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402 Commits

Author SHA1 Message Date
Andrew Tridgell f19922fec5 Copter: added LAND_SPEED_HIGH parameter 
this is the descent rate for the first part of a landing. Separating
this from WPNAV_SPEED_DN allows for independent tuning of fast fwd
flight from landings
 2016-03-30 15:54:20 +11:00
Lucas De Marchi e88ba38595 ArduCopter: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Paul Riseborough a7b69366a1 Copter: Add flight mode for throw launch 
The is commit adds a new flight mode called 'Throw' to Copter that enables the copter to be thrown into the air to start motors. This mode can only be netered when the copters EKF has a valid position estimate and goes through the following states

Throw_Disarmed - The copter is disarmed and motors are off.
Throw_Detecting - The copter is armed, but motors will not spin unless THROW_MOT_START has been set to 1. The copter is waiting to detect the throw. A throw with an upwards velocity of at least 50cm/s is required to trigger the detector.
Throw_Uprighting - The throw has been detected and the copter is being uprighted with 50% throttle to maximise control authority. This state transitions when the copter is within 30 degrees of level.
Throw_HgtStabilise - The copter is kept level and height is stabilised about the target height which is 3m above the height at which the throw release was detected. This state transitions when the height is no more than 0.5m below the demanded height.
Throw_PosHold - The horizontal motion is arrested and the copter is kept at a constant position and height.
 2016-03-03 12:18:13 +09:00
Jonathan Challinger 3800c66f07 Copter: add RTL_CONE_SLOPE 2016-01-07 17:22:33 +09:00
Andrew Tridgell 5c94b61f49 Copter: support up to 14 input channels for all boards 2016-01-04 08:22:51 +11:00
Randy Mackay 1155b1f557 Copter: remove precision landing PI controller 
This controller has been moved into the precision landing class
 2015-12-31 15:30:36 +09:00
pepevalbe 3b3205304b Copter: added group parameter for AP_Notify library 2015-12-31 11:33:08 +09:00
Peter Barker f57d237181 Copter: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Tom Pittenger 34d6d985e9 Copter: Add support for ADS-B 2015-11-27 15:02:15 +09:00
Jonathan Challinger 5086168b03 Copter: add RTL_SPEED parameter 2015-11-16 10:20:32 +09:00
Robert Lefebvre 5cc4f41d85 Copter: Helicopter: to use new Stab_Col and Acro_Col functions. 2015-11-12 19:37:23 +09:00
Robert Lefebvre 34fb600c4f Copter: Utilize Input Manager Class 2015-11-12 19:37:22 +09:00
Andrew Tridgell 053194fd51 Copter: added EK2_* parameters and EKF2 instance 2015-09-23 11:56:33 +10:00
Randy Mackay 7db77482f5 Copter: precision landing velocity PI object 
Follow up changes required to actually use this PI during landing
 2015-08-31 18:00:32 +09:00
Randy Mackay 26ded641db Copter: integrate Precision Landing lib 2015-08-31 18:00:28 +09:00
Robert Lefebvre 990761a13b Copter: Create new heli RSC RC Channel object. 2015-08-31 11:27:50 +09:00
Andrew Tridgell ff934d5bca Copter: added FS_CRASH_CHECK parameter 
this allows automatic crash detection to be disabled
 2015-08-31 12:15:46 +10:00
Andrew Tridgell 90909f2b4a Copter: added DISARM_DELAY parameter 
this allows automatic disarming to be disabled, or set to a shorter or
longer time as appropriate for the user
 2015-08-31 11:44:08 +10:00
Stewart Loving-Gibbard 7cb494d8e2 Copter: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more. 
