Randy Mackay
6be6bd5aed
Copter: remove unused battery analog sources
2013-10-13 11:03:20 +09:00
Randy Mackay
d2bda8c235
Copter: split up medium loop
2013-10-13 11:03:15 +09:00
Randy Mackay
e9cefbafd1
Copter: higher priority for throttle loop, lower telemetry
2013-10-13 11:03:10 +09:00
Randy Mackay
fc47e05105
Copter: update firmware version to AC3.1-rc3
2013-10-09 11:13:15 +09:00
Andrew Tridgell
450323f4ae
Copter: enable logging on Linux
2013-10-08 19:20:35 +11:00
Andrew Tridgell
4b68dd48f7
Copter: use ins.wait_for_sample() for main loop
...
this takes advantage of the INS specific method to wait for a sample
2013-10-08 19:20:34 +11:00
Randy Mackay
9435eb4a15
Copter: remove unused flags and consolidate ap and ap_system
2013-10-08 15:25:14 +09:00
Andrew Tridgell
6145924481
Copter: switch Linux to L3G4200D ins driver
2013-10-08 11:50:54 +11:00
Randy Mackay
0c0de7c53e
Copter: simple mode speedup
...
super simple and simple mode headings separated
g.super_simple converted into a bitmap by flight mode switch position
2013-10-05 18:26:56 +09:00
Randy Mackay
ba92c4891a
Copter: make AutoTune a compile-time option
2013-10-04 15:50:50 +09:00
Randy Mackay
31cea0140d
Copter: Leonard's AutoTuning for Roll and Pitch
2013-10-04 15:50:47 +09:00
Randy Mackay
dab4f032f9
Copter: integrate BattMonitor
2013-10-03 11:16:28 +09:00
Andrew Tridgell
3665bec26d
Copter: fixed build for Linux
2013-09-28 22:04:16 +10:00
Andrew Tridgell
9e42e536a7
Copter: make the scheduling a bit more multi-tasking OS friendly
...
we can afford to sleep a bit in the main loop
2013-09-28 22:04:16 +10:00
Andrew Tridgell
234eaceb14
Copter: update for Stub -> HIL
2013-09-28 22:04:15 +10:00
Randy Mackay
c3f7146f03
Copter: improve check of frame type to catch spelling errors
2013-09-27 14:35:16 +09:00
Randy Mackay
a53d28e018
Copter: remove support for dmp ahrs
2013-09-27 10:42:49 +09:00
Andrew Tridgell
394645560a
Copter: update for new INS API
2013-09-27 10:49:00 +10:00
Andrew Tridgell
a0b6481dfd
Copter: removed SMACCM support
2013-09-26 22:38:31 +10:00
Randy Mackay
fd2e87b710
Copter: disable tuning during radio failsafe
2013-09-26 20:05:25 +09:00
Randy Mackay
7cc8a9038f
Copter: move failsafe flags into structure
2013-09-26 19:37:15 +09:00
Randy Mackay
8a886c0e19
Copter: remove err msg for undefined throttle mode
...
Printing errors like this to the console are unlikely to ever be seen
2013-09-24 21:45:51 +09:00
Randy Mackay
e5535e35b3
Copter: remove unused reset_stability_I
2013-09-24 21:42:05 +09:00
Randy Mackay
c596b27719
Copter: add dataflash error for GPS glitch
2013-09-24 21:41:48 +09:00
Randy Mackay
4c8227c050
Copter: update AP_Notify for gps failsafe and glitching
2013-09-24 21:41:28 +09:00
Randy Mackay
2f5b32bada
Copter: integrate GPS_Glitch's check_position
2013-09-24 21:41:16 +09:00
Andrew Tridgell
3378c7901a
Copter: added support for the flymaple board
2013-09-24 13:51:28 +10:00
Andrew Tridgell
754bdbd25f
Copter: use new usb_connected() HAL function
2013-09-19 16:24:23 +10:00
Randy Mackay
79399e4fb4
Copter: AC3.1-rc2 version and release notes
2013-09-18 13:30:26 +09:00
Randy Mackay
daa0cb7914
Copter: enable motor slow start in auto mode
2013-09-13 14:32:19 +09:00
Andrew Tridgell
3720efc7c9
Copter: changed to AP_Vehicle.h
2013-09-13 11:47:03 +10:00
Randy Mackay
43c4ba304d
Copter: update Release Notes for AC3.1-rc1
2013-09-09 20:04:30 +09:00
Randy Mackay
1abb439051
Copter: move acro's var initialisation to roll-pitch and yaw controller initialisation
2013-09-09 10:54:13 +09:00
Randy Mackay
942ba0476b
Copter: remove manual_attitude and throttle flags
2013-09-09 10:44:53 +09:00
Randy Mackay
4842335a24
Copter: add #include for AC_Sprayer
2013-09-09 10:18:06 +09:00
Andrew Tridgell
52f5b1e5a7
Copter: update to GPLv3 license headers
2013-08-30 13:01:39 +10:00
Andrew Tridgell
e1e32fcf08
Copter: fixed build with AP_AHRS changes
2013-08-30 13:01:35 +10:00
Andrew Tridgell
25d517f5d6
Copter: updates for new notify API
2013-08-30 13:01:35 +10:00
Randy Mackay
4aef49a006
Copter: re-order #defines of AP_Notify
2013-08-30 13:01:35 +10:00
Randy Mackay
52ef77393c
Copter: integrate Toshiba_LED_PX4
2013-08-30 13:01:35 +10:00
Randy Mackay
46c24fdf39
Copter: integrate ToshibaLED
2013-08-30 13:01:35 +10:00
Randy Mackay
e985253f1a
Copter: integrate notify
2013-08-30 13:01:35 +10:00
Randy Mackay
45aeb1a921
Copter: split up loiter into 4 steps
...
