randy Mackay
ac982656fd Copter: extend crash check to trigger parachute 2014-04-07 13:36:46 +09:00
Randy Mackay
ff32b27272 Copter: integrate parachute lib 2014-04-07 13:36:44 +09:00
Andrew Tridgell
ae350e42aa Copter: show next wp when not running a mission 
this lets the GCS know what wp would be run if auto mode is selected
 2014-04-07 11:41:05 +10:00
Andrew Tridgell
454d1f26c3 Copter: added support for SERIAL_CONTROL message 2014-04-05 07:34:34 +11:00
Andrew Tridgell
339689b578 Copter: fixed load average for different loop rates 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-04 21:37:56 +11:00
Andrew Tridgell
27ad8c39d6 Copter: enable passthrough auxillary channels 2014-04-03 12:19:44 +11:00
Andrew Tridgell
7bf12cfd8a Copter: update for gps.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell
852cdbaa7c Copter: added GPS parameters 2014-04-01 06:38:25 +11:00
Andrew Tridgell
640b64f5e4 Copter: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
198388b5e0 Copter: use AP_GPS_Auto for 2nd GPS 2014-04-01 06:38:23 +11:00
Kevin Hester
5fb3b031f1 Copter: disambiguate the various causes of "Bad GPS Pos" 
I've seen a fair number of user questions where they are confused by
"Bad GPS Pos" on their GCS/not being allowed to arm.  This change splits
the remaining causes of this fault into separate messages.

Hopefully this increases the odds of the user self diagnosing...
 2014-03-31 21:59:12 +09:00
Randy Mackay
9e7021cc20 Copter: Notify arming failure when using MAVLink 2014-03-31 20:34:31 +09:00
Jonathan Challinger
608b8b0a2c Copter: integrate Notify arming failure when using yaw sticks 2014-03-31 20:34:29 +09:00
Randy Mackay
4b6f03cc11 Copter: remove do_land's use of RTL_ALT_MAX 2014-03-31 20:34:21 +09:00
Jonathan Challinger
2601ac9959 Copter: Remove 80m altitude limit on RTL 2014-03-31 20:34:19 +09:00
Jonathan Challinger
045c6d8c3f Copter: Only play GPS tone when armed 2014-03-31 20:34:16 +09:00
Randy Mackay
d9fd577fb0 Copter: add Drift throttle assist constraints 2014-03-31 15:40:00 +09:00
Jason Short
50dcbe6549 Copter: Drift throttle assist range increased 
Throttle assist is applied from 213 ~ 787
Deadband and constraint added
 2014-03-31 13:09:57 +09:00
Jason Short
bccf1de563 Copter: add drift throttle assist 2014-03-31 13:09:54 +09:00
Randy Mackay
7d5d0d12a2 Copter: spline bug fixes 
Next waypoint's location must be passed in even if it's a straight
segment.
mission.get_next_nav_cmd's start_index should be the current command +1
 2014-03-29 17:57:45 +09:00
Randy Mackay
ac364c93dd Copter: bug fix for simple_mode when run at 400hz 
Mark radio frame as consumed so that simple mode does not apply the yaw
correction more than once when run at very high rates (like 400hz on
Pixhawk)
 2014-03-28 17:03:31 +09:00
Randy Mackay
176a450ad2 Copter: remove spline handling from regular wp_nav 2014-03-28 09:23:41 +09:00
Randy Mackay
d541fefab4 Copter: add do_spline_wp and verify_spline_wp functions 2014-03-28 09:23:33 +09:00
Randy Mackay
8f946a3a8c Copter: remove original_wp_bearing 
To-Do: extend wpnav yaw control to only repoint nose towards waypoint if
it is more than 5m or 10m away
 2014-03-28 09:23:21 +09:00
Randy Mackay
392162747a Copter; integrate WPNAV's get_yaw 2014-03-28 09:23:17 +09:00
Randy Mackay
3753550a72 Copter: integrate get_spline_yaw 2014-03-28 09:23:11 +09:00
Randy Mackay
c0f12911ec Copter: minor format change 2014-03-28 09:23:02 +09:00
Randy Mackay
0822adfb34 Copter: integrate spline navigation 2014-03-28 09:22:59 +09:00
Andrew Tridgell
78ba1a33aa Copter: support 18 input channels in MAVLink 2014-03-25 14:47:43 +11:00
Andrew Tridgell
c0767eebff Copter: support 14 RC channels on PX4 2014-03-25 14:47:05 +11:00
Andrew Tridgell
e1b9135946 Copter: updates for new RCInput API 2014-03-25 14:47:04 +11:00
Andrew Tridgell
3362e42478 Copter: consider health of primary compass in SYS_STATUS, pre-arm and compassmot 
this should prevent users from taking off with only secondary compass
 2014-03-24 19:52:08 +11:00
Andrew Tridgell
11e5b95878 Copter: updates for GPS changes 2014-03-24 12:04:46 +11:00
Randy Mackay
71f61c9bef Copter: fix typo to show ATUN FMT in dataflash logs 2014-03-21 15:44:06 +09:00
Andrew Tridgell
4a01315fc5 Copter: enable logging of RADIO_STATUS 2014-03-20 09:56:37 +11:00
Andrew Tridgell
a345a9d993 Copter: removed check on target component in arm 
Thanks to DonLakeFlyer for finding this, see
https://github.com/diydrones/ardupilot/pull/909
 2014-03-20 09:06:28 +11:00
Randy Mackay
88527cd01c Copter: integrate Mission cmd field changes 2014-03-19 12:14:25 +09:00
Andrew Tridgell