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
 2015-08-29 08:05:59 +10:00
Randy Mackay a10a74d498 Copter: AUTOTUNE_MIN_D param to allow controlling minimum D 2015-08-23 14:56:39 +09:00
Andrew Tridgell 1fdf7ec83f Copter: added RPM sensor support 
send result via MAVLink
 2015-08-12 15:03:50 +10:00
Gustavo Jose de Sousa 4d4b856735 ArduCopter: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00
Randy Mackay 063faa0383 Copter: add RTL_CLIMB_MIN 
Vehicle climbs at least this many cm when entering RTL
 2015-07-13 20:38:52 +09:00
Randy Mackay f93a259b04 Copter: add comment to Solo section in Parameters.h 2015-06-14 14:47:02 +09:00
Jonathan Challinger fd37a48f8e Copter: clean up Parameters.h comments a bit 2015-06-14 14:44:15 +09:00
Jonathan Challinger 035c0b567e Copter: reserve param indices that exist in Solo repo 2015-06-14 14:44:13 +09:00
Randy Mackay aa05325b54 Copter: add althold as ekf failsafe action 2015-06-10 12:06:08 +09:00
Randy Mackay 4408f01f39 Copter: rename ekf_check_thresh to fs_ekf_thresh 2015-06-10 12:06:06 +09:00
Andrew Tridgell 1792710f41 Copter: added a bit in LOG_BITMASK for PID logging 2015-05-27 15:09:47 +10:00
Andrew Tridgell 22524daf5f Copter: added GCS_PID_MASK for mavlink rate tuning 2015-05-27 14:28:46 +10:00
Robert Lefebvre 575a5ad619 Copter: Set better default Rate PIDs for TradHeli 2015-05-22 09:38:26 +09:00
Randy Mackay d8b7e4a199 Copter: add support for 4th mavlink channel 2015-05-15 15:07:27 +09:00
Jonathan Challinger 73d961cebc Copter: mavlink initiated takeoff in alt-hold modes 
adds PILOT_TKOFF_ALT for target altitude above home in cm for pilot initiated takeoff
 2015-05-01 12:56:18 +09:00
Jonathan Challinger b10cf0f38a Copter: pre-takeoff throttle for sprung throttle sticks 
Adds PILOT_THR_BHV, PILOT_TKOFF_DZ parameters
 2015-05-01 12:56:16 +09:00
Jonathan Challinger 91a03ae0e7 Copter: add PILOT_THR_FILT and call set_throttle_out functions with that value 2015-04-16 21:00:11 +09:00
Randy Mackay 74b98b89d0 Copter: remove dcm check 2015-03-27 00:04:37 -07:00
Robert Lefebvre a5af151a91 Copter: Initial expansion of Aux Switch to Ch7-12 2015-03-17 21:18:41 +09:00
Randy Mackay b10730f35c Copter: remove THR_MAX parameter 2015-03-16 14:49:34 +09:00
Randy Mackay fbfc94cf69 Copter: remove GPS glitch and failsafe 
The EKF failsafe now captures all failures that could lead to a bad
position including GPS glitches and a bad compass meaning we do not need
this protection in the main flight code.
 2015-03-13 16:40:46 +09:00
Randy Mackay 6f6847c025 Copter: use only InertialNav_EKF 
remove calls to unsupported functions including ignore_next_error,
set_altitude, etc.
 2015-03-13 16:40:37 +09:00
Randy Mackay d7f624be39 Copter: remove baro_glitch protection 2015-03-13 16:40:27 +09:00
Andrew Tridgell 3f906f6bd1 Copter: added CLI_ENABLED option 2015-03-09 17:58:37 +11:00
Leonard Hall d5bbe6de03 Copter: remove TRIM_THROTTLE 
throttle_trim is replaced by throttle_average which is initialised to
the throttle_mid parameter value at startup
 2015-03-06 14:02:19 +09:00
Leonard Hall c78480e14f Copter: rename loiter_pos to pos_xy 
Also renamed throttle_rate to vel_z, throttle_accel to accel_z
 2015-03-06 14:02:17 +09:00
Leonard Hall e232867661 Copter: move LOITER_RATE to 2-axis PI controller 
Also rename LOITER_RATE to VEL_XY for parameters, definitions, variables
 2015-03-06 14:02:15 +09:00
Leonard Hall 2b0fb45fe8 Copter: integrate PID input filter 2015-03-06 14:02:11 +09:00
Leonard Hall a9a6e8856b Copter: add AUTOTUNE_AGGR parameter 2015-03-06 14:02:02 +09:00
Leonard Hall 864168e5ea Copter: add AUTOTUNE_AXES bitmask parameter 
This is used to allow tuning just some axis
 2015-03-06 14:02:01 +09:00
