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4354 Commits

Author SHA1 Message Date
Lucas De Marchi
09f185eb5e ArduCopter: remove check for max INS instances 
For all supported boards the maximum number of instances is 3.
 2015-10-21 10:05:17 +11:00
Caio Marcelo de Oliveira Filho
3e3f13659d ArduCopter: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho
ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Randy Mackay
3f9d62d6b4 Copter: 3.3.1-rc1 release notes 2015-10-20 16:00:41 +09:00
Randy Mackay
1858a0544f Copter: guided takeoff checks auto-armed status 
This resolves an edge case in which the vehicle could takeoff with auto-armed false
 2015-10-20 15:51:55 +09:00
Paul Riseborough
75a61df627 Copter: Enable access to EKF2 height tuning 2015-10-20 15:21:38 +11:00
Paul Riseborough
d0aba09503 Copter: Access EKF healthy through AHRS object 
Enables EKF2 use
 2015-10-20 15:21:38 +11:00
Paul Riseborough
19785c1033 Copter: Access EKF origin through AHRS object 
Enables EKF2 use
 2015-10-20 15:21:38 +11:00
Paul Riseborough
7c6b31b585 Copter: Access EKF variance checks through AHRS object 
Supports flight using EKF2
 2015-10-20 15:21:38 +11:00
Randy Mackay
d03489263d Copter: remove gyro cal on first arming 2015-10-19 12:00:41 +09:00
Jonathan Challinger
598925f8d2 Copter: EKF failsafe action always Land if RC failsafe active 2015-10-18 10:06:05 +09:00
José Roberto de Souza
c581a702a0 ArduCopter: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
Gustavo Jose de Sousa
fb5320bb25 ArduCopter: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:05 +09:00
Randy Mackay
9b80ab18ae Copter: position_ok when optical flow ok 
Previously the GPS based absolute position was required
This allows using optical flow in all flight modes
 2015-10-14 12:01:41 +09:00
vooon
f3cbbef418 Copter: fix guided attitude type_mask check 2015-10-10 22:04:51 +09:00
Randy Mackay
a142688fea Copter: guided attitude timeout to 1sec 
Also add set-attitude-target capabilities flag
Thanks to Fredia and Sebastian for noticing these issues!
 2015-10-10 22:04:48 +09:00
Randy Mackay
e20038a453 Copter: support SET_ATTITUDE_TARGET in guided mode 2015-10-09 12:15:38 +09:00
Randy Mackay
1dcf58bc20 Copter: support set-home-position message 2015-10-03 12:51:32 +09:00
Randy Mackay
330961b524 Copter: send home position when home is set or get-home msg received 2015-10-03 12:50:45 +09:00
Randy Mackay
26329c5a03 Copter: 3.3 release notes 2015-09-29 10:25:43 +09:00
Andrew Tridgell
38bae40ca0 Copter: use ahrs.send_ekf_status_report() 2015-09-29 10:59:24 +10:00
Andrew Tridgell
5cb088fe14 Copter: pass display_failure to AP_Motors heli check 2015-09-25 12:30:34 +10:00
Andrew Tridgell
94eb23ef56 Copter: consider flight to be dynamic at greater than 2m above ground 
use rangefinder to switch to dynamic flight if possible
 2015-09-25 12:30:34 +10:00
Andrew Tridgell
49ee4b7965 Copter: tell motors library when to use acro gyro gain 2015-09-25 12:30:34 +10:00
Andrew Tridgell
1c26ed0fca Copter: fixed deadzone handling for external tail gyro 
when using an external tail gyro on a flybar heli the stick input
should be directly passed to output. This patch fixes the use of
deadzone in that passthrough.

It also makes the tail handling consistent with roll and pitch
handling, by not using ACRO_YAW_P when in tail pass-through.

