Andrew Tridgell
b6e3e59bc3
Copter: simplify setHIL for baro
2013-05-02 15:26:54 +10:00
Andrew Tridgell
55da049c69
Copter: fixes for AP_Baro_HIL
2013-05-02 15:09:16 +10:00
Andrew Tridgell
db57c8d7c5
Copter: removed the deprecated HIL sensors interface
...
must use the new HIL_STATE message now
2013-05-02 15:00:50 +10:00
Andrew Tridgell
172d9724df
Copter: use new HIL compass API
2013-05-02 15:00:07 +10:00
Andrew Tridgell
0d027b7a23
Copter: updates for new compass API
2013-05-02 12:48:14 +10:00
Andrew Tridgell
105bd32a2e
Copter: fixed some uses of constrain_float() to be right type
2013-05-02 10:29:57 +10:00
Andrew Tridgell
25c576cad7
Copter: replaced constrain() with constrain_float()
2013-05-02 10:26:49 +10:00
Michael Oborne
743d7f2b74
Fix Param description
2013-05-02 09:49:21 +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
31e430948a
Copter: use renamed RCInput valid_channels
2013-04-29 15:06:30 +09:00
Randy Mackay
76d0f7f74d
Copter: fix compiler warning re unused float_int
2013-04-28 17:22:58 +09:00
Randy Mackay
cc2232b2f3
Copter: remove outdated tests
...
We primarily use sitl now for testing making these unit tests less
important and having large blocks of commented out code that perhaps
doesn't compile anymore makes the code messy
2013-04-28 17:21:33 +09:00
Randy Mackay
d146d6aaa6
Copter: restore update_altitude to run at 10hz
2013-04-28 17:15:13 +09:00
Randy Mackay
90af3262c5
Copter: pre-arm check for compass
2013-04-27 23:50:40 +09:00
Randy Mackay
57731bb3f9
Copter: adopt compass test from arduplane
2013-04-27 23:33:04 +09:00
Randy Mackay
c232d7af4b
Copter: correct fence parameter
2013-04-27 11:14:11 +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
Randy Mackay
45aab0de92
Copter: add I2C error count to PM message
2013-04-26 22:39:22 +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
fb0f5d46ba
Copter: use BIT_IF_SET()
...
this should fix the problem with simple mode on PX4
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-04-23 23:05:42 +10:00
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
Andrew Tridgell
8ec1eaa8b1
build: removed obsolete cmake rules
...
these have not been maintained for over a year
2013-04-23 11:07:53 +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
Randy Mackay
07b6efafd8
Copter: use DEGX100 constant for position_vector calcs
2013-04-22 21:03:46 +09:00
Randy Mackay
0b29754920
Copter: simplify roll-pitch stabilize controller
...
remove check of whether to freeze i term when attitude is less than 5
degrees from horizontal. I terms have been moved to the rate
controllers.
2013-04-22 18:47:56 +09:00
Andrew Tridgell
82c604dd67
Copter: more constrain fixes
2013-04-22 13:26:49 +10:00
Andrew Tridgell
d5875676b1
Copter: use a reference to DCM matrix
2013-04-22 13:26:49 +10:00
Andrew Tridgell
c2c037ec0d
Copter: use the right constrain() type in Attitude code
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-04-22 13:26:49 +10:00
Randy Mackay
a9da3c9d3d
Copter: remove unused throttle functions
...
removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
2013-04-21 23:43:04 +09:00
Andrew Tridgell
9cec664236
Copter: fixed format of PM message log
2013-04-21 23:46:35 +10:00
Randy Mackay
94d4ecef11
Copter: reduce throttle rate D to zero
2013-04-21 16:28:07 +09:00
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
Bill Bonney
36041bb9ff
Copter: Enable CURRENT logging by default to dataflash
2013-04-21 07:25:34 +10:00
Andrew Tridgell
8b31f276a2
Copter: switch to block based logs for SITL
2013-04-20 20:45:51 +10:00
Randy Mackay
745df9b13c
Copter: add SONAR_GAIN to tune reaction to sonar
...
