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4186 Commits

Author SHA1 Message Date
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
Andrew Tridgell ae350e42aa Copter: show next wp when not running a mission 
this lets the GCS know what wp would be run if auto mode is selected
 2014-04-07 11:41:05 +10:00
Andrew Tridgell 454d1f26c3 Copter: added support for SERIAL_CONTROL message 2014-04-05 07:34:34 +11:00
Andrew Tridgell 339689b578 Copter: fixed load average for different loop rates 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-04 21:37:56 +11:00
Andrew Tridgell 27ad8c39d6 Copter: enable passthrough auxillary channels 2014-04-03 12:19:44 +11:00
Andrew Tridgell 7bf12cfd8a Copter: update for gps.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell 852cdbaa7c Copter: added GPS parameters 2014-04-01 06:38:25 +11:00
Andrew Tridgell 640b64f5e4 Copter: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell 198388b5e0 Copter: use AP_GPS_Auto for 2nd GPS 2014-04-01 06:38:23 +11:00
Kevin Hester 5fb3b031f1 Copter: disambiguate the various causes of "Bad GPS Pos" 
I've seen a fair number of user questions where they are confused by
"Bad GPS Pos" on their GCS/not being allowed to arm.  This change splits
the remaining causes of this fault into separate messages.

Hopefully this increases the odds of the user self diagnosing...
 2014-03-31 21:59:12 +09:00
Randy Mackay 9e7021cc20 Copter: Notify arming failure when using MAVLink 2014-03-31 20:34:31 +09:00
Jonathan Challinger 608b8b0a2c Copter: integrate Notify arming failure when using yaw sticks 2014-03-31 20:34:29 +09:00
Randy Mackay 4b6f03cc11 Copter: remove do_land's use of RTL_ALT_MAX 2014-03-31 20:34:21 +09:00
Jonathan Challinger 2601ac9959 Copter: Remove 80m altitude limit on RTL 2014-03-31 20:34:19 +09:00
Jonathan Challinger 045c6d8c3f Copter: Only play GPS tone when armed 2014-03-31 20:34:16 +09:00
Randy Mackay d9fd577fb0 Copter: add Drift throttle assist constraints 2014-03-31 15:40:00 +09:00
Jason Short 50dcbe6549 Copter: Drift throttle assist range increased 
Throttle assist is applied from 213 ~ 787
Deadband and constraint added
 2014-03-31 13:09:57 +09:00
Jason Short bccf1de563 Copter: add drift throttle assist 2014-03-31 13:09:54 +09:00
Randy Mackay 7d5d0d12a2 Copter: spline bug fixes 
Next waypoint's location must be passed in even if it's a straight
segment.
mission.get_next_nav_cmd's start_index should be the current command +1
 2014-03-29 17:57:45 +09:00
Randy Mackay ac364c93dd Copter: bug fix for simple_mode when run at 400hz 
Mark radio frame as consumed so that simple mode does not apply the yaw
correction more than once when run at very high rates (like 400hz on
Pixhawk)
 2014-03-28 17:03:31 +09:00
Randy Mackay 176a450ad2 Copter: remove spline handling from regular wp_nav 2014-03-28 09:23:41 +09:00
Randy Mackay d541fefab4 Copter: add do_spline_wp and verify_spline_wp functions 2014-03-28 09:23:33 +09:00
Randy Mackay 8f946a3a8c Copter: remove original_wp_bearing 
To-Do: extend wpnav yaw control to only repoint nose towards waypoint if
it is more than 5m or 10m away