Finally it also fixes deadzone handling for roll and pitch, and
removes the unnecessary get_pilot_desired_yaw_rate() that has a
different prototype from the one used in the rest of the code
 2015-09-25 12:05:43 +10:00
Randy Mackay
cdd4570f02 Copter: fix init order of ekfYawReset_ms 2015-09-24 16:57:50 +09:00
Randy Mackay
317779f976 Copter: check_ekf_yaw_reset uses ahrs method 2015-09-24 16:57:47 +09:00
Jonathan Challinger
e47175862a Copter: use modified getLastYawResetAngle function 2015-09-24 16:57:44 +09:00
Andrew Tridgell
2470cf0e76 Copter: use resetHeightDatum() and getLastYawResetAngle() 2015-09-23 17:47:11 +10:00
Andrew Tridgell
053194fd51 Copter: added EK2_* parameters and EKF2 instance 2015-09-23 11:56:33 +10:00
Randy Mackay
96d6b8eb61 Copter: 3.3-rc12 release notes 2015-09-22 15:17:23 +09:00
Randy Mackay
57c5840f0d Copter: add EKF attitude arming check 2015-09-21 17:06:39 +09:00
Randy Mackay
f3d4b20a80 Copter: calibrate gyros during accel calibration 2015-09-21 17:06:37 +09:00
Randy Mackay
01c0b20930 Copter: calibrate gyros depending on INS GYR_CAL parameter 2015-09-21 17:06:34 +09:00
KiwiHC16
004c5b8416 Copter: mission_start always restarts mission 2015-09-16 17:17:20 +09:00
Stewart Loving-Gibbard
985be6dd86 Copter: Adding Logging of RSSI data. 2015-09-16 16:41:43 +09:00
Randy Mackay
0f55b2a0eb Copter: replace vehicle compass consistency check 2015-09-16 15:13:38 +09:00
squilter
30ed2508d6 Copter: Support do_digicam_x via command_long 2015-09-16 13:06:49 +09:00
Randy Mackay
a403e5aef0 Copter: fix severity of super simple message to GCS 2015-09-12 12:35:42 +09:00
Ivale
6c74981010 Copter: report simple mode status to GCS as text 2015-09-12 12:28:58 +09:00
Daniel Nugent
3a7036fd67 Copter: pass LANDING_TARGET message to precland lib 2015-09-11 20:56:10 +09:00
Daniel Nugent
9fe3abf5ca Copter: precision landing uses sonar alt if available 2015-09-11 20:56:09 +09:00
Randy Mackay
cf6d0db0f1 Copter: 3.3-rc11 release notes 2015-09-10 14:54:55 +09:00
Peter Barker
1103451d36 Copter: ensure 10% free space when initialising logging 2015-09-09 12:22:36 +10:00
Randy Mackay
8efc02fe0c Copter: delay for 200ms instead of 50ms before reboot 2015-09-09 10:39:56 +09:00
Jonathan Challinger
1fbdf11eca Copter: set firmware_update flag instead of event 2015-09-09 10:39:55 +09:00
Staroselskii Georgii
68e0d57998 Copter: make Copter use milligauss 
The telemetry and and logging is still in compass units, though. This
way, users won't need to recalibrate their compasses.