e4b3323455 Copter: use common deferred message handling 2014-03-19 12:14:20 +09:00
Andrew Tridgell
69252868a8 Copter: use common MISSION_ITEM handling 2014-03-19 12:14:12 +09:00
Andrew Tridgell
f4ed2beacd Copter: use new common MAVLink message handlers 2014-03-19 12:13:40 +09:00
Randy Mackay
6ef2b55602 Copter: use common GCS_MAVLink handle_mission methods 2014-03-19 12:13:22 +09:00
Andrew Tridgell
85725de9cb Copter: use new handle_mission_request() 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:13:15 +09:00
Randy Mackay
a3573f9ebd Copter: minor typo in do_change_speed processing 
It is unlikely that the "f" at the end of the 100 is required to
maintain the full precision of the target speed but added just in case
 2014-03-19 12:12:55 +09:00
Randy Mackay
08b78db43c Copter: use mission command specific structures 2014-03-19 12:12:54 +09:00
Randy Mackay
2f8daf2fa9 Copter: integrate dataflash Log_Write_MavCmd 2014-03-19 12:12:46 +09:00
Randy Mackay
edab06a3ff Copter: truncate mission before uploading new mission 
replacing clear with truncate allows new missions to be uploaded while
the current mission is running
 2014-03-19 12:12:36 +09:00
Randy Mackay
f3813593b7 Copter: use Dataflash lib's Log_Write_Cmd 2014-03-19 12:12:11 +09:00
Randy Mackay
7b6906ae3f Copter: integrate variable max num commands 2014-03-19 12:12:01 +09:00
Randy Mackay
b587d0d597 Copter: pass eeprom start to Mission constructor 2014-03-19 12:11:56 +09:00
Randy Mackay
b718b9070a Copter: call mission.init during startup 2014-03-19 12:11:47 +09:00
Randy Mackay
cc7b1c4e9c Copter: init_home checks cmd read success before logging 2014-03-19 12:11:39 +09:00
Randy Mackay
fa96e9355b Copter: init cmd before saving with Ch7/Ch8 2014-03-19 12:11:21 +09:00
Randy Mackay
0fc36fd244 Copter: CMD dataflash logs use uint16 for total and num 2014-03-19 12:11:15 +09:00
Randy Mackay
6bb05750e7 Copter: remove alt_in_cm from mavlink to cmd conversion 2014-03-19 12:11:04 +09:00
Randy Mackay
04166c1686 Copter: replace memset in GCS_Mavlink 2014-03-19 12:10:52 +09:00
Randy Mackay
c3162f67e8 Copter: integrate move of p1 from Location to mission cmd 2014-03-19 12:10:48 +09:00
Randy Mackay
aade894014 Copter: integrate replace_cmd 2014-03-19 12:10:43 +09:00
Randy Mackay
54c99d84ea Copter: integrate AP_Mission set_current_cmd 2014-03-19 12:10:39 +09:00
Randy Mackay
36af34bf8b Copter: send current wp as 65535 to GCS when mission complete 2014-03-19 12:10:34 +09:00
Randy Mackay
92738533fe Copter: auto starts only when num cmds > 1 
num_commands will be 1 when there is no mission because home counts as
the first command
 2014-03-19 12:10:30 +09:00
Randy Mackay
f77b2af661 Copter: use common location options masks 2014-03-19 12:10:26 +09:00
Randy Mackay
070cbc9250 Copter: use Mission mav to cmd conversion methods 2014-03-19 12:10:24 +09:00
Randy Mackay
67a4b47f6b Copter: pass ahrs into mission constructor 2014-03-19 12:10:15 +09:00
Randy Mackay
37fe229ded Copter: remove unused definitions 2014-03-19 12:10:12 +09:00
Randy Mackay
359f1a27ec Copter: process cmds from mission lib 2014-03-19 12:10:11 +09:00
Randy Mackay
6e0e672fb2 Copter: log using mission commands 2014-03-19 12:10:09 +09:00
Randy Mackay
43c7310540 Copter: ch7 save wp feature to use ap_mission 2014-03-19 12:10:08 +09:00
Randy Mackay
ffc418dfe3 Copter: add mavlink packet to cmd conversion to GCS_Mavlink.pde 2014-03-19 12:10:06 +09:00
Randy Mackay
9f03e21f81 Copter: remove low-level handling of mission cmds 
Now handled by AP_Mission
 2014-03-19 12:10:04 +09:00
Randy Mackay
5d568502a0 Copter: instantiate AP_Mission object 2014-03-19 12:10:03 +09:00
Randy Mackay
1bad6a4b15 Copter: add AP_Mission object parameter 
Remove global command_total and command_index parameters
 2014-03-19 12:10:01 +09:00
Randy Mackay
0d23c3b910 Copter: initialise vertical speed for Loiter mode 2014-03-17 10:17:57 +09:00
Holger Steinhaus
39df609235 Copter: fixed vertical speed init for ALT_HOLD mode 2014-03-17 10:12:35 +09:00
Andrew Tridgell
43d009e3a5 Copter: set 2nd GPS as secondary 2014-03-08 21:48:18 +11:00
Randy Mackay
9287e28307 Copter: bug fix display of PerfMon log's num long loops 2014-03-08 15:17:03 +09:00
Randy Mackay
54e131cf1f Copter: re-enable CLI for Pixhawk 2014-03-08 15:17:02 +09:00
Randy Mackay
6efc26d3a6 Copter: restore mount's mode to default after ROI completes 2014-03-05 16:02:14 +09:00
Randy Mackay
7992a1a7d3 Copter: disable the CLI by default 
This is unfortunate but master's flash size is over the APM2 limit
 2014-03-05 12:03:56 +09:00
Randy Mackay
4f963e7795 Copter: move report_compass out of the CLI 
This function is also used by compassmot.  Having it strictly part of
