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Commit Graph

4968 Commits

Author SHA1 Message Date
Randy Mackay a43229de0f Copter: fix z-axis accel parameter description 2016-12-19 17:01:06 +09:00
priseborough 38ad778ff1 make.inc: Add EKF3 and remove EKF1 library from make.inc files 2016-12-19 08:07:10 +11:00
Andrew Tridgell c3b9dbf5c8 ArduCopter: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Randy Mackay c846cc249d Copter: fix heli pos-hold run-up-complete issue 2016-12-15 19:00:21 +09:00
Randy Mackay a2474667a8 Copter: minor formatting fix 
no functional change
 2016-12-14 13:22:24 +09:00
Randy Mackay 5f60961866 Copter: fix suppressing comment for case fall through 
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:22:04 +09:00
Randy Mackay 0ab0658849 Copter: 3.4.3. release notes get compass cal fix 2016-12-09 11:39:05 +09:00
Randy Mackay 3d3fb6e74b Copter: fix version in release notes 2016-12-09 08:32:12 +09:00
Randy Mackay 3c993a76e2 Copter: 3.4.3 release notes 2016-12-09 07:57:43 +09:00
Randy Mackay c1d1ac5c6f Copter: pass HIL_GPS to gps driver 2016-12-08 15:52:26 +09:00
Pierre Kancir 5900653b7f Copter: Commands_logic fix comparing floating point with == 2016-12-06 09:31:21 -08:00
Pierre Kancir 8d4bad0742 Copter: Commands_logic fix implicit cast to double 2016-12-06 09:31:21 -08:00
Pierre Kancir f2ea388a69 Copter: control_auto remove misplaced parenthesis 2016-12-05 10:59:45 -08:00
Pierre Kancir 3fc17a5ed5 Copter: avoid must be initialized after fence as it use it 2016-12-05 10:59:45 -08:00
Peter Barker 556eb88fe5 Copter: fix compile when precland is not selected 
Fixes #5327
 2016-12-05 20:03:00 +09:00
Michael du Breuil 8c077a357c Copter: add compass cal capability bit 2016-12-04 19:17:01 -08:00
Peter Barker 4aab4f72b6 Copter: move to releasing payload if we are landed 2016-12-02 13:25:34 +11:00
Peter Barker 289aba4350 Copter: support for NAV_CMD_PLACE 2016-12-02 12:52:53 +11:00
Randy Mackay 128b4562a5 Copter: 3.4.3-rc1 release notes 2016-12-01 19:40:21 +09:00
Randy Mackay 9426b0b366 Copter: set land_complete to false during auto takeoff 
This resolves an issue in very high powered copters that could fly a mission while "landed" which could lead to a crash during the final stage of RTL
 2016-12-01 12:10:32 +09:00
Randy Mackay 5135a11fbc Copter: protect against arming while already armed 
Previously it was possible to arm the vehicle (from the GCS) even thought the vehicle was already armed which would lead to the motors stopping for 2 seconds
 2016-12-01 10:24:53 +09:00
Randy Mackay 74c9c4aa9d Copter: add beacon data flash logging 
Added to Copter vehicle because currently only used by Copter
 2016-11-30 17:56:59 +09:00
Randy Mackay f2a6a4f4f9 Copter: update beacon updates to 400hz 2016-11-30 17:56:58 +09:00
priseborough 7a6e30e7b5 Copter: remove call to EKF1 logging 2016-11-30 17:56:57 +09:00
priseborough 3847975844 Copter: give the AHRS access to the range beacon sensor 2016-11-30 17:56:56 +09:00
Randy Mackay 21c7ea1df7 Copter: integrate AP_Beacon 2016-11-30 17:56:55 +09:00
Randy Mackay 8ab5124489 Copter: add AP_Beacon to build 2016-11-30 17:56:54 +09:00
Peter Barker 7069730d5f Copter: do not reset LOG_BITMASK when no CardInserted 
This really just confuses everyone
 2016-11-29 15:14:09 -08:00
Peter Barker f9802204df Copter: inform dataflash of vehicle arm state 2016-11-28 09:42:09 -08:00
Andrew Tridgell bcea3ac8d4 Copter: handle rangefinder glitches in alt tracking 
this handles glitches from the rangefinder when tracking the
ground. It requires 3 readings in a row to settle on a new target
altitude

thanks to discussions with Leonard and Randy
 2016-11-28 17:36:01 +11:00
Randy Mackay 115bc44d3f Copter: log proximity sensors closest object 2016-11-27 15:05:47 +09:00