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 d26fa6d827 Copter: minor format fix 
no functional change
 2015-01-07 11:58:23 +09:00
Robert Lefebvre e10e020062 Copter: Add Landing Gear functionality to main code 2015-01-07 11:58:16 +09:00
Randy Mackay b6bcf841e1 Copter: remove second camera mount 2014-12-16 21:26:20 +09:00
Randy Mackay 67fdfffc2a Copter: remove OF_Loiter PIDs and tuning 2014-12-08 14:58:18 +09:00
Andrew Tridgell c3d839456b Copter: support logging while disarmed 2014-10-17 16:29:59 +09:00
Randy Mackay b0e6931ab0 Copter: add DCM_CHECK_THRESH parameter 2014-10-16 17:22:11 +09:00
Randy Mackay 765ce2f6ca Copter: optflow parameters moved to optflow class 2014-10-15 16:35:36 +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 f3fd79597f Copter: add ACRO_EXPO parameter 2014-08-14 11:47:37 +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
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
Randy Mackay 7cc1501dc6 Copter: integrate baro glitch protection 2014-07-28 22:16:20 +09:00
Andrew Tridgell 0562907d9f Copter: added AP_Terrain library 2014-07-24 21:46:06 +10:00
Randy Mackay a4a4334b13 Copter: add EKFCHECK_COMPASS parameter 2014-07-22 23:13:22 +09:00
Randy Mackay 65e5367619 Copter: rename hybrid to poshold 2014-07-11 14:09:01 +09:00
Andrew Tridgell a4b9b989b7 Copter: convert to new AP_RangeFinder API 2014-07-08 15:08:18 +10:00
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
Robert Lefebvre 5ee87f7561 Copter: Change TradHeli to use new AC_HELI_PID class. 2014-05-29 17:39:04 +09:00
Andrew Tridgell cc6fba4cad Copter: change baudrates parameters to 16 bit 2014-05-21 12:45:25 +10:00
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 f467d7bc20 Copter: add Hybrid parameters 2014-04-23 14:59:25 +09:00
Andrew Chapman fa3732ac6d Copter: integrate AP_Rally 2014-04-19 15:00:23 +09:00
Randy Mackay 037a0b4e5a Copter: dos2unix Parameters.h 2014-04-08 23:30:15 +09:00
Emile Castelnuovo 9e31f032c2 Copter: added VRBRAIN board #includes and #defines 2014-04-08 16:19:20 +10:00
Randy Mackay ff32b27272 Copter: integrate parachute lib 2014-04-07 13:36:44 +09:00
Andrew Tridgell 852cdbaa7c Copter: added GPS parameters 2014-04-01 06:38:25 +11:00
Andrew Tridgell c0767eebff Copter: support 14 RC channels on PX4 2014-03-25 14:47:05 +11:00
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 d992483bf5 Copter: add EKF params to full param list 2014-02-21 13:51:22 +09:00
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 aab9b30bf6 Copter: replace APM_PI with AC_P 
Saves about 90bytes of RAM
 2014-02-15 06:09:08 +11:00
Randy Mackay 3e399fd830 Copter: remove unused parameters 2014-02-15 05:27:46 +11:00
Randy Mackay 3b9ae02966 Copter: add Circle parameter 2014-02-15 05:27:40 +11:00
Randy Mackay 784f7385b5 Copter: add attitude and pos control params 2014-02-15 05:27:35 +11:00
Randy Mackay 7b9a48107e Copter: move angle_max parameter to AP_Vehicle 2014-02-15 05:27:32 +11:00
Randy Mackay 2219f21744 Copter: add RC_FEEL_RP parameter 
Values from 0 ~ 100 control amount of filtering on roll and pitch input.
100 = no filter so crisp feel, 0 = a lot of filtering so very sluggish
response
 2014-02-12 16:28:41 +09:00
Randy Mackay 5d929351ca Copter: removed unused servo3, servo4 from coax 2014-02-07 12:36:17 +09:00
Dneault f48e106271 Copter: add coax heli support 
Motors should be attached to RCOutputs 1 and 2, Flaps should be connected
to RC outputs 3 and 4
 2014-02-07 12:36:04 +09:00
Andrew Tridgell 50a90a1043 Copter: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Lukasz cb17a5bdb6 Copter: Add RSSI_RANGE parameter 
Added ability to rescale rssi input voltage. Useful for receivers like
FrSky which have 3.3V output.
