Randy Mackay
e362844532
Copter: added CH7 switch to enabling/disable the sonar in flight
...
This indirectly switches surface tracking on/off which is useful to
avoid tracking the tops of uneven objects when far above the ground
2013-01-14 13:58:53 +09:00
Randy Mackay
bd05ea84cc
Copter: constrain loiter so that it never commands more than 45 degrees of lean in lat or lon directions
2013-01-14 13:30:25 +09:00
Randy Mackay
0830eaf363
Copter: added experimental LOITER_REPOSITIONING #define to config.h
...
APM_Config.h should be used to overriding the standard parameters but
they still require a definition in config.h or they will be undefined
when built by the mission planner.
2013-01-14 13:07:52 +09:00
Randy Mackay
381bd28518
Copter: relax altitude check in verify_takeoff
...
Previously we checked if the alt > target_alt but because there is
little to no overshoot with the new accel based alt controller this
check was failing for some users.
2013-01-14 12:40:59 +09:00
Randy Mackay
05eecd9ade
ArduCopter: updated release notes for 2.9-rc4
2013-01-12 15:29:52 +09:00
Randy Mackay
d90b7dbfe1
ArduCopter: update firmware version to 2.9-rc4
2013-01-12 15:27:10 +09:00
Randy Mackay
36f15c9555
ArduCopter: move setting of land's yaw mode to the do_land function
2013-01-12 14:49:26 +09:00
Randy Mackay
05e59f6f4d
ArduCopter: bug fix to LAND flight mode not actually landing if initiated from failsafe
...
An hidden bit of failsafe functionality in the set_mode function was
switching the throttle mode back to THROTTLE_AUTO instead of
THROTTLE_LAND
2013-01-12 14:48:41 +09:00
Randy Mackay
a18892229c
ArduCopter: smooth throttle when switching from manual throttle to alt hold
...
new set_accel_throttle_I_from_pilot_throttle function copies the
difference between the pilot's throttle and hover throttle to the
accelerometer based throttle controller's I term.
2013-01-12 12:20:37 +09:00
Randy Mackay
cad9533398
ArduCopter: replace FS_THR_RTL_MIN_DISTANCE with wp_radius
...
This effectively means that an RTL kicked off by a failsafe will
immediately switch to LAND mode only if within 2 meters. Previously the
radius was much wider (15m).
2013-01-12 11:40:03 +09:00
Randy Mackay
37b66700b4
ArduCopter: update release notes for rc3
2013-01-11 16:41:57 +09:00
Randy Mackay
f3550801d1
ArduCopter: disable ITERM logging by default
...
This message takes 1ms to write and we are running over our limits on
some loops.
2013-01-11 16:23:54 +09:00
Randy Mackay
35ced65e4f
ArduCopter: alphabetized the contributors list
...
Jonathan Challinger added
2013-01-11 15:28:08 +09:00
Randy Mackay
785cda0792
ArduCopter: increase firmware version to 2.9-rc3
2013-01-11 14:49:20 +09:00
Randy Mackay
dbb4a9fce6
AP_Baro_BMP085: increase ratio of pressure reads again to be 5:1 (was 4:1)
2013-01-11 14:46:34 +09:00
Andrew Tridgell
49a5b664cc
Copter: move read_AHRS() before run_rate_controllers()
...
this ensures the rate controllers use the latest data
2013-01-11 16:32:40 +11:00
Andrew Tridgell
4a9e3a068a
Copter: don't log events with LOG_BITMASK==0
2013-01-11 16:32:23 +11:00
Andrew Tridgell
8657071919
DataFlash: removed debug message
2013-01-11 16:23:46 +11:00
Andrew Tridgell
d6ac02139f
GCS_MAVLink: use AVR assembler CRC function if available
2013-01-11 16:07:28 +11:00
Andrew Tridgell
82b036282b
MPU6000: use expected sample time, not actual sample time
...
this avoids problems in the scheduler turning up as errors in the DCM
calculation. The MPU6k produces samples with more reliable timing than
our scheduler does!
2013-01-11 16:02:21 +11:00
Andrew Tridgell
e0197a3f7c
Copter: minor mavlink cleanup
2013-01-11 16:02:21 +11:00
Andrew Tridgell
593d689dc8
Copter: use AP_Param::copy_name_token()
2013-01-11 16:02:21 +11:00
Andrew Tridgell
3ec0381904
Copter: ensure we process deferred mavlink messages
2013-01-11 16:02:21 +11:00
Andrew Tridgell
8297d1927f
AP_Param: added copy_name_token() interface
2013-01-11 16:02:21 +11:00
Andrew Tridgell
a6250ee02b
GCS_MAVLink: fixed const in buffer based send call
2013-01-11 16:02:21 +11:00
Andrew Tridgell
e8ef484e81
FastSerial: make interface 8 bit and add write_buffer_nonblock() call
...
