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13,314 Commits 71 Branches 511 Tags 796 MiB
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3404 Commits

Author SHA1 Message Date
Randy Mackay
b212c02057 Copter: version to AC3.2-Iris 
Interim release 3DRobotics's use with IRIS+ frames
 2014-09-12 15:06:57 +09:00
Randy Mackay
0a3ec84e86 Copter: THR_ACCEL_IMAX default to 800 2014-09-12 15:04:29 +09:00
Randy Mackay
5fd39ce436 Copter: reduce throttle to min once landed in RTL 
This catches the case where the vehicle lands but the user doesn't
immediately put the throttle to zero.  Before this check it would
continue to attempt to hold it's
 2014-09-12 14:55:36 +09:00
Randy Mackay
64cc4986bd Copter: THR_ACCEL_IMAX param range increased 2014-09-12 14:55:33 +09:00
Randy Mackay
75a1e46d82 Copter: version to AC3.2-rc9 2014-09-11 20:28:43 +09:00
Randy Mackay
a7233c48be Copter: AC3.2-rc9 release notes 2014-09-11 20:28:35 +09:00
Randy Mackay
12f3e96cc1 Copter: version to AC3.2-rc8 2014-09-11 16:36:43 +09:00
Randy Mackay
1ed11c7c37 Copter: AC3.2-rc8 release notes 2014-09-11 16:35:29 +09:00
Randy Mackay
cac10a3041 Copter: never send unhealthy terrain status 
Copter does not yet rely on the terrain data (it's for informational
purposes only) so we will temporarily disable the failure flags to the
GCS to avoid support calls
 2014-09-09 22:20:33 +09:00
Randy Mackay
e706c24542 Copter: send extended status to GCS only after initialisation 2014-09-09 22:20:31 +09:00
Randy Mackay
4b47a618a4 Copter: reduce alt hold defaults 
Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
 2014-09-09 16:45:11 +09:00
Randy Mackay
62a4e66481 Copter: increase EKF_CHECK_THRESH default to 0.8 
Also remove unused #define related to inertial nav check (now removed)
 2014-09-09 15:18:15 +09:00
Randy Mackay
faf124771a Copter: version to AC3.2-rc7 2014-09-04 15:44:10 +09:00
Randy Mackay
fe07df5562 Cotper: AC3.2-rc7 release notes 2014-09-04 15:43:36 +09:00
Randy Mackay
cdc4038f27 Copter: pre-arm consistency check of gyros 2014-09-04 15:23:56 +09:00
Randy Mackay
dbb0283dba Copter: land check gets overall throttle and rotation rate check 
add check that overall throttle level is below the non-takeoff throttle
instead of just checking that it's motors have hit their lower limits
because low limits can also be caused by high yaw rotation requests.
Absolute climb rate requirement reduced to 30cm/s
 2014-09-04 15:23:53 +09:00
Randy Mackay
b214b8ba15 Copter: add short delay to arming to allow RC input 
The short delay gives time for the RC inputs to be processed which
removes the chance of a false-positive on the "late frame" radio check.
A false positive could lead to an immediate disarm right after arming.
 2014-09-04 15:23:51 +09:00
Randy Mackay
8e7b93d1b7 Copter: pre-arm consistency check of accels 2014-09-03 13:52:58 +09:00
Randy Mackay
8b91900b74 Copter: individual accel and gyro status to GCS 2014-09-03 11:38:47 +09:00
Randy Mackay
6c0b9a2cfc Copter: check all gyros and accels in pre-arm check 2014-09-03 11:38:45 +09:00
Randy Mackay
1ee6481517 Copter: sanity check throttle deadzone 2014-09-02 12:40:55 +09:00
Randy Mackay
162d421e5d Copter: update AC3.2-rc6 release notes 
forgot compass-not-calibrated bug fix
 2014-08-31 12:05:33 +09:00
Randy Mackay
7236d0621a Copter: update AC3.2-rc6 release notes 
Forgot to add GPS driver buffer overflow item
 2014-08-31 12:02:33 +09:00
Randy Mackay
acecc78454 Copter: version to AC3.2-rc6 2014-08-31 11:56:58 +09:00
Randy Mackay
be2dabe58e Copter: AC3.2-rc6 release notes 2014-08-31 11:56:15 +09:00
Randy Mackay
15508c49ef Copter: default LAND_REPOSITION to 1 2014-08-31 11:40:06 +09:00
Jason Short
515c0d8630 Copter: restore CLI set parameter feature 
Added back the ability to set params from CLI
 2014-08-31 11:40:04 +09:00
Randy Mackay
68df421484 Copter: throttle deadzone parameter 
Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
 2014-08-31 10:19:03 +09:00
Randy Mackay
7802c85b5f Copter: pre-arm check of internal vs ext compass 2014-08-26 22:44:20 +09:00
Randy Mackay
4038cd2fbd Copter: remote arming check reference to compass learning 2014-08-26 22:44:18 +09:00
Randy Mackay
f78aff67c2 Copter: make landing detector more strict 
Made more strict by requiring 50 consecutive iterations where the climb
rate is below +- 40cm/s.  Previously it was 50 cumulative.

