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4622 Commits

Author SHA1 Message Date
Robert Lefebvre c968ec3a63 Copter: Helicopters to use motor interlock logic. 
Also, remove motor interlock pre-arm check to streamline logic.
 2015-08-31 11:43:37 +09:00
Robert Lefebvre 161ce5c11d Copter: Change name of rotor speed function to match that in library 2015-08-31 11:27:53 +09:00
Robert Lefebvre 990761a13b Copter: Create new heli RSC RC Channel object. 2015-08-31 11:27:50 +09:00
Fredrik Hedberg 66d9d38750 Copter: Use AP_MotorsHeli_Single for HELI_FRAME. 2015-08-31 11:27:32 +09:00
Andrew Tridgell ff934d5bca Copter: added FS_CRASH_CHECK parameter 
this allows automatic crash detection to be disabled
 2015-08-31 12:15:46 +10:00
Andrew Tridgell 90909f2b4a Copter: added DISARM_DELAY parameter 
this allows automatic disarming to be disabled, or set to a shorter or
longer time as appropriate for the user
 2015-08-31 11:44:08 +10:00
Stewart Loving-Gibbard 7cb494d8e2 Copter: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more. 
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
 2015-08-29 08:05:59 +10:00
Randy Mackay cbfbd46547 Copter: Release notes for AC3.3-rc10 2015-08-28 12:21:09 +09:00
Randy Mackay 1608cffe95 Copter: increase failsafe close-to-home to 5m 
This distance is used when a failsafe is initiated to decide whether to RTL or LAND
 2015-08-28 09:24:37 +09:00
Randy Mackay be603da579 Copter: fix optflow position_ok check 
We should accept predicted relative horizontal position only when disarmed
 2015-08-27 20:57:41 +09:00
Randy Mackay 4cdb5bf2bd Copter: sanity check do-set-home and do-set-ROI location 2015-08-27 15:16:04 +09:00
Randy Mackay 0424b3f93c Copter: pre-arm check of EKF compass variance 2015-08-26 13:59:41 +09:00
Randy Mackay 920d5cefbb Copter: always check GPS before arming in Loiter 2015-08-26 13:15:28 +09:00
Randy Mackay 71cc89d107 Copter: add ACCEL_Z_FILT_HZ parameter description 
Also fixed parameter links to ATC, BATT and MOT libraries
 2015-08-26 11:17:50 +09:00
squilter 767b4da5b6 Copter: update send text severities 2015-08-25 14:05:25 +09:00
Grant Morphett da37769e33 Copter: Added include guards for Copter.h 2015-08-25 13:54:18 +09:00
Randy Mackay 43fa9c8ae3 Copter: fix Autotune param descriptions 2015-08-23 14:56:41 +09:00
Randy Mackay a10a74d498 Copter: AUTOTUNE_MIN_D param to allow controlling minimum D 2015-08-23 14:56:39 +09:00
Randy Mackay 6a4f4c5f8d Copter: failsafe RTL vs LAND decision always based on 2m 
Previously this decision was based on the WPNAV_RADIUS parameter which is unexpected (and undocumented) behaviour.  Better just to hard-code it to 2m and remove the dependency on this parameter.
