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2794 Commits

Author SHA1 Message Date
Robert Lefebvre 794890884c TradHeli: enable Landing Collective when we are not moving 
This prevents full negative pitch when touching down in Alt Hold or Auto-Landing.
 2014-01-10 10:50:58 +09:00
Robert Lefebvre 531a9f4f25 TradHeli: disable AutoTune for Tradheli compile 
We need the flash space, and this probably won't work for tradheli anyway since tradheli needs most of the control from Feedforward rather than P term.  And D-term is very very bad.
 2014-01-10 10:50:09 +09:00
Randy Mackay 9f2f44f0f6 Copter: integrate shrunken optflow 2014-01-09 12:31:53 +09:00
Randy Mackay 1793ee804e Copter: remove armed check before logging 2014-01-07 22:43:49 +09:00
Randy Mackay 84881470b1 Copter: suspend logging while disarmed 2014-01-07 22:43:47 +09:00
Michael Oborne 757dd228d2 Copter: BugFix DO_SET_ROI returns Lat,Lon,Alt to GCS 2014-01-03 16:14:44 +09:00
Randy Mackay 99f851fc87 Copter: bugfix for starting in LOITER 
Loiter's Roll-Pitch mode was not being set on start-up.
 2013-12-30 17:18:10 +09:00
Andrew Tridgell 7c39d867bb Copter: use file based logs in SITL 2013-12-29 07:14:21 +11:00
Andrew Tridgell 97df2f64c9 Copter: use common available_memory() 2013-12-28 16:02:32 +11:00
Randy Mackay 02898cb46e Copter: replace APM with board in cli 2013-12-28 10:42:10 +09:00
Kevin Hester 2044300057 Copter: Split out prearm failures of low HDOP separately from !gps lock 
(on the iris list there was some confusion on why the copter was blinking
yellow but yet they had gps lock)
 2013-12-26 10:10:06 +09:00
Randy Mackay ab1bb6886c Copter: remove reference to COPTER_LEDS 2013-12-19 16:19:48 +09:00
Randy Mackay d362bb45fd Copter: move sensor init from setup(to init_ardupilot 
This fixes a bug in which the external led was not being disabled if the
EPM was enabled (they share pins).  The cause of the problem was the EPM
was being initialised before it's parameters had been loaded
 2013-12-19 14:12:19 +09:00
Lukasz cb17a5bdb6 Copter: Add RSSI_RANGE parameter 
Added ability to rescale rssi input voltage. Useful for receivers like
FrSky which have 3.3V output.
 2013-12-17 22:38:39 +09:00
Randy Mackay 21cda96f67 Copter: EPM enable/disable to APM_Config.h 2013-12-17 15:36:44 +09:00
ctech4285 2b5d8aa5b7 Copter: integrate EPM library 2013-12-17 15:36:42 +09:00
Andrew Tridgell 7f100ebe31 Copter: removed common functions 2013-12-17 12:00:46 +11:00
Andrew Tridgell edda76623f Copter: updates for DataFlash API changes 2013-12-17 11:51:36 +11:00
Andrew Tridgell dd749c1de3 Copter: when using file logs use "logs" directory 2013-12-17 11:51:36 +11:00
Andrew Tridgell 7642208c1a Copter: support MAVLink log download 2013-12-17 11:51:36 +11:00
Andrew Tridgell 9716e80e21 Copter: moved ap_message into GCS.h 2013-12-17 11:51:35 +11:00
Andrew Tridgell eb2cb0abe0 Copter: moved GCS.h to common library 2013-12-17 11:51:34 +11:00
Andrew Tridgell e5f098c37c Copter: removed some unnecessary fields in GCS.h 
save some memory
 2013-12-17 11:51:34 +11:00
Randy Mackay c7dc351609 Copter: remove unnecessary MPU6K filter definition 
This should also help kick off the AC3.1 rebuild
 2013-12-15 11:01:31 +09:00
Randy Mackay b42a34cae0 Copter: 3.1 release notes 2013-12-14 17:08:38 +09:00
Randy Mackay 2a61053634 Copter: reduce default logging for SITL 2013-12-12 22:19:12 +09:00