Removed check of failsafe.radio when clearing the land flag because it
could result in the vehicle taking off if the user picked it up.
 2014-08-26 11:23:18 +09:00
Randy Mackay
d242fcaae5 Copter: remove get_angle_targets_for_reporting fn 
this saves a tiny amount of time by removing the memory copy of a
Vector3f
 2014-08-22 22:59:50 +09:00
Andrew Tridgell
f86de61d82 Copter: show firmware version on param fetch 
fixes pull #1320

thanks Arthur!
 2014-08-22 21:38:16 +09:00
Randy Mackay
06880f5cfa TradHeli: update AttControlHeli constructor 
reference to rc_1, rc2 are replaced with constant updates during
acro_run
 2014-08-22 21:37:25 +09:00
Randy Mackay
c7d6b026b5 TradHeli: call passthrough_bf_roll_pitch_rate_yaw 2014-08-22 21:37:22 +09:00
Robert Lefebvre
8ac36892ee Logging: Fix comment error. 2014-08-22 21:37:17 +09:00
Robert Lefebvre
32cb2bbce1 TradHeli: Add yaw-only rate request function for flybar acro mode. 2014-08-22 21:37:15 +09:00
Robert Lefebvre
1becab3eed TradHeli: Reset flybar passthrough to false when exiting Acro mode. 2014-08-22 21:37:12 +09:00
Robert Lefebvre
184be135cd TradHeli: Set Flybar passthrough mode in Acro Initialization function. 2014-08-22 21:37:10 +09:00
Robert Lefebvre
ede4b567f2 TradHeli: Add pointer for pilot roll/pitch inputs to attitude_control constructor. To be used for flybar passthrough. 2014-08-22 21:37:01 +09:00
Randy Mackay
2d02d8d15f Copter: remove inav check 
the EKF check works reliably but attempts to check the inertial nav for
errors has not been successful.  I could not find a way to reliably
catch flyaways without also introducing false positives (and thus
unwanted LANDings)
 2014-08-20 14:49:58 +09:00
Randy Mackay
9c79f9b38d Copter: add ACRO_EXPO param values 2014-08-20 14:49:54 +09:00
Andrew Tridgell
ecd73413db Copter: set GPS non-blocking 
the new GPS driver only ever needs a non-blocking port
 2014-08-19 11:12:14 +09:00
NullVoxPopuli
2183d2f4f3 Copter: add A-Tail to FRAME parameter description 2014-08-18 14:31:56 +09:00
priseborough
33432aa4a8 Copter : Distinguish between EKF and INAV errors 2014-08-18 14:31:52 +09:00
Randy Mackay
a31f30e6bd Copter: range check ACRO_EXPO to be no more than 1 2014-08-18 12:58:20 +09:00
Randy Mackay
7202aa00da Copter: remove compass learn of offsets 
This saves 1k of flash and the interference on most copters makes this
option unusable anyway.
 2014-08-16 10:45:11 +09:00
Randy Mackay
515cb7c671 Copter: AC3.2-rc5 version and release notes 2014-08-14 21:38:56 +09:00
Randy Mackay
0a88281a76 Copter: bug fix to rally point alt 
rally point library uses absolute altitudes, we were passing in relative
altitudes which caused the vehicle to climb before heading to the rally
point
 2014-08-14 21:09:54 +09:00
Randy Mackay
6fc5014a84 Copter: increase sonar timeout to 1sec 
Contributed by Julien Dubois.