Randy Mackay 7485de3498 Copter: add send_proximity to send distances to GCS 2016-11-27 15:05:46 +09:00
Randy Mackay 218c8b2d16 Copter: proximity pre-arm check displays closet object 2016-11-27 15:05:44 +09:00
murata f7273d0e93 Copter: Change from printf statement to print, println statement. 2016-11-26 00:02:11 +00:00
Andrew Tridgell 2ed32a3ac0 Copter: added raw RFND logging 2016-11-21 10:30:12 +11:00
Peter Barker e72f5a6240 ArduCopter: enable/disable precision loiter on a switch 
A switch MUST be assigned for precision loiter to be enabled
 2016-11-18 09:41:56 +09:00
Peter Barker 2fd6be8ccb ArduCopter: neaten reading of aux switches 2016-11-18 09:41:56 +09:00
Peter Barker 9e4628af58 Copter: precision loiter 2016-11-18 09:41:56 +09:00
Peter Barker b9808662b8 Copter: remove dead code 2016-11-18 09:41:56 +09:00
Peter Barker 469f0f0bf0 Copter: remove incorrect comment from PRECISION_LANDING block 2016-11-18 09:41:56 +09:00
Randy Mackay 7f6ecfca3d Copter: 3.4.2 release notes 2016-11-16 09:37:21 +09:00
Francisco Ferreira 84436ff5ae Copter: sipport MAV_CMD_ACCELCAL_VEHICLE_POS 2016-11-15 11:42:54 -08:00
Andrew Tridgell df3e434607 Copter: use handle_common_message() 2016-11-09 17:08:09 +11:00
Florent Martel 8761ecca6c Copter: move AP_Frsky_Telem for waf to ardupilotwaf 2016-11-08 07:42:39 +11:00
Randy Mackay ae8aea482f Copter: 3.4.2-rc2 release notes 2016-11-07 13:37:13 +09:00
Randy Mackay 69fd0939d9 Copter: 3.4.2-rc1 release notes 2016-11-07 13:37:13 +09:00
Randy Mackay b87ad8378b Copter: ACRO_Y_EXPO default to 0 
This value affects yaw in all flight modes.  Leonard is planning to change the name to make that more clear.
 2016-11-07 10:34:32 +09:00
Randy Mackay 93b88a68a0 Copter: only log proximity if sensor is enabled 2016-11-07 09:36:53 +09:00
floaledm 53fcbcb6c3 Copter: send ahrs groundspeed estimate instead of GPS groundspeed in VFR_HUD message 2016-11-07 09:14:28 +11:00
Peter Barker 236b8ab6b7 Copter: make EPM a subclass of AP_Gripper_Backend 2016-11-05 10:20:39 +09:00
Peter Barker 920868145c Copter: support for AP_Gripper 2016-11-05 10:20:33 +09:00
murata 1df8acf5cd Copter: remove intermediate variable from throw mode 2016-11-03 10:37:27 +09:00
Randy Mackay bf0e7fb3a9 Copter: add compass health to arming check 2016-11-01 18:00:18 +09:00
Randy Mackay 63771707fb Copter: 3.4.1 release notes 2016-11-01 11:30:22 +09:00
Randy Mackay 594bca2ccf Copter: 3.4 release notes 2016-10-31 12:18:58 +09:00
floaledm aa8cae82b0 Copter: redo of commit b24d850695 2016-10-30 11:46:39 -02:00
Peter Barker d877a00825 Copter: call run rather than enable for sprayer 2016-10-29 15:02:54 +09:00
Peter Barker d2b7749af3 Copter: AP_Stats flighttime 2016-10-29 14:53:25 +09:00
Peter Barker 1bb6350a67 Copter: periodically call stats update 2016-10-29 14:53:25 +09:00
Peter Barker df07cb525a Copter: use AP_Stats to store statistics about vehicle 2016-10-29 14:53:25 +09:00
Randy Mackay be15fe4100 Copter: version to 3.5-dev 2016-10-29 14:33:44 +09:00
murata 965a6a5719 Copter: To nullptr from NULL. 2016-10-28 10:53:31 -07:00
Andrew Tridgell 1b46a71596 Copter: also update sensor status before mavlink send 
this removes the 1 second lag in updates when using the one second
loop
 2016-10-28 10:05:40 +11:00
floaledm 34718b130a Copter: update sensor status error flags independently of sending a sys_status message 
Without this, there is no update to the sensor status flags in the Frsky
lib unless there's an active Mavlink connection configured to send
extended_status1
 2016-10-28 10:03:38 +11:00
Andrew Tridgell e8b9c815fc Copter: updates for EKF API changes 2016-10-27 17:09:06 +11:00
priseborough 209e364190 Copter: Add body position offset to optical flow interface 2016-10-27 14:54:42 +11:00
Michael du Breuil 790ddeb04e Copter: Use the compass calibrator autoreboot behaviour 
