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17,116 Commits 71 Branches 510 Tags 771 MiB
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3994 Commits

Author SHA1 Message Date
Randy Mackay
484bf628e1 Copter: fix comments related to home-alt set in-flight 2015-05-13 18:00:34 +09:00
Randy Mackay
9dbef1c6ee Copter: check fence alt without home being set 
Alt limit is based on EKF origin if home-alt is not set.  This is
generally the same but could be different if there's a lot of baro drift
before take-off or the vehicle is carried to a different altitude after
power-on.
 2015-05-13 16:10:48 +09:00
Randy Mackay
1f96cbd015 Copter: home-alt set to EKF-origin if captured in flight 2015-05-13 16:10:45 +09:00
Randy Mackay
2a1a105462 Copter: current alt is alt above-ekf-origin until home set 2015-05-13 16:10:43 +09:00
Randy Mackay
7d9ed6f03d Copter: update version back to AC3.3-dev 2015-05-12 22:14:31 +09:00
Randy Mackay
41077be4ad Copter: parachute failure message if landed 2015-05-12 22:03:58 +09:00
Randy Mackay
3269cd63cb Copter: parachute check uses alt-above-home 
Baro alt is tied to the alt above EKF origin which isn't correct
 2015-05-12 22:03:56 +09:00
Randy Mackay
ae87f9be6e Copter: use accel_calibrated_ok_all 2015-05-12 16:32:18 +09:00
Randy Mackay
d20a7deee1 Copter: clarify SYSID_MAV parameter description 2015-05-11 09:23:02 +09:00
Andrew Tridgell
d61848817b Copter: double the threshold for accel inconsistency on IMU3 
IMU3 varies in temperature a lot compared to IMU1/IMU2, so needs a
higher threshold to prevent false positives
 2015-05-09 18:28:59 +10:00
Tom Pittenger
2e191e5a3d Copter: replace fabs() with fabsf() 2015-05-09 09:57:25 +10:00
Tom Pittenger
baed82d1c2 Copter: if receiving last mission item then log new mission to dataflash 2015-05-08 21:01:52 +10:00
Lucas De Marchi
b7ebff409b ArduCopter: re-align defines after ifdef removal 
Re-align the defines after removal of 100Hz main loop rate.
 2015-05-08 14:55:43 +09:00
Lucas De Marchi
4f6c32cb35 ArduCopter: remove dangling ifdefs for 100Hz main loop 
ArduCopter doesn't support main loop of 100Hz anymore. Remove the
missing ifdefs checking for MAIN_LOOP_RATE.
 2015-05-08 14:55:41 +09:00
Randy Mackay
4f52aaa3a3 Copter: fix tradheli arming message 2015-05-08 14:14:38 +09:00
Leonard Hall
7cccb73103 Copter: yet more Autotune Updates 2015-05-08 14:14:28 +09:00
Leonard Hall
92fe75f396 Copter: more Autotune updates 2015-05-08 14:14:26 +09:00
Leonard Hall
05103d9f9c Copter: Autotune update 2015-05-08 14:14:23 +09:00
Leonard Hall
7fd632200c Copter: Add additional check to Throttle Mix/Comp 2015-05-08 14:14:19 +09:00
Andrew Tridgell
6dc3cff000 Copter: added LOG_BITMASK 1<<19 for logging raw accel/gyro data 
useful for checking vibration handling
 2015-05-07 12:09:00 +10:00
Randy Mackay
6ef1ebb5dd Copter: replace 2xM_PI_F with M_2PI_F 2015-05-05 14:22:27 +09:00
Andrew Tridgell
189a8fd007 Copter: removed fast_atan 2015-05-05 13:57:06 +10:00
Andrew Tridgell
b88c12ad1f Copter: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:08 +10:00
Andrew Tridgell
d8146ff3f6 Copter: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger
5704a5a2a7 Copter: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:03 +10:00
Tom Pittenger
c8bc44fc6e Copter: compile warnings: float to double. print statements require doubles 2015-05-05 13:27:00 +10:00
Tom Pittenger
e17e793781 Copter: compiler warnings: float to double 2015-05-05 13:26:58 +10:00
Tom Pittenger
188403242a Copter: compiler warnings: fixed a bracked that was removed on accident 2015-05-05 13:26:57 +10:00