 2014-03-28 09:23:21 +09:00
Randy Mackay 392162747a Copter; integrate WPNAV's get_yaw 2014-03-28 09:23:17 +09:00
Randy Mackay 3753550a72 Copter: integrate get_spline_yaw 2014-03-28 09:23:11 +09:00
Randy Mackay c0f12911ec Copter: minor format change 2014-03-28 09:23:02 +09:00
Randy Mackay 0822adfb34 Copter: integrate spline navigation 2014-03-28 09:22:59 +09:00
Andrew Tridgell 78ba1a33aa Copter: support 18 input channels in MAVLink 2014-03-25 14:47:43 +11:00
Andrew Tridgell c0767eebff Copter: support 14 RC channels on PX4 2014-03-25 14:47:05 +11:00
Andrew Tridgell e1b9135946 Copter: updates for new RCInput API 2014-03-25 14:47:04 +11:00
Andrew Tridgell 3362e42478 Copter: consider health of primary compass in SYS_STATUS, pre-arm and compassmot 
this should prevent users from taking off with only secondary compass
 2014-03-24 19:52:08 +11:00
Andrew Tridgell 11e5b95878 Copter: updates for GPS changes 2014-03-24 12:04:46 +11:00
Randy Mackay 71f61c9bef Copter: fix typo to show ATUN FMT in dataflash logs 2014-03-21 15:44:06 +09:00
Andrew Tridgell 4a01315fc5 Copter: enable logging of RADIO_STATUS 2014-03-20 09:56:37 +11:00
Andrew Tridgell a345a9d993 Copter: removed check on target component in arm 
Thanks to DonLakeFlyer for finding this, see
https://github.com/diydrones/ardupilot/pull/909
 2014-03-20 09:06:28 +11:00
Randy Mackay 88527cd01c Copter: integrate Mission cmd field changes 2014-03-19 12:14:25 +09:00
Andrew Tridgell e4b3323455 Copter: use common deferred message handling 2014-03-19 12:14:20 +09:00
Andrew Tridgell 69252868a8 Copter: use common MISSION_ITEM handling 2014-03-19 12:14:12 +09:00
Andrew Tridgell f4ed2beacd Copter: use new common MAVLink message handlers 2014-03-19 12:13:40 +09:00
Randy Mackay 6ef2b55602 Copter: use common GCS_MAVLink handle_mission methods 2014-03-19 12:13:22 +09:00
Andrew Tridgell 85725de9cb Copter: use new handle_mission_request() 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:13:15 +09:00
Randy Mackay a3573f9ebd Copter: minor typo in do_change_speed processing 
It is unlikely that the "f" at the end of the 100 is required to
maintain the full precision of the target speed but added just in case
 2014-03-19 12:12:55 +09:00
Randy Mackay 08b78db43c Copter: use mission command specific structures 2014-03-19 12:12:54 +09:00
Randy Mackay 2f8daf2fa9 Copter: integrate dataflash Log_Write_MavCmd 2014-03-19 12:12:46 +09:00
Randy Mackay edab06a3ff Copter: truncate mission before uploading new mission 
replacing clear with truncate allows new missions to be uploaded while
the current mission is running
 2014-03-19 12:12:36 +09:00
Randy Mackay f3813593b7 Copter: use Dataflash lib's Log_Write_Cmd 2014-03-19 12:12:11 +09:00
Randy Mackay 7b6906ae3f Copter: integrate variable max num commands 2014-03-19 12:12:01 +09:00
Randy Mackay b587d0d597 Copter: pass eeprom start to Mission constructor 2014-03-19 12:11:56 +09:00
Randy Mackay b718b9070a Copter: call mission.init during startup 2014-03-19 12:11:47 +09:00
Randy Mackay cc7b1c4e9c Copter: init_home checks cmd read success before logging 2014-03-19 12:11:39 +09:00