 2015-08-23 11:03:35 +09:00
squilter a11227af84 Copter: define and send FIRMWARE_VERSION 2015-08-21 22:40:52 +09:00
Randy Mackay f0b992f01e Copter: AC3.3-rc9 release notes 2015-08-20 10:04:55 +09:00
Tom Pittenger 87d0b12c7c Copter: implement try send mission_item_reached 
clean up unreachable code
 2015-08-19 15:42:07 +10:00
Stewart Loving-Gibbard d1f5a2988d Copter: fix spelling errors in Parameters.cpp 2015-08-18 09:48:52 +09:00
squilter f77b06175e Copter: update flighttermination capability 2015-08-17 17:15:50 +09:00
Paul Riseborough dc785fd2ed Copter: shorten disarm counter to 10 seconds 2015-08-15 08:21:13 +09:00
Jonathan Challinger 94fb94d67d Copter: adapt auto disarm for sprung throttle stick copters 2015-08-15 08:21:08 +09:00
Randy Mackay c8ecb1bac7 Copter: fix PILOT_TKOFF_DZ param description 2015-08-13 10:40:26 -07:00
Randy Mackay c324d4e89b Copter: fix ANGLE_MAX param description 
Thanks to Hamish for finding this
 2015-08-13 10:35:32 -07:00
squilter a42674b0b0 Copter: implement do_flighttermination 2015-08-12 14:17:44 -07:00
TShapinsky 5dfd1ff8d6 Copter: add velocity control timeout in guided mode 2015-08-13 02:07:00 +09:00
Andrew Tridgell 80ad9aa605 Copter: added RPM dataflash logging 2015-08-12 15:03:50 +10:00
Andrew Tridgell 1fdf7ec83f Copter: added RPM sensor support 
send result via MAVLink
 2015-08-12 15:03:50 +10:00
Randy Mackay 7199b57fde Copter: check frame for SET_POSITION_TARGET_GLOBAL_INT in guided 2015-08-11 16:41:17 -07:00
Randy Mackay 580c0ad9de Copter: guided SET_POSITION_TARGET accepts frame 2015-08-11 16:41:11 -07:00
Randy Mackay b781f85948 Copter: convert fn from body-frame to NE 2015-08-11 16:41:08 -07:00
Randy Mackay 59d5a4fad8 Copter: landing with guided velocity controller 2015-08-11 16:41:05 -07:00
squilter 85c39348f3 Copter: update copter's capabilities 2015-08-11 17:17:44 +10:00
Gustavo Jose de Sousa 4d4b856735 ArduCopter: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00
Jonathan Challinger a18f71b29e Copter: bug fix to RTL_ALT_MIN feature 
commited by Randy
 2015-08-08 15:38:47 +09:00
Przemek Lekston f99b152b1f Copter: fix logging disabled build 2015-08-01 21:19:17 +09:00
Randy Mackay 6765aedb5b Copter: init vehicle capabilities 2015-07-31 14:50:29 +09:00
squilter edf5ff1bbe Copter: add capability bitmask 2015-07-31 14:50:15 +09:00
Randy Mackay cc27fb46bf Copter: arming check that baro is healthy 2015-07-29 16:32:47 +09:00
Randy Mackay 11c9e46ec7 Copter: arming check that accels and gyro are healty 2015-07-29 16:32:45 +09:00
Randy Mackay 4eb6f0f646 Copter: slow start motors after landing in Stabilize, Acro 2015-07-28 15:16:24 +09:00
Andrew Tridgell 149b6bffba Copter: fixed comment on get_pilot_desired_yaw_rate 2015-07-27 12:04:03 +10:00
Randy Mackay 73ae816a8b Copter: update AC3.3-rc8 release notes 2015-07-25 14:53:38 +09:00
Randy Mackay 0645453997 Copter: AC3.3-rc8 release notes 2015-07-25 13:46:14 +09:00
Randy Mackay c627f84fa8 Copter: Ch6 circle rate as float 2015-07-23 16:21:23 +09:00
Randy Mackay 7935bf70f1 Copter: rc_override active only on non-zero overrides 
Bug found by Kevin Hester
 2015-07-22 17:32:30 +09:00
Randy Mackay 908afad65c Copter: reset yaw angle target when disarmed or landed in AltHold 2015-07-21 16:26:50 +09:00
Randy Mackay 35a924703f Copter: change multirotor comments to multicopter 
No functional change
 2015-07-21 16:26:25 +09:00
Randy Mackay 1b68d0eead Copter: no MotBatt logging for TradHeli 2015-07-21 16:26:22 +09:00
Randy Mackay 4cacff54b4 Copter: no update_throttle_thr_mix for TradHeli 2015-07-21 16:26:19 +09:00
Randy Mackay 5baf98bcfc Copter: no get_throttle_pre_takeoff for TradHeli 2015-07-21 16:26:17 +09:00
Randy Mackay 0f174053d6 Coptre: disable esc calibration for TradHeli 2015-07-21 16:26:14 +09:00
Randy Mackay 1af383253f Copter: disable compassmot for TradHeli 2015-07-21 16:26:11 +09:00
Randy Mackay 546d668d1d Copter: no set_hover_throttle for TradHeli 2015-07-21 16:26:07 +09:00
Randy Mackay 88b617707f Copter: call set_throttle_range for multicopters only 2015-07-21 16:26:05 +09:00
Randy Mackay 53aad69fa2 Copter: include AttControl_Multi.h 2015-07-21 16:26:02 +09:00
Randy Mackay 0af7fb93e5 Copter: rename param to MotorsMulticopter 2015-07-21 16:25:58 +09:00
Robert Lefebvre e3a0f1568d Copter: Tradheli to check rotor speed control input before arming 
Also, force rsc_control input to 0 when disarmed.  This prevents condition where AP_MotorsHeli can receive a rotor speed command greater than zero while disarmed, which was causing the ColYaw function to move the rudder servo.  These two changes are somewhat tied together as it required changing the arming_check to check the RSC_Control not desired_speed from AP_MotorsHeli.