the CLI causes a compile error when the CLI is disabled
 2014-03-05 12:01:45 +09:00
Randy Mackay
00f9843e40 Copter: remove CLI tests for gps, logging, radio 
Required to shrink the firmware down so that it can fit on the APM2
boards
 2014-03-05 11:44:09 +09:00
Randy Mackay
fc85228d09 Copter: remove CLI set 
Frees about 1k of flash
 2014-03-04 22:23:57 +09:00
Randy Mackay
3a934357e9 Copter: remove unused reset_land_detector 2014-03-04 22:23:55 +09:00
Randy Mackay
c56f521897 Copter: ch6 tuning of RC_FEEL_RP 2014-03-04 22:23:53 +09:00
Randy Mackay
e89600afe3 Copter: integrate smoothing gain into flight modes 2014-03-04 22:23:52 +09:00
Randy Mackay
3910ab807f Copter: replace input filtering with smoothing gain 2014-03-04 22:23:50 +09:00
Randy Mackay
429e8d5e50 Copter: integrate AttControl feel param 2014-03-04 22:23:49 +09:00
lthall
a9db399f60 Copter: integrate AttControl input shaping 2014-03-04 21:52:20 +09:00
Andrew Tridgell
86fa82f767 Copter: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:47 +11:00
Andrew Tridgell
3de574e5dc Copter: disable GPS2 in HIL 2014-02-27 08:16:20 +11:00
Andrew Tridgell
37394b30ee Copter: added support for 2nd GPS 2014-02-26 09:40:29 +11:00
Andrew Tridgell
2fcbdc4056 Copter: pass fix type to gps->setHIL() 2014-02-25 21:11:10 +11:00
Andrew Tridgell
ffcc77a21f Copter: fix for HIL API change 2014-02-23 08:18:20 +11:00
Randy Mackay
d992483bf5 Copter: add EKF params to full param list 2014-02-21 13:51:22 +09:00
Randy Mackay
797212c7ab Copter: remove remnant of cli compassmot 2014-02-19 16:04:10 +11:00
Randy Mackay
2457dbf0cd Copter: more checks before starting compassmot 
additional checks that copter is landed and that compassmot calibration
isn't already being performed.
Returns ACK to ground station as process begins
 2014-02-19 16:04:03 +11:00
Andrew Tridgell
76b60a1a52 Copter: added compassmot over MAVLink 
use the MAVLink interact code to allow for compassmot over MAVLink

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-02-19 16:04:00 +11:00
Andrew Tridgell
a45d77f893 Copter: set the ahrs.set_armed() flag 2014-02-19 10:53:44 +11:00
Andrew Tridgell
0cbe64bc5e Copter: use Log_Write_Baro() 
this gives the raw pressure and temperature, which is useful for
analysis, plus allows for more accurate log replay
 2014-02-19 09:22:45 +11:00
Randy Mackay
fdae812814 Copter: DO_SET_ROI persists across waypoints 
Users should add a DO_SET_ROI command with zero lat, lon and alt to
restore the yaw control to the default control (which is normally
look-at-next-wp)
 2014-02-18 21:36:02 +09:00
Randy Mackay
bf68edd01c Copter: bug fix to 50hz logging rate 
Caught by Emile Castelnuovo
 2014-02-17 22:25:02 +09:00
Randy Mackay
d9b7559379 Copter: remove duplicate #define from APM_Config.h 2014-02-17 16:44:47 +09:00
Randy Mackay
4e1c51aa65 Copter: bug to disarm at end of mission 2014-02-17 16:43:49 +09:00
Andrew Tridgell
ce66314f40 Copter: fixed HIL build on PX4 2014-02-17 12:34:34 +11:00
proficnc
bbf5c11c8a Update Parameters.pde 
Moved Disabled to the bottom of the drop-down box for selecting logging types.
This is to reduce the potential for someone to accidentally select Disabled when they intend on selecting Default.
 2014-02-17 10:02:45 +11:00
Randy Mackay
00913ffe1b Copter: throttle rate to simple P controller 
Saves at least 15bytes of RAM
 2014-02-16 13:35:40 +11:00
Randy Mackay
9444ba7ea8 TradHeli: init roll/pitch input filter 2014-02-16 13:35:33 +11:00
Randy Mackay
b259510095 Copter: init roll/pitch input filters 2014-02-16 13:35:30 +11:00
Andrew Tridgell
9c66dd0d2c Copter: change to Compass::learn_offsets 2014-02-16 13:22:13 +11:00
Randy Mackay
aab9b30bf6 Copter: replace APM_PI with AC_P 
Saves about 90bytes of RAM
 2014-02-15 06:09:08 +11:00
Randy Mackay
3f10a84a2a Copter: remove accel calibration from cli 
Also remove compass, flight mode, optical flow, radio and ch6 tuning
knob setup from cli to free up 3.5k of flash
 2014-02-15 06:09:08 +11:00
Randy Mackay
3ccd1ad170 Copter: integrate AttControl method name changes 2014-02-15 06:09:08 +11:00
Randy Mackay
6880a6db80 TradHeli: integrate AttControl method name changes 2014-02-15 06:09:08 +11:00
lthall
7ed5080dc9 Copter: simplify get_angle_targets_for_reporting 2014-02-15 06:09:08 +11:00
lthall
41dcfae7c0 AC Acro and Sport: Angle limit code update 2014-02-15 06:09:08 +11:00
Andrew Tridgell
ebf6d47830 Copter: disable direct tuning, we need accessors for this 2014-02-15 05:48:24 +11:00
Andrew Tridgell
2fbdf7f718 Copter: fixed build for AHRS API changes 2014-02-15 05:48:22 +11:00
Andrew Tridgell
a8dc1be4de Copter: fixed non-EKF copter build 2014-02-15 05:48:21 +11:00