Randy Mackay fa96e9355b Copter: init cmd before saving with Ch7/Ch8 2014-03-19 12:11:21 +09:00
Randy Mackay 0fc36fd244 Copter: CMD dataflash logs use uint16 for total and num 2014-03-19 12:11:15 +09:00
Randy Mackay 6bb05750e7 Copter: remove alt_in_cm from mavlink to cmd conversion 2014-03-19 12:11:04 +09:00
Randy Mackay 04166c1686 Copter: replace memset in GCS_Mavlink 2014-03-19 12:10:52 +09:00
Randy Mackay c3162f67e8 Copter: integrate move of p1 from Location to mission cmd 2014-03-19 12:10:48 +09:00
Randy Mackay aade894014 Copter: integrate replace_cmd 2014-03-19 12:10:43 +09:00
Randy Mackay 54c99d84ea Copter: integrate AP_Mission set_current_cmd 2014-03-19 12:10:39 +09:00
Randy Mackay 36af34bf8b Copter: send current wp as 65535 to GCS when mission complete 2014-03-19 12:10:34 +09:00
Randy Mackay 92738533fe Copter: auto starts only when num cmds > 1 
num_commands will be 1 when there is no mission because home counts as
the first command
 2014-03-19 12:10:30 +09:00
Randy Mackay f77b2af661 Copter: use common location options masks 2014-03-19 12:10:26 +09:00
Randy Mackay 070cbc9250 Copter: use Mission mav to cmd conversion methods 2014-03-19 12:10:24 +09:00
Randy Mackay 67a4b47f6b Copter: pass ahrs into mission constructor 2014-03-19 12:10:15 +09:00
Randy Mackay 37fe229ded Copter: remove unused definitions 2014-03-19 12:10:12 +09:00
Randy Mackay 359f1a27ec Copter: process cmds from mission lib 2014-03-19 12:10:11 +09:00
Randy Mackay 6e0e672fb2 Copter: log using mission commands 2014-03-19 12:10:09 +09:00
Randy Mackay 43c7310540 Copter: ch7 save wp feature to use ap_mission 2014-03-19 12:10:08 +09:00
Randy Mackay ffc418dfe3 Copter: add mavlink packet to cmd conversion to GCS_Mavlink.pde 2014-03-19 12:10:06 +09:00
Randy Mackay 9f03e21f81 Copter: remove low-level handling of mission cmds 
Now handled by AP_Mission
 2014-03-19 12:10:04 +09:00
Randy Mackay 5d568502a0 Copter: instantiate AP_Mission object 2014-03-19 12:10:03 +09:00
Randy Mackay 1bad6a4b15 Copter: add AP_Mission object parameter 
Remove global command_total and command_index parameters
 2014-03-19 12:10:01 +09:00
Randy Mackay 0d23c3b910 Copter: initialise vertical speed for Loiter mode 2014-03-17 10:17:57 +09:00
Holger Steinhaus 39df609235 Copter: fixed vertical speed init for ALT_HOLD mode 2014-03-17 10:12:35 +09:00
Andrew Tridgell 43d009e3a5 Copter: set 2nd GPS as secondary 2014-03-08 21:48:18 +11:00
Randy Mackay 9287e28307 Copter: bug fix display of PerfMon log's num long loops 2014-03-08 15:17:03 +09:00
Randy Mackay 54e131cf1f Copter: re-enable CLI for Pixhawk 2014-03-08 15:17:02 +09:00
Randy Mackay 6efc26d3a6 Copter: restore mount's mode to default after ROI completes 2014-03-05 16:02:14 +09:00
Randy Mackay 7992a1a7d3 Copter: disable the CLI by default 
This is unfortunate but master's flash size is over the APM2 limit
 2014-03-05 12:03:56 +09:00
Randy Mackay 4f963e7795 Copter: move report_compass out of the CLI 
This function is also used by compassmot.  Having it strictly part of
the CLI causes a compile error when the CLI is disabled
 2014-03-05 12:01:45 +09:00