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
2013-04-20 15:58:36 +09:00
Randy Mackay
50515e28e1
Copter: replace fabs with fabsf
2013-04-20 15:40:56 +09:00
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
ce3ee97e73
Copter: removed duplicate print_latlon() declarations
2013-04-20 13:57:45 +10:00
Andrew Tridgell
93d075404c
Copter: added board voltage to current message
2013-04-20 13:52:37 +10:00
Andrew Tridgell
a0708460a4
Copter: convert to new logging system
2013-04-20 13:52:37 +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
d65d7d95e2
Copter: bug fix for take-off so it never descends
...
If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
2013-04-18 22:30:24 +09:00
Randy Mackay
0fc9c8739e
Copter: add WP_YAW_BEHAVE parameter
...
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose. Almost nobody
ever knew about or used this parameter.
2013-04-18 15:30:18 +09:00
Randy Mackay
18c1373847
Copter: remove unused AUTO_VELZ defaults
...
These have now moved to AC_WPNav
2013-04-18 14:57:08 +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
9b351feade
Copter: shorted INAV dataflash log message length
...
Velocities are now output in WPNav message
2013-04-17 22:39:30 +09:00
Randy Mackay
f7524e5741
Copter: remove unnecessary cast to float in Log
2013-04-17 22:35:02 +09:00
Randy Mackay
7c8527e6a6
Copter: resolve compiler warning
2013-04-17 22:14:47 +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
0b808abbed
Copter: remove unused waypoint_valid function
2013-04-17 21:28:43 +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
Andrew Tridgell
61c2befd4d
Copter: fixed logging for new API
2013-04-17 21:34:42 +10:00
Randy Mackay
82989d85f2
Copter: remove unused #defines
2013-04-16 22:34:12 +09:00
Randy Mackay
0663da7c9e
Copter: loiter rate IMAX to 4m/s/s and D to zero
2013-04-16 22:28:18 +09:00
Randy Mackay
b8974dec99
Copter: compass learn off by default
2013-04-16 18:47:39 +09:00
Randy Mackay
a7b32caf72
Copter: bug fix for loiter_time check
...
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
2013-04-15 23:57:22 +09:00
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
8fe3e689f4
Copter: add WPNAV log message
2013-04-15 21:54:29 +09:00
Randy Mackay
b48864e1ad
Copter: allow CH6 tuning of compass declination
2013-04-15 21:50:44 +09:00
Andrew Tridgell
cf6ae4a746
Copter: remove ahrs.set_barometer()
2013-04-15 10:52:32 +10:00
Randy Mackay
8c7a1597dc
Copter: remove debug comment from RTL
2013-04-14 18:28:13 +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
b58c26bcd5
Copter: remove pid_nav_lat, pid_nav_lon
2013-04-14 12:12:51 +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
700fb1b179
Copter: replace sin_yaw_y, cos_yaw_x in circle mode
2013-04-14 10:39:30 +09:00
Randy Mackay
366616e32c
Copter: reduce default loiter PIDs
2013-04-14 10:39:28 +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
2db8365c90
Copter: add AC_WPNav to parameters list
2013-04-14 10:39:02 +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
Randy Mackay
7c559333f5
Copter: get_throttle_rate's target_speed a float
2013-04-14 10:38:51 +09:00
Randy Mackay
926c404994
AC_WPNav: Leonard's loiter target smoothing
2013-04-14 10:38:39 +09:00
Randy Mackay
ee7f40cfe9
Copter: Leonard's alt-hold feed forward
2013-04-14 10:38:37 +09:00
Randy Mackay
f82ce449d7
AC_WPNav: add angle limits and set from AC's throttle controller
2013-04-14 10:38:34 +09:00
Randy Mackay
553f40a99c
Copter: bug fix to loiter delay
...
