Randy Mackay
1a0f80ee64
Copter: AC3.1-rc7 version and release notes
2013-11-21 17:30:08 +09:00
Randy Mackay
0bc505514a
Copter: pre-arm check that INAV has no errors
2013-11-21 17:02:07 +09:00
Randy Mackay
965af43121
Copter: add INAV error count to PM dataflash msg
2013-11-21 17:02:04 +09:00
Randy Mackay
0219c85ee3
Copter: increase min LAND_SPEED to 30cm/s
2013-11-19 16:46:16 +09:00
Randy Mackay
e6a2940718
Copter: prefix SingleCopter's MOT param description
...
This should allow single copter's MOT_ parameter descriptions to be more
easily recognised as belonging to SingleCopter when viewed on the wiki's
arducopter-parameters page
2013-11-19 13:38:17 +09:00
Randy Mackay
b47cd6d5be
Copter: fix SingleCopter motor parameters link
2013-11-19 13:25:53 +09:00
Randy Mackay
7a2f49f7da
Copter: arming check for gps if GPS FS set to LAND_EVEN_STABILIZE
...
Setting the GPS Failsafe to LAND_EVEN_STABILIZE means the copter will
LAND if it loses GPS even if it's in a manual flight mode like
Stabilize. With this setting it makes sense to check the GPS quality
before arming even if we're in stabilize mode.
2013-11-18 23:59:26 +09:00
Randy Mackay
24dc4391bb
Copter: display pre-arm check failure reason every 30sec
2013-11-18 17:20:39 +09:00
Randy Mackay
d003334b75
Copter: pre-arm check for ACRO_BAL_ROLL and PITCH
2013-11-18 16:38:05 +09:00
Randy Mackay
9ee308efd5
Copter: auto disarm in Loiter, AltHold after 15sec
2013-11-18 16:13:15 +09:00
Randy Mackay
699a5bd381
Copter: radio, batt failsafe disarm if copter is landed in Loiter or AltHold
2013-11-18 15:51:17 +09:00
Randy Mackay
7dd4ab835f
Copter: CURR dataflash msg to output throttle_out
...
Previously it was outputting throttle-in which is not as useful in
autonomous modes
2013-11-18 13:30:48 +09:00
Randy Mackay
1359a8fea5
Copter: log INS errors in PM message
2013-11-18 12:16:21 +09:00
Randy Mackay
e32e83f2f0
Copter: commit to kick off MP rebuild
...
Required to push back MP Beta Firmwares version to AC3.1-rc5
2013-11-17 00:56:46 +09:00
Randy Mackay
cf21774cf4
Copter: update AC3.1-rc6 release notes again
2013-11-16 17:14:41 +09:00
Randy Mackay
9485363c53
TradHeli: dynamic flight speed minimum to 5m/s
2013-11-16 16:58:14 +09:00
Randy Mackay
a98fb174c4
Copter: batt failsafe triggers RTL from AUTO
2013-11-16 14:55:49 +09:00
Randy Mackay
fd60285121
Copter: update AC3.1-rc6 release notes
2013-11-16 14:49:03 +09:00
Randy Mackay
87127f0ab8
Copter: allow battery failsafe to trigger RTL
2013-11-16 14:46:57 +09:00
Randy Mackay
a812ef4660
Copter: minor comment update for set_mode
2013-11-16 13:56:15 +09:00
Randy Mackay
bc1e06757b
Copter: allow GPS failsafe to trigger AltHold
...
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO. This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
2013-11-16 13:55:59 +09:00
Randy Mackay
321036b72e
Copter: update contributors list
2013-11-16 12:10:38 +09:00
Randy Mackay
50f583f116
Copter: AC3.1-rc6 version and release notes
2013-11-16 11:35:01 +09:00
Randy Mackay
5cc8772947
Copter: bug fix to Tricopter motor logging
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Fourth motor taken from yaw channel's radio_out instead of random
location in memory
2013-11-16 10:48:02 +09:00
Randy Mackay
8c9ab50ba2
TradHeli: restore CC_COMP and PIRO_COMP
2013-11-15 22:58:43 +09:00
Randy Mackay
0f67e25d37
TradHeli: set throttle_min to zero by default
2013-11-15 22:58:38 +09:00
Randy Mackay
81fc24586e
TradHeli: remove calls to get_manual_collective in auto throttle
...
set_collective_for_landing method makes this unnecessary
2013-11-15 22:58:36 +09:00
Randy Mackay
60bc9f4539
TradHeli: angle error to zero while motors runup
...