this saves a fair bit of CPU for ArduCopter
2013-01-11 15:56:57 +11:00
Andrew Tridgell
c3ae125332
MAVLink: moved CRC table into program
...
this saves 256 bytes of memory
2013-01-11 10:38:43 +11:00
Andrew Tridgell
0c1912565a
Build: fixes for building with avr-g++ 4.7.0
2013-01-11 10:34:28 +11:00
Andrew Tridgell
51bb2a3b8d
AP_GPS: put SIRF init_messages in progmem
...
this saves 32 bytes of memory
2013-01-10 22:02:57 +09:00
rmackay9
4d21571d92
ArduCopter: changed alt hold to use the sonar if enabled and healthy
2013-01-10 21:43:13 +09:00
Randy Mackay
4f00c1d8b2
AP_InertialNav: added constraint to how large local accelerometer offset corrections can become
2013-01-10 16:56:21 +09:00
rmackay9
4a5908c2ad
AP_Baro_BMP085: increase ratio of pressure reads to temperature reads to be 5:1 which is same as APM2's baro
...
previously the ratio was 1:1
2013-01-08 14:40:50 -08:00
rmackay9
b58a89e71e
ArduCopter: added get_throttle_althold_with_slew to allow slower altitude target changes
...
Improved surface tracking by using slewed althold controller
Reduced sonar mode filter to just 3 elements to reduce lag but at the possible consequence of allowing sonar noise to creep through for people with margin sonar set-ups.
2013-01-08 14:40:47 -08:00
Andrew Tridgell
a46f90e3bf
FastSerial: use pullups on the RX pins on all UARTs
...
this fixes a problem with phantom GPS detection, which caused us to
receive the config bytes we send to the GPS on bootup back as valid
packets. This caused us to detect a phantom GPS.
2013-01-06 14:31:34 +09:00
Andrew Tridgell
578b1b68ad
Copter: remove GPS_STATUS message
...
this message is huge and slow, and is pointless as we have
num_satellites in GPS_RAW_INT
2013-01-05 20:54:57 +11:00
rmackay9
152ae7d737
ArduCopter: save 10bytes by replacing multiple static instances of log_counter with a single global variable called pid_log_counter
...
pid_log_counter is used to limit the rate at which we log PID controller values
2013-01-05 13:42:01 +09:00
rmackay9
5df4295ebc
ArduCopter: write failsafe error to logs before switching flight modes
2013-01-05 12:33:30 +09:00
rmackay9
0a101162c2
ArduCopter: update altitude_error reported to GCS
2013-01-05 10:59:07 +09:00
Robert Lefebvre
cbbba3a359
TradHeli: Fixing bug that causes Alt_Hold mode to use the Stab_Throttle scaling. It should not have this scaling, it should have access to full swashplate range.
2013-01-03 15:19:38 -05:00
rmackay9
6f0868a9f8
ArduCopter: increase throttle rate P to 6.0 (was 1.0) and alt hold P to 2.0 (was 1.0)
2012-12-31 14:42:13 +09:00
rmackay9
c2fb2eb21e
ArduCopter: update firmware version to 2.9-rc2
2012-12-31 14:32:14 +09:00
rmackay9
8b497cc61d
ArduCopter: log watchdog event to dataflash
2012-12-31 13:32:27 +09:00
rmackay9
607aa7c098
ArduCopter: fix to sub system used to record failsafe in dataflash ERR message
2012-12-30 12:18:45 +09:00
rmackay9
bc4cd41a33
ArduCopter: added ERR dataflash message
...
Failsafe events changed to errors so they are more obvious.
Errors recorded to dataflash for failure to init compass and optical flow sensor.
Errors recorded for pwm failure.
Resolved a compile error when dataflash logging is disabled.
2012-12-30 12:08:25 +09:00
rmackay9
b9dbdadc80
ArduCopter: first implementation of surface tracking using sonar
...
Note: not yet enabled as part of any flight mode
2012-12-29 13:51:14 +09:00
rmackay9
07a3a7d4bb
AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1
2012-12-28 16:21:13 +09:00
rmackay9
57702b7c31
ArduCopter: turn on INERTIAL_NAV_Z in the config.h file so that it takes effect when built for the mission planner
2012-12-27 19:33:12 +09:00
rmackay9
71f6a116be
ArduCopter: get_throttle_althold - add check to avoid divide by zero
2012-12-26 21:18:16 +09:00
rmackay9
1e50875dd1
AP_InertialNav: correct lat/lon to cm
2012-12-26 20:49:04 +09:00
rmackay9
ebe33f1bdb
AP_InertialSensor: remove "USER:" from beginning of instructions to user
2012-12-26 19:50:54 +09:00