change delay to seconds to allow delays longer than 65seconds
2013-04-14 10:38:30 +09:00
Randy Mackay
a65960a009
Copter: use velocity based set_loiter_target
2013-04-14 10:38:28 +09:00
Randy Mackay
e592baae11
Copter: remove remnants of fast_corner
2013-04-14 10:38:20 +09:00
Randy Mackay
4de5f67a91
Copter: replace wp_nav.get_target_alt with get_destination_alt
2013-04-14 10:38:17 +09:00
Randy Mackay
5b93990e41
Copter: removed next_WP
...
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
2013-04-14 10:38:07 +09:00
Randy Mackay
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
2013-04-14 10:38:01 +09:00
Randy Mackay
58ed8cd544
Copter: replace set_next_WP with direct call to wp_nav
2013-04-14 10:37:55 +09:00
Randy Mackay
49828eba7d
Copter: integrate AC_WPNav
2013-04-14 10:37:48 +09:00
Randy Mackay
cdb532a594
Copter: bug fix for loiter target
2013-04-11 18:24:20 +09:00
Randy Mackay
e637a8fb29
Copter: remove old commented out code from setup.pde
2013-04-11 10:12:21 +09:00
tobias
217b8d7a59
cleanup: use const for struct Location pointers and references
...
this allows the compiler to generate more efficient code
2013-04-09 12:10:32 +10:00
Randy Mackay
9036b97a16
Copter: fix build error
...
Removed last print_test_disabled call
2013-04-05 23:03:17 +09:00
Randy Mackay
fc0c451b69
Copter: remove #ifdef checks for Atmega1280
2013-04-05 22:48:10 +09:00
Randy Mackay
1dcd46bffc
Copter: reduce compiler warnings
2013-04-05 22:25:58 +09:00
Randy Mackay
95d944f610
Copter: Jason's bug fix for loiter's set_next_WP_latlon
2013-04-05 13:46:07 +09:00
Randy Mackay
777c6a308e
AP_InertialNav: use shared GRAVITY_MSS constant
2013-04-05 11:48:41 +09:00
Randy Mackay
d1afd2fb9b
Copter: make guided mode start at current location
2013-04-03 23:06:46 +09:00
Randy Mackay
0be23c8090
Copter: fix THR_ALT_P documentation
2013-04-03 22:38:34 +09:00
Randy Mackay
3bf847f675
Copter: Jason's faster cos_yaw, sin_yaw
2013-04-02 15:50:29 +09:00
Randy Mackay
40f6416b3d
Copter: update Log_Read_Compass comment
2013-04-02 11:02:14 +09:00
Randy Mackay
7cf2255822
Copter LEDs: replace bitRead with bitmask
...
Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
2013-04-01 13:10:12 +09:00
Randy Mackay
a9eb626cb8
Copter: update default Rate Yaw P to 0.20 (was 0.25)
2013-04-01 11:49:50 +09:00
Randy Mackay
7ccb14344c
Copter: update version to 2.9.1b-dev
2013-04-01 11:47:56 +09:00
Randy Mackay
7d4eea271f
Copter: update Release notes again for 2.9.1b release
...
Missed item re increasing max inav accel correction to 3 m/s
2013-04-01 11:46:42 +09:00
Randy Mackay
49e3e040b6
Copter: update Release notes ahead of 2.9.1b release
2013-04-01 11:46:37 +09:00
Randy Mackay
24dd167607
Copter: ACRO bug fix from Jason
2013-04-01 11:44:28 +09:00
Michael Oborne
541fa13291
cleanup comments
2013-03-31 17:14:54 +08:00
Michael Oborne
e80f2c094e
HIL fix location, alt, mag from hil state message
2013-03-31 16:42:16 +08:00
Michael Oborne
59f80410d5
Add ability to compile sensor hil with sitl
2013-03-31 16:35:23 +08:00
Andrew Tridgell
b280857025
Copter: use common angle wrap code
2013-03-29 13:14:31 +11:00
Randy Mackay
f7d977fe37
Copter: add support for GPS fix type 2D
2013-03-27 11:41:47 +09:00
Andrew Tridgell
b955aed976
Copter: fixed GPS test (detection of uBlox needs 10Hz poll)
2013-03-21 22:45:07 +11:00
Andrew Tridgell
d22a7c64c9
Copter: only enter CLI is link is idle when 3 enters are hit
...