Randy Mackay 00f9843e40 Copter: remove CLI tests for gps, logging, radio 
Required to shrink the firmware down so that it can fit on the APM2
boards
 2014-03-05 11:44:09 +09:00
Randy Mackay fc85228d09 Copter: remove CLI set 
Frees about 1k of flash
 2014-03-04 22:23:57 +09:00
Randy Mackay 3a934357e9 Copter: remove unused reset_land_detector 2014-03-04 22:23:55 +09:00
Randy Mackay c56f521897 Copter: ch6 tuning of RC_FEEL_RP 2014-03-04 22:23:53 +09:00
Randy Mackay e89600afe3 Copter: integrate smoothing gain into flight modes 2014-03-04 22:23:52 +09:00
Randy Mackay 3910ab807f Copter: replace input filtering with smoothing gain 2014-03-04 22:23:50 +09:00
Randy Mackay 429e8d5e50 Copter: integrate AttControl feel param 2014-03-04 22:23:49 +09:00
lthall a9db399f60 Copter: integrate AttControl input shaping 2014-03-04 21:52:20 +09:00
Andrew Tridgell 86fa82f767 Copter: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:47 +11:00
Andrew Tridgell 3de574e5dc Copter: disable GPS2 in HIL 2014-02-27 08:16:20 +11:00
Andrew Tridgell 37394b30ee Copter: added support for 2nd GPS 2014-02-26 09:40:29 +11:00
Andrew Tridgell 2fcbdc4056 Copter: pass fix type to gps->setHIL() 2014-02-25 21:11:10 +11:00
Andrew Tridgell ffcc77a21f Copter: fix for HIL API change 2014-02-23 08:18:20 +11:00
Randy Mackay d992483bf5 Copter: add EKF params to full param list 2014-02-21 13:51:22 +09:00
Randy Mackay 797212c7ab Copter: remove remnant of cli compassmot 2014-02-19 16:04:10 +11:00
Randy Mackay 2457dbf0cd Copter: more checks before starting compassmot 
additional checks that copter is landed and that compassmot calibration
isn't already being performed.
Returns ACK to ground station as process begins
 2014-02-19 16:04:03 +11:00
Andrew Tridgell 76b60a1a52 Copter: added compassmot over MAVLink 
use the MAVLink interact code to allow for compassmot over MAVLink

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-02-19 16:04:00 +11:00
Andrew Tridgell a45d77f893 Copter: set the ahrs.set_armed() flag 2014-02-19 10:53:44 +11:00
Andrew Tridgell 0cbe64bc5e Copter: use Log_Write_Baro() 
this gives the raw pressure and temperature, which is useful for
analysis, plus allows for more accurate log replay
 2014-02-19 09:22:45 +11:00
Randy Mackay fdae812814 Copter: DO_SET_ROI persists across waypoints 
Users should add a DO_SET_ROI command with zero lat, lon and alt to
restore the yaw control to the default control (which is normally
look-at-next-wp)
 2014-02-18 21:36:02 +09:00
Randy Mackay bf68edd01c Copter: bug fix to 50hz logging rate 
Caught by Emile Castelnuovo
 2014-02-17 22:25:02 +09:00
Randy Mackay d9b7559379 Copter: remove duplicate #define from APM_Config.h 2014-02-17 16:44:47 +09:00
Randy Mackay 4e1c51aa65 Copter: bug to disarm at end of mission 2014-02-17 16:43:49 +09:00
Andrew Tridgell ce66314f40 Copter: fixed HIL build on PX4 2014-02-17 12:34:34 +11:00
proficnc bbf5c11c8a Update Parameters.pde 
Moved Disabled to the bottom of the drop-down box for selecting logging types.
This is to reduce the potential for someone to accidentally select Disabled when they intend on selecting Default.