 2013-12-17 22:38:39 +09:00
ctech4285 2b5d8aa5b7 Copter: integrate EPM library 2013-12-17 15:36:42 +09:00
Andrew Tridgell 28d98414e7 Copter: fixed some build warnings 2013-12-11 10:21:20 +11:00
Randy Mackay 59cea4b88c Copter: remove CopterLED from main code 2013-11-30 18:20:55 +09:00
Andrew Tridgell 9c812d5028 Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:05:32 +11:00
Andrew Tridgell a49710f20e Copter: added uartD support 
this also brings GCS_Mavlink.pde closer to the plane implementation
 2013-11-26 13:05:32 +11:00
Randy Mackay ed9f369492 Copter: shorten g.arming_check_enabled variable 
g.arming_check_enabled shortened to g.arming_check
 2013-11-25 17:23:39 +09:00
Randy Mackay c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay 159d6320bf Copter: move SINGLE parameters to start at 75 2013-11-12 23:40:38 +09:00
ssq870424 07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00
Jason Short c3aa56459a Copter: remove unused Toy param 2013-11-02 21:34:50 +09:00
Randy Mackay 97770ae352 Copter: rc10, rc11 available even without MOUNT 2013-10-31 22:55:02 +09:00
Randy Mackay 8386b658e9 Copter: add ANGLE_RATE_MAX param 
Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes
 2013-10-29 11:27:05 +09:00
Randy Mackay 8de6c34252 Copter: comments update for GPS_HDOP_GOOD parameter 2013-10-13 13:53:26 +09:00
Randy Mackay dab4f032f9 Copter: integrate BattMonitor 2013-10-03 11:16:28 +09:00
Randy Mackay 6c5294f89e Copter: integrate GPS_Glitch parameters 2013-09-24 21:41:45 +09:00
Randy Mackay d8eb7fb82f Copter: remove x100 from IMAX definitions 2013-08-19 22:38:34 +09:00
Randy Mackay d000967a76 Copter: pre-arm check for gps hdop < 2 2013-08-15 13:06:36 +09:00
Randy Mackay 6969ab573d Copter: configurable max lean angle 
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
 2013-08-11 12:53:22 +09:00
Randy Mackay 74fb500efe Copter: integrate AC_Sprayer 2013-08-05 21:12:23 +09:00
Randy Mackay 49dbdce89c Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P 2013-08-05 21:05:00 +09:00
Randy Mackay 82082e044c Copter: remove ACRO's axis enabled parameter 
Acro is now body frame (with earth frame leveling) while Sport is earth
frame acro
 2013-08-05 21:04:57 +09:00
Randy Mackay 21e523b9ac Copter: Acro trainer separated into limited and leveled 2013-08-05 21:04:53 +09:00
Randy Mackay aefb38e486 Copter: remove param to disable accel based throttle controller 2013-07-12 22:57:30 +09:00
Randy Mackay 404cd5f3da Copter: rename g.pid_throttle to g.pid_throttle_rate 
Small code clean-up to make throttle rate controller's pid more obvious
 2013-06-30 00:04:21 -10:00
Andrew Tridgell 23eade8f74 Copter: enable RELAY_* parameters 2013-06-25 12:46:53 +10:00
Randy Mackay 213eaa8db6 Copter: integrate draft RCMapper 2013-06-03 16:23:47 +10:00
Randy Mackay 5ee68db6f0 TradHeli: add parameter descriptions 
small formatting changes too
 2013-05-21 15:33:41 +09:00
Randy Mackay bd44c2f73d Copter: all pre-arm checks to be disabled 
set ARMING_CHECK parameter to zero to disable
 2013-05-20 14:48:04 +09:00
Randy Mackay 9fdab5e8fe Copter: remove unused AUTO_SLEW_RATE parameter 2013-05-17 16:09:17 +09:00
Randy Mackay 38239c652a Copter: ch8 aux switch 
Ch8 can be used as an aux switch like ch7.  Has all the same options as
ch7 and there is a safety check to ensure both switches aren't set to
the same function so as to avoid interfering with each other
 2013-05-17 14:42:28 +09:00
Randy Mackay bab9fa25e5 Copter: add GCS failsafe 2013-04-29 21:30:22 +09:00
Randy Mackay c232d7af4b Copter: correct fence parameter 2013-04-27 11:14:11 +09:00
Randy Mackay 58d1da2d80 Copter: integrate AC_Fence in place of limits 
Lesser functionality than limits but saves more than 150 bytes and it
works
 2013-04-27 11:14:07 +09:00
Andrew Tridgell 300a8d2bbc Copter: support all 12 channels on PX4 
last 4 channels are on the FMU pins
 2013-04-25 20:10:53 +10:00
Randy Mackay 745df9b13c Copter: add SONAR_GAIN to tune reaction to sonar 
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
 2013-04-20 15:58:36 +09:00
Randy Mackay 37abfdc65a Copter: make CIRCLE_RATE a tunable parameter 
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
 2013-04-20 12:03:55 +09:00
Randy Mackay 0fc9c8739e Copter: add WP_YAW_BEHAVE parameter 
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose.  Almost nobody
ever knew about or used this parameter.