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
2013-03-21 21:56:02 +11:00
Andrew Tridgell
ce8313e8fb
Copter: only allow CLI within 20s of startup and when motors not armed
2013-03-21 17:34:11 +11:00
Randy Mackay
80bd593814
Copter: disarm motors when entering CLI
2013-03-21 12:07:00 +09:00
Randy Mackay
dcf21eee8f
Copter: only allow entering the CLI within 30 seconds of start-up
2013-03-21 11:54:04 +09:00
Andrew Tridgell
ae96c77add
Copter: added shell command in CLI test menu
2013-03-20 12:35:50 +11:00
Randy Mackay
38e81adae0
InertialNav: remove unnecessary "virtual" from function definitions
...
This saves about 30bytes of RAM
2013-03-19 17:51:16 +09:00
Randy Mackay
a17421da27
Copter: scale HIL accels consistently with Plane code
2013-03-19 15:07:15 +09:00
Randy Mackay
b4b9d80c2f
Copter: bug fix to accept HIL accel values correctly
2013-03-19 11:33:58 +09:00
John Stäck
46a831fc03
Copter: add parameter "set" and "show" commands to setup menu.
...
Squashed commit of the following:
commit 4243a0bb89de2f850606c623aac6a5b583c333ae
Author: John Stack <stack@spotify.com>
Date: Thu Mar 7 09:28:16 2013 +0100
Undo change to system.pde, not needed.
commit dae2dbbbd6e13621fccc1d0a221aae8d83240417
Author: John Stack <stack@spotify.com>
Date: Wed Mar 6 22:47:50 2013 +0100
Remove leftover bits of old menu setup
commit ccefc8fe0d237364b06a1478348f8552720d7598
Author: John Stack <stack@spotify.com>
Date: Wed Mar 6 22:40:30 2013 +0100
Roll the param menu into setup.
commit c61dad17bf32a3080d8eca2389c6e25f98767545
Author: John Stack <stack@spotify.com>
Date: Wed Mar 6 08:08:42 2013 +0100
Make the param menu a compile-time option, by defining PARAM_MENU
commit 0f35c4e88ec7aba5035b4880e9994e4783da75a9
Author: John Stack <stack@spotify.com>
Date: Wed Mar 6 07:57:22 2013 +0100
Use find(), which works well.
commit 3b81b29597fcee49193330d7b6d3f3aed99a476c
Author: John Stack <stack@spotify.com>
Date: Tue Mar 5 07:57:33 2013 +0100
Whitespace fixes
commit 6b9ccc5fe1de1e40a24eb9ff89006b9bd80e3662
Author: John Stack <stack@spotify.com>
Date: Tue Mar 5 07:28:20 2013 +0100
Add cli menu to change any parameter.
2013-03-18 15:49:41 +09:00
Andrew Tridgell
952c56e990
Copter: fixed barometer init in HIL sensors mode
2013-03-18 16:20:25 +11:00
Andrew Tridgell
ac06b5e62d
Copter: remove unused function
2013-03-18 16:20:25 +11:00
Randy Mackay
36834e77b5
Copter: remove support for CLI Slider
2013-03-18 14:07:04 +09:00
Randy Mackay
597a4b912a
Copter: fix to allow building HIL_MODE_SENSORS
2013-03-18 13:41:52 +09:00
Randy Mackay
d1344e8c39
Copter: remove #define for CROSSTRACK_GAIN
...