 2014-02-17 10:02:45 +11:00
Randy Mackay 00913ffe1b Copter: throttle rate to simple P controller 
Saves at least 15bytes of RAM
 2014-02-16 13:35:40 +11:00
Randy Mackay 9444ba7ea8 TradHeli: init roll/pitch input filter 2014-02-16 13:35:33 +11:00
Randy Mackay b259510095 Copter: init roll/pitch input filters 2014-02-16 13:35:30 +11:00
Andrew Tridgell 9c66dd0d2c Copter: change to Compass::learn_offsets 2014-02-16 13:22:13 +11:00
Randy Mackay aab9b30bf6 Copter: replace APM_PI with AC_P 
Saves about 90bytes of RAM
 2014-02-15 06:09:08 +11:00
Randy Mackay 3f10a84a2a Copter: remove accel calibration from cli 
Also remove compass, flight mode, optical flow, radio and ch6 tuning
knob setup from cli to free up 3.5k of flash
 2014-02-15 06:09:08 +11:00
Randy Mackay 3ccd1ad170 Copter: integrate AttControl method name changes 2014-02-15 06:09:08 +11:00
Randy Mackay 6880a6db80 TradHeli: integrate AttControl method name changes 2014-02-15 06:09:08 +11:00
lthall 7ed5080dc9 Copter: simplify get_angle_targets_for_reporting 2014-02-15 06:09:08 +11:00
lthall 41dcfae7c0 AC Acro and Sport: Angle limit code update 2014-02-15 06:09:08 +11:00
Andrew Tridgell ebf6d47830 Copter: disable direct tuning, we need accessors for this 2014-02-15 05:48:24 +11:00
Andrew Tridgell 2fbdf7f718 Copter: fixed build for AHRS API changes 2014-02-15 05:48:22 +11:00
Andrew Tridgell a8dc1be4de Copter: fixed non-EKF copter build 2014-02-15 05:48:21 +11:00
Randy Mackay 20989fd5e9 Copter: allow ch6 tuning of EKF 2014-02-15 05:48:20 +11:00
Andrew Tridgell 86afd13f12 Copter: use GPS AIRBORNE_4G 2014-02-15 05:48:17 +11:00
Andrew Tridgell a112694a50 Copter: added AUX switch option for enable/disable EKF 2014-02-15 05:48:17 +11:00
Andrew Tridgell 5606e2f4a7 Copter: enabled EKF and SIMSTATE flash logging 2014-02-15 05:48:16 +11:00
Andrew Tridgell 6a9189a6a5 Copter: enable AHRS2 mavlink message 2014-02-15 05:48:16 +11:00
Andrew Tridgell 99b3517a47 Copter: use AP_InertialNav_NavEKF when available 2014-02-15 05:48:15 +11:00
Andrew Tridgell 686d1b9124 Copter: changes set_home_position() to setup_home_position() for Inav 2014-02-15 05:48:15 +11:00
Andrew Tridgell c6e25483b4 Copter: use a common home with AHRS 2014-02-15 05:48:15 +11:00
Andrew Tridgell 9cc00d20eb Copter: fixed for removed DCM blowup counts 2014-02-15 05:29:48 +11:00
Andrew Tridgell 79a29d12f2 Copter: fixed build for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell af5a3dff93 Copter: enable use of AHRS_NavEKF 2014-02-15 05:29:47 +11:00
Andrew Tridgell 24f2ac20de Copter: removed HIL_MODE_ATTITUDE 
this really can't work any more, as AHRS can't support it
 2014-02-15 05:29:46 +11:00
Andrew Tridgell 644bf71f56 Copter: fixed build for InertialNav change 2014-02-15 05:29:46 +11:00
Randy Mackay 006cf58b2d Copter: fix merge error for g.angle_max 2014-02-15 05:27:51 +11:00
Randy Mackay 5e8fede19e Copter: comment fix to Attitude.pde 2014-02-15 05:27:50 +11:00
Randy Mackay aa79e22ce0 Drift: bug fix for throttle 2014-02-15 05:27:50 +11:00
Randy Mackay 10a0303706 Copter: smooth throttle transition between flight modes 2014-02-15 05:27:50 +11:00
Randy Mackay 0df1dc267b Copter: integrate WPNav constructor change 2014-02-15 05:27:50 +11:00
Randy Mackay 1b8055aed9 Copter: remove unused t7 const 