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
2013-08-28 11:33:10 +09:00
Randy Mackay
2696e160e6
Copter: surface tracking improvement
...
Separate correction speeds for pilot input vs altitude-above-ground
errors to allow slower correction to sonar signals.
Change SONAR_GAIN parameter to be altitude error -> desired speed. This
means it should be set 10x larger than before.
Replace hard-coded sonar cut-off percentage of 70% with
SONAR_RELIABLE_DISTANCE_PCT.
Reduce sonar cut-off percentage to 60%.
Add desired sonar altitude to dataflash log's CTUN message.
2013-08-19 09:52:59 +09:00
Randy Mackay
88332b4acb
Copter: revert to 3 element sonar's mode filter
2013-08-19 09:47:48 +09:00
Randy Mackay
3a5a15a15f
Copter: allow CH6 tuning of sonar gain
2013-08-18 15:44:54 +09:00
Randy Mackay
6a2daf1a33
Copter: reduce sonar sensitivity to spikes
2013-08-15 16:04:17 +09:00
Randy Mackay
6969ab573d
Copter: configurable max lean angle
...
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
2013-08-11 12:53:22 +09:00
Randy Mackay
74fb500efe
Copter: integrate AC_Sprayer
2013-08-05 21:12:23 +09:00
Randy Mackay
49dbdce89c
Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P
2013-08-05 21:05:00 +09:00
Randy Mackay
82082e044c
Copter: remove ACRO's axis enabled parameter
...
Acro is now body frame (with earth frame leveling) while Sport is earth
frame acro
2013-08-05 21:04:57 +09:00
Randy Mackay
e32342163d
Copter: rename ACRO variables
2013-08-05 21:04:50 +09:00
Leonard Hall
d2deaaa686
Copter: Acro add rate constrain and combine limit calc
2013-08-05 21:04:47 +09:00
Randy Mackay
39ab4f62ef
Copter: add SPORT mode
2013-08-05 21:04:41 +09:00
Randy Mackay
a18d55a9d3
Copter: update version to 3.1-dev
2013-08-05 14:26:52 +09:00
Andrew Tridgell
2690edfc5f
Copter: ask for IMU samples at 100Hz
...
this produces the same result, but makes things simpler in the driver
2013-08-02 21:37:15 +10:00
Andrew Tridgell
01e19a32fe
Copter: use the new scheduler load_average() call
...
this also simplifies the main loop
2013-08-02 18:46:34 +10:00
Randy Mackay
0f8f5bc048
Copter: remove unused ap.gps_status flag
2013-07-29 16:46:05 +09:00
Olivier-ADLER
87d062905e
Copter: 3 positions switch support for CH7 and CH8 - new 3 positions SIMPLE / SUPERSIMPLE mode
...
3 positions modes must use mode number >= 100
pre-arm check correction for CH7 - CH8 check
2013-07-29 15:12:10 +09:00
Randy Mackay
3b59cde1b8
Copter: deactivate accel throttle controller when landed
2013-07-28 18:19:01 +09:00
Randy Mackay
da37089dc2
Copter: remove landing checks in loiter controller
2013-07-28 18:18:57 +09:00
Randy Mackay
8eefbdce44
Copter: turn off stability patch when landed in Loiter
2013-07-28 18:18:54 +09:00
Randy Mackay
9a1a999fba
Copter: landing check changes
2013-07-28 18:18:50 +09:00
Randy Mackay
24d15517ff
Copter: clear thr accel I term on take-off
2013-07-28 18:18:45 +09:00
Randy Mackay
05248738e2
Copter: bug fix for take-off in loiter
2013-07-28 18:18:43 +09:00
Randy Mackay
c3daf78340
Copter: reset loiter target when landed
2013-07-28 18:18:41 +09:00
Robert Lefebvre
2a9f4bbbad
TradHeli: Creating new unified roll/pitch rate controller.
