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4186 Commits

Author SHA1 Message Date
Jason Short 3b5228922e Copter: increased ESC auto-cal delay 2015-02-03 11:33:54 +09:00
Andrew Tridgell 51dc3c120d Copter: handle GIMBAL_REPORT receive and send 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-02-03 09:49:15 +11:00
Randy Mackay f00861d2f1 Copter: using arming_failed as event 2015-02-03 06:14:56 +09:00
Randy Mackay 9e813948fa Copter: protect against multiple arming messages 
Protect against the GCS sending multiple arming messages close together
which disrupts the gyro calibration
 2015-02-02 22:31:20 +09:00
Randy Mackay 32cb901ce3 Copter: allow arming at mid throttle in AltHold, Loiter 2015-02-02 22:31:18 +09:00
Randy Mackay e7f20c04c3 Copter: init_arm_motors calls pre-arm checks 
This reduces a small amount of duplicated code in the pilot initiated
arming and GCS initiated arming functions
 2015-02-02 22:31:14 +09:00
Randy Mackay f4c392c64d Copter: pre_arm_checks returns success or failure 
This makes the pre-arm check function consist with the other arming
check functions
 2015-02-02 22:31:11 +09:00
Randy Mackay 64af4ff923 Copter: rename set_servos_4 to motors_output 2015-02-02 22:31:08 +09:00
Randy Mackay 8754ce9eed Copter: move 80% thr limit to MotorsTri 2015-02-02 22:31:04 +09:00
Randy Mackay 43ba94e99a Copter: rename manual_flight_mode to mode_has_manual_throttle 2015-02-02 22:31:01 +09:00
Randy Mackay 3aac281c5a Copter: land detector requires desired climb rate be < -20cm/s 2015-01-31 17:23:43 +09:00
Randy Mackay 3e872c71fc Copter: AC3.2.1-rc2 release notes 2015-01-30 16:23:52 +09:00
Robert Lefebvre 8e8ec09740 Copter: update pos_control alt_max from fence at 1hz 2015-01-30 14:13:49 +09:00
Randy Mackay e0cfe091fb Copter: setup uart after checking usb_connected 2015-01-29 14:05:15 +11:00
Randy Mackay 8ea65c2dc2 Copter: APM_Config define to disable FRSKY telem 2015-01-29 14:05:14 +11:00
Randy Mackay f91fb9a4e8 Copter: rename frsky_telemetry_send function 2015-01-29 14:05:14 +11:00
Randy Mackay 34503de18e Copter: integrate SerialManager 
Remove serial0, serial1 baud and protocol parameters
Pass serial_manager to GCS, GPS, mount, FrSky_telem objects during init
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
 2015-01-29 14:05:14 +11:00
Randy Mackay 7ffcf62e2e Copter: move MNT param's underscore to mount lib 2015-01-29 13:57:19 +11:00
Randy Mackay c51ba8cd03 Copter: integrate mount frontend-backend restructure 
initialise mount on startup
use Mount::has_pan_control method
Remove calls to unimplemented mount.configure_cmd
Remove call to update_mount_type which will be handled from within mount
lib
 2015-01-29 13:57:18 +11:00
Randy Mackay 31b2534c1d Copter: rename mount.set_roi_cmd to set_roi_target 2015-01-29 13:57:18 +11:00
Randy Mackay 18f8ffab6f Copter: remove land detector bar climb rate definition 2015-01-28 10:59:15 +09:00
Jonathan Challinger 9d585700f8 Copter: remove baro climb rate check from land detector 2015-01-28 10:57:00 +09:00
Matthias Badaire a2d71d2811 Copter: Frsky telemtry change move parameter to init of the class 
Parameter needs to be passed and use at the init of the class frsky telem
 2015-01-22 16:49:39 +11:00
Randy Mackay 1819bd48f4 Copter: remove home_is_set checks from Loiter, PosHold, RTL 
This allows these flight modes to potentially operate even when the
vehicle has never had a GPS lock.
Potentially we should replace this with a check that the EKF's origin
has been set
 2015-01-22 14:40:19 +09:00
Randy Mackay d49489ca7e Copter: optflow_position_ok requires using EKF 2015-01-22 14:40:13 +09:00
Randy Mackay 01f1ce4cb3 Copter: position_ok false when EKF in const pos mode 2015-01-22 14:40:11 +09:00
Randy Mackay 74ac79ba10 Copter: Drift uses throttle_zero flag 2015-01-22 14:40:08 +09:00
Randy Mackay 02d0b05926 Copter: minor format fix 2015-01-22 14:40:05 +09:00
Randy Mackay 4185d17915 Copter: fix to RTL, PosHold and Loiter's use of filter status 2015-01-22 14:40:02 +09:00
Randy Mackay cc52bbbffb Copter: update current loc once home is set 2015-01-22 14:39:59 +09:00
Randy Mackay f1a6b06586 Copter: remove redundant filter status checks 2015-01-22 14:39:57 +09:00
Randy Mackay 3641d3d508 Copter: send inav velocities in global position message 
Also absolute alt now calculated from home alt + current alt above home
instead of using GPS absolute alt
 2015-01-22 14:39:54 +09:00
Randy Mackay e464909ddf Copter: position_ok true when EKF predicts it will be ok 
This resolves the chicken and egg problem of the EKF filter status's
position flags not becoming true until after the vehicle has been armed
at least once.
 2015-01-22 14:39:52 +09:00
Randy Mackay 58ac9de94b Copter: update home position when disarmed 
This resolves the issue in which the vehicle's position jumped back to
it's home location when disarmed and using the EKF.  This also makes
copter consistent with plane.