Tom Pittenger
3f614534b3 Copter: compiler warnings: unnecessary float promotion 2015-05-05 13:26:57 +10:00
Tom Pittenger
20dc48ed16 Coter: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:53 +10:00
Andrew Tridgell
5a36b9955e Copter: fix for HAL_SITL rename 2015-05-05 09:45:57 +10:00
Randy Mackay
054f05d285 Copter: AC3.3-rc3 version 2015-05-02 17:20:26 +09:00
Randy Mackay
22350c793b Copter: AC3.3-rc3 release notes 2015-05-02 17:20:24 +09:00
Randy Mackay
0812e16008 Copter: explicitly define flight modes enum 
Thanks to Luis Vale for spotting this
 2015-05-02 13:24:33 +09:00
Randy Mackay
89c0c2e532 Copter: update AC3.3-rc2 release notes 2015-05-02 11:55:38 +09:00
Randy Mackay
606086cd6f Copter: version to AC3.3-rc2 2015-05-02 11:34:19 +09:00
Randy Mackay
77c2991867 Copter: AC3.3-rc2 release notes 2015-05-01 22:02:22 +09:00
Jonathan Challinger
fb96335b46 Copter: get_RTL_alt returns alt above home 2015-05-01 16:37:36 +09:00
Robert Lefebvre
05f18bb014 Copter: Rename output_min() to enable_motor_output() 2015-05-01 14:30:44 +09:00
Robert Lefebvre
41a6cc64ff Copter: Log Emergency Stop and Motor Interlock status 2015-05-01 14:30:43 +09:00
Robert Lefebvre
d8a0952b5a Copter: Explicitly define aux_switch enum. 2015-05-01 14:30:42 +09:00
Robert Lefebvre
da2854403e Copter: Explicitly define tuning_func enum value 2015-05-01 14:30:42 +09:00
Robert Lefebvre
4e51ce6d75 Copter: rename "estop" to "emergency stop". 
No functional change
 2015-05-01 14:30:41 +09:00
Robert Lefebvre
9d9f20a6cb Copter: Add Motor Interlock/E-Stop Conflict Prearm Check 2015-05-01 14:30:40 +09:00
Robert Lefebvre
fab8604f16 Copter: Change Auto Yaw #define table into Enum. 2015-05-01 14:30:39 +09:00
Robert Lefebvre
32b4e70cb7 Copter: Deprecate Aux Switch Multi-Mode 2015-05-01 14:30:38 +09:00
Robert Lefebvre
22a7fba289 Copter: Change autopilot modes into Enum 2015-05-01 14:30:37 +09:00
Robert Lefebvre
39d23519b1 Copter: Change CH6_Tuning #defines into Enum 2015-05-01 14:30:36 +09:00
Robert Lefebvre
167507e28b Copter: non-functional format fixes in switches.pde 2015-05-01 14:30:35 +09:00
Robert Lefebvre
a357ef43a4 Copter: Move Aux Switch flags into new Enum 2015-05-01 14:30:34 +09:00
Robert Lefebvre
8610da7fbc Copter: autopilot modes to check for motor interlock status 2015-05-01 14:30:33 +09:00
Robert Lefebvre
a035d5ad1b Copter: Fix initialization of Motor Interlock Aux Sw function. 2015-05-01 14:30:31 +09:00
Robert Lefebvre
16cf9471ae Copter: Remove ap.motors_interlock, use only flag in AP_Motors 2015-05-01 14:30:31 +09:00
Robert Lefebvre
9b15ea6f5c Copter: Change throttle_zero to check interlock and E-stop status 2015-05-01 14:30:30 +09:00
Robert Lefebvre
2010410c44 Copter: Add numbers to Aux Switch Enum comments 2015-05-01 14:30:28 +09:00
Robert Lefebvre
b82113acc7 Copter: Modify auto-disarm process for throttle interlock 2015-05-01 14:30:27 +09:00
Robert Lefebvre
7349827eb1 Copter: Add Aux Switch E-Stop Function 2015-05-01 14:30:26 +09:00
Robert Lefebvre
4a0a4de687 Copter: update motors.throttle_interlock every time motors_output is run 2015-05-01 14:30:23 +09:00
Robert Lefebvre
7d745587a4 Copter: Add using_interlock flag, employ it in arming process 2015-05-01 14:30:22 +09:00
Robert Lefebvre
e4c5915330 Copter: initial creation of motor_interlock 2015-05-01 14:30:21 +09:00
Randy Mackay
ee94db09a8 Copter: minor GCS_MAVLink comments 
No functional change
 2015-05-01 12:56:40 +09:00
Randy Mackay
1fa8e10fc7 Copter: fix floating point const compiler warning 2015-05-01 12:56:38 +09:00