Note: the cross track is still calculated inside the inertial nav based
loiter and wp controls but it's no longer requires a tunable parameter
2013-03-17 16:56:18 +09:00
Randy Mackay
1b6fcad90a
Copter: remove tilt compensation parameter
...
Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
2013-03-17 16:53:32 +09:00
Randy Mackay
61e29173e3
Copter: remove unused crosstrack variables and parameters
...
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
2013-03-17 16:46:31 +09:00
Randy Mackay
a1295c042b
Copter: fix init of wp_verify_byte so wp alt is always required
2013-03-17 16:37:30 +09:00
Randy Mackay
fdcb78ccf7
Copter: leonard's smoother alt-hold transition
...
Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
2013-03-17 13:24:49 +09:00
Randy Mackay
37040adfaa
Copter: bug fix for auto missions over 320m
...
get_throttle_althold_with_slew's target_alt parameter defined as int16_t
(instead of int32_t) meaning missions with altitudes >320m could wrap
around and become negative.
2013-03-17 11:14:35 +09:00
Randy Mackay
150046f2b8
Copter: GPS Failsafe implemented
...
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
2013-03-16 17:27:46 +09:00
Randy Mackay
f9539384a1
Copter: rename failsafe to failsafe_radio
...
Makes way for separation of failsafes for throttle, gps and gcs
2013-03-16 17:14:21 +09:00
Randy Mackay
f263e81ed7
Copter: remove unused GPS and baro filters
...
Saves 24bytes of RAM
Removing the baro filter leads to noisier Baro Alt appearing in the log
so we should make the inertial nav altitude appear in the CTUN message
2013-03-16 00:20:15 +09:00
Randy Mackay
5380973225
Copter: only start delay timer after reaching wp location and altitude
2013-03-06 12:50:41 +09:00
Randy Mackay
a73f50494c
TradHeli: remove duplicate RC_FAST_SPEED definition
2013-03-04 23:45:23 +09:00
Randy Mackay
cb6ffc7acf
Copter: minor formatting fix for report_ins
2013-03-04 23:14:14 +09:00
Randy Mackay
998511f506
Copter: use unsigned long for dataflash log for gps time
...
Updated some formatting of comments in the same file
2013-03-04 23:13:06 +09:00
Randy Mackay
33bd984a91
Copter: remove unused input_voltage parameter
2013-03-03 23:23:54 +09:00
Randy Mackay
cb84ec9d9b
Copter: add current based compass compensation
2013-03-03 23:02:36 +09:00
Andrew Tridgell
c2fd1512ff
Copter: use voltage_average() so as to avoid INPUT_VOLTS
2013-03-03 16:16:01 +11:00
Randy Mackay
0d5e731a65
Copter: add compassmot to cli
...
Allows user to setup compensation for motor's interference on the
compass
2013-03-02 17:54:18 +09:00
Randy Mackay
476a6d0164
Copter: fix for acro throttle bug
2013-03-02 10:28:44 +09:00
Randy Mackay
6b2b69535f
Copter: Compass log stores/retrieves motor offsets
2013-03-02 00:03:20 +09:00
Randy Mackay
d8515ff85e
Compass: basic compensation for motor interference
2013-03-02 00:03:16 +09:00
Andrew Tridgell
637ecd5279
Copter: updates for new dataflash API
2013-03-01 07:18:26 +11:00
Andrew Tridgell
9a3bd17cfb
Copter: fixes for new DataFlash API
2013-03-01 07:18:25 +11:00
Randy Mackay
e0506bd622
Copter: inav circle initial implementation
2013-02-26 11:35:35 +09:00
Randy Mackay
c8f09ac219
Copter: fix compile error for PX4 re Compass logging
2013-02-25 13:26:58 +09:00
Randy Mackay
d6ff5ae261
Copter: add roll-pitch slew for auto modes
...