 2014-08-14 19:37:00 +09:00
Randy Mackay
7686660c73 Copter: use baro healthy() 2014-08-14 16:03:23 +09:00
Randy Mackay
1e374ab42b Copter: report baro health to GCS 2014-08-14 16:02:49 +09:00
Leonard Hall
85213dccbf Copter: Autotune Fix 2014-08-14 11:47:40 +09:00
Randy Mackay
f3fd79597f Copter: add ACRO_EXPO parameter 2014-08-14 11:47:37 +09:00
lthall
3ba1c0c4aa Copter: ACRO add expo 
adds 30% expo to roll and pitch
 2014-08-14 11:47:06 +09:00
Andrew Tridgell
e260f1c569 Copter: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Randy Mackay
4723ed5e6e Copter: rename EKF check's error message to dataflash 
It checks more than the compass so the old error message was misleading.
 2014-08-09 15:48:42 +09:00
Randy Mackay
af7e5a75e9 Copter: correct EKF_CHECK parameter description 2014-08-09 15:32:54 +09:00
Randy Mackay
0518439841 Copter: move relay from ch6 to ch7/ch8 2014-08-09 13:37:12 +09:00
Randy Mackay
226e42f1d7 Copter: rename EKF_CHECK_THRESH parameter 2014-08-07 21:43:57 +09:00
Andrew Tridgell
4d284a695d Copter: fix for changed AP_Terrain API 2014-08-06 17:59:19 +10:00
Randy Mackay
e5f89baab0 Copter: increase RATE IMAX param desc ranges 
Also remove unused STB_RLL_I and STB_RLL_IMAX descriptions because these
parameters no longer exist
 2014-08-06 13:24:10 +09:00
ggregory8
013b1333b1 Copter: Add guided_takeoff_start and guided_takeoff_run functions 2014-08-05 10:25:33 +09:00
ggregory8
e8b0c7a7e7 Copter: Handle MAV_CMD_NAV_TAKEOFF command to takeoff in guided mode only 2014-08-05 10:25:31 +09:00
ggregory8
3832c46998 Copter: Add takeoff enum for guided_mode 2014-08-05 10:25:29 +09:00
Randy Mackay
610e747f27 Copter: minor formatting fix 2014-08-04 21:04:10 +09:00
Randy Mackay
52a3dc2bde Copter: reset target alt to current alt when landed 2014-08-04 16:56:03 +09:00
Randy Mackay
279aff87f2 Copter: bug fix to land-detector 
vehicle should become un-landed only when throttle out is above the
get-non-throttle-takeoff value
 2014-08-04 16:53:39 +09:00
Randy Mackay
c7ba44db2d Copter: increase ekf check threshold for inav 
This increases the accel correction from 60cm/s to 80cm/s before the ekf
check will trigger a land
 2014-08-04 15:06:37 +09:00
Randy Mackay
7b9fa1ea79 Copter: rate IMAX increase to 1000 2014-08-04 11:31:02 +09:00
Randy Mackay
b8f98aba8f Copter: fix baro glitch resolved message in dataflash 
Caught by Julien Dubois, thanks!
