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13,373 Commits 71 Branches 511 Tags 786 MiB
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3432 Commits

Author SHA1 Message Date
Randy Mackay
6537432b50 Copter: auto-trim start delays auto-disarm by 15sec 
Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
 2014-10-09 22:42:47 +09:00
Randy Mackay
74e86a3cd7 Copter: version to AC3.2-rc12 2014-10-09 20:18:06 +09:00
Randy Mackay
01a4ad24af Copter: AC3.2-rc12 release notes 2014-10-09 20:17:55 +09:00
Randy Mackay
7f8a68d44a Copter: support pre-flight calibration of gyro 2014-10-09 10:26:05 +09:00
Randy Mackay
661755e05a Copter: report gyro unhealthy if failed calibration 2014-10-09 10:25:52 +09:00
Randy Mackay
eb594775b7 Copter: pre-arm check that gyro cal succeeded 2014-10-09 10:25:47 +09:00
Randy Mackay
a95b8f1b0e Copter: Rate Pitch IMAX default to 1000 
Spotted by Jonathan Challinger, thanks!
 2014-10-07 21:07:40 +09:00
Randy Mackay
5891cd3078 Copter: disable sonar on APM1 and TradHeli on APM2 2014-10-07 14:13:35 +09:00
Randy Mackay
a1e707b7f9 Copter: cleanup enabling of cli and frsky telem for APM 2014-10-07 12:57:09 +09:00
Randy Mackay
26b5321130 Copter: version to AC3.2-rc11 2014-10-06 11:48:13 +09:00
Randy Mackay
95b2b45a7b Copter: ReleaseNotes for AC3.2-rc11 2014-10-06 11:48:00 +09:00
lthall
e836832595 Copter: increase autotune limits 
Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
 2014-10-03 12:37:40 +09:00
Randy Mackay
400dd94ec5 TradHeli: remove overall throttle level from landing check 2014-10-02 16:14:08 +09:00
Randy Mackay
3b0a308ed2 Copter: only report ahrs unhealthy after initialisation 2014-10-02 15:02:55 +09:00
Randy Mackay
da2a463f18 Copter: shift pos targets to current location before takeoff 2014-09-29 15:28:16 +09:00
Randy Mackay
20d35b4bd1 Copter: bugfix to condition-yaw for relative angles 
Thanks to roque-canales for raising the issue and paradisephil for finding
the specific piece of code that went wrong and suggesting the fix.
 2014-09-26 12:26:05 +09:00
Randy Mackay
eb89b53714 Copter: version to AC3.2-rc10 2014-09-24 14:29:15 +09:00
Randy Mackay
56242176da Copter: update AC3.2-rc10 release notes 2014-09-24 14:29:14 +09:00
Randy Mackay
a0cb4301a1 Copter: allow passthru for ch 9 ~ 14 
Based on work by Emile Castelnuovo
 2014-09-24 10:28:41 +09:00
Randy Mackay
d66ffd5b07 Copter: use disparity threshold define for pre-arm checks 
There are two duplicate checks, one in the pre-arm checks (i.e. checks
run every 15 seconds or so before the vehicle is armed) and one in the
arming checks (run immediately before arming).  The definition in the
pre-arm checks was still using the old hardcoded value.