Andrew Tridgell 28d98414e7 Copter: fixed some build warnings 2013-12-11 10:21:20 +11:00
Andrew Tridgell 5802d7f86b Copter: added logging of 2nd compass 2013-12-10 13:35:04 +11:00
Andrew Tridgell cc3ee2ec0c Copter: added dual compass logging when available 2013-12-10 13:31:42 +11:00
Andrew Tridgell d265e54043 Copter: changes for compass healthy API 2013-12-09 17:47:22 +11:00
Andrew Tridgell f8e0f5c4f1 Copter: report both sets of sensors in MAVLink 2013-12-09 17:34:07 +11:00
Andrew Tridgell f37a2c979d Copter: don't need Log_Write_IMU2() now 2013-12-09 17:34:07 +11:00
Andrew Tridgell ffdcb715c3 Copter: updates for compass API change 2013-12-09 17:34:06 +11:00
Andrew Tridgell 0cacc7eaeb Copter: log both primary and secondary INS samples 2013-12-09 17:34:06 +11:00
Randy Mackay 145a8ed128 Copter: reduce autotune min rate D to 0.002 2013-12-09 14:17:31 +09:00
Randy Mackay 450e9e83c3 Copter: AC3.1-rc8 release notes 2013-12-09 12:02:28 +09:00
Randy Mackay eb938c6ac0 Copter: reduce autotune min rate P to 0.01 (was 0.02) 2013-12-08 11:26:49 +09:00
Randy Mackay f8165c2864 Copter: ignore yaw input during radio failsafe 2013-12-06 13:50:07 +09:00
Randy Mackay 4b3aff3f91 Copter: log flight mode to dataflash on start-up 2013-12-06 12:58:23 +09:00
Randy Mackay cf0547e854 Copter: remove AN0~AN15 pin definitions 2013-12-06 10:28:28 +09:00
Randy Mackay 58788d2934 Copter: increasd default logging for PX4, Pixhawk 2013-12-05 16:04:52 +09:00
Randy Mackay c5746e5434 Copter: update THR_MAX @Range and comments 2013-12-04 10:59:15 +09:00
Randy Mackay 2ba233942d Copter: pre arm mag offset limit to 600 for PX4 2013-12-03 23:23:26 +09:00
Ben Nizette 58735ac1aa Copter: Use AHRS heading in GLOBAL_POSITION_INT message 
The definition of the heading field for GLOBAL_POSITION_INT is the
compass heading, and so it is used for Plane and Rover.  Copter
however uses the GPS course over ground in this field.

My personal beef with this is simply that the mapping display in
MAVProxy is wrong for Copter.  The question is: Do any GCS currently
rely on this field for GPS course rather than getting it from
GPS_RAW_INT as they should?
 2013-12-03 20:30:02 +09:00
Randy Mackay 8fcbb7e59b Copter: OF_Loiter update control_roll and pitch 2013-12-02 11:58:59 +09:00
Randy Mackay 9d92e46198 Copter: correct optflow logging 2013-12-02 11:58:28 +09:00
Randy Mackay 0cda3c9a71 Copter: reduce SONAR_GAIN to 0.8 (was 2.0) 2013-12-01 16:25:47 +09:00
Randy Mackay ec65fd136d Copter: enable external leds 2013-11-30 22:54:13 +09:00
Randy Mackay e978a710cc Copter: remove PIEZO_PIN definition 2013-11-30 18:21:01 +09:00
Robert Lefebvre dbbe0f960a Copter: remove LED_ON/OFF defines 2013-11-30 18:20:58 +09:00
Randy Mackay 59cea4b88c Copter: remove CopterLED from main code 2013-11-30 18:20:55 +09:00
Randy Mackay 49ac1a48a5 Copter: Drift updates control_roll, pitch 
control_roll, pitch should always hold desired roll and pitch angles now
that we have the RCIN dataflash message for recording pilot's input
 2013-11-30 18:06:56 +09:00
Randy Mackay a3be25750f Copter: allow override of DRIFT_SPEEDGAIN 2013-11-30 15:35:59 +09:00
Randy Mackay f12f0a6abe Copter: drift file format fixes 
tab replaced with four spaces
 2013-11-30 15:29:26 +09:00
Randy Mackay a744658b47 Copter: combine nav_roll and control_roll 
Control_roll, control_pitch now always hold the desired lean angle
whether it be from the pilot or autopilot.