Randy Mackay
20989fd5e9 Copter: allow ch6 tuning of EKF 2014-02-15 05:48:20 +11:00
Andrew Tridgell
86afd13f12 Copter: use GPS AIRBORNE_4G 2014-02-15 05:48:17 +11:00
Andrew Tridgell
a112694a50 Copter: added AUX switch option for enable/disable EKF 2014-02-15 05:48:17 +11:00
Andrew Tridgell
5606e2f4a7 Copter: enabled EKF and SIMSTATE flash logging 2014-02-15 05:48:16 +11:00
Andrew Tridgell
6a9189a6a5 Copter: enable AHRS2 mavlink message 2014-02-15 05:48:16 +11:00
Andrew Tridgell
99b3517a47 Copter: use AP_InertialNav_NavEKF when available 2014-02-15 05:48:15 +11:00
Andrew Tridgell
686d1b9124 Copter: changes set_home_position() to setup_home_position() for Inav 2014-02-15 05:48:15 +11:00
Andrew Tridgell
c6e25483b4 Copter: use a common home with AHRS 2014-02-15 05:48:15 +11:00
Andrew Tridgell
9cc00d20eb Copter: fixed for removed DCM blowup counts 2014-02-15 05:29:48 +11:00
Andrew Tridgell
79a29d12f2 Copter: fixed build for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell
af5a3dff93 Copter: enable use of AHRS_NavEKF 2014-02-15 05:29:47 +11:00
Andrew Tridgell
24f2ac20de Copter: removed HIL_MODE_ATTITUDE 
this really can't work any more, as AHRS can't support it
 2014-02-15 05:29:46 +11:00
Andrew Tridgell
644bf71f56 Copter: fixed build for InertialNav change 2014-02-15 05:29:46 +11:00
Randy Mackay
006cf58b2d Copter: fix merge error for g.angle_max 2014-02-15 05:27:51 +11:00
Randy Mackay
5e8fede19e Copter: comment fix to Attitude.pde 2014-02-15 05:27:50 +11:00
Randy Mackay
aa79e22ce0 Drift: bug fix for throttle 2014-02-15 05:27:50 +11:00
Randy Mackay
10a0303706 Copter: smooth throttle transition between flight modes 2014-02-15 05:27:50 +11:00
Randy Mackay
0df1dc267b Copter: integrate WPNav constructor change 2014-02-15 05:27:50 +11:00
Randy Mackay
1b8055aed9 Copter: remove unused t7 const 
Saves 4 bytes
 2014-02-15 05:27:49 +11:00
Randy Mackay
2b3995ccb5 Copter: integrate refs for RC_Channels in motor defs 2014-02-15 05:27:49 +11:00
Randy Mackay
9f78f65413 TradHeli: integrate leonard's control_acro fixes 2014-02-15 05:27:49 +11:00
Randy Mackay
bf6bb59cb4 Copter: Leonard's control_acro fixes 
get_pilot_desired_angle_rates returns bf rate targets as floats
 2014-02-15 05:27:49 +11:00
Randy Mackay
6380a39d3a Copter: remote update_trig from main code 2014-02-15 05:27:48 +11:00
Randy Mackay
75b20bde7c Copter: control_acro, drift use trig from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay
aa4c3eaffe Copter: resolve RTL state compiler warnings 2014-02-15 05:27:48 +11:00
Randy Mackay
12a4ce70fd Copter: remove control_roll, pitch, yaw variables 2014-02-15 05:27:47 +11:00
Randy Mackay
2c1ec9d0c0 Copter: remove control_roll, pitch, yaw from control files 2014-02-15 05:27:47 +11:00
Randy Mackay
e8c4e8a472 Copter: integrate get_angle_target_for_reporting 
Used for logging and sending to GCS
 2014-02-15 05:27:47 +11:00
Randy Mackay
d579325e2a Copter: add get_angle_targets_for_reporting 
This returns the current earth frame roll, pitch and yaw targets which
can depend upon the flight mode
 2014-02-15 05:27:47 +11:00
Randy Mackay
1acd33e290 Copter: do_yaw takes yaw target from AttControl 2014-02-15 05:27:47 +11:00
Randy Mackay
ea1158a9d5 Copter: remove unused config 2014-02-15 05:27:47 +11:00
Randy Mackay
9ef3fd850f Copter: remove use of SUPER_SIMPLE definition 2014-02-15 05:27:47 +11:00
Randy Mackay
b37b0c5061 TradHeli: remove use of throttle_mode 2014-02-15 05:27:47 +11:00
Randy Mackay
b0673d693b Copter: move set_mode, to flight_mode.pde 2014-02-15 05:27:47 +11:00
Randy Mackay
b8bb477731 Copter: add flight_mode.pde 2014-02-15 05:27:47 +11:00
Randy Mackay
38d5148b99 Copter: remove reset_I_all 
Each controller should reset the I terms as needed
 2014-02-15 05:27:47 +11:00
Randy Mackay
72a3f14561 Copter: move reset_optflow_I to control_ofloiter 2014-02-15 05:27:46 +11:00
Randy Mackay
7afa0a767c Copter: correct circle rate tuning to use circle_nav 2014-02-15 05:27:46 +11:00
Randy Mackay
3e399fd830 Copter: remove unused parameters 2014-02-15 05:27:46 +11:00
Randy Mackay
81c7df7678 Copter: comment fix 2014-02-15 05:27:46 +11:00
Randy Mackay
0e0d02cd6d Copter: remove unused init from sport mode 2014-02-15 05:27:46 +11:00
Randy Mackay
3d926a6943 Copter: GCS_Mavlink gets gyro direct from imu 2014-02-15 05:27:46 +11:00
Randy Mackay
f46ff2b44e Copter: remove unused defines 2014-02-15 05:27:46 +11:00
Randy Mackay
fe26af86de Copter: crash check works with flip flight mode 2014-02-15 05:27:46 +11:00
Randy Mackay
22280e1c57 Copter: integrate surface_tracking to control_althold 2014-02-15 05:27:46 +11:00
Randy Mackay