 2014-09-23 19:33:53 +09:00
Randy Mackay
1cf7f7eaa9 Copter: increase Alt Disparity check to 2m 2014-09-20 12:27:40 +09:00
Randy Mackay
93dbfd009e Copter: rename land_maybe_complete function 2014-09-19 22:41:41 +09:00
Randy Mackay
5f909f1a73 Copter: add land_complete_maybe flag 2014-09-19 22:41:38 +09:00
Randy Mackay
7f9709300c Copter: soften loiter target when maybe landed 
Applies to auto's land, land, loiter, pos hold and rtl flight modes
 2014-09-19 22:41:35 +09:00
Randy Mackay
a1ea43461a Copter: typo fix for baro vs inav alt disparity definition 2014-09-19 22:41:28 +09:00
Randy Mackay
b8c74b7363 Copter: define limit for baro vs inav alt disparity 2014-09-19 22:41:25 +09:00
Andre Kjellstrup
be2f308802 Copter: reset battery_fs after dis/rearming 2014-09-19 22:41:20 +09:00
Jonathan Challinger
3993927cb7 Copter: Log NTUN while in LAND mode with GPS 2014-09-16 10:35:43 +09:00
Randy Mackay
b212c02057 Copter: version to AC3.2-Iris 
Interim release 3DRobotics's use with IRIS+ frames
 2014-09-12 15:06:57 +09:00
Randy Mackay
0a3ec84e86 Copter: THR_ACCEL_IMAX default to 800 2014-09-12 15:04:29 +09:00
Randy Mackay
5fd39ce436 Copter: reduce throttle to min once landed in RTL 
This catches the case where the vehicle lands but the user doesn't
immediately put the throttle to zero.  Before this check it would
continue to attempt to hold it's
 2014-09-12 14:55:36 +09:00
Randy Mackay
64cc4986bd Copter: THR_ACCEL_IMAX param range increased 2014-09-12 14:55:33 +09:00
Randy Mackay
75a1e46d82 Copter: version to AC3.2-rc9 2014-09-11 20:28:43 +09:00
Randy Mackay
a7233c48be Copter: AC3.2-rc9 release notes 2014-09-11 20:28:35 +09:00
Randy Mackay
12f3e96cc1 Copter: version to AC3.2-rc8 2014-09-11 16:36:43 +09:00
Randy Mackay
1ed11c7c37 Copter: AC3.2-rc8 release notes 2014-09-11 16:35:29 +09:00
Randy Mackay
cac10a3041 Copter: never send unhealthy terrain status 
Copter does not yet rely on the terrain data (it's for informational
purposes only) so we will temporarily disable the failure flags to the
GCS to avoid support calls
 2014-09-09 22:20:33 +09:00
Randy Mackay
e706c24542 Copter: send extended status to GCS only after initialisation 2014-09-09 22:20:31 +09:00
Randy Mackay
4b47a618a4 Copter: reduce alt hold defaults 
Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
 2014-09-09 16:45:11 +09:00
Randy Mackay
62a4e66481 Copter: increase EKF_CHECK_THRESH default to 0.8 
Also remove unused #define related to inertial nav check (now removed)
 2014-09-09 15:18:15 +09:00
Randy Mackay
faf124771a Copter: version to AC3.2-rc7 2014-09-04 15:44:10 +09:00
Randy Mackay
fe07df5562 Cotper: AC3.2-rc7 release notes 2014-09-04 15:43:36 +09:00
Randy Mackay
cdc4038f27 Copter: pre-arm consistency check of gyros 2014-09-04 15:23:56 +09:00
Randy Mackay
dbb0283dba Copter: land check gets overall throttle and rotation rate check 
add check that overall throttle level is below the non-takeoff throttle
instead of just checking that it's motors have hit their lower limits
because low limits can also be caused by high yaw rotation requests.
Absolute climb rate requirement reduced to 30cm/s
 2014-09-04 15:23:53 +09:00
Randy Mackay
b214b8ba15 Copter: add short delay to arming to allow RC input 
The short delay gives time for the RC inputs to be processed which
removes the chance of a false-positive on the "late frame" radio check.
A false positive could lead to an immediate disarm right after arming.