 2015-07-21 16:25:25 +09:00
Robert Lefebvre 534ba89756 Copter: Tradheli manage yaw better on the ground. 2015-07-21 16:25:16 +09:00
Robert Lefebvre 92de71f993 Copter: Check helicopter parameters during Pre-Arm Checks 2015-07-21 16:25:07 +09:00
Robert Lefebvre f3496356b2 Copter: Tradheli won't get set_yaw_headroom tuning function 2015-07-21 16:24:55 +09:00
Robert Lefebvre cdfdb340df Copter: Use AP_Motors_Multirotors class for params 2015-07-21 16:24:46 +09:00
Tom Pittenger 0ecebbd55f Copter: Refactor verify_command 
- abstracted verify_command so that command-wide actions can happen more cleanly, namely mission_item_reached
- This also brings the structure in line with plane and rover
 2015-07-21 14:48:37 +09:00
Randy Mackay 4d24d1494d Copter: send_mission_item_reached when cmd completed 2015-07-19 12:14:15 +09:00
Randy Mackay c62da52259 Copter: add gcs_send_mission_item_reached 2015-07-19 12:14:12 +09:00
Randy Mackay ec298fb508 Copter: Log_Write_Attitude yaw as 0 to 36000 2015-07-18 13:26:01 +09:00
Randy Mackay 277e3d8675 Copter: enable ekf_check only after ekf origin has been set 2015-07-16 14:54:12 +09:00
Randy Mackay 35dd7322d2 Copter: float constant fix for heli's check_dynamic_flight 
No functional change
 2015-07-14 20:17:17 +09:00
Robert Lefebvre 5541899a99 Copter: Whitespace fixes. 2015-07-14 20:17:16 +09:00
Robert Lefebvre 24d0031389 Copter: replace slow_start() with full set_throttle_takeoff() function. 2015-07-14 20:17:15 +09:00
Robert Lefebvre 0a69c13b1d Copter: Fix helicopter ground stabilization in Auto, Brake, Circle, Guided, Land and RTL modes. 2015-07-14 20:17:14 +09:00
Randy Mackay f3770432f9 Copter: fix do_user_takeoff indentation 
No functional change
 2015-07-14 20:16:57 +09:00
Robert Lefebvre bc6deb5575 Copter: Tradheli Mavlink Takeoff to fail if rotor not spinning. 2015-07-14 20:13:46 +09:00
Andy Piper 425e26c258 Copter: reduce GPS_HDOP_GOOD params default to 140 
This is required as part of the ublox change from pdop to hdop
 2015-07-14 15:02:06 +09:00
Randy Mackay 4e3d0ae0c1 Copter: fix startup logging 
Removed potentially endless loop caused by start_logging calling
Log_Write_Startup which called should_log which could then call
start_logging.