3824f528ea Copter: get angle_boost direct from pos_control 2014-02-15 05:27:46 +11:00
Randy Mackay
90c5fe4be4 Copter: surface_tracking takes current_alt_target param 2014-02-15 05:27:46 +11:00
Randy Mackay
989a03a643 Copter: remove unused flags and variables 2014-02-15 05:27:45 +11:00
Randy Mackay
174318a2a9 Copter: remove set_nav_mode 2014-02-15 05:27:45 +11:00
Randy Mackay
aedb4136de Copter: update_thr_cruise removed from control_stabilize 2014-02-15 05:27:45 +11:00
Randy Mackay
223c6fd4de Copter: remove deadwood, update_thr_cruise always runs 2014-02-15 05:27:45 +11:00
Randy Mackay
2870d043f8 Copter: remove unused drift.pde 
moved to control_drift.pde
 2014-02-15 05:27:45 +11:00
Randy Mackay
1cd678f684 Copter: compiler warning for control_autotune 2014-02-15 05:27:45 +11:00
Randy Mackay
d3a126d078 Copter: integrate slew_yaw into control_auto 2014-02-15 05:27:45 +11:00
Randy Mackay
364946cb7f Copter: AttControl param prefix shortened to ATC 2014-02-15 05:27:45 +11:00
Randy Mackay
814157324d Copter: APM_Config AUTOTUNE_ENABLED 2014-02-15 05:27:45 +11:00
Randy Mackay
89a50ed445 Copter: comment fix for control_stabilize 2014-02-15 05:27:45 +11:00
Randy Mackay
0107b2a95d Copter: remove unused auto_tune.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
aec67cd3df Copter: integrate control_autotune 2014-02-15 05:27:44 +11:00
Randy Mackay
823485f763 Copter: add control_autotune.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
b87852ee2e Copter: remove unused flip.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
d90d3d8dca Copter: integrate control_flip 2014-02-15 05:27:44 +11:00
Randy Mackay
47deb795bd Copter: add control_flip 2014-02-15 05:27:44 +11:00
Randy Mackay
1648ecc6e5 Copter: bug fix for heli_control_acro throttle 2014-02-15 05:27:44 +11:00
Randy Mackay
c73c9f03a5 Copter: bug fix for control_acro throttle 2014-02-15 05:27:44 +11:00
Randy Mackay
164bd10ef0 TradHeli: init targets when entering acro 2014-02-15 05:27:44 +11:00
Randy Mackay
fdf41219ca Copter: init targets when entering acro 2014-02-15 05:27:44 +11:00
Randy Mackay
9f33873b2e Copter: typo in control_acro.pde 2014-02-15 05:27:44 +11:00
Randy Mackay
ec989c720c Copter: integrate heli_control_acro 2014-02-15 05:27:43 +11:00
Randy Mackay
5aaa01ab30 TradHeli: heli_control_acro 2014-02-15 05:27:43 +11:00
Randy Mackay
922dff0514 Copter: integrate heli_control_stabilize 2014-02-15 05:27:43 +11:00
Randy Mackay
41ab2547d7 Copter: control_stabilize remove takeoff_complete 2014-02-15 05:27:43 +11:00
Randy Mackay
bca309eb1e Copter: replace takeoff_complete with landed_complete 2014-02-15 05:27:43 +11:00
Randy Mackay
2940688301 TradHeli: heli_control_stabilize 2014-02-15 05:27:43 +11:00
Randy Mackay
91124bcf8b TradHeli: remove get_heli_rate_yaw from main code 2014-02-15 05:27:43 +11:00
Randy Mackay
3b0de0d23d Copter: integrate trad heli AttControl 2014-02-15 05:27:43 +11:00
Randy Mackay
ef666c73ab Copter: remove Position mode 2014-02-15 05:27:42 +11:00
Randy Mackay
c632211c8c Copter: get_of_roll, get_of_pitch moved to control_ofloiter 2014-02-15 05:27:42 +11:00
Randy Mackay
837061fd65 Copter: control_ofloiter added 2014-02-15 05:27:42 +11:00
Robert Lefebvre
c561d6bb9e Small comment change. 2014-02-15 05:27:42 +11:00
Randy Mackay
54be8402a2 Copter: integrate control_guided 2014-02-15 05:27:42 +11:00
Randy Mackay
798add0b5c Copter: remove guided from control_auto.pde 2014-02-15 05:27:42 +11:00
Randy Mackay
0e41b01ad0 Copter: control_guided added 2014-02-15 05:27:41 +11:00
Randy Mackay
245bcd7c2c Copter: removed althold, drift, sport from control_stabilize 2014-02-15 05:27:41 +11:00
Randy Mackay
d85c57999d Copter: althold moved to control_althold.pde 2014-02-15 05:27:41 +11:00
Randy Mackay
2e6327be06 Copter: sport moved to control_sport.pde 2014-02-15 05:27:41 +11:00
Randy Mackay
70c8b622e2 Copter: drift moved to control_drift 2014-02-15 05:27:41 +11:00
Randy Mackay
212ced63f6 Copter: bug fix for do_loiter_time alt target 2014-02-15 05:27:41 +11:00
Randy Mackay
37bde3406d Copter: remove comments 2014-02-15 05:27:41 +11:00
Randy Mackay
70d1e53b74 Copter: commands_logic to use auto_rtl 2014-02-15 05:27:41 +11:00
Randy Mackay
1457a9d31a Copter: auto_mode to global scope 2014-02-15 05:27:41 +11:00
Randy Mackay
7970d7112f Copter: add rtl to control_auto 2014-02-15 05:27:41 +11:00
Randy Mackay
1f07c2efe0 Copter: remove old circle 2014-02-15 05:27:41 +11:00
Randy Mackay
bae867712d Copter: integrate circle mission command 2014-02-15 05:27:41 +11:00
Randy Mackay
ff2b8ff6f2 Copter: add circle to control_auto 2014-02-15 05:27:40 +11:00
Randy Mackay
cbf6e6a945 Copter: mostly working circle flight mode 2014-02-15 05:27:40 +11:00