 2014-09-04 15:23:51 +09:00
Randy Mackay
8e7b93d1b7 Copter: pre-arm consistency check of accels 2014-09-03 13:52:58 +09:00
Randy Mackay
8b91900b74 Copter: individual accel and gyro status to GCS 2014-09-03 11:38:47 +09:00
Randy Mackay
6c0b9a2cfc Copter: check all gyros and accels in pre-arm check 2014-09-03 11:38:45 +09:00
Randy Mackay
1ee6481517 Copter: sanity check throttle deadzone 2014-09-02 12:40:55 +09:00
Randy Mackay
162d421e5d Copter: update AC3.2-rc6 release notes 
forgot compass-not-calibrated bug fix
 2014-08-31 12:05:33 +09:00
Randy Mackay
7236d0621a Copter: update AC3.2-rc6 release notes 
Forgot to add GPS driver buffer overflow item
 2014-08-31 12:02:33 +09:00
Randy Mackay
acecc78454 Copter: version to AC3.2-rc6 2014-08-31 11:56:58 +09:00
Randy Mackay
be2dabe58e Copter: AC3.2-rc6 release notes 2014-08-31 11:56:15 +09:00
Randy Mackay
15508c49ef Copter: default LAND_REPOSITION to 1 2014-08-31 11:40:06 +09:00
Jason Short
515c0d8630 Copter: restore CLI set parameter feature 
Added back the ability to set params from CLI
 2014-08-31 11:40:04 +09:00
Randy Mackay
68df421484 Copter: throttle deadzone parameter 
Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
 2014-08-31 10:19:03 +09:00
Randy Mackay
7802c85b5f Copter: pre-arm check of internal vs ext compass 2014-08-26 22:44:20 +09:00
Randy Mackay
4038cd2fbd Copter: remote arming check reference to compass learning 2014-08-26 22:44:18 +09:00
Randy Mackay
f78aff67c2 Copter: make landing detector more strict 
Made more strict by requiring 50 consecutive iterations where the climb
rate is below +- 40cm/s.  Previously it was 50 cumulative.

Removed check of failsafe.radio when clearing the land flag because it
could result in the vehicle taking off if the user picked it up.
 2014-08-26 11:23:18 +09:00
Randy Mackay
d242fcaae5 Copter: remove get_angle_targets_for_reporting fn 
this saves a tiny amount of time by removing the memory copy of a
Vector3f
 2014-08-22 22:59:50 +09:00
Andrew Tridgell
f86de61d82 Copter: show firmware version on param fetch 
fixes pull #1320

thanks Arthur!
 2014-08-22 21:38:16 +09:00
Randy Mackay
06880f5cfa TradHeli: update AttControlHeli constructor 
reference to rc_1, rc2 are replaced with constant updates during
acro_run
 2014-08-22 21:37:25 +09:00
Randy Mackay
c7d6b026b5 TradHeli: call passthrough_bf_roll_pitch_rate_yaw 2014-08-22 21:37:22 +09:00
Robert Lefebvre
8ac36892ee Logging: Fix comment error. 2014-08-22 21:37:17 +09:00
Robert Lefebvre
32cb2bbce1 TradHeli: Add yaw-only rate request function for flybar acro mode. 2014-08-22 21:37:15 +09:00
Robert Lefebvre
1becab3eed TradHeli: Reset flybar passthrough to false when exiting Acro mode. 2014-08-22 21:37:12 +09:00
Robert Lefebvre
184be135cd TradHeli: Set Flybar passthrough mode in Acro Initialization function. 2014-08-22 21:37:10 +09:00
Robert Lefebvre
ede4b567f2 TradHeli: Add pointer for pilot roll/pitch inputs to attitude_control constructor. To be used for flybar passthrough. 2014-08-22 21:37:01 +09:00
Randy Mackay
2d02d8d15f Copter: remove inav check 
the EKF check works reliably but attempts to check the inertial nav for
errors has not been successful.  I could not find a way to reliably
catch flyaways without also introducing false positives (and thus
unwanted LANDings)
 2014-08-20 14:49:58 +09:00
Randy Mackay
9c79f9b38d Copter: add ACRO_EXPO param values 2014-08-20 14:49:54 +09:00
Andrew Tridgell
ecd73413db Copter: set GPS non-blocking 
the new GPS driver only ever needs a non-blocking port
 2014-08-19 11:12:14 +09:00
NullVoxPopuli
2183d2f4f3 Copter: add A-Tail to FRAME parameter description 2014-08-18 14:31:56 +09:00
priseborough
33432aa4a8 Copter : Distinguish between EKF and INAV errors 2014-08-18 14:31:52 +09:00
Randy Mackay
a31f30e6bd Copter: range check ACRO_EXPO to be no more than 1 2014-08-18 12:58:20 +09:00
Randy Mackay
7202aa00da Copter: remove compass learn of offsets 
This saves 1k of flash and the interference on most copters makes this
option unusable anyway.
