Randy Mackay
38e3507abd
Copter: AC3.3-rc5 release notes
2015-05-23 14:42:43 +09:00
Randy Mackay
9ac892acea
Copter: fix MISSION_START support
...
Vehicle must already be armed
Set auto-armed to true to allow take-off without pilot raising throttle
2015-05-22 22:22:16 +09:00
Randy Mackay
15fe925974
Copter: allow forcing disarm via mavlink using magic number
...
Based on change by Jon Challinger but using new is_equal function
2015-05-22 22:22:11 +09:00
Jonathan Challinger
b7632194cc
Copter: check EKF health specifically in pre_arm_gps_checks
2015-05-22 15:31:09 +09:00
Randy Mackay
0b4d7fbb22
Copter: shorten rc-override timeout to 1sec
2015-05-22 13:40:58 +09:00
Robert Lefebvre
575a5ad619
Copter: Set better default Rate PIDs for TradHeli
2015-05-22 09:38:26 +09:00
Andrew Tridgell
14a90ea001
Copter: removed NOINLINE define
2015-05-21 09:35:51 +10:00
Andrew Tridgell
8550c553ca
Copter: adjust for new AP_Scheduler syntax
2015-05-21 07:48:48 +10:00
Randy Mackay
7668ff6d55
Copter: allow 550usec for gcs_send_deferred
...
This was causing sitl to fail
2015-05-20 18:27:16 +09:00
Randy Mackay
df99d52da3
Copter: adjust scheduler timings
2015-05-19 13:55:55 +09:00
Randy Mackay
09a98b89b7
Copter: add RTL to front of RTLState enum values
...
This removes the confusing Land enum value which also appears in the
flight mode enum
2015-05-19 13:55:50 +09:00
Randy Mackay
260e7679dd
Copter: add BRAKE to FLTMODE parameter descriptions
2015-05-17 15:58:42 +09:00
Randy Mackay
4681dd2802
Copter: GCS failsafe triggers disarm if landed
2015-05-17 15:47:41 +09:00
Randy Mackay
f4ad23b9f0
Copter: version to AC3.3-rc4
2015-05-17 14:52:20 +09:00
Randy Mackay
214b461c2f
Copter: AC3.3-rc3 release notes
2015-05-17 14:52:15 +09:00
Randy Mackay
dd9f271d43
Copter: brake disarms if landed
2015-05-17 14:44:36 +09:00
Randy Mackay
8d05eaae16
Copter: add aux switch for Brake flight mode
2015-05-17 14:44:35 +09:00
Randy Mackay
7acdcd8905
Copter: rename stop to brake
2015-05-17 14:44:34 +09:00
Leonard Hall
542e5fb54c
Copter: backoff autotune discovered Stab P to 90%
2015-05-17 11:06:09 +09:00
Tom Pittenger
44fd72cb1f
Copter: compiler warning stuff
...
float to double promotion via fabs instead of fabsf
float to int via abs instead of fabsf
2015-05-16 08:21:36 +10:00
Andrew Tridgell
aac652a1b4
Copter: support setting just accel trim with preflight-cal
...
use param5==2
2015-05-16 07:56:34 +10:00
Randy Mackay
d8b7e4a199
Copter: add support for 4th mavlink channel
2015-05-15 15:07:27 +09:00
Andrew Tridgell
848ceefcec
Copter: call Log_Write_POS()
2015-05-15 14:28:16 +10:00
Andrew Tridgell
64ce1e0381
Copter: fix for new compass API
2015-05-15 14:25:45 +10:00
Tom Pittenger
c89530a97c
Copter: Write new mission to log without telling GCS
2015-05-13 20:26:04 +09:00
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