 2015-01-22 14:39:50 +09:00
Randy Mackay fd0b82f669 Copter: add optflow_position_ok and use for loiter 
This allows entering Loiter flight mode with only optical flow based
position
 2015-01-22 14:39:47 +09:00
Randy Mackay 199dc3454d Copter: replace GPS_ok with position_ok 
position_ok uses the EKF's filter status if the EKF is being used
otherwise it falls back to the GPS based checks used by inertial nav
 2015-01-22 14:39:45 +09:00
Randy Mackay a4f71e5946 Copter: replace inav's position_ok with get_filter_status 2015-01-22 14:39:42 +09:00
Randy Mackay e94693e8ac Copter: remove unused throttle integrator 2015-01-21 14:38:06 +09:00
Robert Lefebvre b8822a42b6 Copter: Change Compass logging to new DataFlash method that handles instances. 2015-01-21 14:37:52 +09:00
Robert Lefebvre 37304fd5ed Copter: Minor formatting changes in Log.pde 2015-01-21 14:37:23 +09:00
Robert Lefebvre 4b86a4aeec Arducopter: Change mode logging to use common-vehicle DataFlash library. 2015-01-21 14:37:20 +09:00
Robert Lefebvre 422970a1b1 Arducopter: Change compass logging to use common-vehicle DataFlash library. 2015-01-21 14:37:16 +09:00
Robert Lefebvre 1b152cf2bf ArduCopter: Change Current logging to use common-vehicle logging in DataFlash library. 2015-01-21 14:37:04 +09:00
Robert Lefebvre c9d5b6aa7f Arducopter: Change Attitude logging to use common-vehicle logging in DataFlash library. 2015-01-21 14:36:59 +09:00
Randy Mackay 0065b3b224 Copter: tighten accel and gyro pre-arm consistency check 
Accel diff threshold to 0.7m/s/s (was 1.0 m/s/s)
Gyro diff threshold to 5deg/sec (was 20deg/sec)
 2015-01-20 12:44:02 +09:00
Randy Mackay 4059e02a8c Copter: move ch6 tuning to tuning.pde 2015-01-16 15:12:58 +09:00
Jason Short fe74a11b4e Copter: Drift mode gain changes and roll control through ch4 2015-01-15 11:55:24 +09:00
Randy Mackay d6c48e422a Copter: restore baro climb rate check to land_detector 2015-01-14 16:08:57 +09:00
Randy Mackay 1c25c00f5b Copter: move land_detector to separate file 2015-01-14 16:08:55 +09:00
Jonathan Challinger 36410a5131 Copter: clean up land detector and modify to use desired velocity 2015-01-14 16:08:50 +09:00
Randy Mackay 0c44b5f4fe Copter: fix typo in AC3.2.1 Release Notes 2015-01-10 22:29:46 +09:00
Andrew Tridgell 557f4df77e Copter: use barometer.all_healthy() for health check in SYS_STATUS and arming 2015-01-09 11:51:51 +11:00
Andrew Tridgell c151f24672 Copter: updates for new AP_Baro API 2015-01-09 11:50:55 +11:00
Randy Mackay 781f2b7ddc Copter: update AC3.2.1-rc1 Release Notes 2015-01-09 05:06:36 +09:00
Randy Mackay ce9b87c101 Copter: AC3.2.1-rc1 Release Notes 2015-01-08 21:53:47 +09:00
Randy Mackay 80f59694d0 Copter: remove deprecated Guided-Spline 
Guided-Spline has been replaced by Guided-PosVel
 2015-01-07 14:03:50 +09:00
Randy Mackay be5bf91e92 Copter: add ekf velocity scaler to posvel controller 
Also set auto-yaw-mode to yaw-hold only when posvel controller is
started instead of on every iteration.
added GUIDED_POSVEL_TIMEOUT_MS definition.
removed deprecated trigger_xy call.
Also use wp_nav.get_speed_xy in place of get_speed_param
 2015-01-07 14:03:08 +09:00
Jonathan Challinger 474456e349 Copter: use guided_posvel for set_position_target messages 2015-01-07 14:02:24 +09:00
Jonathan Challinger bc29008233 Copter: add guided_posvel 2015-01-07 14:02:21 +09:00
Randy Mackay 06d1a4c59f Copter: use LandingGear command mode enum 2015-01-07 11:58:23 +09:00
Randy Mackay d26fa6d827 Copter: minor format fix 
no functional change
 2015-01-07 11:58:23 +09:00
Randy Mackay 5f3c2bcd11 Copter: rename landing_gear.pde 2015-01-07 11:58:21 +09:00
Robert Lefebvre 62b5f32643 Copter: Use landinggear.force_deploy method when auto-landing 2015-01-07 11:58:20 +09:00
Robert Lefebvre 20fce5c9ff Copter: Move landing gear code into new file 2015-01-07 11:58:20 +09:00
Robert Lefebvre fd61c3179a Copter: Remove relay pointer from LandingGear object 2015-01-07 11:58:18 +09:00
Robert Lefebvre e10e020062 Copter: Add Landing Gear functionality to main code 2015-01-07 11:58:16 +09:00
Staroselskii Georgii 84a15304a1 Copter: added AK8963 support 2015-01-07 08:41:13 +11:00
Randy Mackay f54a13f24b Copter: report NAV_CONTROLLER_OUTPUT in RTL, Guided 
This allows the GCS to display to the user where the vehicle is flying
to in RTL and Guided flight modes
 2015-01-06 16:38:34 +09:00
Robert Lefebvre d7ba808400 ArduCopter: Bug fix, int8t should be uint16t. 2015-01-06 15:02:48 +09:00
Robert Lefebvre 205b312789 Copter: GCS Failsafe comments and format changes 2015-01-05 10:34:17 +09:00
Robert Lefebvre 5f19a43104 Copter: GCS Failsafe to trigger if using Guided mode 2015-01-05 10:33:50 +09:00
Andrew Tridgell c268d7252f Copter: fixed flymaple build 2015-01-05 07:36:40 +11:00
Andrew Tridgell cb5552f0e3 Copter: fixed build with optflow disabled 2015-01-04 12:29:22 +11:00
Andrew Tridgell ab62105afe Copter: use common send_opticalflow() 2015-01-03 15:53:49 +11:00
Andrew Tridgell 788bb8ab9f Copter: make optflow available to AHRS 2015-01-03 14:16:34 +11:00
Andrew Tridgell c784ee717b Copter: update for new OptFlow API 2015-01-03 14:16:33 +11:00
Randy Mackay f1f71ef605 Copter: cli uses has_current method 2014-12-31 15:22:50 +09:00
Randy Mackay 3ccc61c163 Copter: use battery.has_current method 2014-12-31 15:22:49 +09:00
Randy Mackay d6b4bfd97f Copter: move underscore in BATT_ parameters 2014-12-31 15:22:48 +09:00
Randy Mackay 2e7435df52 Copter: remove unused OF_LOITER pid defines 2014-12-31 13:16:18 +09:00
Randy Mackay 3e34e7ed7e Copter: remove logging dependency on optflow 2014-12-31 13:16:17 +09:00
priseborough 695f12bec0 Copter: Don't log EKF optical flow data if not required 2014-12-31 13:16:12 +09:00
Randy Mackay f2b0fc3566 Copter: disarm on landing regardless of pilot input 2014-12-27 13:33:06 +09:00
Randy Mackay 72127cde35 Copter: remove broken support for do-change-alt 
This command was not implemented fully removing this code resolves a
compiler warning
 2014-12-26 22:17:45 +09:00
Randy Mackay 2bc1b7e4d6 Copter: skip pre-arm checks when already armed 2014-12-26 22:01:43 +09:00
Randy Mackay 990a34cb75 Copter: remove support for do-set-home mission command 
This avoids the chance of an arithmetic exception in cases where the
position is moved too far
 2014-12-26 15:55:26 +09:00
Randy Mackay 2ea9b8a5a8 Copter: set pre_arm_gps_check flag 2014-12-26 12:32:36 +09:00
Randy Mackay 05fedbf98f Copter: minor formatting fixes 2014-12-18 16:38:34 +09:00
Jonathan Challinger 91bff63267 Copter: Fix LAND overshoot issue 2014-12-18 16:38:31 +09:00
Randy Mackay b6bcf841e1 Copter: remove second camera mount 2014-12-16 21:26:20 +09:00
Jonathan Challinger cafb38e923 Copter: allow radio failsafe while disarmed so that user can be notified 2014-12-15 14:10:29 +09:00
Randy Mackay 79e40b4f6a Copter: do not send mode_change event before init complete 
This avoids a beep as the flight mode is set during start-up
 2014-12-15 14:10:23 +09:00
Randy Mackay 562f3e7382 Copter: set notify event when failsafe changes flight mode 2014-12-15 14:10:19 +09:00
Randy Mackay 6a15d21704 Copter: minor format change 2014-12-15 14:10:13 +09:00
Jonathan Challinger f045c75bfe Copter: play various tones 2014-12-15 14:09:12 +09:00
Randy Mackay fd55a2d9c4 Copter: increase GPS_HDOP_GOOD default to 2.3 2014-12-15 10:45:50 +09:00
Andrew Tridgell e73f8b8e40 Copter: removed use of mavlink_check_target() 2014-12-11 12:32:34 +09:00
Randy Mackay 67f48168a8 Copter: send OPTICAL_FLOW msg to GCS 2014-12-08 14:58:31 +09:00
Randy Mackay 641c770726 Copter: send optflow health in extended status 2014-12-08 14:58:28 +09:00
Randy Mackay 882546aa8e Copter: optflow logging minor format change 2014-12-08 14:58:27 +09:00
Randy Mackay 3127dd94c1 Copter: add OPTFLOW to default logging 2014-12-08 14:58:27 +09:00
Randy Mackay aba829678a Copter: optflow instantiation format change 
No functional change
 2014-12-08 14:58:26 +09:00
Randy Mackay c93c7af20c Copter: move update_optflow to sensors.pde 
No functional change
 2014-12-08 14:58:25 +09:00
Randy Mackay 67fdfffc2a Copter: remove OF_Loiter PIDs and tuning 2014-12-08 14:58:18 +09:00
Randy Mackay 0994529624 Copter: remove OF_Loiter from FLTMODE param descriptions 
Also remove OF_Loiter reference in comments
No functional change
 2014-12-08 14:57:04 +09:00
Andrew Tridgell fba02479b7 Copter: fixed build with no EKF 2014-12-06 18:43:38 +11:00
priseborough 963cc4d60a Copter: Add velocity gain scaler to interfaces 
Allows nav gain to be scaled to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough 9e7709fa09 Copter: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough 9844dacf40 Copter: Add EKF ground speed limit to loiter speed control 
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
 2014-12-06 18:16:50 +11:00
priseborough 715d64dce9 Copter: Check for new optical flow updates at 200Hz 
Supports use of higher flow read rates if required.