 2013-04-18 15:30:18 +09:00
Randy Mackay f5955d8915 Copter: auto climb and descent params removed 
These params now reside in the AC_WPNav library
 2013-04-18 14:52:21 +09:00
Randy Mackay 629d23b7e2 Copter: remove WP_SPEED and WP_RADIUS parameters 
AC_WPNav library has equivalent params with very similar names
 2013-04-14 13:27:37 +09:00
Randy Mackay b58c26bcd5 Copter: remove pid_nav_lat, pid_nav_lon 2013-04-14 12:12:51 +09:00
Randy Mackay 2db8365c90 Copter: add AC_WPNav to parameters list 2013-04-14 10:39:02 +09:00
Randy Mackay 1b6fcad90a Copter: remove tilt compensation parameter 
Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
 2013-03-17 16:53:32 +09:00
Randy Mackay 61e29173e3 Copter: remove unused crosstrack variables and parameters 
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
 2013-03-17 16:46:31 +09:00
Randy Mackay 150046f2b8 Copter: GPS Failsafe implemented 
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
 2013-03-16 17:27:46 +09:00
Randy Mackay 33bd984a91 Copter: remove unused input_voltage parameter 2013-03-03 23:23:54 +09:00
Randy Mackay 06a71af12f Copter: THR_MID used to scale manual throttle 2013-02-01 22:37:16 +09:00
Andrew Tridgell dcb181d2d8 Copter: use new AP_Scheduler library 2013-01-12 12:02:57 +11:00
rmackay9 68b62abd38 ArduCopter with the new Camera and Relay classes for APM1 and APM2. 
All changes by Sandro Benigno
 2013-01-02 09:55:37 +11:00
rmackay9 e850ab7ccd ArduCopter: add AUTO_VELZ_MIN, AUTO_VELZ_MAX and PILOT_VELZ_MAX to allow better control of climb/descent rate in auto and manual throttle modes 2013-01-02 09:24:31 +11:00
Andrew Tridgell 9e986801c9 Copter: fixed SITL for ArduCopter 2012-12-20 14:52:34 +11:00
Pat Hickey ada10f6eb2 ArduCopter: change comment references to AP_Var to AP_Param 
* jsut to clean up the grep for "AP_Var"
 2012-12-20 14:51:31 +11:00
rmackay9 2f748f8382 ArduCopter: renamed BATT_FAILSAFE to FS_BATT_ENABLE 2012-12-10 23:47:14 +09:00
rmackay9 d31efebd44 ArduCopter: rename throttle failsafe parameters. 
Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
 2012-12-10 23:38:43 +09:00
rmackay9 2f1b2b70e6 ArduCopter: added ACRO_TRAINER parameter to allow enabling/disabling the acro training function which will bring the roll back to within +- 45 degrees 2012-12-10 22:27:46 +09:00
rmackay9 dadad8677e ArduCopter: added descriptions for most parameters that did not have them 
Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
 2012-12-10 21:45:57 +09:00
rmackay9 56ceb230cb ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission 2012-12-09 18:04:31 +09:00
rmackay9 39d524212f ArduCopter: allow accel based throttle controller to be enabled/disabled with the new THR_ACC_ENABLE parameter. 
When disabled the original velocity based throttle controller is used.