lthall
8268e27d49 Copter: ACRO further clean up 2014-02-15 05:27:40 +11:00
Randy Mackay
af890e0f8d Copter: add AC_Circle include 2014-02-15 05:27:40 +11:00
Randy Mackay
83a767f3db Copter: control_circle.pde added 2014-02-15 05:27:40 +11:00
Randy Mackay
3b9ae02966 Copter: add Circle parameter 2014-02-15 05:27:40 +11:00
lthall
e979263c56 Copter: ACRO clean up and mistake fixes 2014-02-15 05:27:40 +11:00
lthall
ed7dd58c01 this is a test 2014-02-15 05:27:40 +11:00
Randy Mackay
8b9eb7ab2b Copter: WPNav constructor change 2014-02-15 05:27:39 +11:00
Randy Mackay
b1449d59ee Copter: resolve conflict between control_auto, control_rtl states 2014-02-15 05:27:39 +11:00
Randy Mackay
055ce4e53e Copter: integrate control_rtl 2014-02-15 05:27:39 +11:00
Randy Mackay
689e92eb33 Copter: control_rtl 2014-02-15 05:27:39 +11:00
Randy Mackay
bd88ed8a53 Copter: LAND at stopping point instead of curr pos 2014-02-15 05:27:39 +11:00
Randy Mackay
cdc935b66d Copter: implement auto_land with Loiter controller 2014-02-15 05:27:39 +11:00
Randy Mackay
93d43f8ca5 Copter: remove unused var from acro 2014-02-15 05:27:39 +11:00
Randy Mackay
32b8f80510 Copter: Acro flight mode from Leonard 2014-02-15 05:27:38 +11:00
Randy Mackay
cdc0f8e414 Copter: use new control_auto takeoff and land 2014-02-15 05:27:38 +11:00
Randy Mackay
0dabc0c577 Copter: control_auto - takeoff, land 2014-02-15 05:27:38 +11:00
Randy Mackay
eec62cb16a Copter: control_loiter initialises alt target 2014-02-15 05:27:38 +11:00
Randy Mackay
6ba91369ff Copter: split control_land into gps and non-gps 2014-02-15 05:27:38 +11:00
Randy Mackay
011de6683e Copter: land_detector moved to control_land 2014-02-15 05:27:38 +11:00
Randy Mackay
96c61fcf28 Copter: removed get_throttle_land 
Now in the control_land.pde
 2014-02-15 05:27:38 +11:00
Randy Mackay
3b003ea3e6 Copter: remove setting of nav mode 2014-02-15 05:27:38 +11:00
Randy Mackay
924e2a66ce Copter: split control_auto into separate file 2014-02-15 05:27:38 +11:00
Randy Mackay
e27f4c1c13 Copter: split control_stabilize into land, rtl, loiter 2014-02-15 05:27:38 +11:00
Randy Mackay
d92e894af6 Copter: get_throttle_surface_tracking returns climb rate 2014-02-15 05:27:37 +11:00
Randy Mackay
c92de71212 Copter: control_stabilize, - integrate changes to get_throttle_surface_tracking 2014-02-15 05:27:37 +11:00
Randy Mackay
f3bcbb2ce4 Copter: remove setting roll, pitch yaw modes in set_mode 2014-02-15 05:27:37 +11:00
Randy Mackay
d70862e44b Copter: remove case that does nothing 2014-02-15 05:27:37 +11:00
Randy Mackay
65f7bf92f4 Copter: replace yaw_mode with auto_yaw_mode 2014-02-15 05:27:37 +11:00
Randy Mackay
1b714defcc Copter: move auto to control_auto.pde and fix yaw 2014-02-15 05:27:37 +11:00
Randy Mackay
8e40cbdd7f Copter: disable ch7/8 feature to point at armed yaw 2014-02-15 05:27:37 +11:00
Randy Mackay
4540fb3fef Copter: remove set roll-pitch, yaw, thr modes for ACRO, LOITER 2014-02-15 05:27:36 +11:00
Randy Mackay
dc6f622d48 Copter: move NTUN logging to 10hz loop 2014-02-15 05:27:36 +11:00
Randy Mackay
8e08a1f8ab Copter: remove debug 2014-02-15 05:27:36 +11:00
Randy Mackay
f5c305e960 Copter: control_stabilize rename wp_nav calls 2014-02-15 05:27:36 +11:00
Randy Mackay
b29a963fd6 Copter: remove unused Attitude.pde functions 2014-02-15 05:27:36 +11:00
Randy Mackay
0a2adbac1b Copter: renaming functions after moving xy control 2014-02-15 05:27:36 +11:00
Randy Mackay
9843e93308 Copter: control_stabilize - much renaming as xy pos controller moves 2014-02-15 05:27:36 +11:00
Randy Mackay
5fd9410ff5 Copter: much renaming as xy pos controller moves 2014-02-15 05:27:36 +11:00
Randy Mackay
f0c538f8fb Copter: control_stabilize comment update 2014-02-15 05:27:36 +11:00
Randy Mackay
d380e6b4d3 Copter: integrate add ref to AC_Pos_Control from WP_Nav 2014-02-15 05:27:35 +11:00
Randy Mackay
aaa62eeb28 Copter: integrated simpler init loiter from WP_Nav 2014-02-15 05:27:35 +11:00
Randy Mackay
49367c5a30 Copter: GCS.h include fix 2014-02-15 05:27:35 +11:00
Randy Mackay
eddb593ee2 Copter: althold uses high level angle controller 2014-02-15 05:27:35 +11:00
Randy Mackay
bdf95bd835 Copter: stabilize uses high level angle controller 2014-02-15 05:27:35 +11:00
Randy Mackay
a52e220724 Copter: add loiter controller to onion 
Also add ignore_checks to flight mode initialisation
 2014-02-15 05:27:35 +11:00
Randy Mackay
7e37b16ccb Copter: move update_flight_mode to fast loop 2014-02-15 05:27:35 +11:00
Randy Mackay
784f7385b5 Copter: add attitude and pos control params 2014-02-15 05:27:35 +11:00
Randy Mackay
b34664ea07 Copter: remove unused altitude error 2014-02-15 05:27:34 +11:00