 2014-12-06 18:16:48 +11:00
priseborough 468c83c074 Copter : Check for new optical flow readings every 10ms 
The driver polls the sensor asynchronously every 100 msec, so we need to continually check for new data.
 2014-12-06 18:16:48 +11:00
priseborough be54f2d6ee Copter : Don't force pre-compiler inclusion of optical flow 2014-12-06 18:16:48 +11:00
priseborough 6d5fb33d1a Copter : enable optical flow by default 2014-12-06 18:16:47 +11:00
priseborough 45c007d216 Copter : Correct comment on required optical flow update rate 2014-12-06 18:16:47 +11:00
priseborough a72b6b179b Copter : Modify EKF optical flow data interface 2014-12-06 18:16:46 +11:00
priseborough 311206017c Copter : Update EKF optical flow data interface 
Makes it compatible with the new PX4Flow interface
 2014-12-06 18:16:46 +11:00
priseborough 267ef48026 Copter : disable tilt correction of range finder data for use by EKF 
This is a temporary fix. We need to make separate range and altitude measurements available.
 2014-12-06 18:16:45 +11:00
priseborough 27f9289391 Copter : Add range finder measurements to EKF optical flow data 2014-12-06 18:16:44 +11:00
priseborough 635e593d55 Copter : temporary mods to test use of flow sensor internal gyro data 2014-12-06 18:16:44 +11:00
priseborough 34249ffa42 Copter : EKF optical flow fusion support preliminary changes 
Assumes optflow sensor has been modified to push data at a low rate, eg 10Hz
and velocity data is angular velocity, not linear velocity
 2014-12-06 18:16:44 +11:00
Randy Mackay 8b80e58861 Copter: enable OPTFLOW - do not merge to master 2014-12-06 18:16:44 +11:00
priseborough 60527a023a Copter : Update optical flow test for new PX4Flow interface 2014-12-06 18:16:43 +11:00
priseborough 0d7555b259 Copter : Remove legacy optical flow control mode 
This mode is not compatible with the new PX4Flow interface
 2014-12-06 18:16:43 +11:00
priseborough 900519b35b Copter : Remove legacy optical flow control mode 
This mode is not compatible with the new PX4Flow interface
 2014-12-06 18:16:43 +11:00
priseborough 23953b459e Copter : Update logging for new PX4Flow sensor interface 2014-12-06 18:16:43 +11:00
priseborough 20e715aa13 Copter : Remove ADNS3080 flow sensor support 2014-12-06 18:16:43 +11:00
priseborough 5ef2208017 Copter: Change flow sensor read sample rate to 10Hz 2014-12-06 18:16:43 +11:00
Randy Mackay 7be78621f4 Copter: run_nav_updates at 50hz on Pixhawk, 25hz on APM2 
Based on work by Jon Challinger (see earlier commit)
 2014-12-05 14:01:16 +09:00
Jonathan Challinger 203b713f0d Copter: run_nav_updates at 100hz on pixhawk 2014-12-05 14:01:14 +09:00
Andrew Tridgell dcdfff66e8 Copter: setup pwm esc scaling 2014-11-26 11:14:44 +11:00
Randy Mackay 13b8159fb5 Copter: only allow one preflight calibration at a time 2014-11-21 22:00:45 +09:00
Randy Mackay 330b52194f Copter: change to switch order in guided spline 
No functional change
 2014-11-19 12:06:30 -08:00
Arthur Benemann db89bd6f03 Copter: correct frame/location of guided spline 2014-11-19 11:59:13 -08:00
Randy Mackay 84f82dd129 Copter: correct get_pilot_desired_throttle calc 
Also minor format and commenting addition
 2014-11-17 18:16:14 -08:00
Jonathan Challinger 3a529b2cef Copter: utilize get_control_mid for throttle calculations 2014-11-17 18:16:11 -08:00
Andrew Tridgell b6c06ab691 Copter: fix build with new mavlink repo 2014-11-18 11:20:04 +11:00
Randy Mackay c6e70179d2 Copter: move MOUNT_STATUS lower in GCS_MAVLink 
No functional change
 2014-11-17 15:59:41 -08:00
Arthur Benemann 6bee8969a1 Copter: append MOUNT_STATUS message to STREAM_EXTRA3 messages 
The msg is now periodically sent to the GCS, instead of only on request.STREAM_EXTRA3
 2014-11-17 15:59:26 -08:00
Jonathan Challinger 387f3276cb Copter: handle SET_POSITION_TARGET mavlink messages 2014-11-17 14:38:55 -08:00
Jonathan Challinger 1b1327dc93 Copter: add Guided_Spline mode 2014-11-17 14:38:48 -08:00
Jonathan Challinger e7939cca01 Copter: change function definitions in guided to static 2014-11-17 14:38:43 -08:00
Jonathan Challinger c7a38c4350 Copter: use force_descend option on auto landings 2014-11-13 18:40:42 -08:00
Craig Elder f7d0a930c2 Copter: Updated GCS_FAILSAFE Parameter Description 2014-11-13 13:10:06 -08:00
Arthur Benemann f24f5a6a32 Copter: remove call to camera.configure and control 
The do_take_picture() function must be called for logging to occur.
