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
Randy Mackay
77d8f88e45
Copter: fence, rtl, land use alt-above-home
2015-02-12 15:08:00 +09:00
Jonathan Challinger
2cb63dc792
Copter: don't assume home is at the origin
2015-02-03 11:38:25 +09:00
Randy Mackay
1819bd48f4
Copter: remove home_is_set checks from Loiter, PosHold, RTL
...
This allows these flight modes to potentially operate even when the
vehicle has never had a GPS lock.
Potentially we should replace this with a check that the EKF's origin
has been set
2015-01-22 14:40:19 +09:00
Randy Mackay
4185d17915
Copter: fix to RTL, PosHold and Loiter's use of filter status
2015-01-22 14:40:02 +09:00
Randy Mackay
199dc3454d
Copter: replace GPS_ok with position_ok
...
position_ok uses the EKF's filter status if the EKF is being used
otherwise it falls back to the GPS based checks used by inertial nav
2015-01-22 14:39:45 +09:00
Randy Mackay
a4f71e5946
Copter: replace inav's position_ok with get_filter_status
2015-01-22 14:39:42 +09:00
Randy Mackay
05fedbf98f
Copter: minor formatting fixes
2014-12-18 16:38:34 +09:00
Jonathan Challinger
91bff63267
Copter: Fix LAND overshoot issue
2014-12-18 16:38:31 +09:00
priseborough
963cc4d60a
Copter: Add velocity gain scaler to interfaces
...
Allows nav gain to be scaled to compensate for optical flow noise
2014-12-06 18:16:50 +11:00
priseborough
9844dacf40
Copter: Add EKF ground speed limit to loiter speed control
...
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
2014-12-06 18:16:50 +11:00
Jonathan Challinger
c7a38c4350
Copter: use force_descend option on auto landings
2014-11-13 18:40:42 -08:00
Jonathan Challinger
8e3d163c3d
Copter: Change all zero throttle checks that should be conservative to use ap.throttle_zero
2014-10-08 20:54:24 +09:00
Randy Mackay
1c11a91ec2
Copter: rename land_maybe_complete function
2014-09-19 16:43:17 +09:00
Randy Mackay
6951a20fb0
Copter: soften loiter target when maybe landed
...
Applies to auto's land, land, loiter, pos hold and rtl flight modes
2014-09-19 16:43:12 +09:00
Randy Mackay
224122958c
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 14:16:05 +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
Jonathan Challinger
5b36e65cb9
Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents
2014-07-06 19:20:25 +09:00
Randy Mackay
08801eebf2
Copter: integrate AttControl's set_yaw_target_to_current_heading
2014-06-10 20:02:51 +09:00
Randy Mackay
77d5d682c1
Copter: integrate init_targets rename to relax_bf_rate_controller
...
Also remove unnecessary init_targets from flight mode init functions.
2014-06-10 20:02:29 +09:00
Randy Mackay
d5a0ca4f3c
Copter: integrate init_loiter_target name change
2014-05-19 12:27:29 +09:00
Andrew Chapman
8640e11728
Copter: bug fix rally point landing target
...
was drifting toward home by some distance as (0,0,0) was hard-coded in
control_rtl.pde. Fixed, tested in SITL
2014-05-08 23:09:40 +09:00
Randy Mackay
11918869a5
Copter: RTL calls wp_and_spline_init
2014-05-08 16:15:52 +09:00
Randy Mackay
0665cf6b28
Copter: RTL alt should not be above fence alt
...
Resolves issue #435
If the altitude fence is enabled, when the vehicle RTLs it will return
at the lower of the RTL_ALT and the FENCE_ALT_MAX
2014-04-27 15:41:37 +09:00
Randy Mackay
05d9dc5cba
Copter: RTL always land if in radio failsafe
...
Resolves issue in which vehicle would get stuck at RTL_ALT_FINAL if
failsafe occured.
Also clear out pilot acceleration from loiter controller if failsafe
occurs during the final descent.
2014-04-25 14:45:16 +09:00
Randy Mackay
40650aeb68
Copter: roll and pitch nudging in RTL descent
2014-04-25 14:17:03 +09:00
Randy Mackay
ea64438ef9
Copter: RTL ensures heading is back to initial heading
...
This fixes the issue in which a short RTL_LOIT_TIME could cause the
vehicle's heading to be caught between it's heading when it arrived at
home and the initial armed heading. With this fix it now waits above
home until the timer has run out AND the heading is within 2degrees of
the initial armed heading.
2014-04-24 18:54:49 +09:00
Randy Mackay
e23115516d
Copter: disarm after completing RTL
...
Note that an RTL command executed in AUTO mode will also disarm when it
lands and pilot's throttle is put to zero and no further commands will
be executed. This is normally not an issue because missions generally
end with an RTL (instead of having the RTL in the middle) and a work
around is available in that the LAND command could be used instead of
RTL.
2014-04-24 17:27:30 +09:00
Andrew Chapman
fa3732ac6d
Copter: integrate AP_Rally
2014-04-19 15:00:23 +09:00
Jonathan Challinger
2601ac9959
Copter: Remove 80m altitude limit on RTL
2014-03-31 20:34:19 +09:00
Randy Mackay
8f946a3a8c
Copter: remove original_wp_bearing
...
To-Do: extend wpnav yaw control to only repoint nose towards waypoint if
it is more than 5m or 10m away
2014-03-28 09:23:21 +09:00
Randy Mackay
3ccd1ad170
Copter: integrate AttControl method name changes
2014-02-15 06:09:08 +11:00
Randy Mackay
2c1ec9d0c0
Copter: remove control_roll, pitch, yaw from control files
2014-02-15 05:27:47 +11:00
Randy Mackay
d3a126d078
Copter: integrate slew_yaw into control_auto
2014-02-15 05:27:45 +11:00
Randy Mackay
689e92eb33
Copter: control_rtl
2014-02-15 05:27:39 +11:00
Randy Mackay
e27f4c1c13
Copter: split control_stabilize into land, rtl, loiter
2014-02-15 05:27:38 +11:00