 2013-11-27 23:11:30 +09:00
Randy Mackay d7c636b4aa Copter: remove yaw_in from ATT dataflash msg 2013-11-27 22:59:31 +09:00
Randy Mackay f08cc010ea Copter: firmware to ArduCopter V3.2-dev 2013-11-27 22:50:12 +09:00
Randy Mackay 7ef04bb73b Copter: rename nav_yaw to control_yaw 2013-11-27 22:48:20 +09:00
Randy Mackay a8929cd746 Copter: more complete RC output reporting to GCS 
Radio outputs are pulled from hal.rcout instead of from motors library
which provides more complete reporting because it includes output from
sources like the camera and mount libraries.
 2013-11-27 20:31:21 +09:00
Randy Mackay 10d6a9a34e Copter: replace Log_Write_Motors with Log_Write_RCOU 2013-11-27 20:18:18 +09:00
Randy Mackay af657d58b9 Copter: RCIN dataflash logging 2013-11-27 16:46:25 +09:00
Randy Mackay 7ae3014c14 Copter: parameter @Units to Percent*10 2013-11-26 22:35:11 +09:00
Randy Mackay 14b3547830 Copter: rename some parameter Display Names 
Also move some parameter descriptions to @User Advanced
 2013-11-26 22:17:02 +09:00
Randy Mackay c32d77c626 Copter: fix @Group for SingleCopter 2013-11-26 21:50:29 +09:00
Andrew Tridgell 9c812d5028 Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:05:32 +11:00
Andrew Tridgell 49062d8a37 Copter: removed extra features of copter telemetry merge 2013-11-26 13:05:32 +11:00
Andrew Tridgell a49710f20e Copter: added uartD support 
this also brings GCS_Mavlink.pde closer to the plane implementation
 2013-11-26 13:05:32 +11:00
Andrew Tridgell 21eac34cd1 Copter: log system ID if available 2013-11-26 13:00:03 +11:00
Randy Mackay ed9f369492 Copter: shorten g.arming_check_enabled variable 
g.arming_check_enabled shortened to g.arming_check
 2013-11-25 17:23:39 +09:00
Randy Mackay 1645748e43 Copter: update @Range for Rate PIDs and Sonar 
This will reduce false positives in DroneShare's tlog analyser
 2013-11-25 12:52:37 +09:00
Randy Mackay b8bfe008e1 Copter: run GPS glitch detection even when not armed 2013-11-22 21:46:32 +09:00
Randy Mackay 4e6d41bc8e Copter: remove unused gps_fix_count 2013-11-22 11:53:50 +09:00
Randy Mackay fe6ad3579c Copter: log GPS messages even when no fix 2013-11-22 11:51:48 +09:00
Randy Mackay 667c3ecbf8 Copter: commit to kick-off auto rebuild for -rc7 release 2013-11-22 10:34:35 +09:00
Randy Mackay 96fdc129b1 Copter: update -rc7 release notes 2013-11-22 09:55:23 +09:00
Randy Mackay 8eb46ced53 Copter: revert pre-arm check for slow GPS 2013-11-22 09:53:21 +09:00
Randy Mackay 1a0f80ee64 Copter: AC3.1-rc7 version and release notes 2013-11-21 17:30:08 +09:00
Randy Mackay 0bc505514a Copter: pre-arm check that INAV has no errors 2013-11-21 17:02:07 +09:00
Randy Mackay 965af43121 Copter: add INAV error count to PM dataflash msg 2013-11-21 17:02:04 +09:00
Randy Mackay 0219c85ee3 Copter: increase min LAND_SPEED to 30cm/s 2013-11-19 16:46:16 +09:00
Randy Mackay e6a2940718 Copter: prefix SingleCopter's MOT param description 
This should allow single copter's MOT_ parameter descriptions to be more
easily recognised as belonging to SingleCopter when viewed on the wiki's
arducopter-parameters page
 2013-11-19 13:38:17 +09:00
Randy Mackay b47cd6d5be Copter: fix SingleCopter motor parameters link 2013-11-19 13:25:53 +09:00
Randy Mackay 7a2f49f7da Copter: arming check for gps if GPS FS set to LAND_EVEN_STABILIZE 
Setting the GPS Failsafe to LAND_EVEN_STABILIZE means the copter will
LAND if it loses GPS even if it's in a manual flight mode like
Stabilize.  With this setting it makes sense to check the GPS quality
before arming even if we're in stabilize mode.
