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23,508 Commits 71 Branches 510 Tags 771 MiB
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4655 Commits

Author SHA1 Message Date
Peter Barker
7742503ef3 Copter: include AC_AttitudeControl parameter documentation 2016-06-24 09:55:26 +09:00
Daniel Ricketts
87be8daf0e Copter: integrate AC_Avoidance library 2016-06-22 11:38:15 +09:00
Daniel Ricketts
5022a45495 Copter: add AC_Avoidance to build 2016-06-22 11:38:15 +09:00
Tom Pittenger
66d4caeeb0 Copter: add ADSB_streamrate 2016-06-19 11:24:33 -07:00
Leonard Hall
9864750336 Copter: rename CTUN desired_velocity to target_velocity 
No functional change
 2016-06-18 11:55:49 +09:00
Randy Mackay
a614a17b3a Copter: log hover throttle in CTUN message 2016-06-18 11:55:49 +09:00
Randy Mackay
901e8cc23f Copter: convert THR_MIN to MOT_SPIN_MIN, THR_MID to MOT_THST_HOVER 2016-06-18 11:55:49 +09:00
Leonard Hall
48eb4cf674 Copter: remove THR_MID 2016-06-18 11:55:49 +09:00
Leonard Hall
e9d8a28ec0 Copter: AP_Motor's throttle_hover replaces throttle_average 2016-06-18 11:55:49 +09:00
Leonard Hall
dec9323127 Copter: remove THR_MIN 
Equivalent is AP_Motors SPIN_MIN
 2016-06-18 11:55:49 +09:00
Randy Mackay
6a1bdebf25 Copter: remove THR_MAX definition for changing throttle input range 
We do not support changing the throttle input range from it's expected 0 ~ 1000
 2016-06-18 11:55:49 +09:00
Leonard Hall
e08e112c6d Copter: land detector sets att vs thr priority in att controllers 2016-06-18 11:55:49 +09:00
Andrew Tridgell
86d8450666 Copter: use loop rate for copter 
this allows for SCHED_LOOP_RATE below 400 in SITL for copter
 2016-06-17 15:01:18 +10:00
Peter Barker
1fc4063117 Copter: correct TERRAIN_FOLLOW parameter comments 2016-06-08 17:35:20 +09:00
Andrew Tridgell
55ad1548e4 Copter: fixed heli rotor speed control from AP_Motors refactor 2016-06-04 16:22:19 +10:00
Tom Pittenger
a96abde4bf Copter: do not log CURR.Throttle because it's already logged elsewhere 2016-06-02 16:59:11 -07:00
Tom Pittenger
b433250da5 Copter: sanity check gps latlng 2016-06-01 17:38:50 -07:00
Randy Mackay
2815af81ad Copter: rename RTL_CONE_SLOPE_DEFAULT definition 
Also tiny formatting fix
 2016-05-31 12:20:21 +09:00
Peter Barker
e977d85e0c Copter: move telemetry_delayed up into base class 2016-05-31 08:46:09 +10:00
Peter Barker
3cf174c343 Copter: move adjust_rate_for_stream up 2016-05-29 19:38:49 +10:00
Peter Barker
bb19c57615 Copter: subclass GCS_MAVLink in place of defining its functions for it 2016-05-29 16:21:21 +10:00
Randy Mackay
5fb6e4edae Copter: 3.4-rc1 release notes 2016-05-28 15:45:32 +09:00
Randy Mackay
be3b1cb6ab Copter: convert STB_ params to ATC_ANG_ 2016-05-28 15:45:30 +09:00
Andrew Tridgell
53fc095d4c Copter: fixed motor test build on heli 
pwm percent makes no sense
 2016-05-26 15:05:52 +10:00
Andrew Tridgell
c605f09859 Copter: fixed motor test with percentage 
use motors min/max pwm, not throttle channel range
 2016-05-26 14:34:27 +10:00
Andrew Tridgell
146a59eed3 Copter: fixed ESC calibration on PixRacer 
we need to set the ESC scaling before we go into the calibration loop
or the outputs will never arm
 2016-05-25 19:35:17 +10:00
Andrew Tridgell
045e3c179a Copter: moved EKF2 to a new parameter index 
the meanings of many of the parameters have changed. Best to use a new
index to prevent old parameters from causing crashes
 2016-05-25 19:35:17 +10:00
Randy Mackay
cb9ca94dd1 Copter: remove unused pv_location_to_vector_with_default 2016-05-25 16:19:42 +09:00
Randy Mackay
390d06a400 Copter: add and use FLIP_COMPLETE mode reason 
No need to use the original reason we entered flip mode as the reason we are exiting flip.  Instead we can use a new reason called FLIP_COMPLETE
 2016-05-25 16:15:34 +09:00
Andrew Tridgell
7e1ef905d3 Copter: removed 30ms delay on arming 
this is the last of the delays that can cause the EKF to get unhappy
on arming in copter. The comment says it is waiting for RC input, but
I don't think that makes any sense any more.