(fixes a chance of not saving the second compass)
 2016-10-27 14:04:33 +11:00
Leonard Hall 0523570c5f Copter: reduce dead zone for roll, pitch and yaw input 2016-10-26 21:00:32 +09:00
Leonard Hall 53486a5725 Copter: increase Autotune test time out for large copters 2016-10-26 21:00:23 +09:00
Leonard Hall 0a6714f4ae Copter: rename variable ROLL_PITCH_YAW_INPUT_MAX 
No functional change
 2016-10-26 20:59:43 +09:00
Leonard Hall 2698f14d39 Copter: apply yaw expo to all modes 2016-10-26 20:59:33 +09:00
Randy Mackay bc0965bb08 Copter: 3.4-rc7 release notes 2016-10-25 19:34:58 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Francisco Ferreira 1e2e24eeac Copter: fix wrong range in Throw mode 
Fixes #5038
 2016-10-23 11:56:57 +09:00
Randy Mackay 1f160f2903 Copter: minor comment update 
No functional change
 2016-10-22 13:31:16 +09:00
Andrew Tridgell 9205416695 Copter: setup default safety mask based on motor mask 2016-10-21 11:53:59 +11:00
Randy Mackay 83b8208b8b Copter: fix PRX_ parameters duplicate underscore in param name 2016-10-19 17:24:43 +09:00
Andrew Tridgell c01a7718c1 Copter: fixed startup order of setting mavlink system ID 2016-10-17 09:19:08 +11:00
Andrew Tridgell 57830784e2 Copter: use handle_rc_bind 2016-10-15 21:42:38 +11:00
Andrew Tridgell 5a9276a5c4 Copter: added SYSID_ENFORCE parameter 
allows enforcement of SYSID_MYGCS
 2016-10-15 17:14:19 +11:00
Randy Mackay cb977bca6f Copter: 3.4-rc6 release notes 2016-10-15 12:27:04 +09:00
Randy Mackay 5894a54a16 Copter: althold uses current alt target if active 
Previously we always reset the altitude target to the current altitude but this causes a jump if the vehicle is already in an alt-hold flight mode but has an altitude error
 2016-10-15 11:29:10 +09:00
Leonard Hall fec24437f2 Copter: load accel throttle I term from attitude controller input 
Previously we loaded up the I term from the pilot's input but a more reliable method is to get what was passed into the attitude controller.  In particular the addition of the acro-thr-mid parameter means the pilot's input must be interpreted differently for different flight modes.
 2016-10-15 11:27:53 +09:00
Randy Mackay a124001b8b Copter: get_pilot_desired_throttle gets thr_mid argument default 2016-10-15 11:27:53 +09:00
Leonard Hall 5c47f3f9e5 Copter: add acro throttle and yaw expo and smoother manual pilot throttle 2016-10-15 11:27:53 +09:00
Randy Mackay 0aab175051 Copter: move proximity to g2 2016-10-14 14:02:29 +09:00
Randy Mackay fa36b563bc Copter: add advanced failsafe enable to APM_Config 
No functional change
 2016-10-14 14:00:59 +09:00
murata f705bd0d83 Copter: reduce intermediate storage of arming_check results 2016-10-14 11:39:18 +09:00
Jonathan Challinger 7cb9ad6e2b Copter: descend normally from 35cm 2016-10-14 10:46:11 +09:00
Jonathan Challinger f2ef8eec8c Copter: use velocity output from AC_PrecLand 2016-10-14 10:46:08 +09:00
Randy Mackay ccc99c772f Copter: remove union from aux_con for switch state 2016-10-14 10:31:05 +09:00
murata b23823a934 Copter: delete unused variable from aux switch structure 2016-10-14 10:30:41 +09:00
Andrew Tridgell ebbcabcb5f Copter: fixed comment 2016-10-14 11:40:09 +11:00
Randy Mackay 89c660eab5 Copter: add pre-arm check for proximity sensor 2016-10-13 20:21:07 +09:00
Randy Mackay 1665f4d416 Copter: report altitude and position control of new modes in sys-status message 2016-10-13 20:21:07 +09:00
Randy Mackay 4afa49eebe Copter: report proximity health in system-status 2016-10-13 20:21:07 +09:00
Randy Mackay a07ecfe2b3 Copter: log proximity sensor at 10hz 
This is current in the Copter vehicle code but we can move to the dataflash library when other vehicles start using this type of sensor.  Until then adding it to common will just increase the dependencies unnecessarily for other vehicles.