 2013-11-18 23:59:26 +09:00
Randy Mackay 24dc4391bb Copter: display pre-arm check failure reason every 30sec 2013-11-18 17:20:39 +09:00
Randy Mackay d003334b75 Copter: pre-arm check for ACRO_BAL_ROLL and PITCH 2013-11-18 16:38:05 +09:00
Randy Mackay 9ee308efd5 Copter: auto disarm in Loiter, AltHold after 15sec 2013-11-18 16:13:15 +09:00
Randy Mackay 699a5bd381 Copter: radio, batt failsafe disarm if copter is landed in Loiter or AltHold 2013-11-18 15:51:17 +09:00
Randy Mackay 7dd4ab835f Copter: CURR dataflash msg to output throttle_out 
Previously it was outputting throttle-in which is not as useful in
autonomous modes
 2013-11-18 13:30:48 +09:00
Randy Mackay 1359a8fea5 Copter: log INS errors in PM message 2013-11-18 12:16:21 +09:00
Randy Mackay e32e83f2f0 Copter: commit to kick off MP rebuild 
Required to push back MP Beta Firmwares version to AC3.1-rc5
 2013-11-17 00:56:46 +09:00
Randy Mackay cf21774cf4 Copter: update AC3.1-rc6 release notes again 2013-11-16 17:14:41 +09:00
Randy Mackay 9485363c53 TradHeli: dynamic flight speed minimum to 5m/s 2013-11-16 16:58:14 +09:00
Randy Mackay a98fb174c4 Copter: batt failsafe triggers RTL from AUTO 2013-11-16 14:55:49 +09:00
Randy Mackay fd60285121 Copter: update AC3.1-rc6 release notes 2013-11-16 14:49:03 +09:00
Randy Mackay 87127f0ab8 Copter: allow battery failsafe to trigger RTL 2013-11-16 14:46:57 +09:00
Randy Mackay a812ef4660 Copter: minor comment update for set_mode 2013-11-16 13:56:15 +09:00
Randy Mackay bc1e06757b Copter: allow GPS failsafe to trigger AltHold 
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO.  This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
 2013-11-16 13:55:59 +09:00
Randy Mackay 321036b72e Copter: update contributors list 2013-11-16 12:10:38 +09:00
Randy Mackay 50f583f116 Copter: AC3.1-rc6 version and release notes 2013-11-16 11:35:01 +09:00
Randy Mackay 5cc8772947 Copter: bug fix to Tricopter motor logging 
Fourth motor taken from yaw channel's radio_out instead of random
location in memory
 2013-11-16 10:48:02 +09:00
Randy Mackay 8c9ab50ba2 TradHeli: restore CC_COMP and PIRO_COMP 2013-11-15 22:58:43 +09:00
Randy Mackay 0f67e25d37 TradHeli: set throttle_min to zero by default 2013-11-15 22:58:38 +09:00
Randy Mackay 81fc24586e TradHeli: remove calls to get_manual_collective in auto throttle 
set_collective_for_landing method makes this unnecessary
 2013-11-15 22:58:36 +09:00
Randy Mackay 60bc9f4539 TradHeli: angle error to zero while motors runup 
Set angle error to zero in get_roll_rate_stabilized_bf,
get_pitch_rate_stabillize_bf, get_yaw_rate_stabilized_bf.