 2016-05-24 15:42:53 +10:00
Randy Mackay
c9284e5f64 Copter: fix flip after throttle changed to 0 to 1 range 2016-05-24 11:31:40 +09:00
Randy Mackay
f28666e7cd Copter: pass throttle for esc calibration in 0 to 1 range 2016-05-24 10:00:25 +09:00
Lucas De Marchi
33f5fc5f38 ArduCopter: remove support for flymaple 2016-05-23 21:49:45 -03:00
Andrew Tridgell
a922b98ac0 Copter: use send_heartbeat wrapper 2016-05-21 15:25:18 +10:00
Andrew Tridgell
8913dc32b0 Copter: simplify UART setup 2016-05-21 15:25:16 +10:00
Andrew Tridgell
31866c66d8 Copter: always build with MAVLink2 headers 2016-05-21 15:25:15 +10:00
Andrew Tridgell
57870cccb9 ArduCopter: update signing timestamp on GPS lock 2016-05-21 15:25:13 +10:00
Andrew Tridgell
b85f129cc5 ArduCopter: handle SETUP_SIGNING message 2016-05-21 15:25:12 +10:00
Randy Mackay
5461002eea Copter: read rangefinder at 20hz 2016-05-21 10:36:53 +09:00
Randy Mackay
e6b3638d84 Copter: minor change to land mode's logic to use rangefinder 
No functional change
 2016-05-21 10:36:53 +09:00
Randy Mackay
8171532dc5 Copter: allow rangefinder to be disabled from definition 2016-05-21 10:36:53 +09:00
Randy Mackay
e489c3184c Copter: rangefinder.enabled false if no range finders are configured 2016-05-21 10:36:53 +09:00
Randy Mackay
59070653cc Copter: provide filtered range finder altitude to AC_WPNav 2016-05-21 10:36:53 +09:00
Randy Mackay
e18bf3af56 Copter: remove unused definitions 2016-05-21 10:36:53 +09:00
Randy Mackay
5ac13c0355 Copter: move rangefinder variables into structure 
moved in rangefinder_alt, rangefinder_alt_health and rangefinder_enabled
 2016-05-21 10:36:53 +09:00
Randy Mackay
70463dc572 Copter: auto_spline_start handles triggers terrain failsafe 
Also immediately exit auto_wp_start on terrain failsafe
 2016-05-21 10:36:53 +09:00
Randy Mackay
3688636736 Copter: RTL ignores terrain during terrain failsafe 2016-05-21 10:36:53 +09:00
Randy Mackay
273b9acad8 Copter: prearm check that RTL_ALT is below rangefinder max alt 
Only applies where terrain following is enabled and a range finder is connected
 2016-05-21 10:36:53 +09:00
Randy Mackay
c7f80324fa Copter: tilt correct rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay
ba38b0234f Copter: use rangefinder class's valid_range_count 
Also read_rangefinder directly updates rangefinder_alt variable instead of returning distance
No functional change
 2016-05-21 10:36:53 +09:00
Randy Mackay
949d5f7109 Copter: add rangefinder_alt_ok 
Reduces some duplicate code,no functional change.