Randy Mackay
e69eeea246 Copter: log alt target from PosControl 2014-02-15 05:27:34 +11:00
Randy Mackay
44e731ea40 Copter: control_stabilize reports alt target 2014-02-15 05:27:34 +11:00
Randy Mackay
abb42bcb41 Copter: remove unused run_rate_controllers 2014-02-15 05:27:34 +11:00
Randy Mackay
e1bf4af1b8 Copter: bug fix to set angle_boost in stab mode 2014-02-15 05:27:34 +11:00
Randy Mackay
77c38f4de4 Copter: integrate init take-off 2014-02-15 05:27:34 +11:00
Randy Mackay
2c03a3a3c6 Copter: set pos_control.set_dt 2014-02-15 05:27:34 +11:00
Randy Mackay
faf1e99f1a Copter: surface tracking to use pos_control 2014-02-15 05:27:33 +11:00
Randy Mackay
5649b7f4d9 Copter: integrate AC_PosControl constructor changes 2014-02-15 05:27:33 +11:00
Randy Mackay
4840ce238a Copter: skeleton AltHold flight mode 2014-02-15 05:27:33 +11:00
Randy Mackay
7784fc7645 Copter: update pos_control's hover throttle 2014-02-15 05:27:33 +11:00
Randy Mackay
33552b63d8 Copter: early integration of AC_PosControl 2014-02-15 05:27:33 +11:00
Randy Mackay
3146299a0f Copter: move control_stabilize yaw input higher 2014-02-15 05:27:33 +11:00
Randy Mackay
7f56b28767 Copter: move thr control to control_stabilize 2014-02-15 05:27:33 +11:00
Randy Mackay
2253cf9769 Copter: run main loop at 400hz for pixhawk 2014-02-15 05:27:33 +11:00
Randy Mackay
3a78263921 Copter: skeleton init call for all flight modes 2014-02-15 05:27:33 +11:00
Randy Mackay
0431b7e1d4 Copter: bug fix for stabilize_run's yaw control 2014-02-15 05:27:33 +11:00
Randy Mackay
1fdfa751e6 Copter: integrate replacement of timers with set_dt 2014-02-15 05:27:33 +11:00
Randy Mackay
c8e277703d Copter: add acro_run skeleton 2014-02-15 05:27:33 +11:00
Randy Mackay
c2ca5c46b8 Copter: correct auto_run 2014-02-15 05:27:32 +11:00
Randy Mackay
1cf065e1df Copter: remove debug for control_stabilize 2014-02-15 05:27:32 +11:00
Randy Mackay
cbe56bba25 Copter: integrate AC_AttitudeControl 2014-02-15 05:27:32 +11:00
Randy Mackay
7b9a48107e Copter: move angle_max parameter to AP_Vehicle 2014-02-15 05:27:32 +11:00
Andrew Tridgell
2bf7a46c9b Copter: log power status on Pixhawk 2014-02-15 05:00:09 +11:00
Andrew Tridgell
0a3476bbf1 Copter: change to new board_voltage() API 2014-02-14 21:50:59 +11:00
Randy Mackay
bd0cb83263 Copter: release notes for AC3.1.2 2014-02-13 21:21:56 +09:00
Randy Mackay
78b31f4b16 Copter: readme file renamed and directs to wiki 2014-02-12 21:03:45 +09:00
Randy Mackay
a5e98c11ad Copter: Release notes for AC3.1.2-rc2 2014-02-12 20:20:10 +09:00
Randy Mackay
2219f21744 Copter: add RC_FEEL_RP parameter 
Values from 0 ~ 100 control amount of filtering on roll and pitch input.
100 = no filter so crisp feel, 0 = a lot of filtering so very sluggish
response
 2014-02-12 16:28:41 +09:00
Randy Mackay
89b222f1cf Copter: only report gps glitch when usb disconnected 2014-02-11 11:43:24 +09:00
Randy Mackay
8f5585423c Copter: use ahrs trig values 2014-02-08 18:16:49 +09:00
Randy Mackay
5bcc2f5ca5 Copter: version to AC3.2-dev 2014-02-08 11:32:59 +09:00
Randy Mackay
69c165b3b3 Copter: correct release note dates 2014-02-07 22:30:19 +09:00
Randy Mackay
ac9f0b5fd1 Copter: remove setup_aux_channels 
moved to individual motors libraries
 2014-02-07 22:04:28 +09:00
Randy Mackay
91b78c0cbe Copter: bug fix for duplicate single and coax params 2014-02-07 17:07:51 +09:00
Dneault
4b3699f985 Copter: coax allows ch5 and higher for do_set_servo cmd 2014-02-07 12:36:22 +09:00
Randy Mackay
5d929351ca Copter: removed unused servo3, servo4 from coax 2014-02-07 12:36:17 +09:00
Randy Mackay
e6f4fb4828 Copter: moved coax servo set-up to AP_MotorCoax 2014-02-07 12:36:11 +09:00
Dneault
f48e106271 Copter: add coax heli support 
Motors should be attached to RCOutputs 1 and 2, Flaps should be connected
to RC outputs 3 and 4
 2014-02-07 12:36:04 +09:00
Andrew Tridgell
dc6433d63c Copter: ensure that motor channels cannot be used for auxillary functions 
disable RC_Channel_aux channels that are used for motors. This perhaps
should be done by the AP_Motors library, but for now this is simpler
 2014-02-06 21:34:47 +11:00
Andrew Tridgell
5a3a7f1cec Copter: use new RC_Channels API 2014-02-06 10:17:16 +11:00
Andrew Tridgell
415db390af Copter: check param table on startup 2014-01-31 13:10:00 +11:00
Randy Mackay
e13984f6c1 Copter: remove unused compat.pde entries 2014-01-30 14:33:55 +09:00
Randy Mackay
a078d00e6a Copter: firmware to AC3.1.2-rc1 2014-01-30 14:00:20 +09:00
Randy Mackay
214a859e97 Copter: remove unused RADX100 definition 
The real purpose of this small change is to kick off the autobuilder for
the AC3.1.1 release.