Randy Mackay
e0ef57fdb5 Copter: add PILOT_TKOFF_ALT_DEFAULT definition 
No functional change
 2015-05-01 12:56:35 +09:00
Leonard Hall
33a274c928 Copter: take-off uses PosControl's add_takeoff method 
Also balances pilot and takeoff climb rates
Also removes takeoff's direct use of poscontrol target

Combined effort of Randy and Leonard
 2015-05-01 12:56:32 +09:00
Randy Mackay
772a1acc37 Copter: cancel takeoff if mode changed 2015-05-01 12:56:28 +09:00
Randy Mackay
ab608a8fcd Copter: minor takeoff param name change 
No functional change
 2015-05-01 12:56:25 +09:00
Randy Mackay
70f9739d77 Copter: add takeoff comments 2015-05-01 12:56:23 +09:00
Randy Mackay
6f5b5c24f2 Copter: rename tkoff_ to takeoff_ 2015-05-01 12:56:21 +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
e286323abc Copter: get_non_takeoff_throttle uses floats 2015-05-01 12:56:13 +09:00
Jonathan Challinger
0dbe94c9a1 Copter: set motor air density ratio 2015-04-29 14:36:17 +09:00
Jonathan Challinger
36cc832931 Copter: guided_posvel run update_z_controller at 400hz 2015-04-29 12:26:41 +09:00
Randy Mackay
da629ce976 Copter: minor format fix 2015-04-29 12:03:34 +09:00
Jonathan Challinger
f5fd89833d Copter: update YAW_LOOK_AHEAD to use inav velocity direction 2015-04-29 12:02:45 +09:00
Jonathan Challinger
e5b6cf9966 Copter: use circular limit on tilt angle for arm check 2015-04-29 12:02:43 +09:00
Randy Mackay
85b0a18f61 Copter: fix MNT param description 
extra underscore was appearing in the parameter descriptions on the web
 2015-04-29 09:07:36 +09:00
Randy Mackay
276b2dcf5e Copter: move lost copter check to separate function 
Also run from scheduler instead of from arm/disarm stick checks
Run at 10hz instead of 1hz
soundalarm_counter to uint8
Disable if equivalent aux switch is setup
Remove SEVERITY_LOW message because the GCSs never print these anyway
 2015-04-29 00:05:03 +09:00
svefro
5bee93cba3 Copter: Lost copter alarm through sticks 2015-04-29 00:05:01 +09:00
Julien Dubois
b7a6e3bf2c Copter: fix update_thr_average to run at 100hz 
Committed by Randy on Julien's behalf
 2015-04-28 22:44:59 +09:00
Randy Mackay
64629914a4 Copter: fix RTL alt when no using Rally points 2015-04-28 17:20:00 +09:00
David Dewey
0545185218 Copter: RTL at no less than 2m above home alt 2015-04-28 17:19:56 +09:00
Andrew Chapman
4311cd4e7a Copter: add logging for CH6 parameter tuning 
Logs CH6 tuning values to a new PTUN log struct, specific to
APM::Copter at this point
 2015-04-28 14:14:01 +09:00
Randy Mackay
2baf79ee7a Copter: remove TUNE param descr for AHRS Yaw/RP kP 2015-04-28 14:00:24 +09:00
Andrew Tridgell
cb2427ef9e Copter: removed special cases for DCM gain changes on arm/disarm 
copter no longer uses DCM, so it doesn't need these special cases
 2015-04-28 14:07:39 +10:00
Robert Lefebvre
1aa696bc10 Copter: Implement Stop Mode 2015-04-26 16:11:47 +09:00
Robert Lefebvre
8e4268ddd3 Copter: Initial creation of control_stop file 2015-04-26 16:11:43 +09:00
Tom Pittenger
66c7090f00 Copter: fix compile warnings by converting .f to .0f 2015-04-24 14:24:52 +09:00
Tom Pittenger
b57437042e Copter: fix compile warnings for unused functions 2015-04-24 14:10:00 +09:00
Randy Mackay
94dc973c29 Copter: update ARMING_CHECK parm description 2015-04-24 11:12:03 +09:00
Randy Mackay
6e623bce28 Copter: remove optical flow init failure message 
the sensor only becomes healthy once it has received data which will
take a few seconds after initialisation meaning this failure message
will always be displayed even when the sensor is fine.