 2014-08-16 10:45:11 +09:00
Randy Mackay
515cb7c671 Copter: AC3.2-rc5 version and release notes 2014-08-14 21:38:56 +09:00
Randy Mackay
0a88281a76 Copter: bug fix to rally point alt 
rally point library uses absolute altitudes, we were passing in relative
altitudes which caused the vehicle to climb before heading to the rally
point
 2014-08-14 21:09:54 +09:00
Randy Mackay
6fc5014a84 Copter: increase sonar timeout to 1sec 
Contributed by Julien Dubois.
 2014-08-14 19:37:00 +09:00
Randy Mackay
7686660c73 Copter: use baro healthy() 2014-08-14 16:03:23 +09:00
Randy Mackay
1e374ab42b Copter: report baro health to GCS 2014-08-14 16:02:49 +09:00
Leonard Hall
85213dccbf Copter: Autotune Fix 2014-08-14 11:47:40 +09:00
Randy Mackay
f3fd79597f Copter: add ACRO_EXPO parameter 2014-08-14 11:47:37 +09:00
lthall
3ba1c0c4aa Copter: ACRO add expo 
adds 30% expo to roll and pitch
 2014-08-14 11:47:06 +09:00
Andrew Tridgell
e260f1c569 Copter: convert to using StorageManager 2014-08-13 18:46:44 +10:00
Randy Mackay
4723ed5e6e Copter: rename EKF check's error message to dataflash 
It checks more than the compass so the old error message was misleading.
 2014-08-09 15:48:42 +09:00
Randy Mackay
af7e5a75e9 Copter: correct EKF_CHECK parameter description 2014-08-09 15:32:54 +09:00
Randy Mackay
0518439841 Copter: move relay from ch6 to ch7/ch8 2014-08-09 13:37:12 +09:00
Randy Mackay
226e42f1d7 Copter: rename EKF_CHECK_THRESH parameter 2014-08-07 21:43:57 +09:00
Andrew Tridgell
4d284a695d Copter: fix for changed AP_Terrain API 2014-08-06 17:59:19 +10:00
Randy Mackay
e5f89baab0 Copter: increase RATE IMAX param desc ranges 
Also remove unused STB_RLL_I and STB_RLL_IMAX descriptions because these
parameters no longer exist
 2014-08-06 13:24:10 +09:00
ggregory8
013b1333b1 Copter: Add guided_takeoff_start and guided_takeoff_run functions 2014-08-05 10:25:33 +09:00
ggregory8
e8b0c7a7e7 Copter: Handle MAV_CMD_NAV_TAKEOFF command to takeoff in guided mode only 2014-08-05 10:25:31 +09:00
ggregory8
3832c46998 Copter: Add takeoff enum for guided_mode 2014-08-05 10:25:29 +09:00
Randy Mackay
610e747f27 Copter: minor formatting fix 2014-08-04 21:04:10 +09:00
Randy Mackay
52a3dc2bde Copter: reset target alt to current alt when landed 2014-08-04 16:56:03 +09:00
Randy Mackay
279aff87f2 Copter: bug fix to land-detector 
vehicle should become un-landed only when throttle out is above the
get-non-throttle-takeoff value
 2014-08-04 16:53:39 +09:00
Randy Mackay
c7ba44db2d Copter: increase ekf check threshold for inav 
This increases the accel correction from 60cm/s to 80cm/s before the ekf
check will trigger a land
 2014-08-04 15:06:37 +09:00
Randy Mackay
7b9fa1ea79 Copter: rate IMAX increase to 1000 2014-08-04 11:31:02 +09:00
Randy Mackay
b8f98aba8f Copter: fix baro glitch resolved message in dataflash 
Caught by Julien Dubois, thanks!
 2014-08-04 09:11:21 +09:00
Randy Mackay
b29f8968ce Copter: clarify EKF check msg to GCS 
remove "compass" from the error message because the failure can also be
caused by GPS glitches
 2014-08-02 16:14:20 +09:00