Set angle error to zero in get_roll_rate_stabilized_bf,
get_pitch_rate_stabillize_bf, get_yaw_rate_stabilized_bf.
Original commit by Rob Lefebvre
2013-11-15 22:58:34 +09:00
Randy Mackay
c9c803ffd4
TradHeli: move STAB_COL_MIN to main parameter list
2013-11-15 22:58:32 +09:00
Randy Mackay
197fc67897
TradHeli: move pilot desired rotor speed to heli.pde
2013-11-15 22:58:24 +09:00
Randy Mackay
527f05ddec
Copter: remove unused init_rate_controllers
2013-11-15 22:58:22 +09:00
Randy Mackay
4537e0aa15
Copter: add deadzone to ch8 for TradHeli
2013-11-15 22:58:20 +09:00
Randy Mackay
1f6bc7bd9c
Copter: log TradHeli ch7, ch8 in MOT message
2013-11-15 22:58:17 +09:00
Randy Mackay
19ddb8e5f3
TradHeli: integrate constructor changes to main code
2013-11-15 22:58:15 +09:00
Robert Lefebvre
bba7fdc7c3
TradHeli: ch6 tuning of ext gyro to use control_in
...
This could also be used to control the other Heli Ch7 functions (direct drive tail rotor control). This should be tidied up.
Credit: Jolyon Saunders
2013-11-15 22:58:08 +09:00
Robert Lefebvre
9ae66c1773
TradHeli: add support for drive tail rotors
...
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
2013-11-15 22:58:04 +09:00
Robert Lefebvre
232a116973
TradHeli: Use Leaky Integrator on Yaw Rate controller
...
Use when rotor is not running to prevent the rudder from slowly moving over
2013-11-15 22:58:02 +09:00
Randy Mackay
3ce16113b5
TradHeli: use landing collective when landed or landing
2013-11-15 22:58:00 +09:00
Randy Mackay
633e91b7d4
Copter: initialise roll, pitch, yaw modes to stabilize
...
This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
2013-11-15 22:57:56 +09:00
Randy Mackay
ae87759e6d
TradHeli: add THROTTLE_MANUAL_HELI
...
Move check_dynamic_flight to run as scheduled task
2013-11-15 22:57:53 +09:00
Randy Mackay
eaef5315bf
TradHeli: bugfix to update swash in run_rate_controllers
2013-11-15 22:57:47 +09:00
Randy Mackay
34fb70cfc7
TradHeli: formatting and param description changes
2013-11-15 22:57:45 +09:00
Randy Mackay
46118b59d7
TradHeli: integrate motor lib changes
2013-11-15 22:57:43 +09:00
Randy Mackay
72597cc5bd
TradHeli: remove setup via CLI
...
Saves 6k of flash
2013-11-15 22:57:39 +09:00
Robert Lefebvre
0e2ddb0378
Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete.
2013-11-15 22:57:34 +09:00
Robert Lefebvre
c5b119288d
TradHeli: Add Motor Runup check to the auto_arming check.
2013-11-15 22:57:31 +09:00
Robert Lefebvre
f67d95ac75
TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly.
2013-11-15 22:57:28 +09:00
Robert Lefebvre
ffb605d06d
TradHeli: Modify the constrain on the auto throttle controller to prevent it from commanding full down collective if we think we are on the ground still.
2013-11-15 22:57:22 +09:00
Randy Mackay
8f2c9591ff
TradHeli: dynamic_flight flag based on inertial nav speed
...