configure_msg is empty at the moment so the call to this is remove
 2014-11-11 10:31:49 -08:00
Randy Mackay ed099a73a3 Copter: minor rename of ACRO circular limits variable 2014-11-10 18:36:17 -08:00
Randy Mackay 83051c306d Copter: minor rename of a circular limits variable 2014-11-10 18:36:15 -08:00
Jolyon Saunders a9205e1032 Copter: Add circular limits to ACRO 2014-11-10 18:36:13 -08:00
Jolyon Saunders d46c659d0f Copter: Add circular limits pilot's roll/pitch inputs 2014-11-10 18:36:10 -08:00
Randy Mackay b2badee172 Copter: reset baro glitch after baro init 2014-11-09 13:34:17 -08:00
Randy Mackay 9e12b01569 Copter: CPU failsafe set motors to min before logging error 
This ensures that if the logging stalls the motors will have already
been reduced to zero
 2014-11-08 11:37:23 +09:00
Jonathan Challinger 80ba40d149 Copter: CPU failsafe logs an error 2014-11-08 11:27:16 +09:00
Jonathan Challinger e37337b744 Copter: remove gyro cal prearm check 2014-11-07 14:02:26 +09:00
Randy Mackay 9f2af783db Copter: update AC3.2 ReleaseNotes 2014-11-07 14:00:00 +09:00
Randy Mackay 1b64dd2280 Copter: clarify pv_location_to_vector param name 
Also update function description
 2014-11-06 11:53:57 +09:00
Clay McClure a897c14255 Copter: ensure lat, lon, alt all zero is handled 
Use default position when waypoint lat/lon are zero,
and default altitude when waypoint alt is zero, for
both spline and straight-line waypoints.

Fixes #1145.
 2014-11-06 11:53:32 +09:00
Randy Mackay 07975ed564 Copter: minor reformat of control_autotune 2014-11-05 21:08:39 +09:00
Brad Bosch 74fedc0897 Copter: allow starting autotune from flightmode switch 
ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.
 2014-11-05 21:08:36 +09:00
squilter ad3bce105c Copter: remove abbreviations from GCS messages 2014-11-05 20:04:52 +09:00
Randy Mackay 5104d5f0fe Copter: re-order init_sonar 
No functional change.
 2014-10-31 20:40:24 +09:00
Randy Mackay 8a61f5acd2 Copter: add comments to control switch debouncing 2014-10-31 15:48:28 +09:00
Jonathan Challinger 5c8b39562f Copter: rework control switch debouncing 2014-10-31 15:30:27 +09:00
Jonathan Challinger b0594e8d56 Copter: supply wp_nav with attitude_control 2014-10-31 15:23:54 +09:00
Randy Mackay 44dbf50101 Copter: fix camera feedback msg handling 
If the camera was disabled, camera message handling would fall though to
status-text msg handling.
 2014-10-31 14:46:47 +09:00
Arthur Benemann b587025ad1 Copter: send a camera_feedback message when there is a camera trigger 2014-10-31 14:46:42 +09:00
Randy Mackay 8eb866adef Copter: minor update to AC3.2-rc14 ReleaseNotes 2014-10-31 10:57:43 +09:00
Randy Mackay bb85e77173 Copter: update AC3.2-rc14 ReleaseNotes 2014-10-29 18:09:46 +09:00
Randy Mackay beb54b087b Copter: re-enable CPU failsafe if arming fails 2014-10-29 16:00:32 +09:00
Randy Mackay cce876c2f9 Copter: fail to arm if gyro cal fails 2014-10-29 15:36:29 +09:00
Randy Mackay 0ac3267d52 Copter: reset ahrs gyro drift after gyro calibration 2014-10-28 20:25:36 +09:00
Jonathan Challinger 25a2fa67b6 Copter: don't stop logging on disarm when LOG_WHEN_DISARMED is set 2014-10-28 15:19:01 +09:00
Randy Mackay 07a74bc39f Copter: ReleaseNotes for AC3.2-rc14 2014-10-27 22:37:19 +09:00
Randy Mackay 28b98a170b Copter: fix to dcm-check to be continuous 
dcm-check was triggering after 10 bad headings but these did not need to
be continuous meaning if the vehicle was flown long enough it would
almost certainly trigger a dcm-check failure and land
 2014-10-27 12:37:56 +09:00
Andrew Tridgell 4c0351a76a Copter: convert to new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Randy Mackay 0532a4bbc3 Copter: ReleaseNotes for AC3.2-rc13 2014-10-23 22:22:28 +09:00
Randy Mackay 8fc2ccdc76 Copter: remove debug 2014-10-23 22:21:48 +09:00
Randy Mackay f6ff1742d5 Copter: landing detector checks baro climb rate 
Barometer climb rate must be -150cm/s ~ +150cm/s
This threshold is generous because we already use the inertial
navigation climb rate so this is just to catch cases where inertial nav
is very incorrect in it's climbrate estimates
 2014-10-22 17:29:14 +09:00
benoit35690 f866bf979e Copter: fix compiler warnings in GCS_Mavlink.pde 2014-10-21 12:00:01 +09:00
benoit35690 b63f701fd3 Copter: minor formatting fix 2014-10-21 11:59:48 +09:00
benoit35690 e22130cbc7 Copter: minor format fix 2014-10-21 11:54:35 +09:00
benoit35690 3c01353dcd Copter: fix compiler warning in control_auto.pde 2014-10-21 11:53:17 +09:00
Jonathan Challinger 5fc02bdbc4 Copter: Reduce prearm alt disparity check back to 1m 2014-10-20 10:55:59 +09:00
Randy Mackay 3296eb24b3 Copter: add comments to auto_loiter 2014-10-20 10:54:57 +09:00
Jonathan Challinger d7d8330303 Copter: loiter copter without accepting user input at end of auto mission 2014-10-20 10:46:14 +09:00
Jonathan Challinger ef12ea4d3b Copter: fix indentation mistake in motors.pde 2014-10-20 10:43:53 +09:00
squilter 343a673762 Copter: reset ROI when requested, regardless of current MOUNT_MODE 2014-10-20 10:41:06 +09:00
Randy Mackay a8c96946eb Copter: log DCM reported roll-pitch and yaw error 2014-10-18 20:09:39 +09:00
Randy Mackay a559a12ea2 Copter: remove LOG_FROM_STARTUP define 
This compile-time method is obsolete now that we have the logging while
disarmed feature
 2014-10-17 16:40:18 +09:00
Randy Mackay ebcf582f66 Copter: add NearlyAll-AC315 LOG_BITMASK description 2014-10-17 16:40:13 +09:00
Randy Mackay dcf72e9b78 Copter: remove extra in_mavlink_delay from should_log function 
Also return false when logging disabled
 2014-10-17 16:32:39 +09:00
Andrew Tridgell c3d839456b Copter: support logging while disarmed 2014-10-17 16:29:59 +09:00
Andrew Tridgell 874efe95a1 Copter: fixed parameter path 
fixes build of parameters
 2014-10-17 15:54:53 +11:00
Randy Mackay 27b73fa209 Copter: enable Optflow by default for Pixhawk only 2014-10-16 21:17:54 +09:00
Randy Mackay 6becb1a722 Copter: add DCM check of yaw error 
Triggers an "ekf" failsafe if the DCM yaw error is > 60deg
 2014-10-16 17:22:14 +09:00
Randy Mackay b0e6931ab0 Copter: add DCM_CHECK_THRESH parameter 2014-10-16 17:22:11 +09:00
Randy Mackay b96e123480 Copter: remove unused Log_Write_IMU function 2014-10-16 15:25:34 +09:00
Randy Mackay 7bd8d48809 Copter: fence breach causes disarm if landed 
Previously it would only disarm if the throttle was also at zero.