 2015-09-09 10:38:16 +10:00
Andrew Tridgell
d6b244670b Copter: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell
dff9fe9cb2 Copter: use prearm_failure_reason() 2015-09-08 16:07:33 +10:00
Leonard Hall
0129110502 Copter: limit throttle mid to throttle min + 50 2015-09-07 18:10:28 +09:00
Leonard Hall
6b01c1117f Copter: keep thr-mix at min when landed 2015-09-07 18:10:25 +09:00
Randy Mackay
0eaf815411 Copter: guided mode vel controller integrates althold lean limit 
Note it does not yet actually limit the lean angles based on throttle
 2015-09-07 15:10:13 +09:00
Leonard Hall
543f6fdcd4 Copter: AltHold limits lean angle to maintain altitude 
get_pilot_desired_lean_angles function now takes angle max parameter but
all flight modes except AltHold simply pass in the ANGLE_MAX parameter
meaning no functional change for them
 2015-09-07 15:10:12 +09:00
Leonard Hall
61d6c44e3b Copter: tricopter yaw rate filter to 100hz 2015-09-07 12:30:39 +09:00
Randy Mackay
dc4923a88d Copter: suppressing comment for switch case fall through 2015-09-06 16:01:33 +09:00
Randy Mackay
5e38adfae3 Copter: remove support for configure as command long 
Also protect mount calls with MOUNT definition
 2015-09-06 16:01:21 +09:00
squilter
8320c06700 Copter: Support do-mount-control via command-long 2015-09-06 16:01:16 +09:00
Andrew Tridgell
fdb1cc38b0 Copter: removed redundent copter dereference 2015-09-03 16:59:24 +10:00
Siddharth Bharat Purohit
347d1f0a25 Copter: use handle message function for compass cal from compass library 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit
9cf2998bba Copter: update send text severity for compass cal 2015-09-03 16:59:13 +10:00
Jonathan Challinger
1dc373fa20 Copter: correct compile errors after compass cal merge 2015-09-03 16:59:13 +10:00
Jonathan Challinger
7d67a00aa3 Copter: add compass_cal update function 2015-09-03 16:59:12 +10:00
Jonathan Challinger
eec5c2a5eb Copter: send NACK if compass.start_calibration_all fails 2015-09-03 16:59:12 +10:00
Jonathan Challinger
2864d58474 Copter: refuse to start mag cal if armed 2015-09-03 16:59:12 +10:00
Jonathan Challinger
fa6bfee433 Copter: add arming check for compass calibration running 2015-09-03 16:59:12 +10:00
Jonathan Challinger
3739318d2f Copter: Hook up compass calibrator 2015-09-03 16:59:11 +10:00
Jonathan Challinger
ee1209c03f Copter: run compass_accumulate at 100hz 2015-09-03 16:59:09 +10:00
Peter Barker
51a761656e Copter: DFMessageWriter; ability to trickle messages out to DF 2015-09-03 15:20:19 +10:00
Andrew Tridgell
00da3ccc49 Copter: set in_arm_motors to false on all arm failure returns 
otherwise if the user fails to arm due to interlock or emergency stop
then they won't be able to try to arm again until they reboot
 2015-09-02 11:03:36 +10:00
Andrew Tridgell
64a8e66dd7 Copter: automatically set H_RSC_MIN/MAX from RC8_MIN/MAX on upgrade 
this prevents a problem where the disarm throttle will change after
upgrading to 3.4
 2015-09-02 10:25:48 +10:00
Gustavo Jose de Sousa
19d1c28c06 ArduCopter: use function name for AP_Scheduler task name 
That makes it easier to identify tasks when debug is enabled in AP_Scheduler.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa
79b8b15053 ArduCopter: use designated initializers for tasks structs 
Makes code less prone to break build and semantics (e.g., when a new field is
added).
 2015-09-01 20:22:18 +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
f4b152f0e3 Copter: add Precision Landing to GPS land 2015-08-31 18:00:31 +09:00
Randy Mackay
0da38ba2bf Copter: add Precision Landing log message 2015-08-31 18:00:30 +09:00
Randy Mackay
26ded641db Copter: integrate Precision Landing lib 2015-08-31 18:00:28 +09:00
Randy Mackay
5a4729a966 Make: include AC_PrecLand and AP_IRLock libs in Copter 2015-08-31 18:00:27 +09:00
Randy Mackay
e92296a0b7 TradHeli: integrate RotorControlMode enum 2015-08-31 11:44:00 +09:00
Randy Mackay
d99bb66f8a TradHeli: remove duplicate code in update_rotor_speed_target 2015-08-31 11:43:56 +09:00
Robert Lefebvre
c51b57e71c Copter: Remove Armed check from heli RSC controls 2015-08-31 11:43:53 +09:00
Robert Lefebvre
b331799dac Copter: Add handle to control Throttle Curve RSC. 2015-08-31 11:43:46 +09:00
Robert Lefebvre
c968ec3a63 Copter: Helicopters to use motor interlock logic. 
Also, remove motor interlock pre-arm check to streamline logic.