 2016-10-13 20:21:07 +09:00
Randy Mackay bba7369e9a Copter: pass AP_Proximity to AC_Avoid 2016-10-13 20:21:07 +09:00
Randy Mackay fcc2a1b378 Copter: integrate AP_Proximity into main vehicle 2016-10-13 20:21:07 +09:00
Randy Mackay 5f749a0597 Copter: add AP_Proximity to build 2016-10-13 20:21:07 +09:00
Andrew Tridgell 652b6b7564 Copter: deprecate RC_CHANNELS_RAW 2016-10-13 21:24:02 +11:00
Randy Mackay 26c3295042 Copter: ignore first ekf core switch 
The ekf core is initialised to -1 but after initialisation changes to zero.  Ignore this first change.
 2016-10-13 15:20:16 +09:00
murata f3a035694a Copter: fix ekf check to always call mode_requires_gps 2016-10-12 10:16:55 +09:00
Michael du Breuil ea45e5e6f1 Copter: Support GPS_RTCM_DATA 2016-10-11 11:00:36 +11:00
Randy Mackay 263f685683 Copter: ekf failsafe can trigger in LAND 
Thanks to John Ingersoll for the report and detailed fix
Resolves issue #4827
 2016-10-10 17:36:36 +09:00
Randy Mackay d74ae535d1 Copter: log EKF lane switch 2016-10-10 16:40:08 +09:00
Randy Mackay 35864c6226 Copter: move check_ekf_reset to ekf_check.cpp 
No functional change
 2016-10-10 16:40:08 +09:00
murata f135ca5ae7 Copter: reduce repeated string constants 2016-10-10 12:17:12 +09:00
Randy Mackay 3b6e56d1a0 Copter: minor formatting fixes 
No functional change
 2016-10-10 12:11:14 +09:00
murata 61fa73f25d Copter: remove return after the Switch statement 2016-10-10 12:07:24 +09:00
Randy Mackay 337461c16c Copter: pre-arm check of GPS configuration 2016-10-10 10:52:54 +09:00
murata 57c61ace62 Copter: To remove a break after the return statement. 2016-10-08 13:55:18 -03:00
murata 7148cc6239 Copter: Return value is changed to Enum Value. 2016-10-05 08:25:15 -03:00
murata 60137e0f0b Copter: replace if statement with switch statement 2016-10-05 16:32:57 +09:00
Jonathan Challinger a393bd26d7 Copter: add stick gesture to begin compass calibration 2016-10-05 16:29:02 +09:00
Lucas De Marchi b24d850695 ArduCopter: Fix use of logical op instead of bitwise op 
../../ArduCopter/GCS_Mavlink.cpp: In member function 'void Copter::send_extended_status1(mavlink_channel_t)':
../../ArduCopter/GCS_Mavlink.cpp:281:37: error: suggest parentheses around operand of '!' or change '&' to '&&' or '!' to '~' [-Werror=parentheses]
     uint32_t sensors_error_flags = !control_sensors_health & control_sensors_enabled & control_sensors_present;
                                     ^
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

Thanks to Ralph Campbell <ralphcampbell1@gmail.com> for the bug report.