Pair programmed with Tridge
 2014-10-16 14:09:02 +09:00
Andrew Tridgell 26f7ab49e3 Copter: fixed some build warnings 2014-10-16 14:04:11 +09:00
Randy Mackay 4e06970a1c Copter: disable OptFlow in SITL 2014-10-15 20:46:06 +09:00
Randy Mackay aa3e34a44a Copter: move update_optflow to sensors.pde 
Also slightly shorten function name
 2014-10-15 16:36:36 +09:00
Randy Mackay 67b7b2d667 Copter: enable optflow by default for Pixhawk 2014-10-15 16:36:31 +09:00
Randy Mackay 7b07b575cf Copter: pilot override used immediately in OF_Loiter 
Replace some hard coded numbers with definitions
 2014-10-15 16:36:28 +09:00
Randy Mackay 28876b7ef6 Copter: log ground distance from optflow sensor 2014-10-15 16:35:51 +09:00
Randy Mackay b2e167f9a5 Copter: Of_Loiter uses sensor velocity instead of integrated position 2014-10-15 16:35:45 +09:00
Randy Mackay 3201a8dbca Copter: integrate optflow_enable param move to optflow class 2014-10-15 16:35:43 +09:00
Randy Mackay 717e63f47a Copter: instantiate optflow on Pixhawk 
Run sensor reads from scheduler
 2014-10-15 16:35:40 +09:00
Randy Mackay 021485fffc Copter: simpler optflow logging 
Removed of_loiter control output from message
add TimeMS to OF dataflash log msg
 2014-10-15 16:35:38 +09:00
Randy Mackay 765ce2f6ca Copter: optflow parameters moved to optflow class 2014-10-15 16:35:36 +09:00
Randy Mackay 57229345e0 Copter: minor param description updates 2014-10-14 12:42:14 +09:00
Randy Mackay 6a225865ce Copter: accept velocity requests in Auto-Guided mode 2014-10-14 11:27:34 +09:00
Randy Mackay c636ea9101 Copter: support SET_POSITION_TARGET messages 2014-10-13 21:55:17 +09:00
Randy Mackay 992ce9b69c Copter: remove nav_guided structure 
This has been replaced by guided_limit structure
 2014-10-13 21:40:26 +09:00
Randy Mackay 6659473420 Copter: support GUIDED_ENABLE and GUIDED_LIMITS 
Split of NAV_GUIDED into these two command necessitated guided mode
store the limits
 2014-10-13 21:40:24 +09:00
Randy Mackay e5c3c306bd Copter: remove unused pilot_yaw_override flag 2014-10-13 21:40:21 +09:00
Randy Mackay 8997c224e2 Copter: enable Guided velocity controller for Pixhawk 2014-10-13 21:40:20 +09:00
Jonathan Challinger dd38ad6bbf Copter: Start logging on arming attempt, rather than on successful arm 2014-10-11 17:32:27 +09:00
Randy Mackay 9d4107f1fc Copter: allow arming in GUIDED only from GCS 
Also changed mode_allows_arming function to accept arming_from_gcs param
Also remove AUTOTUNE from arming list
 2014-10-11 16:05:32 +09:00
Jonathan Challinger 2b0cffda29 Copter: move all arm check logic into arm_checks 2014-10-11 15:34:12 +09:00
Jonathan Challinger cc56a972d0 Copter: add mode_allows_arming function 2014-10-11 15:34:10 +09:00
Jonathan Challinger 3e1bffe9ab Copter: auto-disarm if land complete regardless of mode 2014-10-11 15:32:29 +09:00
Jonathan Challinger d0d26b6878 Copter: use ap.throttle_zero instead of rc_3.control_in in auto_disarm_check 2014-10-11 15:30:57 +09:00
Jonathan Challinger a04ec79efa Copter: add land_complete to fence disarm check 2014-10-11 15:29:41 +09:00
Jonathan Challinger 450f988a21 Copter: remove DRIFT and SPORT from manual_flight_mode function 2014-10-11 15:27:45 +09:00
Randy Mackay 5f55944e43 Copter: AC3.2-rc12 release notes 2014-10-10 14:53:25 +09:00
Randy Mackay d7cd745cf4 Copter: auto-trim start delays auto-disarm by 15sec 
Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
 2014-10-09 22:43:44 +09:00
Randy Mackay a8733ae8a8 Copter: support pre-flight calibration of gyro 2014-10-09 10:00:15 +09:00
Randy Mackay 9a0a83f404 Copter: report gyro unhealthy if failed calibration 2014-10-09 10:00:12 +09:00
Randy Mackay 128058362b Copter: pre-arm check that gyro cal succeeded 2014-10-09 10:00:09 +09:00
Randy Mackay 8eba55ed67 Copter: throttle zero debounce to separate function 
Also initialise throttle_zero  to true on startup
Treat throttle less than zero as zero
 2014-10-08 21:52:16 +09:00
Jonathan Challinger 8e3d163c3d Copter: Change all zero throttle checks that should be conservative to use ap.throttle_zero 2014-10-08 20:54:24 +09:00
Jonathan Challinger 96f50b7cd7 Copter: add throttle_zero state 2014-10-08 20:54:19 +09:00
Jonathan Challinger fa9d10e59b Copter: log CURR message at 10hz 2014-10-08 20:49:36 +09:00
Randy Mackay 2f3f1a1d5e Copter: Rate Pitch IMAX default to 1000 
Spotted by Jonathan Challinger, thanks!
 2014-10-07 21:06:43 +09:00
Randy Mackay 4e27dbdc42 Copter: ReleaseNotes for AC3.2-rc11 2014-10-06 11:55:46 +09:00
Randy Mackay 68a9286086 Copter: use define for pre-arm compass offset check 2014-10-03 13:59:31 +09:00
Randy Mackay 7ced9b1bd3 TradHeli: remove overall throttle level from landing check 2014-10-02 16:10:44 +09:00
Randy Mackay f059af2386 Copter: only report ahrs unhealthy after initialisation 2014-10-02 14:41:26 +09:00
Andrew Tridgell f2e6fa3fb0 Copter: use handle_set_mode() 2014-10-01 14:19:31 +10:00
Randy Mackay 77e89214eb Copter: shift pos targets to current location before takeoff 2014-09-29 15:26:54 +09:00
Jonathan Challinger 73e1719ee1 Copter: print frame type in log headers 2014-09-27 16:11:21 +09:00
Randy Mackay 8aa5c10d53 Copter: remove unused AIRFRAME definition 2014-09-27 15:15:13 +09:00
Randy Mackay 1a249a8129 Copter: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-27 12:22:12 +09:00
Randy Mackay ef0e37b478 Copter: bugfix to condition-yaw for relative angles 
Thanks to roque-canales for raising the issue and paradisephil for finding
the specific piece of code that went wrong and suggesting the fix.
 2014-09-26 12:22:58 +09:00
Randy Mackay 45bc9fd10c Copter: add AC3.2 default to LOG_BITMASK value 2014-09-25 15:32:21 +09:00
Randy Mackay 0d88b602ec Copter: fix RSSI_RANGE param values 
The extra .0 after the 5 was causing the mission planner to not display
5V in the dropdown even though the value was 5.