Original commit by Rob Lefebvre
 2013-11-15 22:58:34 +09:00
Randy Mackay c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay 197fc67897 TradHeli: move pilot desired rotor speed to heli.pde 2013-11-15 22:58:24 +09:00
Randy Mackay 527f05ddec Copter: remove unused init_rate_controllers 2013-11-15 22:58:22 +09:00
Randy Mackay 4537e0aa15 Copter: add deadzone to ch8 for TradHeli 2013-11-15 22:58:20 +09:00
Randy Mackay 1f6bc7bd9c Copter: log TradHeli ch7, ch8 in MOT message 2013-11-15 22:58:17 +09:00
Randy Mackay 19ddb8e5f3 TradHeli: integrate constructor changes to main code 2013-11-15 22:58:15 +09:00
Robert Lefebvre bba7fdc7c3 TradHeli: ch6 tuning of ext gyro to use control_in 
This could also be used to control the other Heli Ch7 functions (direct drive tail rotor control).  This should be tidied up.

Credit: Jolyon Saunders
 2013-11-15 22:58:08 +09:00
Robert Lefebvre 9ae66c1773 TradHeli: add support for drive tail rotors 
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
 2013-11-15 22:58:04 +09:00
Robert Lefebvre 232a116973 TradHeli: Use Leaky Integrator on Yaw Rate controller 
Use when rotor is not running to prevent the rudder from slowly moving over
 2013-11-15 22:58:02 +09:00
Randy Mackay 3ce16113b5 TradHeli: use landing collective when landed or landing 2013-11-15 22:58:00 +09:00
Randy Mackay 633e91b7d4 Copter: initialise roll, pitch, yaw modes to stabilize 
This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
 2013-11-15 22:57:56 +09:00
Randy Mackay ae87759e6d TradHeli: add THROTTLE_MANUAL_HELI 
Move check_dynamic_flight to run as scheduled task
 2013-11-15 22:57:53 +09:00
Randy Mackay eaef5315bf TradHeli: bugfix to update swash in run_rate_controllers 2013-11-15 22:57:47 +09:00
Randy Mackay 34fb70cfc7 TradHeli: formatting and param description changes 2013-11-15 22:57:45 +09:00
Randy Mackay 46118b59d7 TradHeli: integrate motor lib changes 2013-11-15 22:57:43 +09:00
Randy Mackay 72597cc5bd TradHeli: remove setup via CLI 
Saves 6k of flash
 2013-11-15 22:57:39 +09:00
Robert Lefebvre 0e2ddb0378 Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete. 2013-11-15 22:57:34 +09:00
Robert Lefebvre c5b119288d TradHeli: Add Motor Runup check to the auto_arming check. 2013-11-15 22:57:31 +09:00
Robert Lefebvre f67d95ac75 TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly. 2013-11-15 22:57:28 +09:00
Robert Lefebvre ffb605d06d TradHeli: Modify the constrain on the auto throttle controller to prevent it from commanding full down collective if we think we are on the ground still. 2013-11-15 22:57:22 +09:00
Randy Mackay 8f2c9591ff TradHeli: dynamic_flight flag based on inertial nav speed 
Created new heli.pde for heli_integrated_swash and check_dynamic_flight
 2013-11-15 22:57:20 +09:00
Robert Lefebvre e23e4bc7d8 TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector 2013-11-15 22:57:18 +09:00
Robert Lefebvre 324c866ae1 TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started. 2013-11-15 22:57:16 +09:00
Robert Lefebvre f7c63be357 TradHeli: leaky-I-term based on dynamic_flight_detector 2013-11-15 22:57:14 +09:00
Randy Mackay f0f6e85b39 Copter: ARMING_CHECK made into bitmask 
Allows arming checks to be individually enabled or disabled for baro,
compass, GPS, INS, parameters, RC and board voltage
 2013-11-15 17:13:56 +09:00
Randy Mackay fe822ba0b6 Copter: pre-arm check of INS health 2013-11-15 17:13:53 +09:00
Jason Short 371dc8c616 Copter: Drift Mode 
Changes Toy mode declarations to Drift mode.