Created new heli.pde for heli_integrated_swash and check_dynamic_flight
2013-11-15 22:57:20 +09:00
Robert Lefebvre
e23e4bc7d8
TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector
2013-11-15 22:57:18 +09:00
Robert Lefebvre
324c866ae1
TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started.
2013-11-15 22:57:16 +09:00
Robert Lefebvre
f7c63be357
TradHeli: leaky-I-term based on dynamic_flight_detector
2013-11-15 22:57:14 +09:00
Randy Mackay
f0f6e85b39
Copter: ARMING_CHECK made into bitmask
...
Allows arming checks to be individually enabled or disabled for baro,
compass, GPS, INS, parameters, RC and board voltage
2013-11-15 17:13:56 +09:00
Randy Mackay
fe822ba0b6
Copter: pre-arm check of INS health
2013-11-15 17:13:53 +09:00
Jason Short
371dc8c616
Copter: Drift Mode
...
Changes Toy mode declarations to Drift mode.
Requires GPS, Mode 2 transmitter
Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.
2013-11-14 14:43:15 +09:00
Randy Mackay
57b291b1c5
Copter: reject change_command if not in AUTO
2013-11-14 13:49:37 +09:00
Randy Mackay
0778454434
Copter: disarm routine shortcut
...
Extra check so we only run the disarm check when we are actually armed.
The ground stations sometimes send many disarm messages which can be
ignored
2013-11-14 13:14:51 +09:00
Randy Mackay
f5b1114aea
Copter: range check pilot requested lean angles
...
This fixes a bug uncovered by MHA in which the receiver output 900 pwm
for roll and pitch to the APM which was interpreted as requesting an 80
deg lean angle which the copter then attempted to do!
2013-11-13 14:21:21 +09:00
Randy Mackay
159d6320bf
Copter: move SINGLE parameters to start at 75
2013-11-12 23:40:38 +09:00
Randy Mackay
06ce98a2f4
Copter: add SINGLE_FRAME definition
2013-11-12 23:40:32 +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
Randy Mackay
13fd33c2d8
Copter: gps failsafe disabled until we get first 3d lock
2013-11-12 11:13:05 +09:00
Randy Mackay
f29f7d9777
Copter: bug fix to take-off in Loiter and AltHold
...
Always set the target altitude after take-off to be current altitude +
20cm. This resolves a bug in which the target altitude could end up
being a couple of meters higher than the current altitude if the user
entered Loiter / Alt Hold mode before inertial nav altitude estimate had
settled.
2013-11-11 22:29:09 +09:00
Randy Mackay
03831cdd28
Copter: GPS ok only when not glitching
...
Removed redundant checks to GPS_ok before setting flight mode to RTL
(this check is already performed inside the set_mode function)
Removed reset of home distance and bearing when GPS lock is lost, it now
remains at the last known value
2013-11-11 22:24:18 +09:00
Randy Mackay
e4d8c673f3
Copter: force gyro calibration on start-up
2013-11-10 21:51:54 +09:00
Andrew Tridgell
6b1f59372c
Copter: show git and firmware version in tlog
2013-11-09 10:09:20 +11:00
Andrew Tridgell
b41f4898e0
Copter: report INS health
2013-11-07 12:48:17 +11:00
Andrew Tridgell
2f6cfd1ff8
Copter: update for AHRS API changes
2013-11-04 21:21:42 +11:00
Randy Mackay
620109d894
Copter: formatting fix to config.h
2013-11-03 12:57:02 +09:00
Robert Lefebvre
8868af7c2f
TradHeli: Change default Auto-Yaw to Yaw Look Ahead
...
This leads to smoother flight in Auto modes, particularly with fast waypoints.
2013-11-03 12:56:57 +09:00
Jason Short
66b8ca3a27
Copter: updated toy gains
2013-11-03 10:14:10 +09:00
Jason Short
2a82d1b0b0
Copter: CH7 SaveWP fix corner case
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If the user is on the ground and flips CH7, do nothing instead of recording a bad takeoff altitude. Do another check to avoid a land right after a takeoff.