 2014-09-25 15:32:20 +09:00
Randy Mackay ed566fa56c Copter: update AC3.2-rc10 release notes 2014-09-24 14:30:10 +09:00
Randy Mackay 41c576044f Copter: allow passthru for ch 9 ~ 14 
Based on work by Emile Castelnuovo
 2014-09-23 22:55:19 +09:00
Randy Mackay d4cfb432ca Copter: use disparity threshold define for pre-arm checks 
There are two duplicate checks, one in the pre-arm checks (i.e. checks
run every 15 seconds or so before the vehicle is armed) and one in the
arming checks (run immediately before arming).  The definition in the
pre-arm checks was still using the old hardcoded value.
 2014-09-23 19:33:04 +09:00
lthall 2b4f5fa79d Copter: increase autotune limits 
Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
 2014-09-22 21:33:35 +09:00
Randy Mackay e7753223ba Copter: low battery msg to severity high 2014-09-21 17:33:19 +09:00
Randy Mackay 193bc5331a Copter: cleanup enabling of cli and frsky telem for APM 2014-09-20 14:41:26 +09:00
Randy Mackay d8d1b38a52 Copter: increase Alt Disparity check to 2m 2014-09-20 12:24:36 +09:00
Randy Mackay 9bbf40109e Copter: add LOG_FROM_STARTUP definition 
Uncommenting this line in APM_Config.h will start logging as soon as the
board starts up instead of waiting for the vehicle to be armed
 2014-09-20 12:23:47 +09:00
Jason Short b2238b7c8a Copter: auto esc calibration 
Throttle is raised to maximum and then lowered without any input from
pilot
 2014-09-19 22:21:49 +09:00
Randy Mackay 58602bd1ae Copter: move esc calibration to separate file 
Restructured into case statement
Replaced use of g.throttle_max with definition
Added more comments
Send message to ground station instead of printing on console (although
probably both are unlikely to be read)
 2014-09-19 22:21:47 +09:00
Jason Short b57539a9ad AP_Motors: throttle_pass_through accepts pwm 2014-09-19 22:21:45 +09:00
Randy Mackay 1c11a91ec2 Copter: rename land_maybe_complete function 2014-09-19 16:43:17 +09:00
Randy Mackay b9977a1115 Copter: add land_complete_maybe flag 2014-09-19 16:43:15 +09:00
Randy Mackay 6951a20fb0 Copter: soften loiter target when maybe landed 
Applies to auto's land, land, loiter, pos hold and rtl flight modes
 2014-09-19 16:43:12 +09:00
Randy Mackay b552479e31 Copter: typo fix for baro vs inav alt disparity definition 2014-09-18 17:32:03 +09:00
Randy Mackay 18e3db0011 Copter: define limit for baro vs inav alt disparity 2014-09-18 17:24:40 +09:00
Andre Kjellstrup b4c6d6395e Copter: reset battery_fs after dis/rearming 2014-09-18 11:17:03 +09:00
Randy Mackay 2efeb768e0 Copter: allow GCS to turn safety switch on/off 2014-09-17 21:51:25 +09:00
Randy Mackay 9bcf9a31ed Copter: set sys_status motor outputs bit from safety switch 2014-09-17 21:51:23 +09:00
Randy Mackay 9f3803052f Copter: add support for DO_PARACHUTE from GCS 
Mission command support was already included but this adds support for
DO_PARACHUTE received as a COMMAND_LONG message which are sent from the
GCS when the command should be executed immediately
 2014-09-17 21:14:26 +09:00
Randy Mackay adf00a207b Copter: enable EPM by default on Pixhawk 2014-09-17 21:14:22 +09:00
Randy Mackay bbe4438a6b Copter: add support for DO_GRIPPER command 2014-09-17 21:14:19 +09:00
Randy Mackay 3fa3cb6d65 Copter: remove EPM neutral from ch7/ch8 switch 
The EPM library returns the pwm output sent to the EPM to the neutral
position automatically meaning an explicit ch7/ch8 setting is not
required
 2014-09-17 21:13:45 +09:00
Randy Mackay 14d80910ec Copter: integrate EPM ver2 2014-09-17 21:13:35 +09:00
Jonathan Challinger 8ca4795ffb Copter: Log NTUN while in LAND mode with GPS 2014-09-16 10:19:33 +09:00
Randy Mackay 345d4353e5 Copter: adjust EKF_CHECK parameter description 
Default has been changed to 0.8 for -rc9 so we need to update the
description values so they match
 2014-09-12 21:28:41 +09:00
Randy Mackay d15a5f9dcb Copter: THR_ACCEL_IMAX default to 800 2014-09-12 15:11:48 +09:00
Randy Mackay 224122958c 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 14:16:05 +09:00
Randy Mackay eac26cdd0f Copter: THR_ACCEL_IMAX param range increased 2014-09-12 14:16:04 +09:00
Randy Mackay a12d9109e0 Copter: remove thr check during init_arm_motors 
This check is redundant now that we have a check within the arm_check()
function.
Removing this check does raise a slight danger that someone could raise
the throttle after arming but before the gyro and baro calibration has
completed but the delay has been greatly shortened from what it once was
so there is much less danger that someone could approach the vehicle
during the short arming delay.
 2014-09-11 21:13:35 +09:00
Randy Mackay 5720bff29f Copter: AC3.2-rc9 release notes 2014-09-11 20:38:56 +09:00
Randy Mackay 906b3dfbec Copter: AC3.2-rc8 release notes 2014-09-11 16:54:04 +09:00
Randy Mackay 4c6b0bb1cb Copter: format change to flight mode default defined 
This also kicks off the build for AC3.2-rc8
 2014-09-11 16:52:36 +09:00
Randy Mackay 48bc1456d0 Copter: increase Rate PID param ranges 
RATE_RLL_P to 0.25 (was 0.20)
RATE_PIT_P to 0.25 (was 0.20)
RATE_YAW_P to 0.50 (was 0.25)
RATE_YAW_I to 0.05 (was 0.02)
 2014-09-10 16:40:36 +09:00
Craig Elder ea82caf7a4 Copter: Parameters.pde 
Corrected typo in parameter description
 2014-09-09 12:34:59 -07:00
Randy Mackay 0d7a999fc1 Copter: arming check that throttle is low 2014-09-09 23:02:18 +09:00
Randy Mackay 294f836c8c 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 22:19:20 +09:00
Randy Mackay bf18fb896a Copter: send extended status to GCS only after initialisation 2014-09-09 22:17:46 +09:00
Randy Mackay 21d56735ca Copter: increase EKF_CHECK_THRESH default to 0.8 
Also remove unused #define related to inertial nav check (now removed)
 2014-09-09 14:59:27 +09:00
Randy Mackay 9c613cd1ec 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)
 2014-09-07 22:14:40 +09:00
Randy Mackay db12df2237 Copter: minor ReleaseNotes format change 
This also helps to kick off the build of AC3.2-rc7
 2014-09-04 16:19:02 +09:00
Randy Mackay 05233fbf02 Cotper: AC3.2-rc7 release notes 2014-09-04 15:41:10 +09:00
Randy Mackay 641c8317a5 Copter: pre-arm consistency check of gyros 2014-09-04 15:21:58 +09:00
Randy Mackay 28f31166b9 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 15:21:51 +09:00
Randy Mackay 05a37dd54d 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 15:11:57 +09:00
Randy Mackay 59404c25e3 Copter: pre-arm consistency check of accels 2014-09-03 13:51:44 +09:00
Randy Mackay 4a06941a39 Copter: individual accel and gyro status to GCS 2014-09-03 11:22:51 +09:00
Randy Mackay d7343d5dc7 Copter: check all gyros and accels in pre-arm check 2014-09-03 11:22:49 +09:00
Randy Mackay 818b3b74f6 Copter: sanity check throttle deadzone 2014-09-02 12:40:15 +09:00
Jason Short 82481f30a3 Copter: move drift thr assist to separate function 
no changes in functionality.