Saves 4 bytes
 2014-02-15 05:27:49 +11:00
Randy Mackay 2b3995ccb5 Copter: integrate refs for RC_Channels in motor defs 2014-02-15 05:27:49 +11:00
Randy Mackay 9f78f65413 TradHeli: integrate leonard's control_acro fixes 2014-02-15 05:27:49 +11:00
Randy Mackay bf6bb59cb4 Copter: Leonard's control_acro fixes 
get_pilot_desired_angle_rates returns bf rate targets as floats
 2014-02-15 05:27:49 +11:00
Randy Mackay 6380a39d3a Copter: remote update_trig from main code 2014-02-15 05:27:48 +11:00
Randy Mackay 75b20bde7c Copter: control_acro, drift use trig from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay aa4c3eaffe Copter: resolve RTL state compiler warnings 2014-02-15 05:27:48 +11:00
Randy Mackay 12a4ce70fd Copter: remove control_roll, pitch, yaw variables 2014-02-15 05:27:47 +11:00
Randy Mackay 2c1ec9d0c0 Copter: remove control_roll, pitch, yaw from control files 2014-02-15 05:27:47 +11:00
Randy Mackay e8c4e8a472 Copter: integrate get_angle_target_for_reporting 
Used for logging and sending to GCS
 2014-02-15 05:27:47 +11:00
Randy Mackay d579325e2a Copter: add get_angle_targets_for_reporting 
This returns the current earth frame roll, pitch and yaw targets which
can depend upon the flight mode
 2014-02-15 05:27:47 +11:00
Randy Mackay 1acd33e290 Copter: do_yaw takes yaw target from AttControl 2014-02-15 05:27:47 +11:00
Randy Mackay ea1158a9d5 Copter: remove unused config 2014-02-15 05:27:47 +11:00
Randy Mackay 9ef3fd850f Copter: remove use of SUPER_SIMPLE definition 2014-02-15 05:27:47 +11:00
Randy Mackay b37b0c5061 TradHeli: remove use of throttle_mode 2014-02-15 05:27:47 +11:00
Randy Mackay b0673d693b Copter: move set_mode, to flight_mode.pde 2014-02-15 05:27:47 +11:00
Randy Mackay b8bb477731 Copter: add flight_mode.pde 2014-02-15 05:27:47 +11:00
Randy Mackay 38d5148b99 Copter: remove reset_I_all 
Each controller should reset the I terms as needed
 2014-02-15 05:27:47 +11:00
Randy Mackay 72a3f14561 Copter: move reset_optflow_I to control_ofloiter 2014-02-15 05:27:46 +11:00
Randy Mackay 7afa0a767c Copter: correct circle rate tuning to use circle_nav 2014-02-15 05:27:46 +11:00
Randy Mackay 3e399fd830 Copter: remove unused parameters 2014-02-15 05:27:46 +11:00
Randy Mackay 81c7df7678 Copter: comment fix 2014-02-15 05:27:46 +11:00
Randy Mackay 0e0d02cd6d Copter: remove unused init from sport mode 2014-02-15 05:27:46 +11:00
Randy Mackay 3d926a6943 Copter: GCS_Mavlink gets gyro direct from imu 2014-02-15 05:27:46 +11:00
Randy Mackay f46ff2b44e Copter: remove unused defines 2014-02-15 05:27:46 +11:00
Randy Mackay fe26af86de Copter: crash check works with flip flight mode 2014-02-15 05:27:46 +11:00
Randy Mackay 22280e1c57 Copter: integrate surface_tracking to control_althold 2014-02-15 05:27:46 +11:00
Randy Mackay 3824f528ea Copter: get angle_boost direct from pos_control 2014-02-15 05:27:46 +11:00
Randy Mackay 90c5fe4be4 Copter: surface_tracking takes current_alt_target param 2014-02-15 05:27:46 +11:00
Randy Mackay 989a03a643 Copter: remove unused flags and variables 2014-02-15 05:27:45 +11:00
Randy Mackay 174318a2a9 Copter: remove set_nav_mode 2014-02-15 05:27:45 +11:00
Randy Mackay aedb4136de Copter: update_thr_cruise removed from control_stabilize 2014-02-15 05:27:45 +11:00