 2015-04-24 10:58:07 +09:00
Randy Mackay
37e8d1a338 Copter: PosController alt limit from fence and EKF 2015-04-24 10:58:03 +09:00
Randy Mackay
3719ea53e4 Copter: add range finder status to extended status msg 2015-04-24 10:57:34 +09:00
Randy Mackay
5e359c977f Copter: replace range finder health with status 2015-04-24 10:57:30 +09:00
Randy Mackay
1ff443d667 Copter: add rangefinder pre-arm check 2015-04-24 10:57:08 +09:00
Paul Riseborough
133b8f5ad7 Copter: Allow EKF to pull data from range finder object 2015-04-24 10:56:53 +09:00
Niels Joubert
a52d554a10 ArduCopter: Handle GPS Data Injection 2015-04-24 08:01:32 +10:00
Niels Joubert
704e75d140 ArduCopter: Remove kruft from old RTK driver 2015-04-24 08:01:32 +10:00
Randy Mackay
bfd24801ea Copter: minor format fix 2015-04-21 21:47:19 +09:00
Arthur Benemann
7cf883a61c Copter: increase the telemetry receive function rate to 400Hz 
gimbal loop runs at 100Hz so to respond in time the gcs_check_input must run at a faster rate, the process are asyncronus
 2015-04-21 21:45:31 +09:00
Jaime Machuca
5de15464b6 Copter: add call to send digicam configure messages from a mission item 
Also add log_picture to separate logging and feedback from
the do_take_picture function so that it can be used when pictures
are triggered from a mission command
 2015-04-20 13:50:19 +09:00
Randy Mackay
a27f383612 Copter: remove duplicate IMU/ATT logging 
Previously IMU and ATT data could be logged at both a high rate
and a low rate.  This patch makes it skip the low rate logging
if the high rate is enabled
 2015-04-20 13:49:09 +09:00
Randy Mackay
06b3935beb Copter: LOG_BITMASK parameter def get All+FastIMU, All+FastATT 2015-04-20 13:49:06 +09:00
Randy Mackay
dfb720bab6 Copter: rename FULL_IMU logging to IMU_FAST 
This naming is consistent with the earlier ATTITUDE_FAST option and
clarifies that it's the rate that's increased rather than the content.
 2015-04-20 13:49:04 +09:00
Randy Mackay
2dbff9c544 Copter: remove scheduler table for 100hz CPUs 
We only support high performance CPUs capable of 400hz
 2015-04-20 13:49:01 +09:00
Peter Barker
5a45de5e00 Copter: IMU full-rate logging LOG_BITMASK flag 2015-04-20 13:48:58 +09:00
Randy Mackay
1c6c03b0eb Copter: firmware back to V3.3-dev 2015-04-18 11:51:53 +09:00
Jonathan Challinger
9a025024b5 Copter: use LowPassFilterVector3f for land detector accel filter 2015-04-17 10:46:56 +09:00
Jonathan Challinger
eafbd94d51 Copter: run land detector at 400hz 2015-04-17 10:46:53 +09:00
Jonathan Challinger
f93ff2d3ec Copter: use new lowpass filter 2015-04-17 10:46:50 +09:00
Leonard Hall
ca66b51ba9 Copter: Autotune parameter update 2015-04-16 21:00:50 +09:00
Leonard Hall
93d5c39248 Copter: add filter for the land detector 
Individual access filtering will be replaced with a single 3-axis low pass
filter in the near future
 2015-04-16 21:00:48 +09:00
Leonard Hall
1fcb0f4d53 Copter: pos_control param prefix shortened to PSC 2015-04-16 21:00:42 +09:00
Leonard Hall
49d3357e1d Copter: add z-axis accel logging 2015-04-16 21:00:35 +09:00
Leonard Hall
b50f065cab Copter: use relax alt hold controllers 2015-04-16 21:00:28 +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
Jonathan Challinger
b27b9dd86e Copter: use new throttle interface 2015-04-16 20:59:48 +09:00
Jonathan Challinger
0cff3a4292 Copter: fixup Windows newlines 2015-04-16 13:29:57 +09:00
Leonard Hall
ee91be66cf Copter: Update of land detector 2015-04-16 13:29:54 +09:00
Leonard Hall
2b5fb850dd Copter: Autotune adjustments 2015-04-15 22:04:26 +09:00
Randy Mackay
f2993edc36 Copter: move MSG_BATTERY2 higher in select 
No functional change
 2015-04-15 20:49:21 +09:00
Dario Lindo Andres
7dbd6c8509 ArduCopter: Enable MSG_BATTERY2 through Mavlink 
For allow to show battery_2 voltage and current on GCS.