 2014-08-04 09:11:21 +09:00
Randy Mackay
b29f8968ce Copter: clarify EKF check msg to GCS 
remove "compass" from the error message because the failure can also be
caused by GPS glitches
 2014-08-02 16:14:20 +09:00
Randy Mackay
8a07701d07 Copter: remove ch6 tuning of INAV_TC 
Users normally never change these parameters and if by chance they do want
to, they can set them before flying
 2014-08-01 15:14:42 +09:00
Randy Mackay
d386ac6f85 Copter: remove unused local var from Flip 2014-08-01 15:14:42 +09:00
Randy Mackay
e17da607b1 Copter: remove empty Telemetry.pde 2014-08-01 15:14:41 +09:00
Randy Mackay
4e2683421c Copter: disable parachute and rally on APM1 2014-08-01 15:14:40 +09:00
Randy Mackay
3e6e776360 Copter: of-loiter unavailable if OPTFLOW not enabled 
of-loiter was small but still present even when optflow was disabled
 2014-08-01 15:14:32 +09:00
Randy Mackay
004eb168fb Copter: remove unused var from ekf check 2014-08-01 15:06:19 +09:00
Andrew Tridgell
81230ab518 Copter: disable dump_log when no APM2 2014-08-01 15:57:28 +10:00
Andrew Tridgell
a49d133d2a Copter: disable Log_Read if no CLI 2014-08-01 15:46:28 +10:00
Randy Mackay
7a2288523e Copter: version and release notes for AC3.2-rc4 2014-08-01 13:56:09 +09:00
Randy Mackay
2c0699c9ed Copter: auto-disarm in Drift, Sport, OF_Loiter 2014-07-31 22:58:43 +09:00
Randy Mackay
b52f8351e8 Copter: rename EKFCHECK_COMPASS to EKFCHECK_THRESH 
Renamed because this threshold is now used for both compass and velocity
variance.
Also minor reorganisation of ekfcheck but no functional change.
 2014-07-31 22:58:43 +09:00
priseborough
d9bb3965ac Copter: prevent false triggering of ekf_check 2014-07-31 22:58:29 +09:00
Randy Mackay
85b4ba6142 Copter: Thr and Batt failsafe disarm when landed 
When throttle/radio failsafe or battery failsafe are triggered, the
vehicle will disarm if it is landed even if the throttle is not at zero.
Auto mode will disarm if landed and mission has not started.  This
ensures that the vehicle does not disarm during a mission land command
that appears mid way through a mission.
 2014-07-31 15:00:06 +09:00
Randy Mackay
77d5b2171e Copter: rename control_modes.pde to switches.pde 2014-07-31 15:00:04 +09:00
Randy Mackay
b09568ffb5 Copter: use hal.rcout to send servo output to GCS 2014-07-30 17:31:11 +09:00
Andrew Tridgell
3ccac6736d Copter: rename TELEM2_PROTOCOL to SERIAL2_PROTOCOL 
this matches SERIAL2_BAUD
 2014-07-30 14:49:10 +10:00
Matthias Badaire
147e91877e Copter: Add SERIAL2_PROTOCOL for GCS and FRsky telemtry 
this allows selection of protocol type on telem2. The default is
MAVLink, but can be selected as FrSky protocol
 2014-07-29 17:08:19 -07:00
Andrew Tridgell
91ec4e56d5 Copter: fixed ESC calibration on Pixhawk 
this ensures motors are armed after safety is pressed, and also gives
print out of channel inputs and outputs on USB console for debug
purposes

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-07-29 13:59:28 +10:00
Randy Mackay
c9667131dd Copter: log flight mode after arming 2014-07-29 11:43:47 +09:00
Randy Mackay
55f679b54b BaroGlitch: shorten param prefix to BAROGLTCH_ 2014-07-28 22:21:46 +09:00
Randy Mackay
7cc1501dc6 Copter: integrate baro glitch protection 2014-07-28 22:16:20 +09:00
Andrew Tridgell
b36e4b4122 Copter: avoid integer underflow in mavlink txspace check 2014-07-27 22:18:51 +10:00
Randy Mackay
df4bc3d617 Copter: pass motor_mask to ServoRelayEvents 2014-07-26 16:33:26 +09:00
Randy Mackay
71cbcacf50 Copter: fix arming tone to sound before arming 
Also fixed bug in which vehicle could appear to be armed (according to
LEDs) but is not.  This could occur if pilot had raised the throttle
very high during the calibration that happens just before arming.
 2014-07-25 13:09:07 +09:00
Andrew Tridgell
cda78aa2c3 Copter: fixed auto-doc prefix for TERRAIN 2014-07-25 13:12:10 +10:00
Andrew Tridgell
8e65e5bff0 Copter: replace HAVE_AP_TERRAIN with AP_TERRAIN_AVAILABLE 2014-07-25 07:59:54 +10:00
Andrew Tridgell
8d04deff6a Copter: added terrain status reporting 2014-07-24 21:50:20 +10:00
Andrew Tridgell
0562907d9f Copter: added AP_Terrain library 2014-07-24 21:46:06 +10:00