 2016-05-21 10:36:53 +09:00
Randy Mackay
7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay
028946ae9e Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE 2016-05-21 10:36:53 +09:00
Randy Mackay
e0bf08abe0 Copter: fixes to guided mode target check is within fence 
guided altitude targets are converted to alt-above-home
remove unnecessary fence_status local variable from guided_set_destination methods
log failures to set guided target under a new failure code: ERROR_CODE_DEST_OUTSIDE_FENCE (5)
rename pv_get_home_destination_distance_mc to pv_distance_to_home_cm
 2016-05-21 09:56:12 +09:00
Saloni Jain
bc22419286 Copter : Modified set_guided_destination() to reject requests for guided waypoints outside the fence. 2016-05-21 09:56:12 +09:00
Don Gagne
97d361333d ArduCopter: SET_SENSORS_OFFSETS support for third compass 2016-05-19 18:51:17 -03:00
Randy Mackay
a9d16f3373 Copter: move auto's take-off check to beginning of auto_init 
This ensures there are no side-effects of a failed switch to AUTO like stopping the vehicle or affecting the yaw mode
 2016-05-19 19:43:24 +09:00
Niti Rohilla
26e41fee7a Copter: prevent Auto tipovers caused by missing takeoff command 2016-05-19 19:43:19 +09:00
Randy Mackay
793e3da904 Copter: rename variables used for NAV_DELAY command 2016-05-19 16:16:03 +09:00
Niti Rohilla
55f66b7696 Copter: Add support for MAV_CMD_NAV_DELAY 2016-05-19 16:16:02 +09:00
Andrew Tridgell
e4948544e7 Copter: cleanup unnecessarily complex gcs[] usage 2016-05-17 08:27:35 +10:00
dgrat
3bc97ae356 ArduCopter: Do not use is_zero() for non-float types 
This function makes only sense for floating point types. However this
function was also used for ints.
 2016-05-16 19:08:35 -03:00
Ricardo de Almeida Gonzaga
ce241dd97a ArduCopter: Fix typos 2016-05-13 19:20:07 -03:00
Francisco Ferreira
8fb318a6e1 Copter: fix do_loiter when executed in same location 2016-05-13 12:20:22 +09:00
Francisco Ferreira
8ce8551669 Copter: fix detection of 0 values for lat, lng and alt in waypoints 2016-05-13 12:20:20 +09:00
Randy Mackay
0732ad3957 Copter: add comments to set_land_complete 2016-05-13 12:01:38 +09:00
Jonathan Challinger
747344a8ba Copter: add disarm on land detect option to PILOT_THR_BHV 2016-05-13 11:57:48 +09:00
Randy Mackay
cfb2a6b2f9 Copter: update brake-timeout to work with master 
We added mode-change reasons since PR was submitted
 2016-05-13 11:42:25 +09:00
Randy Mackay
0a2336a5a8 Copter: update solo-buttons to work with master 
Change was due to addition of reason codes since PR was first submitted
 2016-05-13 11:42:25 +09:00
Jonathan Challinger
67cd2bae08 Copter: implement SOLO_BTN commands 2016-05-13 11:42:25 +09:00
Jonathan Challinger
c99cac773b Copter: add brake_timeout_to_loiter_ms 2016-05-13 11:42:25 +09:00
Andrew Tridgell
bd3a58a727 Copter: fixed drift mode 
the throttle assistance gain also needs to be scaled by 1000x for new throttle range
 2016-05-13 08:48:55 +10:00
Andrew Tridgell
75d76ac3bd Copter: fixed scaling of old heli parms 2016-05-12 17:34:36 +10:00
dgrat
41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
dgrat
76362caee0 AP_Math: Replace wrap_* functions with template versions 2016-05-10 11:41:26 -03:00
skyscraper
4980c8bc94 ArduCopter: RC_Channel refactor 
More fixing up of RC_Channel change direct access to data members
to access via member functions.
 2016-05-10 16:21:16 +10:00
skyscraper
49d3410896 ArduCopter: fixup RC_Channel data member accesses to function calls 2016-05-10 16:21:16 +10:00
skyscraper
6f200fa923 ArduCopter: Fix up after refactoring RC_Channel class 
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
 2016-05-10 16:21:16 +10:00
Andrew Tridgell
3c9b063eb1 Copter: removed unnecessary libs 
now in common
 2016-05-10 14:13:35 +10:00
Andrew Tridgell
111eb2ccc1 Copter: use DataFlash::log_while_disarmed() 2016-05-09 12:05:52 +10:00
Leandro Pereira
f23bd7e09d GCS_MAVLink: Use a single stream_trigger() implementation 
This has no side effects, but since all implementations were basically
the same, move the implementation to GCS_Common and the only part that
adjusts the rate based on which which stream to each individual
GCS_MAVLINK implementation.