Moved disarm event logging above motors disarm so it is logged
 2015-07-14 14:03:00 +09:00
Randy Mackay 063faa0383 Copter: add RTL_CLIMB_MIN 
Vehicle climbs at least this many cm when entering RTL
 2015-07-13 20:38:52 +09:00
Randy Mackay c33453fcf9 Copter: rename ESC param to ESC_CALIBRATION 2015-07-13 09:33:37 +09:00
Randy Mackay 1a911553eb Copter: allow disabling ESC calibration 2015-07-13 09:33:35 +09:00
Randy Mackay 764fa36716 Copter: log ERR when compass, baro unhealthy 2015-07-12 22:11:35 +09:00
Randy Mackay 2e6b6e473a Copter: fix home_distance calculation 
Distance was calculated vs EKF origin instead of AHRS home
 2015-07-08 15:27:59 +09:00
Randy Mackay 290cdcf6fb Copter: check fence when disarmed 
this allows catching fence breaches as part of arming checks
 2015-07-08 15:27:57 +09:00
Randy Mackay fbe0e5dfb3 Copter: add arming check of fence 2015-07-08 15:27:54 +09:00
Randy Mackay 07880bf90a Copter: add TRI yaw servo changes to release notes 2015-07-07 13:29:22 +09:00
Lucas De Marchi 0bc09adc78 ArduCopter: use ARRAY_SIZE macro 2015-07-07 07:56:30 +10:00
Randy Mackay cfe046c9d1 Copter: log EKF height reset 2015-07-06 12:11:54 +09:00
Randy Mackay 221ddb545e Copter: log ahrs home and ekf origin 2015-07-06 12:11:51 +09:00
Randy Mackay af8b9e703c Copter: fix compiler warning from pid_tuning_send call 2015-07-02 14:22:53 +09:00
Randy Mackay 63052ff874 Copter: pre-arm check of battery voltage 2015-07-02 14:19:13 +09:00
Randy Mackay c57b4f9c8c Copter: add Flip, AutoTune to FLTMODE param descriptions 2015-07-02 13:24:20 +09:00
Randy Mackay ea30e5151d Copter: pre-arm check thr is above failsafe 2015-07-01 16:36:11 +09:00
Peter Barker 12bce49cd1 Copter: use common mission logging code 2015-06-30 16:23:35 +10:00
Peter Barker 52a31a31e0 Copter: use common system information logging 2015-06-30 16:23:34 +10:00
Randy Mackay d89058a75c Copter: loiter state reads takeoff climb rate during takeoff 2015-06-29 13:49:58 +09:00
Robert Lefebvre 01ae84dda6 Copter: Create Loiter state machine. 2015-06-29 13:49:55 +09:00
Randy Mackay 1a9cdac441 Copter: remove unused definition 2015-06-28 21:55:31 +09:00
Randy Mackay cc212f1398 Copter: AC3.3-rc7 release notes 2015-06-28 21:21:05 +09:00
Randy Mackay e60f53d144 Copter: arming check Bitmask param description 2015-06-27 19:20:52 +09:00
Randy Mackay 2b35fbc81f Copter: remove redundant ToRad definition 2015-06-27 19:20:50 +09:00
Peter Barker 788faf1f7d Copter: DataFlash frontend/backend split 2015-06-26 16:02:50 +10:00
Andrew Tridgell ebddc05ead Copter: enable tail pass thru in acro for EXTGYRO tails 
this allows acro mode to function as full passthru
 2015-06-26 12:45:40 +09:00
Randy Mackay 163e1d8e1b Copter: update AC3.3-rc6 release notes 2015-06-26 10:17:14 +09:00
Randy Mackay 58b2f2b112 Copter: update AC3.3-rc6 release notes 2015-06-25 21:32:03 +09:00
Randy Mackay c57c0ee0d8 Copter: AC3.3-rc6 release notes 2015-06-25 20:31:00 +09:00
Randy Mackay 14cf9b1621 Copter: reset ekf height if arming before home set 2015-06-24 16:25:17 +09:00
Randy Mackay 814edfa457 Copter: shift yaw target if ekf yaw estimate resets 2015-06-24 11:49:35 +09:00
Robert Lefebvre 8891cd159a Copter: Tradheli to check rotor_runup_complete before allowing takeoff. 2015-06-24 11:42:48 +09:00
Randy Mackay 89345bad7a Copter: clarify takeoff_timer_start alt units 
No functional change
 2015-06-22 13:24:01 +09:00