 2015-08-31 11:43:37 +09:00
Robert Lefebvre
161ce5c11d Copter: Change name of rotor speed function to match that in library 2015-08-31 11:27:53 +09:00
Robert Lefebvre
990761a13b Copter: Create new heli RSC RC Channel object. 2015-08-31 11:27:50 +09:00
Fredrik Hedberg
66d9d38750 Copter: Use AP_MotorsHeli_Single for HELI_FRAME. 2015-08-31 11:27:32 +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
cbfbd46547 Copter: Release notes for AC3.3-rc10 2015-08-28 12:21:09 +09:00
Randy Mackay
1608cffe95 Copter: increase failsafe close-to-home to 5m 
This distance is used when a failsafe is initiated to decide whether to RTL or LAND
 2015-08-28 09:24:37 +09:00
Randy Mackay
be603da579 Copter: fix optflow position_ok check 
We should accept predicted relative horizontal position only when disarmed
 2015-08-27 20:57:41 +09:00
Randy Mackay
4cdb5bf2bd Copter: sanity check do-set-home and do-set-ROI location 2015-08-27 15:16:04 +09:00
Randy Mackay
0424b3f93c Copter: pre-arm check of EKF compass variance 2015-08-26 13:59:41 +09:00
Randy Mackay
920d5cefbb Copter: always check GPS before arming in Loiter 2015-08-26 13:15:28 +09:00
Randy Mackay
71cc89d107 Copter: add ACCEL_Z_FILT_HZ parameter description 
Also fixed parameter links to ATC, BATT and MOT libraries
 2015-08-26 11:17:50 +09:00
squilter
767b4da5b6 Copter: update send text severities 2015-08-25 14:05:25 +09:00
Grant Morphett
da37769e33 Copter: Added include guards for Copter.h 2015-08-25 13:54:18 +09:00
Randy Mackay
43fa9c8ae3 Copter: fix Autotune param descriptions 2015-08-23 14:56:41 +09:00
Randy Mackay
a10a74d498 Copter: AUTOTUNE_MIN_D param to allow controlling minimum D 2015-08-23 14:56:39 +09:00
Randy Mackay
6a4f4c5f8d Copter: failsafe RTL vs LAND decision always based on 2m 
Previously this decision was based on the WPNAV_RADIUS parameter which is unexpected (and undocumented) behaviour.  Better just to hard-code it to 2m and remove the dependency on this parameter.
 2015-08-23 11:03:35 +09:00
squilter
a11227af84 Copter: define and send FIRMWARE_VERSION 2015-08-21 22:40:52 +09:00
Randy Mackay
f0b992f01e Copter: AC3.3-rc9 release notes 2015-08-20 10:04:55 +09:00
Tom Pittenger
87d0b12c7c Copter: implement try send mission_item_reached 
clean up unreachable code
 2015-08-19 15:42:07 +10:00
Stewart Loving-Gibbard
d1f5a2988d Copter: fix spelling errors in Parameters.cpp 2015-08-18 09:48:52 +09:00
squilter
f77b06175e Copter: update flighttermination capability 2015-08-17 17:15:50 +09:00
Paul Riseborough
dc785fd2ed Copter: shorten disarm counter to 10 seconds 2015-08-15 08:21:13 +09:00
Jonathan Challinger
94fb94d67d Copter: adapt auto disarm for sprung throttle stick copters 2015-08-15 08:21:08 +09:00
Randy Mackay
c8ecb1bac7 Copter: fix PILOT_TKOFF_DZ param description 2015-08-13 10:40:26 -07:00
Randy Mackay
c324d4e89b Copter: fix ANGLE_MAX param description 
Thanks to Hamish for finding this
 2015-08-13 10:35:32 -07:00
squilter
a42674b0b0 Copter: implement do_flighttermination 2015-08-12 14:17:44 -07:00
TShapinsky
5dfd1ff8d6 Copter: add velocity control timeout in guided mode 2015-08-13 02:07:00 +09:00
Andrew Tridgell
80ad9aa605 Copter: added RPM dataflash logging 2015-08-12 15:03:50 +10:00
Andrew Tridgell
1fdf7ec83f Copter: added RPM sensor support 
send result via MAVLink