 2016-09-29 11:36:23 -03:00
Pierre Kancir 6f79a8c37c Arducopter: simply invalid cmd msg 2016-09-27 07:45:48 -07:00
Pierre Kancir 94e42e870e ArduCopter: uniformize verify_command 
Add better gcs message,
Add all handle message,
Reformate comments,

Fix do_roi comment
 2016-09-27 07:45:48 -07:00
Tom Pittenger 748beb094d Copter: log to dataflash statustext messages from my_gcs 2016-09-26 00:13:30 -07:00
Randy Mackay 7091daa1cf Copter: remove out of date comment regarding autotune 
no functional change
 2016-09-23 20:48:03 +09:00
Peter Barker b81074d83a Copter: simplify auxsw duplicates check 2016-09-23 18:12:19 +09:00
floaledm 5910c94b65 Copter: change sensor health check to prevent false positive 2016-09-22 13:56:49 -05:00
John deVere d89b82b69f Copter: fixed parameter description typos 2016-09-14 14:05:47 -07:00
Randy Mackay 9b8b45b218 Copter: 3.4-rc5 release notes 2016-09-14 13:04:39 +09:00
Randy Mackay 9b1b18b15b Copter: add sprayer to aux switch options 2016-09-13 17:34:15 +09:00
Randy Mackay f37c17bd80 Copter: include spray in build by default 2016-09-13 15:16:13 +09:00
Randy Mackay a8f0291711 Copter: parameter conversion only for matrix multicopters 
Single, Coax and Tri copter rate parameter conversions were incorrect
 2016-09-13 09:44:38 +09:00
Andrew Tridgell d0dd10aeea Copter: added DEV_OPTIONS parameter 
this is for little used options to allow standard firmware builds to
enable those options for development purposes

First option is for MAVLink based ADSB avoidance
 2016-09-12 16:24:34 +10:00
Randy Mackay f22f10460a Copter: 3.4-rc4 release notes 2016-09-06 11:18:07 +09:00
floaledm 85a3fda879 Copter: removed reliance on home_distance and home_bearing which are only in copter 2016-09-06 11:42:33 +10:00
Leonard Hall 1f2d17e8e7 Copter: increase chance that parachute will deploy 
Previously a single moment where the vehicle was within 30deg of the target could cause the parachute release counter to reset to zero.  This change makes the parachute release if it is spending at least half it's time with more than a 30degree angle error.
 2016-09-06 09:43:31 +09:00
Michael du Breuil bec4bfa2ba Copter: Return RESULT_FAILED for GET_CMD_HOME if home is unset 2016-09-03 16:54:16 +09:00
Randy Mackay 4832ba4bf0 Copter: call attitude control parameter check 2016-09-02 09:27:17 +09:00
Randy Mackay 42cca17df4 Copter: update 3.4-rc3 release notes 2016-09-01 11:45:46 +09:00
Randy Mackay f6f3718e80 Copter: 3.4-rc3 release notes 2016-08-31 15:01:23 +09:00
Randy Mackay a8a31b1c24 Copter: fix health reporting to GCS for optical flow and precision landing 
Includes slight restructuring to logic for other sensors but these should not have any functional effect
 2016-08-31 13:59:16 +09:00
Randy Mackay cba480d02b Copter: add auto calibration to ESC_CAL parameter description 
No functional change
 2016-08-31 11:53:53 +09:00
Randy Mackay e17c8ac851 Copter: remove non-working reset-to-armed-yaw 
Arguably we should make this work, but until that happens we should not present the option on the auxiliary switches
 2016-08-29 16:34:24 +09:00
Randy Mackay eded2dee23 Copter: TELEM_DELAY parameter range to 30sec 
No functional change
 2016-08-29 15:29:05 +09:00
Andrew Tridgell d186e1c648 Copter: improve the reliability of ESC calibration with OneShot ESCs 
run at higher rate and make sure we're always giving output
 2016-08-29 15:52:21 +10:00
khancyr 733786830d Copter: config.h fix typo 2016-08-26 14:28:35 +09:00
khancyr 1a1c749501 Copter: fix typo in parameters.cpp 2016-08-26 14:28:35 +09:00
Andrew Tridgell f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
Grant Morphett 28552d5cc9 Copter: Supports COMMAND_INT in the code so added it to capabilites. 2016-08-25 12:56:32 +10:00
Andrew Tridgell ea7e62df17 Copter: use a constant string for frsky_telemetry init 2016-08-25 11:00:31 +10:00
floaledm 893614897e Copter: moved MAV_TYPE to Copter.h 2016-08-25 10:16:20 +10:00
Andrew Tridgell 96de005591 Copter: moved MAV_TYPE define to defines.h 2016-08-25 10:16:20 +10:00
Andrew Tridgell a14ff8ac77 Copter: fixes for Frsky_Telem API changes 2016-08-25 10:16:20 +10:00
Andrew Tridgell 0bcc9c4cb0 Copter: fix for AP_FrSky_Telem API change 2016-08-25 10:16:19 +10:00
floaledm baa3357b21 Copter: changed init for SPort passthrough protocol compatibility 2016-08-25 10:16:18 +10:00