 2014-01-26 13:41:14 +09:00
Randy Mackay
3ba5b70736 Copter: fix compiler warning from motorsync test 2014-01-26 11:08:34 +09:00
Randy Mackay
a45b9cbe9a Copter: remove unused RELAY_TOGGLE definition 2014-01-26 10:10:02 +09:00
Stefan
a6b6d46a30 Copter: Update ReleaseNotes.txt 2014-01-22 15:05:31 +09:00
Ju1ien
311bba1419 Copter: landing_complete stays true until thr is raised 
The idea of the fix is we can't leave land while throttle is 0 and then
we ignore the baro and it's disturbances.
 2014-01-22 14:38:35 +09:00
Randy Mackay
7fcd847f77 Copter: reword FRAME parameter's @Value 2014-01-22 11:35:35 +09:00
Randy Mackay
231e3ccaac Copter: add NewX @Value for FRAME parameter 2014-01-22 10:57:17 +09:00
Randy Mackay
dee5fb212a Copter: remove dup definition of FRAME_ORIENTATION 
Ideally the frame orientation parameter should be moved to the motors
class
 2014-01-21 21:44:17 +09:00
Randy Mackay
f7f8691ca3 Copter: remove frame setup through CLI 2014-01-21 21:42:59 +09:00
Randy Mackay
34f14a7c13 Copter: version to AC3.1.1-rc2 
This update applies to pixhawk only
 2014-01-21 21:23:11 +09:00
Randy Mackay
3c7e7db8a7 Copter: AC3.1.1-rc2 release notes 2014-01-21 21:22:42 +09:00
Andrew Tridgell
e8b8cc1a5d Copter: converted to AP_ServoRelayEvents 2014-01-20 17:06:29 +11:00
Andrew Tridgell
e3804e2846 Copter: fixes for AP_Relay API change 2014-01-20 17:06:29 +11:00
Andrew Tridgell
50a90a1043 Copter: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Randy Mackay
111d0854a7 Copter: motorsync cli test 2014-01-18 17:00:43 +09:00
Randy Mackay
0f957bdc5a Copter: lean angle arming check 2014-01-17 17:31:28 +09:00
Randy Mackay
a7f03619f2 Copter: add inav vs baro arming check 
In-flight Barometer sanity checking will be a more complete solution but
until then this should catch some bad pre-flight barometer behaviour
 2014-01-17 17:21:42 +09:00
Andrew Chapman
b7eab7ea22 Copter: Added GCS feedback for save_trim() 
Trim save gives no feedback, so I've added a gcs_send_text() call to
print "Trim saved" so the user knows to re-center trims again
 2014-01-16 14:23:19 +09:00
Randy Mackay
8a29d63d89 Copter: faster baro calibration when arming 
using update_calibration() instead of the full calibrate() cuts
1.5seconds of the arming time
 2014-01-15 23:28:24 +09:00
Randy Mackay
ae4f368f16 Copter: allow ch6 tuning of loiter speed 2014-01-15 15:22:52 +09:00
Randy Mackay
6d55895d30 Copter: simplify do-set-servo mission command 
This potentially changes the servo number that must be supplied if using
an APM1 but it now shares the same logic as arduplane and also adds
protection that the servo is not attached to the motor.
removed debug message from previous commit.
 2014-01-15 14:36:50 +09:00
Randy Mackay
67c2bc7d0b Copter: add support for MAV_CMD_DO_SET_SERVO 2014-01-15 14:03:04 +09:00
Randy Mackay
a9f1a2ee5e Copter: disarm on land even if pilot throttle not zero 
default behaviour remains as before, this is an compile time option only
 2014-01-15 11:31:00 +09:00
Randy Mackay
ac99d2d19a Copter: update AC3.1.1-rc1 release notes 2014-01-14 21:56:15 +09:00
Randy Mackay
a3527ade61 Copter: move EARTH_FRAME definition to defines.h 
defines.h is for defining enumerations and other unchanging values while
config.h is for changeable values like parameter defaults, enabling or
disabling sensors.
 2014-01-14 21:53:13 +09:00
Randy Mackay
66859686a0 Copter: remove some unused definitions 2014-01-14 21:21:54 +09:00
Randy Mackay
dd5521aa06 Copter: update version to AC3.1.1-rc1 2014-01-14 21:01:54 +09:00
Randy Mackay
b1525a421b Copter: AC3.1.1-rc1 release notes 2014-01-14 21:01:40 +09:00
Andrew Tridgell
4f2ce31cb7 Copter: log PX4 and NuttX versions in logs 2014-01-14 15:38:51 +11:00
Andrew Tridgell
e52f8d6598 Copter: prevent log corruption during log creation 2014-01-14 14:37:48 +11:00
Andrew Tridgell
8a41b18a1f Copter: use uppercase names on SD card where possible 2014-01-14 12:46:26 +11:00