 2016-05-07 23:49:35 -03:00
Andrew Tridgell
874fae931f Copter: fix for changed API 2016-05-07 18:27:22 +10:00
Andrew Tridgell
9da3b8db60 Copter: only log baro, gps and mag if ekf not logging them 2016-05-07 18:27:19 +10:00
Andrew Tridgell
b235304235 Copter: reduce IMU logging to 25Hz 
leave more room for IMT logging needed for Replay
 2016-05-07 18:27:17 +10:00
Randy Mackay
a5c55c3fbd Copter: fix get_non_takeoff_throttle 
The throttle_mid parameter (for historic reason) is interpreted as a value that includes throttle_min.  This means we must subtract the throttle_min value from it when converting it to a throttle in the 0 to 1 range.
 2016-05-07 12:21:41 +09:00
Randy Mackay
2eb0484142 Copter: rename Loiter states and swap order within select statement 2016-05-07 10:08:34 +09:00
Randy Mackay
1c4db779a1 Copter: Loiter stabilizes roll and pitch while landed 2016-05-07 10:08:32 +09:00
Randy Mackay
9c12b64ba5 Copter: rename AltHold states and swap order within select statement 
No functional change
 2016-05-07 10:08:30 +09:00
Randy Mackay
932cd907d4 Copter: AltHold stabilizes roll and pitch while landed 2016-05-07 10:08:28 +09:00
Randy Mackay
3ead74c4be Copter: remove zero-throttle check from AltHold takeoff state 
Hard to imagine a reason why we would want to turn off stabilization during takeoff
 2016-05-07 10:08:26 +09:00
Lucas De Marchi
fea084a596 Global: use ap_version.h 
This header is used by waf to contain the generated version macros,
particularly using the git hash. For waf it's better to be in a separate
header since it then can keep track of changes on it a trigger
recompilation.

For the make build system, a dummy ap_version.h file has been added in
the missing/ folder so both implementations can co-exist.
 2016-05-06 13:11:28 -03:00
Lucas De Marchi
352e103f1a ArduCopter: use separate header for version macro 
Having the version macro in the config.h and consequently in the main
vehicle header means that whenever the version changes we need to
compiler the whole vehicle again. This would not be so bad if we weren't
also appending the git hash in the version. In this case, whenever we
commit to the repository we would need to recompile everything.

Move to a separate header that is include only by its users. Then
instead of compiling everything we will compile just a few files.
 2016-05-06 13:11:28 -03:00
Allan Matthew
d6012c535e Copter: remove unused dt passed to precland 2016-05-06 11:04:45 +09:00
skyscraper
6bcd9e6f65 Copter::pre_arm_rc_checks: fix logic checking that throttle min and max are configured 2016-05-06 10:56:38 +09:00
Allan Matthew
7960e3bb8f Copter: pass DISTANCE_SENSOR messages to rangefinders 
This allows the MAVLink range finder driver to intercept distance measurements
 2016-05-04 12:10:58 +09:00
Michael du Breuil
e7974702d4 Copter: Ignore POSITION_TARGET_GLOBAL_INT 2016-05-01 07:38:24 +10:00
Michael Oborne
5848d8a5e6 ArduCopter: support MAVLINK_MSG_ID_MISSION_ITEM_INT 2016-05-01 07:13:46 +10:00
Andrew Tridgell
54d1cc7e50 Copter: only save offsets for Compass::LEARN_EKF 
this means by default that one flight one affect the next one, which
makes it more robust in case of a bad flight
 2016-04-30 16:43:14 +10:00
Michael du Breuil
c97888f524 Copter: Remove support for CONDITION_CHANGE_ALT 2016-04-30 10:56:07 +09:00
Randy Mackay
d455e2a33f Copter: fix auto-circle comment 2016-04-30 10:33:01 +09:00