 2014-08-31 14:22:56 +09:00
Randy Mackay 48d143d4ef Copter: minor format change to release notes 
This also helps kick off the rebuild so AC3.2-rc6 appears in the mission
planner
 2014-08-31 12:29:37 +09:00
Randy Mackay ebfd828087 Copter: update AC3.2-rc6 release notes 
forgot compass-not-calibrated bug fix
 2014-08-31 12:06:03 +09:00
Randy Mackay d04a4834fa Copter: update AC3.2-rc6 release notes 
Forgot to add GPS driver buffer overflow item
 2014-08-31 12:02:00 +09:00
Randy Mackay 13f994d3ad Copter: AC3.2-rc6 release notes 2014-08-31 11:55:06 +09:00
Randy Mackay 07420521ab Copter: default LAND_REPOSITION to 1 2014-08-31 10:44:09 +09:00
Jason Short 0dd9797fe6 Copter: restore CLI set parameter feature 
Added back the ability to set params from CLI
 2014-08-31 10:36:42 +09:00
Randy Mackay cf98cc29b5 Copter: throttle deadzone parameter 
Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
 2014-08-29 15:54:34 +09:00
Randy Mackay eb51a8e5da Copter: pre-arm check of internal vs ext compass 2014-08-26 22:34:06 +09:00
Randy Mackay 2b0a7c59bc Copter: remote arming check reference to compass learning 2014-08-26 22:34:04 +09:00
Randy Mackay 63d0cddfa4 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.
 2014-08-25 21:12:05 +09:00
Randy Mackay 65ed77e803 Copter: ensure motors don't stop during flip 2014-08-23 23:40:13 +09:00
Randy Mackay e1e010c504 Copter: remove unused flip_stop 2014-08-23 23:40:11 +09:00
Randy Mackay 4184c1d6e5 Copter: flip minor comments and formatting 2014-08-23 23:40:09 +09:00
Jason Short 882edaf787 Copter: add pitch axis flipping 
Added Pitch axis flipping. You must be pushing forward or back 3° to make it flip in Pitch axis or it will flip in the default roll axis.
Added some extra throttle control to maintain altitude
removed the CH7 ability to exit Flip mode. It will exit only if completing flip or user aborts with control sticks.
 2014-08-23 23:40:07 +09:00
Randy Mackay a83a47682d 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 22:56:21 +09:00
Andrew Tridgell 7618ffde63 Copter: show firmware version on param fetch 
fixes pull #1320

thanks Arthur!
 2014-08-22 21:13:11 +10:00
Randy Mackay 7d350735df TradHeli: update AttControlHeli constructor 
reference to rc_1, rc2 are replaced with constant updates during
acro_run
 2014-08-22 16:29:02 +09:00
Randy Mackay 2cd6d986d5 TradHeli: call passthrough_bf_roll_pitch_rate_yaw 2014-08-22 16:29:00 +09:00
Robert Lefebvre 968f1d64ae Logging: Fix comment error. 2014-08-22 16:28:54 +09:00
Robert Lefebvre a4f710a363 TradHeli: Add yaw-only rate request function for flybar acro mode. 2014-08-22 16:28:52 +09:00
Robert Lefebvre 3316fe8f63 TradHeli: Reset flybar passthrough to false when exiting Acro mode. 2014-08-22 16:28:50 +09:00
Robert Lefebvre f5ddaab35b TradHeli: Set Flybar passthrough mode in Acro Initialization function. 2014-08-22 16:28:47 +09:00
Robert Lefebvre 82061bc65d TradHeli: Add pointer for pilot roll/pitch inputs to attitude_control constructor. To be used for flybar passthrough. 2014-08-22 16:28:40 +09:00
Randy Mackay c87283af98 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 14:39:56 +09:00
Andrew Tridgell a627cd2af2 Copter: run Linux boards at 100Hz for now 
we should be able to do 400Hz in future
 2014-08-19 20:03:33 +10:00
Randy Mackay a693907429 Copter: add ACRO_EXPO param values 2014-08-19 12:51:27 +09:00
Andrew Tridgell 90f306cd3c Copter: set GPS non-blocking 
the new GPS driver only ever needs a non-blocking port
 2014-08-19 10:08:17 +10:00
NullVoxPopuli e578fb1615 Copter: add A-Tail to FRAME parameter description 2014-08-18 14:31:03 +09:00
priseborough 162b824424 Copter : Distinguish between EKF and INAV errors 2014-08-18 14:17:50 +09:00
Randy Mackay ccc8068443 Copter: range check ACRO_EXPO to be no more than 1 2014-08-18 12:56:22 +09:00
Randy Mackay fcc5c7c12e Copter: update master firmware ver to AC3.3-dev 
Further AC3.2 fixes will appear in the ArduCopter-3.2 branch
 2014-08-18 11:45:54 +09:00
Randy Mackay f490a289de Revert "Copter: use rcmap when sending radio_in to GCS" 
This reverts commit 716f625924.
 2014-08-16 20:31:24 +09:00
Randy Mackay 716f625924 Copter: use rcmap when sending radio_in to GCS 2014-08-16 15:27:49 +09:00
Randy Mackay 5b114dcad5 Copter: remove unused WP_OPTION definitions 
This also kicks off the build for AC3.2-rc5
 2014-08-16 12:18:48 +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
Andrew Tridgell e9fedbdb79 Copter: removed use of removed MAV_CMD_NAV_ commands 2014-07-24 21:40:16 +10:00
akdslr dc67058771 ArduCopter: Removed CONFIG_SONAR_SOURCE, SONAR_SOURCE_ADC, and SONAR_SOURCE_ANALOG_PIN since no longer used 2014-07-24 14:41:55 +10:00
akdslr 06fa2e3f60 ArduCopter test: Renamed the test from sonar to rangefinder and added info on all devices 2014-07-24 14:41:55 +10:00
akdslr 1354cd7120 ArduCopter Parameters: Changed the SONAR prefix to RNGFND, renamed SONAR_GAIN, and CH6-8 value descriptions 2014-07-24 14:41:54 +10:00
Supergoldfish 13563f4344 Copter: added Sonar Voltage reporting to GCS mavlink 
Rangefinder class will return 0 if not applicable.