2013-07-19 16:16:12 +09:00
Robert Lefebvre
23ea151ca5
TradHeli: Fix Heli rate controller filter rates.
2013-07-19 16:16:10 +09:00
Robert Lefebvre
b4863dc997
TradHeli: Change to throttle controller to allow swash plate collective to move, even if disarmed, if we are in Acro or Stab. This is slightly dangerous... as a user could cause a problem if they do not follow the proper usage procedures. If they do not route the ESC through the APM, but instead direct to Rx. And then if they do not Arm, they could take off in Stab mode while disarmed, but then when they switch to Alt_Hold, it will drop the collective to the bottom and they will fall. This can be saved by switching back to Stab. And it requires operation outside of the normal operating procedure.
...
This change is being made because most heli users expect to be able to check the swash plate operation before arming and taking off.
2013-07-19 16:16:04 +09:00
Andrew Tridgell
9a159a5e23
Copter: make wp_distance static
...
removed hack with AP_Camera library
2013-07-15 09:56:45 +10:00
Leonard Hall
64ce9b017d
Copter: Body frame ACRO upgrade
2013-07-11 17:53:25 +09:00
Randy Mackay
6dd446ac79
Copter: firmware version to 3.0.1
2013-07-11 16:45:05 +09:00
Andrew Tridgell
5ae62f4f04
Copter: fixed build with specified GPS driver
2013-07-11 14:27:42 +10:00
Randy Mackay
8cb7bd628e
Copter: change firmware version to 3.0.1-rc2
2013-07-10 15:52:21 +09:00
Andrew Tridgell
da4137b731
Copter: changes for GPS field changes
2013-07-10 14:04:22 +10:00
Craig@3DR
bbd4fbd2fb
Copter: trigger + logging on camera update_location()
2013-07-10 08:39:59 +10:00
Randy Mackay
79d2fe6271
Copter: double flash arming light when pre-arm checks fail
...
Hardly my finest work but it's temporary because we're going to replace
all the led, buzzer etc with a library called AP_Notify in the near
future.
2013-07-04 16:26:22 -10:00
Randy Mackay
404cd5f3da
Copter: rename g.pid_throttle to g.pid_throttle_rate
...
Small code clean-up to make throttle rate controller's pid more obvious
2013-06-30 00:04:21 -10:00
Randy Mackay
b3da8a462f
Copter: CH6 tuning definition clean-up
...
Renamed and reorganised the CH6 #defines and parameter definitions
2013-06-29 23:51:43 -10:00
Randy Mackay
0592475959
Copter: change firmware version to 3.0.0-rc1
2013-06-26 14:03:28 +09:00
Randy Mackay
45dfbecaba
Copter: update 3.0.1 version and release notes
2013-06-26 00:09:36 +09:00
Andrew Tridgell
3e82f644ea
Copter: enabled CAM_TRIGG_DIST parameter
2013-06-25 12:52:44 +10:00
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
b1a014e12e
Copter: update firmware version to 3.0.0
2013-06-18 10:03:40 +09:00
Randy Mackay
b1e089fe29
Copter: update AC3.0-rc6 version and release notes
2013-06-16 11:48:03 +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
Andrew Tridgell
595d3c694a
Copter: make it possible to change board orientation at runtime
2013-06-03 16:52:52 +10:00
Randy Mackay
213eaa8db6
Copter: integrate draft RCMapper
2013-06-03 16:23:47 +10:00
Randy Mackay
9e91def774
Copter: update firmware version and release notes
2013-06-02 12:19:36 +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
Randy Mackay
99f5462a03
Copter: circle mode fixes
2013-06-01 18:21:30 +09:00
Randy Mackay
1722e438d8
Copter: pass alt hold gain to WP_Nav library
2013-05-31 21:04:10 +09:00
Randy Mackay
838fb3f4e2
Copter: don't spin motors in ALTHOLD with zero throttle
2013-05-27 10:42:22 +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
22e9b95c3c
Copter: version update to 3.0.0-rc3
2013-05-22 17:46:28 +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
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
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
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
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
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
33d1129904
Copter: remove unused TB_RATIO parameter
2013-05-14 16:56:55 +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
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
ad656c7e8a
Copter: allow lat/lon to be specified for land
2013-05-10 22:37:15 +09:00
Randy Mackay
b65d714675
Copter: set yaw-mode in do_loiter mission command
2013-05-10 10:51:46 +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
0a148cce19
Copter: log target alt in meters
2013-05-08 16:41:16 +09:00
Randy Mackay
ae2ad8e819
Copter: remove unused radius_of_earth constant
2013-05-05 13:13:48 +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
55da049c69
Copter: fixes for AP_Baro_HIL
2013-05-02 15:09:16 +10:00
Andrew Tridgell
25c576cad7
Copter: replaced constrain() with constrain_float()
2013-05-02 10:26:49 +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
76d0f7f74d
Copter: fix compiler warning re unused float_int
2013-04-28 17:22:58 +09:00
Randy Mackay
d146d6aaa6
Copter: restore update_altitude to run at 10hz
2013-04-28 17:15:13 +09:00
Randy Mackay
58d1da2d80
Copter: integrate AC_Fence in place of limits
...