Added reporting of roll, pitch inputs for ACRO, AUTO
2013-02-24 14:42:04 +09:00
Randy Mackay
e297ba7d18
Copter: update default loiter gains for inertial nav
2013-02-24 14:42:00 +09:00
Randy Mackay
102b5da59d
Copter: remove unnecessary #defines from APM_Config.h
2013-02-24 14:41:56 +09:00
Randy Mackay
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
2013-02-24 14:41:52 +09:00
Randy Mackay
609676e26c
Copter: add logging of compass values
...
Removed rarely used ITERM because we didn't have enough bits in the log
mask
2013-02-24 14:41:48 +09:00
Randy Mackay
6f27bc7ae5
Copter: remove filters from inav loiter
2013-02-24 14:41:44 +09:00
Randy Mackay
1410063a14
Copter: new ROLL_PITCH_WP_INAV roll-pitch mode
...
small corrections to allow waypoints to work with new inertial nav wp
controller
2013-02-24 14:41:40 +09:00
Randy Mackay
574756908d
Copter: set wpinav controller targets in nav calls
...
All navigation commands now properly set wpinav controller targets
except CIRCLE related commands.
2013-02-24 14:41:36 +09:00
Randy Mackay
00bc28adcc
Copter: take-off code cleanup
...
remove redundant setting of loiter target.
explicitely set throttle mode to THROTTLE_AUTO
2013-02-24 14:41:32 +09:00
Randy Mackay
67c69a19ee
Copter: remove baro-only alt hold
...
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
Randy Mackay
37d3e1d7e4
Copter: add zero slope checks to wpinav
...
also added RTL fix to set wpinav target explicitly
2013-02-24 14:41:25 +09:00
Randy Mackay
b74da54c98
Copter: enable inav xy by default
2013-02-24 14:41:21 +09:00
Randy Mackay
53ab1d5d9b
Copter: add advance track call to actually move towards waypoint
...
Also added unrelated check that waypoint is valid before updating
waypoint distance.
2013-02-24 14:41:17 +09:00
Randy Mackay
766ccdf6f8
Copter: add selection of inertial nav wp controller to APM_Config.h
2013-02-24 14:41:13 +09:00
Randy Mackay
fcf102b2cf
Copter: inertial nav waypoint controller
...
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
2013-02-24 14:41:09 +09:00
Jason Short
4c3ee76900
AC: Moving flip speed back to 400°/s to prevent oscillation around change in speed.
...
Would like to add a more gradual speed change in the finish. Might require a new state as the copter passes -90°
2013-02-23 13:14:15 +09:00
Jason Short
7d5b975da2
AC: Flip code fix
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Flight tested it today and made some flips. Throttle adjusted in Manual throttle modes. Not tested in AP throttle modes such as alt hold.
2013-02-23 13:14:11 +09:00
Randy Mackay
8e4c9518ea
Copter: increase low voltage check to 10.5v
...
Change requested by Rob Lefebvre and Richie Wilson
2013-02-23 00:36:51 +09:00
Jason Short
abd0fb9099
AC : global static variables should not be initialized to zero
2013-02-22 17:34:18 +09:00
Andrew Tridgell
4c7a1a1806
Copter: change PX4 main baud rate back to 115200
...
we now use USB console
2013-02-22 07:04:23 +11:00
Randy Mackay
2ecf34e509
Copter: update version to 2.9.1 ahead of release
2013-02-19 13:52:04 +09:00
Randy Mackay
d48aebea8e
Copter: updated release notes for 2.9.1-rc2
2013-02-19 13:49:53 +09:00
Randy Mackay
9904e9f4db
Copter: update firmware version to 2.9.1-rc1
2013-02-19 13:43:36 +09:00
Randy Mackay
6601bd37cf
Copter: integrate automatic roll and pitch trims
2013-02-19 12:51:24 +09:00
Michael Oborne
61e5b09f28
Send FS state to gcs for AC
2013-02-09 10:11:36 +08:00
Andrew Tridgell
19a282dad0
Copter: removed use of ins.temperature()
2013-02-07 15:05:47 +11:00
Pat Hickey
d418197898
ArduCopter: fixed memory unsafe member access in GCS_MAVLINK
...