 2015-04-15 20:49:18 +09:00
Leonard Hall
f8a6684c12 Copter: Autotune update 2015-04-15 20:34:42 +09:00
Jonathan Challinger
4e09c9832b Copter: fix guided_posvel and guided_vel to update pos_control at same rate as wpnav 2015-04-14 16:29:04 +09:00
Randy Mackay
55d8f440d4 Copter: fix alt sent to fence_check to be meters 2015-04-14 16:10:09 +09:00
Jonathan Challinger
be8c118b63 Copter: change altitude fence to work on home altitudes instead of origin altitudes 2015-04-14 16:10:08 +09:00
Jonathan Challinger
0f9e50d61c Copter: fix rtl completion altitude 2015-04-14 16:10:06 +09:00
Jonathan Challinger
b344a7ed17 Copter: fix set_position_target altitudes 2015-04-14 16:10:05 +09:00
Jonathan Challinger
301d4cc4a6 Copter: fix guided takeoff altitude 2015-04-14 16:10:05 +09:00
Jonathan Challinger
920ac12214 Copter: pv_location_to_vector use pv_alt_above_origin 2015-04-14 16:10:04 +09:00
Jonathan Challinger
e5a6023827 Copter: pass inertial_nav to fence 2015-04-14 16:10:03 +09:00
Jonathan Challinger
fddaca4cf7 Copter: rename get_throttle_surface_tracking to get_surface_tracking_climb_rate 2015-04-14 16:10:01 +09:00
Randy Mackay
ea5c24b70b Copter: rename lost_copter to vehicle_lost 2015-04-13 17:44:44 +09:00
Jaime Machuca
3c00b0a0a8 Copter: ch7/ch8 for lost copter sound 2015-04-13 17:44:39 +09:00
Randy Mackay
a20a89181c Copter: enable CPU failsafe after initialisation 
This removes a false positive during startup that lead to an error
appearing at the start of the dataflash log
 2015-04-13 15:58:13 +09:00
Randy Mackay
83c966eaa7 Copter: update 3.3-rc1 release notes 2015-04-12 09:41:23 +09:00
Randy Mackay
5a4039d99c Copter: version to APM:Copter 3.3-rc1 2015-04-12 09:21:44 +09:00
Randy Mackay
df59a912d1 Copter: 3.3-rc1 release notes 2015-04-12 09:21:22 +09:00
Randy Mackay
11576a0f1e Copter: fix bitmask for use with SET_POSITION_TARGET 
Thanks to vooon for spotting this
 2015-04-11 11:57:41 +09:00
Randy Mackay
4b5d07252e Copter: ekf_check ok if optflow pos available 2015-04-10 11:08:21 +09:00
Randy Mackay
52f7186cbf Copter: pre-arm check primary compass health 
Previously we would check the 1st compass which might not necessarily be
the primary compass
 2015-04-10 11:08:18 +09:00
Randy Mackay
6834b5943e Copter: pre-arm alt disparity check only if using baro 
We should probably consolidate the baro pre-arm and arming checks into a
single check_baro function but the difference in the error message stops
me from immediately doing that
 2015-04-10 11:08:02 +09:00
Paul Riseborough
1d7cb25c17 Copter : Update pre-arm and arm checks using EKF health status 
Bypass alt disparity check when doing ground relative navigation using range finder height
Add check of EKF health status to indicate when EKF is waiting to complete checks
 2015-04-10 11:07:50 +09:00
Randy Mackay
fea7632eac Copter: save EKF learned compass to primary compass 2015-04-10 11:07:18 +09:00
Paul Riseborough
2406e26ab4 Copter : Save EKF learned compass offsets on disarm 
Requires compass learning to be enabled in the compass parameters

Copter: fix compass offsets patch
 2015-04-10 11:07:13 +09:00
Leonard Hall
70fbb3c67e Copter: RATE_RLL_P param def max to 0.30 
same for RATE_PIT_P
 2015-04-09 20:19:57 +09:00
Leonard Hall
2bf8f21b7a Copter: roll, pitch rate IMAX to 2000 2015-04-09 20:19:56 +09:00
Randy Mackay
d589c591a6 Copter: only log home when first set 
We should also log home when we arm
 2015-04-09 10:57:08 +09:00
Randy Mackay
b0c777259f Copter: update home constantly while disarmed 2015-04-09 10:57:06 +09:00
Randy Mackay
c3bdb9a13e Copter: update inertial alt only after home is set 2015-04-09 10:57:04 +09:00