 2015-08-12 15:03:50 +10:00
Randy Mackay
7199b57fde Copter: check frame for SET_POSITION_TARGET_GLOBAL_INT in guided 2015-08-11 16:41:17 -07:00
Randy Mackay
580c0ad9de Copter: guided SET_POSITION_TARGET accepts frame 2015-08-11 16:41:11 -07:00
Randy Mackay
b781f85948 Copter: convert fn from body-frame to NE 2015-08-11 16:41:08 -07:00
Randy Mackay
59d5a4fad8 Copter: landing with guided velocity controller 2015-08-11 16:41:05 -07:00
squilter
85c39348f3 Copter: update copter's capabilities 2015-08-11 17:17:44 +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
Jonathan Challinger
a18f71b29e Copter: bug fix to RTL_ALT_MIN feature 
commited by Randy
 2015-08-08 15:38:47 +09:00
Przemek Lekston
f99b152b1f Copter: fix logging disabled build 2015-08-01 21:19:17 +09:00
Randy Mackay
6765aedb5b Copter: init vehicle capabilities 2015-07-31 14:50:29 +09:00
squilter
edf5ff1bbe Copter: add capability bitmask 2015-07-31 14:50:15 +09:00
Randy Mackay
cc27fb46bf Copter: arming check that baro is healthy 2015-07-29 16:32:47 +09:00
Randy Mackay
11c9e46ec7 Copter: arming check that accels and gyro are healty 2015-07-29 16:32:45 +09:00
Randy Mackay
4eb6f0f646 Copter: slow start motors after landing in Stabilize, Acro 2015-07-28 15:16:24 +09:00
Andrew Tridgell
149b6bffba Copter: fixed comment on get_pilot_desired_yaw_rate 2015-07-27 12:04:03 +10:00
Randy Mackay
73ae816a8b Copter: update AC3.3-rc8 release notes 2015-07-25 14:53:38 +09:00
Randy Mackay
0645453997 Copter: AC3.3-rc8 release notes 2015-07-25 13:46:14 +09:00
Randy Mackay
c627f84fa8 Copter: Ch6 circle rate as float 2015-07-23 16:21:23 +09:00
Randy Mackay
7935bf70f1 Copter: rc_override active only on non-zero overrides 
Bug found by Kevin Hester
 2015-07-22 17:32:30 +09:00
Randy Mackay
908afad65c Copter: reset yaw angle target when disarmed or landed in AltHold 2015-07-21 16:26:50 +09:00
Randy Mackay
35a924703f Copter: change multirotor comments to multicopter 
No functional change
 2015-07-21 16:26:25 +09:00
Randy Mackay
1b68d0eead Copter: no MotBatt logging for TradHeli 2015-07-21 16:26:22 +09:00
Randy Mackay
4cacff54b4 Copter: no update_throttle_thr_mix for TradHeli 2015-07-21 16:26:19 +09:00
Randy Mackay
5baf98bcfc Copter: no get_throttle_pre_takeoff for TradHeli 2015-07-21 16:26:17 +09:00
Randy Mackay
0f174053d6 Coptre: disable esc calibration for TradHeli 2015-07-21 16:26:14 +09:00
Randy Mackay
1af383253f Copter: disable compassmot for TradHeli 2015-07-21 16:26:11 +09:00
Randy Mackay
546d668d1d Copter: no set_hover_throttle for TradHeli 2015-07-21 16:26:07 +09:00
Randy Mackay
88b617707f Copter: call set_throttle_range for multicopters only 2015-07-21 16:26:05 +09:00
Randy Mackay
53aad69fa2 Copter: include AttControl_Multi.h 2015-07-21 16:26:02 +09:00
Randy Mackay
0af7fb93e5 Copter: rename param to MotorsMulticopter 2015-07-21 16:25:58 +09:00
Robert Lefebvre
e3a0f1568d Copter: Tradheli to check rotor speed control input before arming 
Also, force rsc_control input to 0 when disarmed.  This prevents condition where AP_MotorsHeli can receive a rotor speed command greater than zero while disarmed, which was causing the ColYaw function to move the rudder servo.  These two changes are somewhat tied together as it required changing the arming_check to check the RSC_Control not desired_speed from AP_MotorsHeli.