Randy Mackay 223c6fd4de Copter: remove deadwood, update_thr_cruise always runs 2014-02-15 05:27:45 +11:00
Randy Mackay 2870d043f8 Copter: remove unused drift.pde 
moved to control_drift.pde
 2014-02-15 05:27:45 +11:00
Randy Mackay 1cd678f684 Copter: compiler warning for control_autotune 2014-02-15 05:27:45 +11:00
Randy Mackay d3a126d078 Copter: integrate slew_yaw into control_auto 2014-02-15 05:27:45 +11:00
Randy Mackay 364946cb7f Copter: AttControl param prefix shortened to ATC 2014-02-15 05:27:45 +11:00
Randy Mackay 814157324d Copter: APM_Config AUTOTUNE_ENABLED 2014-02-15 05:27:45 +11:00
Randy Mackay 89a50ed445 Copter: comment fix for control_stabilize 2014-02-15 05:27:45 +11:00
Randy Mackay 0107b2a95d Copter: remove unused auto_tune.pde 2014-02-15 05:27:44 +11:00
Randy Mackay aec67cd3df Copter: integrate control_autotune 2014-02-15 05:27:44 +11:00
Randy Mackay 823485f763 Copter: add control_autotune.pde 2014-02-15 05:27:44 +11:00
Randy Mackay b87852ee2e Copter: remove unused flip.pde 2014-02-15 05:27:44 +11:00
Randy Mackay d90d3d8dca Copter: integrate control_flip 2014-02-15 05:27:44 +11:00
Randy Mackay 47deb795bd Copter: add control_flip 2014-02-15 05:27:44 +11:00
Randy Mackay 1648ecc6e5 Copter: bug fix for heli_control_acro throttle 2014-02-15 05:27:44 +11:00
Randy Mackay c73c9f03a5 Copter: bug fix for control_acro throttle 2014-02-15 05:27:44 +11:00
Randy Mackay 164bd10ef0 TradHeli: init targets when entering acro 2014-02-15 05:27:44 +11:00
Randy Mackay fdf41219ca Copter: init targets when entering acro 2014-02-15 05:27:44 +11:00
Randy Mackay 9f33873b2e Copter: typo in control_acro.pde 2014-02-15 05:27:44 +11:00
Randy Mackay ec989c720c Copter: integrate heli_control_acro 2014-02-15 05:27:43 +11:00
Randy Mackay 5aaa01ab30 TradHeli: heli_control_acro 2014-02-15 05:27:43 +11:00
Randy Mackay 922dff0514 Copter: integrate heli_control_stabilize 2014-02-15 05:27:43 +11:00
Randy Mackay 41ab2547d7 Copter: control_stabilize remove takeoff_complete 2014-02-15 05:27:43 +11:00
Randy Mackay bca309eb1e Copter: replace takeoff_complete with landed_complete 2014-02-15 05:27:43 +11:00
Randy Mackay 2940688301 TradHeli: heli_control_stabilize 2014-02-15 05:27:43 +11:00
Randy Mackay 91124bcf8b TradHeli: remove get_heli_rate_yaw from main code 2014-02-15 05:27:43 +11:00
Randy Mackay 3b0de0d23d Copter: integrate trad heli AttControl 2014-02-15 05:27:43 +11:00
Randy Mackay ef666c73ab Copter: remove Position mode 2014-02-15 05:27:42 +11:00
Randy Mackay c632211c8c Copter: get_of_roll, get_of_pitch moved to control_ofloiter 2014-02-15 05:27:42 +11:00
Randy Mackay 837061fd65 Copter: control_ofloiter added 2014-02-15 05:27:42 +11:00
Robert Lefebvre c561d6bb9e Small comment change. 2014-02-15 05:27:42 +11:00
Randy Mackay 54be8402a2 Copter: integrate control_guided 2014-02-15 05:27:42 +11:00
Randy Mackay 798add0b5c Copter: remove guided from control_auto.pde 2014-02-15 05:27:42 +11:00
Randy Mackay 0e41b01ad0 Copter: control_guided added 2014-02-15 05:27:41 +11:00
Randy Mackay 245bcd7c2c Copter: removed althold, drift, sport from control_stabilize 2014-02-15 05:27:41 +11:00
Randy Mackay d85c57999d Copter: althold moved to control_althold.pde 2014-02-15 05:27:41 +11:00