2013-11-02 21:34:55 +09:00
Randy Mackay
8278767d0a
Copter: remove unused get_acro_yaw
2013-11-02 21:34:53 +09:00
Jason Short
c3aa56459a
Copter: remove unused Toy param
2013-11-02 21:34:50 +09:00
Jason Short
520a535c21
Copter: TOY mode updates
2013-11-02 21:34:48 +09:00
Andrew Tridgell
f6f6caafc8
Copter: int gyros on arm, not on first boot
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this makes first boot much faster
2013-11-02 21:41:11 +11:00
Randy Mackay
977983904f
Copter: arming check that throttle is above failsafe
2013-11-02 14:06:19 +09:00
Randy Mackay
aaf642c223
Copter: disable autotune if pilot moves yaw stick
2013-11-02 12:12:46 +09:00
Randy Mackay
94f301181e
Copter: recalc distance to home during arming
...
fixes an rare edge case in which the fence could trigger immediately
after arming
2013-11-01 23:54:32 +09:00
Randy Mackay
798c4e2278
Copter: more Ch7/Ch8 event logging
...
Additional event logging for SaveWP, Fence, Acro trainer, Save Trim
2013-11-01 11:53:16 +09:00
Randy Mackay
babc54ec60
Copter: default Ch7 to DO_NOTHING
...
Ch7/Ch8 Save_WP feature triggers when switch is brought high (instead of
low) to be consistent with other aux features
2013-11-01 11:42:33 +09:00
Randy Mackay
97770ae352
Copter: rc10, rc11 available even without MOUNT
2013-10-31 22:55:02 +09:00
Randy Mackay
de08116320
Copter: disable some aux channels on hexa and octas
...
Resolves issue #324
2013-10-31 15:22:34 +09:00
Randy Mackay
65980ace68
Copter: remove some commented out send_text code
2013-10-30 13:44:56 +09:00
Randy Mackay
8a6c2a6588
Copter: add alt and throttle checks to crash detector
2013-10-30 13:33:09 +09:00
Randy Mackay
2326b2e5f5
Copter: crash checker
...
Crash is determined to have happened when the copter is 20deg more than
the ANGLE_MAX parameter continuously for more than 2 seconds
Not activated when in ACRO mode or while flipping
2013-10-29 22:15:12 +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
9176bf2e97
Copter: add @Increment to battery failsafe descriptions
2013-10-29 11:24:04 +09:00
Andrew Tridgell
2016bf1f31
Copter: fixed HIL build
2013-10-28 18:35:39 +11:00
Andrew Tridgell
a44e3191df
Copter: fixed baro-only preflight cal
...
this was causing a full level, which mucked up the INS calibration
2013-10-28 16:54:32 +11:00
Randy Mackay
9df7185075
Copter: remove unused #defines from config.h
2013-10-28 12:37:41 +09:00
Randy Mackay
465cb8ab25
Copter: add features that can be disabled to APM_Config.h
2013-10-28 12:36:52 +09:00
Randy Mackay
36832aaa61
Copter: remove ins from InertialNav object instantiation
2013-10-27 13:41:52 +09:00
Tobias
a7e7084f27
Copter/position_vector: remove const specifiers on objects returned by
...
value
2013-10-27 13:41:46 +09:00
Tobias
7564cc02af
Copter: use const refs instead of unneeded copies
2013-10-27 13:41:06 +09:00
Tobias
d6d5f0bbe4
Copter: Log.pde: replace unused copy with ref (saves again some bytes)
2013-10-27 13:40:40 +09:00
Tobias
4d4b419d25
Copter: add comment (unit of G_Dt)
2013-10-27 13:39:17 +09:00
Randy Mackay
8e62035328
Copter: remove unnecessary check of flight mode from fence response
2013-10-24 16:42:14 +09:00
Randy Mackay
d86ac9041e
Copter: report RC receiver health to GCS
2013-10-24 16:32:55 +09:00
Andrew Tridgell
6138dca2b2
Copter: set system time on GPS lock
2013-10-24 14:22:48 +11:00