 2015-07-21 16:25:25 +09:00
Robert Lefebvre
534ba89756 Copter: Tradheli manage yaw better on the ground. 2015-07-21 16:25:16 +09:00
Robert Lefebvre
92de71f993 Copter: Check helicopter parameters during Pre-Arm Checks 2015-07-21 16:25:07 +09:00
Robert Lefebvre
f3496356b2 Copter: Tradheli won't get set_yaw_headroom tuning function 2015-07-21 16:24:55 +09:00
Robert Lefebvre
cdfdb340df Copter: Use AP_Motors_Multirotors class for params 2015-07-21 16:24:46 +09:00
Tom Pittenger
0ecebbd55f Copter: Refactor verify_command 
- abstracted verify_command so that command-wide actions can happen more cleanly, namely mission_item_reached
- This also brings the structure in line with plane and rover
 2015-07-21 14:48:37 +09:00
Randy Mackay
4d24d1494d Copter: send_mission_item_reached when cmd completed 2015-07-19 12:14:15 +09:00
Randy Mackay
c62da52259 Copter: add gcs_send_mission_item_reached 2015-07-19 12:14:12 +09:00
Randy Mackay
ec298fb508 Copter: Log_Write_Attitude yaw as 0 to 36000 2015-07-18 13:26:01 +09:00
Randy Mackay
277e3d8675 Copter: enable ekf_check only after ekf origin has been set 2015-07-16 14:54:12 +09:00
Randy Mackay
35dd7322d2 Copter: float constant fix for heli's check_dynamic_flight 
No functional change
 2015-07-14 20:17:17 +09:00
Robert Lefebvre
5541899a99 Copter: Whitespace fixes. 2015-07-14 20:17:16 +09:00
Robert Lefebvre
24d0031389 Copter: replace slow_start() with full set_throttle_takeoff() function. 2015-07-14 20:17:15 +09:00
Robert Lefebvre
0a69c13b1d Copter: Fix helicopter ground stabilization in Auto, Brake, Circle, Guided, Land and RTL modes. 2015-07-14 20:17:14 +09:00
Randy Mackay
f3770432f9 Copter: fix do_user_takeoff indentation 
No functional change
 2015-07-14 20:16:57 +09:00
Robert Lefebvre
bc6deb5575 Copter: Tradheli Mavlink Takeoff to fail if rotor not spinning. 2015-07-14 20:13:46 +09:00
Andy Piper
425e26c258 Copter: reduce GPS_HDOP_GOOD params default to 140 
This is required as part of the ublox change from pdop to hdop
 2015-07-14 15:02:06 +09:00
Randy Mackay
4e3d0ae0c1 Copter: fix startup logging 
Removed potentially endless loop caused by start_logging calling
Log_Write_Startup which called should_log which could then call
start_logging.
Moved disarm event logging above motors disarm so it is logged
 2015-07-14 14:03:00 +09:00
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
c33453fcf9 Copter: rename ESC param to ESC_CALIBRATION 2015-07-13 09:33:37 +09:00
Randy Mackay
1a911553eb Copter: allow disabling ESC calibration 2015-07-13 09:33:35 +09:00
Randy Mackay
764fa36716 Copter: log ERR when compass, baro unhealthy 2015-07-12 22:11:35 +09:00
Randy Mackay
2e6b6e473a Copter: fix home_distance calculation 
Distance was calculated vs EKF origin instead of AHRS home
 2015-07-08 15:27:59 +09:00
Randy Mackay
290cdcf6fb Copter: check fence when disarmed 
this allows catching fence breaches as part of arming checks
 2015-07-08 15:27:57 +09:00
Randy Mackay
fbe0e5dfb3 Copter: add arming check of fence 2015-07-08 15:27:54 +09:00
Randy Mackay
07880bf90a Copter: add TRI yaw servo changes to release notes 2015-07-07 13:29:22 +09:00
Lucas De Marchi