 2014-07-23 20:57:36 +09:00
Randy Mackay e9861de2ac Copter: fix to drift's yaw rate 
The ACRO_P parameter needs to be multiplied by the roll and pitch
velocities to calculate the final yaw rate
 2014-07-23 17:13:08 +09:00
Randy Mackay 7bda6cbadf Copter: integrate EKF check 
Check runs at 10hz
Log ekf check failures and ekd failsafes
 2014-07-22 23:13:25 +09:00
Randy Mackay a4a4334b13 Copter: add EKFCHECK_COMPASS parameter 2014-07-22 23:13:22 +09:00
Randy Mackay 65bc498d4e Copter: add ekf check of compass 
Checks the EKF's compass variance or the inertial navigations x and y
acceleration corrections
 2014-07-22 23:13:20 +09:00
Randy Mackay eb696e247b Copter: CLI report_compass prints results for all compasses 2014-07-22 22:01:25 +09:00
Randy Mackay 3c702e5fc5 Copter: compass mot configures all compasses 2014-07-22 22:01:24 +09:00
Randy Mackay af28270669 Copter: bug fix for throttle failsafe 
Missing bracket could cause throttle failsafe to be triggered even when
disabled or motors disarmed
 2014-07-21 20:58:16 +09:00
lthall 9202149fb1 Copter: integrate pre-takeoff throttle feedback 
This feature slightly revs the motors in response to the pilot's input
before takeoff AltHold, Loiter, AutoTune, PosHold and Sport flight modes

pair-programmed with Randy Mackay
 2014-07-18 11:41:50 +09:00
Randy Mackay 11678ba936 Copter: remain landed until throttle output above 25 percent 2014-07-18 11:41:46 +09:00
lthall edd7334544 Copter: add pre_takeoff throttle feedback 
pair-programmed with Randy Mackay
 2014-07-18 11:41:28 +09:00
Randy Mackay e339149044 Copter: update AC3.2-rc3 ReleaseNotes yet again 2014-07-17 14:27:03 +09:00
Randy Mackay 73fcfbd174 Copter: add no-break to case to resolve compiler warning 
This also helps kick off the auto builder for AC3.2-rc3
 2014-07-17 12:10:45 +09:00
Randy Mackay eb762bc890 Copter: update AC3.2-rc3 Release Notes 2014-07-17 11:52:07 +09:00
Randy Mackay df28db1361 Copter: minor formatting update 2014-07-17 11:49:38 +09:00
Craig Elder 07d43534c1 Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 19:41:43 -07:00
Craig Elder 3c9c943b67 Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:03:29 -07:00
Craig Elder e85c9f078d Copter: Change Radio Failsafe Timeout 
Change Radio Failsafe Timeout from 2 seconds to 200ms
 2014-07-16 11:02:32 -07:00
Randy Mackay 34984cc2d1 Copter: update AC3.2-rc3 Release Notes 2014-07-16 17:55:04 +09:00
Jonathan Challinger fc34a2fed1 Copter: updated AttitudeControl ctor call to reflect changes 2014-07-16 14:40:58 +09:00
Randy Mackay b6ef3dc5d7 Copter: add parenthesis around ntun log bitmask 
Resolves one compiler warning
 2014-07-16 14:40:45 +09:00
bugobliterator 2fd165d023 Copter: Add esc_calib to as an app in cli 
Usage Notes:
- when in cli mode select setup
- inside setup use esc_calib <chan_mask> to launch esc calibration
  e.g. esc_calib 1010 : enable calibration for Motor 2 and Motor 4
 2014-07-14 09:44:36 +10:00
Andrew Tridgell 49954a3a61 Copter: use sensors from board subtypes 2014-07-14 09:44:35 +10:00
Andrew Tridgell fa4abdb0ae Copter: added support for MPU9250 2014-07-14 09:44:34 +10:00
Robert Lefebvre 022425584b TradHeli: Move two static bools into heli_flags structure to save 2 bytes RAM. 2014-07-13 17:11:30 +09:00
Robert Lefebvre 4b9aea2c55 Parameters: Update Tune Comments with new options 2014-07-13 17:11:27 +09:00
Robert Lefebvre aff98e34e5 TradHeli: Force recalc scalers after setting main loop time in MotorsHeli so that ramp scalers are right for 32-bit. 2014-07-13 17:11:25 +09:00
lthall f53181ec66 Copter: Acro balance fix 2014-07-13 15:51:49 +09:00
Andrew Tridgell 71d2333ea8 Copter: changes for more common mavlink code 2014-07-13 15:37:50 +10:00
Andrew Tridgell 28f251005b Copter: fixed typos in parameter markup 2014-07-12 11:26:15 +10:00
Randy Mackay 7f9cd20377 Copter: set UARTs non-blocking at end of initialisation 
Previously we were setting to non-block after arming but this reduce the
chance of bumping into a NuttX USB driver issue that can cause the uart
to become unresponsive and also makes Copter consistent with Plane
 2014-07-11 15:27:29 +09:00
Randy Mackay 34bc136a6c Copter: AC3.2-rc3 version and release notes 2014-07-11 14:18:48 +09:00
Randy Mackay 65e5367619 Copter: rename hybrid to poshold 2014-07-11 14:09:01 +09:00
Randy Mackay 0fc73a0a21 Copter: rename control_hybrid to poshold 2014-07-11 14:06:53 +09:00
Randy Mackay b565d43d5d Copter: PREFLIGHT_SET_SENSOR_OFFSETS used to set compass offsets 
remove deprecated ardupilot specific SET_MAG_OFFSETS
 2014-07-10 20:25:18 +09:00
Randy Mackay 2c085c300d Copter: only save compass offsets when learning is on 2014-07-10 20:25:16 +09:00
Randy Mackay b799020e25 Copter: pre-arm check uses compass configured method 2014-07-10 20:24:53 +09:00
svefro e892b4cd04 Copter: Ch7/8 option to retract mount 
-Define AUX_SWITCH_RETRACT_MOUNT in defines.h
-Added 27=Retract Mount to Parameters.pde CH7 and CH8
-added int on CH7/8opt AUX_SWITCH_RETRACT_MOUNT
-Added Case #if Mount == ENABLE to set mount mode
made set_mode public in AP_Mount.h lib
 2014-07-10 13:03:28 +09:00
Randy Mackay e1a6b07e60 Copter: setting ESC param to 2 skips high throttle check 
This allows the all-at-once ESC calibration to be performed on a setup
in which the RC input takes some time to come online.
 2014-07-09 13:25:08 +09:00
Robert Lefebvre 4b5167e529 TradHeli: Change behavior of Acro and Stabilize modes when disarmed. Servos should move realistically for testing when disarmed. 2014-07-08 20:18:32 +09:00
Robert Lefebvre 5b13b2b3da TradHeli: Stabilize mode should use get_pilot_desired_collective, not get_pilot_desired_throttle. 2014-07-08 20:18:29 +09:00
Robert Lefebvre 032f321348 TradHeli: Acro mode uses full collective range. 2014-07-08 20:18:27 +09:00
Robert Lefebvre c7ccd22d96 TradHeli: Set main loop rate time in motors class. 2014-07-08 20:18:24 +09:00
Robert Lefebvre 7ef4c11c92 TradHeli: Initialize Rate FF filters. 2014-07-08 20:18:16 +09:00
Robert Lefebvre 8eb557d1e0 TradHeli: Add Heli.h file 2014-07-08 20:18:10 +09:00
Robert Lefebvre 1f422c86c1 Arducopter: Add independent rate roll and pitch P, I, D tuning options. Add rate feedforward tuning options for tradheli. 2014-07-08 20:18:08 +09:00
Robert Lefebvre 08e135151a TradHeli: Add Mode Filter on RC8 input for RSC Controller. 2014-07-08 20:18:00 +09:00
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