 2012-12-06 10:31:57 +09:00
rmackay9 a5bb54e36e ArduCopter: RTL clean-up and slightly improved landing sensor 
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
 2012-12-06 10:31:52 +09:00
rmackay9 7b4ed2d227 ArduCopter: restored landing detector to landing throttle mode. 
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
 2012-12-06 10:31:20 +09:00
rmackay9 3cbef57c64 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy 
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
 2012-12-06 10:30:49 +09:00
Robert Lefebvre 5723021be1 ACM: TradHeli 
Creating Rate Feed-Forward Parameters
 2012-12-04 13:47:38 -05:00
Andrew Tridgell cd07d965a7 Copter: ported RSSI_PIN option from ArduPlane 
this is useful for OSD users
 2012-11-22 20:59:33 +11:00
rmackay9 e92b560df5 ArduCopter: low baterry failsafe 2012-11-15 23:35:41 +09:00
Jason Short d2a5928c06 Ap state updates 2012-11-09 22:15:15 -08:00
rmackay9 1f801714e8 ArduCopter: incorporate new version of inertial navigation 
Moved several navigation functions from ArduCopter.pde to navigation.pde
 2012-11-07 19:21:31 +09:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 a1b4ec6d0e ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
rmackay9 5e8043fd9c ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters 
Changes on behalf of Leonard Hall
 2012-10-23 21:30:50 +09:00
rmackay9 4395fad6e9 ArduCopter: incremented eeprom format version to force users to accept the new defaults. 
Particularly important is the roll-pitch I term move from the stabilize to rate controllers.
 2012-10-19 16:14:51 +09:00
rmackay9 4a41a3d210 ArduCopter: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery voltage and current monitor 2012-10-13 18:40:46 +09:00
rmackay9 ea4f256f8e ArduCopter: BATT_PIN parameter added to allow you to select which pin is used for voltage and current measurements 
To save a parameter, the current sensor pin is assumed to always be 1 higher than the voltage pin.
 2012-10-02 22:16:19 +09:00
Jason Short a73bc70553 ACM : Params - formatting cleanup 2012-09-10 20:22:11 -07:00
rmackay9 c9d34c1737 ArduCopter: fixes to allow AP_Mount to work on APM1 with original default channels and fix to reenable support for 3-axis gimbals on APM2. 
Channels 5 to 11 changed to RC_Channel_aux.
Removed channel 9 because APM_RC doesn't support it in any case.
Updated EEPROM format version to 119 because of the change to RC_Channel_aux and because k_param_rc_11 moved to be after k_param_rc_10.
 2012-09-02 12:51:23 +09:00
Andrew Tridgell e8d928cca4 ACM: added TELEM_DELAY to ArduCopter 2012-08-30 09:03:01 +10:00
uncrustify 6a893c11c7 uncrustify ArduCopter/Parameters.h 2012-08-21 18:57:21 -07:00
rmackay9 2a83f1eef2 ArduCopter: remove RTL_LAND parameter as it's been deprecated in favour of APPROACH_ALT. 
Updated comments on ALT_HOLD_RTL and APPROACH_ALT to make it a little easier to understand.
 2012-08-14 12:14:35 +09:00
Amilcar Lucas 9cc705939a Add a second mount instance 2012-08-08 23:07:25 +02:00
Andrew Tridgell c2a4d59132 AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Amilcar Lucas d9f1140278 ArduCopter: Use generic channel names for AP_Mount servos. 
This simplifies mission planner, the same code can be used for plane and copter now.
 2012-08-06 23:33:51 +02:00
Amilcar Lucas e93daca17e Fix heli compilation 2012-08-06 23:30:02 +02:00
Amilcar Lucas b8c7b8a786 RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Jason Short ad45012739 Arducopter: Renamed Config define (RTL_HOLD_ALT) 2012-07-19 17:50:15 -07:00
Jason Short 5a73a2b9cd Arducopters parameter: Adjusted RTL_ALTITUDE units so they reflect comments in config.h 2012-07-19 09:50:57 -07:00
Jason Short c9d3ab5413 Oilpan ADC parameters added 
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
 2012-07-18 22:57:11 -07:00
rmackay9 29b6ec0b11 ArduCopter: reverted channel 5~8 to be regular RC_Channel objects, restored rc_camera_roll and rc_camera_pitch RC_Channels and created new rc_camera_yaw RC_Channel to control the camera mount servos. 
