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Commit Graph

4649 Commits

Author SHA1 Message Date
Jonathan Challinger 2c41459fe9 Copter: loosen accelerometer consistency check in z-axis 2016-07-29 14:08:14 +09:00
murata b1f204e2a6 Copter: use constrain_float for target_roll assignment 2016-07-29 13:35:27 +09:00
Lucas De Marchi c0b49f6aeb ArduCopter: Remove i2c lockup count 
This was returned only for a single bus and on all supported platforms
this is hardcoded to 0.
 2016-07-28 18:03:09 -03:00
mirkix e3934fac80 ArduCopter: Delete (wrong) filename out of header 2016-07-25 17:13:41 -03:00
Randy Mackay 49674abb21 Copter: guided mode's velocity controller stops before fence 2016-07-25 20:24:37 +09:00
Randy Mackay 7a6e0a981b Copter: simplify guided mode's velocity controller's accel limit calcs 2016-07-25 20:24:37 +09:00
Randy Mackay dc52f3b2df Copter: guided mode applies acceleration limits to velocity controller 2016-07-25 20:24:37 +09:00
Randy Mackay 866487608e Copter: rename guided mode's posvel controller target variables 
We will re-use these targets for the guided velocity controller
 2016-07-25 20:24:37 +09:00
Randy Mackay 6118bf1b14 Copter: remove adsb sensor library based avoidance 
adsb based avoidance has been moved to AP_Avoidance library
 2016-07-25 20:24:37 +09:00
Randy Mackay d50987f976 Copter: avoidance_adsb implements copter avoidance using ADSB 2016-07-25 20:24:37 +09:00
Randy Mackay df55704875 Copter: pre-arm check includes adsb failsafe 2016-07-25 20:24:37 +09:00
Randy Mackay 68899ed921 Copter: add adsb to failsafe structure and report in heartbeat to GCS 2016-07-25 20:24:37 +09:00
Randy Mackay f4db4bdb08 Copter: GCS_MAVLink passes packets to AP_Avoidance 
This allows treating GLOBAL_POSITION_INT packets from other vehicles in the same way as ADSB packets
 2016-07-25 20:24:37 +09:00
Randy Mackay 61844b3062 Copter: add AP_Avoidance to build 2016-07-25 20:24:37 +09:00
Andrew Tridgell 387da40fc5 ArduCopter: adjust for 16 channels in SERVO_OUTPUT_RAW 2016-07-25 10:06:02 +10:00
Tom Pittenger 07a838937e Copter: handle ADSB-Out packets 2016-07-22 13:38:37 -07:00
Andrew Tridgell cb5ca713a9 Copter: added AP_Button support 2016-07-22 15:01:20 +10:00
Andrew Tridgell e943a48eba Copter: added PLAY_TUNE message 2016-07-22 15:00:17 +10:00
Francisco Ferreira 90a4b36263 Copter: remove pre-arm check for rally points 2016-07-22 09:00:23 +09:00
Francisco Ferreira 25fefe77b7 Copter: add AP_Rally_Copter 
override default is_valid method so we can check if rally point is inside the fence, if it isn't we ignore it
 2016-07-22 09:00:18 +09:00
Tom Pittenger d136737c87 Copter: add ADSB-out support for copter 2016-07-20 22:46:54 -07:00
Randy Mackay 8681911a0b Copter: small fix to precision land descent rate 2016-07-12 18:40:25 +09:00
Jonathan Challinger a4827aff53 Copter: slow down precision landing descent based on position error 2016-07-12 18:40:25 +09:00
Jonathan Challinger e22220ab62 Copter: refactor landing to reduce duplication, use vertical vel ff 2016-07-12 18:40:25 +09:00
Jonathan Challinger e311139a21 Copter: use terrain alt for precland if rangefinder is unavailable 2016-07-12 18:40:25 +09:00
Jonathan Challinger 0f4367744f Copter: update precland at 400hz, log at 25hz 2016-07-12 18:40:25 +09:00
Allan Matthew 860773260f Copter: support GPS_INPUT mavlink message 2016-07-12 15:34:51 +09:00
Andrew Tridgell 3a8ed06267 Copter: added TKOFF_NAV_ALT parameter 
this adds TKOFF_NAV_ALT which controls the altitude above takeoff that
navigation can begin. It is meant for unstable vehicles such as helis
to prevent blade strike during initial takeoff.

This also adds a new parameter class ParametersG2 which can hold 64
parameters. This is to avoid running out of parameters in the first
256 block
 2016-07-07 14:21:47 +09:00
Randy Mackay 877a144dea Copter: pre-arm check that rally points are within fence 2016-07-04 18:25:03 +09:00
Randy Mackay 2647bed484 Copter: guided mode uses modified check_destination_within_fence 2016-07-04 18:25:03 +09:00
Jonathan Challinger 91a5b26725 Copter: use simplified precland interface 2016-07-04 16:57:06 +09:00
Derek Ma 7fddf20f0b Copter: enable precision landing in auto mode 2016-07-04 16:57:06 +09:00
Randy Mackay 543d5701e7 Copter: remove unused log_write_startup 2016-07-04 11:17:16 +09:00
Randy Mackay 5d5a85c38e Copter: log rally points on startup 2016-07-04 11:17:14 +09:00
Andrew Tridgell 6737bc21b9 Copter: fixed typo 2016-07-01 15:34:48 +10:00
Andrew Tridgell b5ccd458d3 Copter: added 10Hz logging of controller RMS values 
as discussed with Leonard
 2016-06-29 14:43:44 +10:00
Randy Mackay 7edb6e76f0 Copter: set terrain capabilities only if terrain code is compiled in 
Thanks to OXINARF for finding this
 2016-06-27 17:11:06 +09:00
Randy Mackay 52d81f630f Copter: pass polygon fence mavlink messages to fence 2016-06-25 15:55:55 +09:00
Randy Mackay b61ae1a4a1 Copter: log EKF yaw reset event 2016-06-24 18:12:30 +09:00
Leonard Hall 07cadc7ddd Copter: rename limit_angle_to_rate_request to use_input_shaping 2016-06-24 17:17:18 +09:00
Leonard Hall 3b7658c502 Copter: land and crash detector use thrust angle error 
The thrust angle error is the difference between our desired thrust vector
and the actual thrust vector

Also some changes to use definitions in place of constants in the checks
 2016-06-24 17:17:18 +09:00
Leonard Hall 7d54c268f6 Copter: consolidate input_euler_angle calls to use smoothing gain 
Previously we had _smooth and non-smooth methods in the attitude
controller but as part of the move to quaternions these have been replaced
by a single call which always takes a smoothing gain
 2016-06-24 17:17:17 +09:00
Leonard Hall 75c4367cfc Copter: Change fabs to fabsf 2016-06-24 15:03:14 +09:00
Peter Barker 043b1d321d Copter: remove paths for documenation for non-multi frame 
Our current documentation system only emits one XML document (apm.pdef.xml)
for ArduCopter.

Since there is a conflict between parameters in the MOT_ namespace in Copter,
we only emit the documentation for the first parameter defining the MOT_ namespace.

This patch removes the documentation lines for frame types other than multicopter, meaning the documentation will reflect mutlictopter usage - the most common case.

These lines will need to be reinstated when we change the way we produce the xml documentation.
 2016-06-24 09:55:28 +09:00
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