Lesser functionality than limits but saves more than 150 bytes and it
works
2013-04-27 11:14:07 +09:00
Andrew Tridgell
300a8d2bbc
Copter: support all 12 channels on PX4
...
last 4 channels are on the FMU pins
2013-04-25 20:10:53 +10:00
Randy Mackay
74dca6da22
Copter: move update_commands to run_autopilot fn
...
update_commands was being run in the medium_loop counter but it is
easier to understand the flow of the code if it is consolidated along
with other autopilot calls.
2013-04-24 20:59:49 +09:00
Andrew Tridgell
5ad9deecfb
Copter: cleanup some bit if tests to be clearer
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-04-23 23:03:34 +10:00
Randy Mackay
63a48f76e2
Copter: add pre-arm check of radio and accel
...
Only checks throttle channel and accelerometer scaling
2013-04-23 00:01:20 +09:00
Andrew Tridgell
d5875676b1
Copter: use a reference to DCM matrix
2013-04-22 13:26:49 +10:00
Randy Mackay
2fc25da4c3
Copter: Leonard's fix for get_loiter_accel_to_lean_angle
2013-04-21 16:27:50 +09:00
Andrew Tridgell
c53ede506d
Copter: make if statement clearer
2013-04-21 07:25:52 +10:00
Andrew Tridgell
8b31f276a2
Copter: switch to block based logs for SITL
2013-04-20 20:45:51 +10:00
Randy Mackay
a53e5f747b
Copter: add fourth yaw behaviour, look-at-home
...
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
2013-04-20 15:36:24 +09:00
Andrew Tridgell
02c3083f60
Copter: print flight mode as string
2013-04-20 15:18:22 +10:00
Andrew Tridgell
67484a2ea1
Copter: make copter code compatible with the new logging system
...
not fully converted yet
2013-04-20 13:52:36 +10:00
Randy Mackay
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
...
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
2013-04-20 12:03:55 +09:00
Randy Mackay
f5955d8915
Copter: auto climb and descent params removed
...
These params now reside in the AC_WPNav library
2013-04-18 14:52:21 +09:00
Randy Mackay
2b4a7d60a9
Copter: remove unused throttle modes
...
These were useful for testing the alt-hold when it was first introduced
but now they just add complexity
2013-04-17 22:14:22 +09:00
Randy Mackay
56809a9df2
Copter: remove unused nav_ok and alt_sensor_flag
2013-04-17 21:57:57 +09:00
Randy Mackay
d2bd818b2d
Copter: bug fix for auto_armed logic
...
Zero throttle when switching into an auto flight mode would cause the
motors to stop.
2013-04-17 21:28:42 +09:00
Andrew Tridgell
501eb4f0b4
Copter: made more variables static
2013-04-17 21:35:11 +10:00
Randy Mackay
a185fa950c
Copter: Jason's fix to auto disarming
...
Added check so that it only starts counting down when motors are armed.
This removes the issue in which the copter sometimes disarms shortly
aftering being armed.
2013-04-15 23:36:45 +09:00
Randy Mackay
b48864e1ad
Copter: allow CH6 tuning of compass declination
2013-04-15 21:50:44 +09:00
Randy Mackay
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
2013-04-14 13:27:37 +09:00
Randy Mackay
bffe4fa412
Copter: remove NAV_LAT and NAV_LON
...
Loiter and navigation controllers now combined
2013-04-14 12:09:45 +09:00
Randy Mackay
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
2013-04-14 10:39:23 +09:00
Randy Mackay
bc87118062
AC_WPNav: add get_target_alt method
2013-04-14 10:39:00 +09:00
Randy Mackay
6dbcbdcb43
AC_WPNav: limit max loiter position error
...
move interpretation of pilot input to wpnav lib
2013-04-14 10:38:58 +09:00