Requires GPS, Mode 2 transmitter
Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.
 2013-11-14 14:43:15 +09:00
Randy Mackay 57b291b1c5 Copter: reject change_command if not in AUTO 2013-11-14 13:49:37 +09:00
Randy Mackay 0778454434 Copter: disarm routine shortcut 
Extra check so we only run the disarm check when we are actually armed.
The ground stations sometimes send many disarm messages which can be
ignored
 2013-11-14 13:14:51 +09:00
Randy Mackay f5b1114aea Copter: range check pilot requested lean angles 
This fixes a bug uncovered by MHA in which the receiver output 900 pwm
for roll and pitch to the APM which was interpreted as requesting an 80
deg lean angle which the copter then attempted to do!
 2013-11-13 14:21:21 +09:00
Randy Mackay 159d6320bf Copter: move SINGLE parameters to start at 75 2013-11-12 23:40:38 +09:00
Randy Mackay 06ce98a2f4 Copter: add SINGLE_FRAME definition 2013-11-12 23:40:32 +09:00
ssq870424 07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00
Randy Mackay 13fd33c2d8 Copter: gps failsafe disabled until we get first 3d lock 2013-11-12 11:13:05 +09:00
Randy Mackay f29f7d9777 Copter: bug fix to take-off in Loiter and AltHold 
Always set the target altitude after take-off to be current altitude +
20cm.  This resolves a bug in which the target altitude could end up
being a couple of meters higher than the current altitude if the user
entered Loiter / Alt Hold mode before inertial nav altitude estimate had
settled.
 2013-11-11 22:29:09 +09:00
Randy Mackay 03831cdd28 Copter: GPS ok only when not glitching 
Removed redundant checks to GPS_ok before setting flight mode to RTL
(this check is already performed inside the set_mode function)
Removed reset of home distance and bearing when GPS lock is lost, it now
remains at the last known value
 2013-11-11 22:24:18 +09:00
Randy Mackay e4d8c673f3 Copter: force gyro calibration on start-up 2013-11-10 21:51:54 +09:00
Andrew Tridgell 6b1f59372c Copter: show git and firmware version in tlog 2013-11-09 10:09:20 +11:00
Andrew Tridgell b41f4898e0 Copter: report INS health 2013-11-07 12:48:17 +11:00
Andrew Tridgell 2f6cfd1ff8 Copter: update for AHRS API changes 2013-11-04 21:21:42 +11:00
Randy Mackay 620109d894 Copter: formatting fix to config.h 2013-11-03 12:57:02 +09:00
Robert Lefebvre 8868af7c2f TradHeli: Change default Auto-Yaw to Yaw Look Ahead 
This leads to smoother flight in Auto modes, particularly with fast waypoints.
 2013-11-03 12:56:57 +09:00
Jason Short 66b8ca3a27 Copter: updated toy gains 2013-11-03 10:14:10 +09:00
Jason Short 2a82d1b0b0 Copter: CH7 SaveWP fix corner case 
If the user is on the ground and flips CH7, do nothing instead of recording a bad takeoff altitude. Do another check to avoid a land right after a takeoff.
 2013-11-02 21:34:55 +09:00
Randy Mackay 8278767d0a Copter: remove unused get_acro_yaw 2013-11-02 21:34:53 +09:00
Jason Short c3aa56459a Copter: remove unused Toy param 2013-11-02 21:34:50 +09:00