0bc09adc78 ArduCopter: use ARRAY_SIZE macro 2015-07-07 07:56:30 +10:00
Randy Mackay
cfe046c9d1 Copter: log EKF height reset 2015-07-06 12:11:54 +09:00
Randy Mackay
221ddb545e Copter: log ahrs home and ekf origin 2015-07-06 12:11:51 +09:00
Randy Mackay
af8b9e703c Copter: fix compiler warning from pid_tuning_send call 2015-07-02 14:22:53 +09:00
Randy Mackay
63052ff874 Copter: pre-arm check of battery voltage 2015-07-02 14:19:13 +09:00
Randy Mackay
c57b4f9c8c Copter: add Flip, AutoTune to FLTMODE param descriptions 2015-07-02 13:24:20 +09:00
Randy Mackay
ea30e5151d Copter: pre-arm check thr is above failsafe 2015-07-01 16:36:11 +09:00
Peter Barker
12bce49cd1 Copter: use common mission logging code 2015-06-30 16:23:35 +10:00
Peter Barker
52a31a31e0 Copter: use common system information logging 2015-06-30 16:23:34 +10:00
Randy Mackay
d89058a75c Copter: loiter state reads takeoff climb rate during takeoff 2015-06-29 13:49:58 +09:00
Robert Lefebvre
01ae84dda6 Copter: Create Loiter state machine. 2015-06-29 13:49:55 +09:00
Randy Mackay
1a9cdac441 Copter: remove unused definition 2015-06-28 21:55:31 +09:00
Randy Mackay
cc212f1398 Copter: AC3.3-rc7 release notes 2015-06-28 21:21:05 +09:00
Randy Mackay
e60f53d144 Copter: arming check Bitmask param description 2015-06-27 19:20:52 +09:00
Randy Mackay
2b35fbc81f Copter: remove redundant ToRad definition 2015-06-27 19:20:50 +09:00
Peter Barker
788faf1f7d Copter: DataFlash frontend/backend split 2015-06-26 16:02:50 +10:00
Andrew Tridgell
ebddc05ead Copter: enable tail pass thru in acro for EXTGYRO tails 
this allows acro mode to function as full passthru
 2015-06-26 12:45:40 +09:00
Randy Mackay
163e1d8e1b Copter: update AC3.3-rc6 release notes 2015-06-26 10:17:14 +09:00
Randy Mackay
58b2f2b112 Copter: update AC3.3-rc6 release notes 2015-06-25 21:32:03 +09:00
Randy Mackay
c57c0ee0d8 Copter: AC3.3-rc6 release notes 2015-06-25 20:31:00 +09:00
Randy Mackay
14cf9b1621 Copter: reset ekf height if arming before home set 2015-06-24 16:25:17 +09:00
Randy Mackay
814edfa457 Copter: shift yaw target if ekf yaw estimate resets 2015-06-24 11:49:35 +09:00
Robert Lefebvre
8891cd159a Copter: Tradheli to check rotor_runup_complete before allowing takeoff. 2015-06-24 11:42:48 +09:00
Randy Mackay
89345bad7a Copter: clarify takeoff_timer_start alt units 
No functional change
 2015-06-22 13:24:01 +09:00
Randy Mackay
f79ac46d60 Copter: fix althold take-off state 
Also abort takeoff when switching into AltHold
 2015-06-22 13:24:00 +09:00
Randy Mackay
15c57342a5 Copter: remove some comments from althold 2015-06-22 13:23:58 +09:00
Robert Lefebvre
a642c88e34 Copter: AltHold state machine 2015-06-22 13:23:53 +09:00
Randy Mackay
8f95bc3b67 Copter: parachute check uses lean angle error of 30deg 
Also slightly restructured
 2015-06-19 15:46:13 +09:00
Leonard Hall
4154ecdf18 Copter: use angle error instead of absolute angle 2015-06-19 15:46:12 +09:00
Leonard Hall
911bee3518 Copter: set throttle_mix to min when disarmed 2015-06-19 15:46:11 +09:00
Randy Mackay
8cdfac8fcd Copter: remove baro and pilot thr from crash checks 
Add acceleration < 3m/s/s check
Run crash and parachute checks at 400hz
 2015-06-19 15:46:10 +09:00