Defined camera_mount (MNT_) in Parameters.h and Parameters.pde so that it appears in global parameters list.
Removed unused camera_*_gain and camaera_*_continuous parameters.
 2012-07-15 16:36:05 +09:00
Andreas M. Antonopoulos c73f7ef3ab AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Andreas M. Antonopoulos d4a0cb5db1 Added Michael Pursifull's Maxsonar HRLV model support 2012-07-11 18:46:47 -07:00
Jason Short 0620d86bfd Arducopter:Params 
WP_RADIUS_DEFAULT is now stored the same as Arduplane
 2012-07-10 21:53:37 -07:00
Jason Short af5423b863 Toy Mode: High Yaw default 2012-07-10 21:53:37 -07:00
Amilcar Lucas dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Jason Short 038116f521 Airspeed patch: 
pre-calculated airspeed resistance pitches copter automatically to gain a certain speed allowing the speed controller to work off of a better set point - similar to Alt hold.
added param tilt_comp with a default of 54 which equals 19.5° of pitch to go 6m/s
upped Z and Y target speeds to int32_t for speed squared calculation
 2012-07-09 13:13:32 -07:00
Adam M Rivera 6e93ab6af6 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Jason Short 3a3966736c Params 
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
 2012-07-03 17:33:03 -07:00
Jason Short e35fb9ecd7 Parameters 
removed unused parameters for retro loiter
 2012-07-01 13:40:12 -07:00
Jason Short 49401bffae Params: Added toy_yate_rate 2012-06-29 21:20:27 -07:00
Andrew Tridgell 55092c25a6 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Jason Short 839b8865aa Parameters.h: throttle_min and throttle_max now have defaults from Config.h 2012-06-20 15:02:00 -07:00
Jason Short 15aea320cb Added note to remove this unused param 2012-06-03 11:13:50 -07:00
Jason Short 9d92602188 changed WP radius to AP_Int16 2012-05-28 22:39:29 -07:00
Robert Lefebvre c8fb9a6635 More CopterLEDS changes. 
Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2.  Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2.  Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code.  Legacy users should see no difference.
 2012-05-15 12:00:21 -04:00
Adam M Rivera 60c347e23b Parameters: Added g.retro_loiter which is configurable by the user via the MP. 2012-04-23 00:17:52 -05:00
Adam M Rivera f9affb3295 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 
Conflicts:
	ArduCopter/Parameters.h
 2012-04-16 10:23:01 -05:00
Adam M Rivera a366bb2f81 Parameters: Changed rtl_approach_alt to float to support more granular altitudes 2012-04-16 10:06:29 -05:00
Andrew Tridgell 95cb35c7bb AHRS: enable AHRS_ group in ArduCopter 2012-04-16 20:55:14 +10:00
Adam M Rivera 7ba8c291bd Parameters: Added new APPROACH_ALT params (g.rtl_approach_alt) which stored the users desired target altitude after RTL is complete. 2012-04-15 16:51:41 -05:00
rmackay9 0a3bc9a66a ArduCopter - LEDS - two new parameters to support COPTER_LEDS. 
Code by Robert Lefebvre.
 2012-04-12 22:55:28 +09:00
rmackay9 f8210b164c ArduCopter - Parameters.h - changed initialisation order to remove compiler warning (have not changed enum values so shouldn't require eeprom format id update) 2012-04-09 17:37:06 +09:00
rmackay9 ee308ea06c ArduCopter - increased firmware version to 118. Removed nearly all heli parameters as these are all created by the AP_MotorHeli class now. 
Note: we cannot move the heli_servos to the AP_MotorHeli class yet because of a small issue in the parameters class.
 2012-04-04 22:55:07 +09:00
Robert Lefebvre a480b32400 Added support for TradHeli H1 swashplate type. Added new param heli_h1_swash_enabled. 
Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
 2012-03-03 08:14:14 -05:00
Andrew Tridgell e213f6780e ACM: added RC_SPEED MAVLink parameter 
this will set the speed for APM_RC.SetFastOutputChannels()
 2012-03-02 17:57:08 +11:00