* Smokey, this is not 'Nam. this is bowling. there are rules
2013-02-02 22:43:56 -08:00
Randy Mackay
9d34ead486
Copter: fix up some casting issues for wp_distance
2013-02-01 22:42:50 +09:00
Randy Mackay
df1c0d92bd
Copter: manual throttle scaling fix
...
Scaling of bottom half of throttle was changed from THR_MIN ~ 500.
Previously it was from 0 ~ 500.
2013-02-01 22:37:33 +09:00
Randy Mackay
a0b65a262b
Copter: use scaled throttle for accel-throttle's I term
...
Accel throttle's I term is taken from scaled manual throttle
2013-02-01 22:37:25 +09:00
Randy Mackay
06a71af12f
Copter: THR_MID used to scale manual throttle
2013-02-01 22:37:16 +09:00
Randy Mackay
4813526725
Copter: bug fix for autotrim's roll axis backwards
2013-01-31 17:42:29 +09:00
rmackay9
9c3b9907dd
Copter: bug fix to set sonar_alt_health to zero when disabled
2013-01-31 17:00:28 +09:00
Randy Mackay
70371be4a1
Copter: use AP_Math's longitude_scale
...
bug fix to base scaling on home location instead of next_WP which may
not have been initialised
2013-01-27 23:35:12 +09:00
Randy Mackay
6f5050a8b9
Copter: minor casting fixup for wp_distance
2013-01-27 11:27:43 +09:00
Randy Mackay
ce370bab0c
Copter: rename CUR and CURR to CURRENT for logging
...
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
2013-01-26 17:20:41 +09:00
Randy Mackay
fb1358a629
Copter: make all message output csv
2013-01-26 17:05:38 +09:00
Randy Mackay
d2767b911c
AP_Math: switch get_distance_cm to return uint32_t
...
Includes changes required on ArduCopter and ArduPlane side as well
2013-01-26 17:04:12 +09:00
Randy Mackay
0056bfadd7
Copter: rename ROLL_PITCH_LOITER
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new name ROLL_PITCH_LOITER_INAV makes it more clear that it should only
be used with the new inertial nav loiter controllers
2013-01-25 23:27:31 +09:00
Randy Mackay
b74fe10aa9
Copter: set each flight mode's nav_mode
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Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
2013-01-25 15:57:55 +09:00
Randy Mackay
aaecc25ac7
Copter: leonard's inav2
...
Moved loiter controller to navigation.pde
2013-01-25 15:16:35 +09:00
Randy Mackay
fd02cfe706
Copter: added set_nav_mode to control initialisation of nav controllers
...
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
2013-01-25 15:16:29 +09:00
Randy Mackay
8af605cafc
Copter: set update rate to 50hz during esc calibration
...
Also modified some comments in the code re the esc calibration
2013-01-25 11:34:48 +09:00
Randy Mackay
deafbf1f56
Copter: inav loiter comment changes
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removed unused get_loiter_vel function
2013-01-24 11:14:38 +09:00
Randy Mackay
68fc9ac1d8
Copter: add "f" to end of float constants
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This is a small performance improvement for the px4
2013-01-23 14:51:37 +09:00
Randy Mackay
911e090e07
Copter: typo fixed for trad heli config
2013-01-23 12:35:10 +09:00
Randy Mackay
9a09f086d2
Copter: Leonard Hall's inertial nav ver 2
2013-01-23 12:34:49 +09:00
Andrew Tridgell
47cc247046
Copter: limit number of bytes read per GCS check
2013-01-23 09:34:54 +11:00
rmackay9
ab1978ad50
Copter: Leonard Hall's inertial nav based loiter
2013-01-22 18:38:00 +09:00