Randy Mackay f79ac46d60 Copter: fix althold take-off state 
Also abort takeoff when switching into AltHold
 2015-06-22 13:24:00 +09:00
Randy Mackay 15c57342a5 Copter: remove some comments from althold 2015-06-22 13:23:58 +09:00
Robert Lefebvre a642c88e34 Copter: AltHold state machine 2015-06-22 13:23:53 +09:00
Randy Mackay 8f95bc3b67 Copter: parachute check uses lean angle error of 30deg 
Also slightly restructured
 2015-06-19 15:46:13 +09:00
Leonard Hall 4154ecdf18 Copter: use angle error instead of absolute angle 2015-06-19 15:46:12 +09:00
Leonard Hall 911bee3518 Copter: set throttle_mix to min when disarmed 2015-06-19 15:46:11 +09:00
Randy Mackay 8cdfac8fcd Copter: remove baro and pilot thr from crash checks 
Add acceleration < 3m/s/s check
Run crash and parachute checks at 400hz
 2015-06-19 15:46:10 +09:00
Randy Mackay e9829e0d82 Copter: remove unused landing detector definitions 
Also separate from land mode definitions
 2015-06-19 15:46:09 +09:00
Robert Lefebvre ee6508d5a7 Copter: Event Log rotor speed going below critical 2015-06-19 15:10:54 +09:00
Robert Lefebvre 62079226ff Copter: add Heli Dataflash message 2015-06-19 15:10:52 +09:00
Robert Lefebvre 3e2e0d07a4 Copter: THO Check Rotor Speed before declaring not landed. 2015-06-19 15:10:49 +09:00
Robert Lefebvre c6281c772d Copter: add rotor_runup_complete Event Logging 2015-06-19 15:10:48 +09:00
Robert Lefebvre ef80634435 Copter: auto_armed goes false for Heli when landed and motor shut off. 2015-06-19 15:10:46 +09:00
Leonard Hall a87e06e6c2 Copter: Autotune Final Tweak 2015-06-18 23:07:10 +09:00
Leonard Hall 7745fb21a7 Copter: remove set_accel_roll_max 2015-06-18 23:07:08 +09:00
Leonard Hall c8b522a064 Copter: AutoTune always backup gains regardless of which axis enabled 2015-06-18 23:07:02 +09:00
Leonard Hall c1134c1639 Copter: AutoTune remove unused local variable 2015-06-18 23:06:59 +09:00
Leonard Hall e8cc5d6312 Copter: Autotune aggressiveness tweeks 2015-06-18 23:06:56 +09:00
Leonard Hall 0b4d9b80e7 Copter: AutoTune increase max aggressiveness 2015-06-18 23:06:54 +09:00
Leonard Hall fe0d069eab Copter: Autotune log acceleration 2015-06-18 23:06:51 +09:00
Leonard Hall b336ab4de7 Copter: Autotune remove logging of BAD_GAINS event 
This should never happen so no need to log
 2015-06-18 23:06:48 +09:00
Leonard Hall 7957d5fc19 Copter: Autotune use set_accel_roll, pitch, yaw 2015-06-18 23:06:45 +09:00
Leonard Hall 196f6cf1b7 Copter: AutoTune definition and comment changes 2015-06-18 23:06:43 +09:00
Leonard Hall 21cd73e877 Copter: AutoTune bug fix to save feedforward setting 2015-06-18 23:06:40 +09:00
Leonard Hall 773984b4ea Copter: AutoTune record accel max values 2015-06-18 23:06:37 +09:00
Andrew Tridgell db4ac68f5e Copter: fixed logging of IMT without raw logging 2015-06-17 13:10:25 +10:00
Randy Mackay 82ad454864 Copter: log sonar_alt even when disabled 2015-06-17 12:46:55 +10:00
Randy Mackay 5644dd8620 Copter: fix duplicate IMU logging 
IMU logs could be written at FULL rate and at lower rates leading to duplicates
 2015-06-17 12:46:55 +10:00
Randy Mackay cd9f62328e Copter: log IMUDT with IMU 2015-06-17 12:46:54 +10:00
Jonathan Challinger 5b14ce7694 Copter: remove comments that number scheduler table 2015-06-16 18:07:20 +09:00
Randy Mackay 5e40ad5c38 Copter: sonar pre-arm check only if optflow enabled 2015-06-16 17:59:25 +09:00
Andrew Tridgell 58b1702552 Copter: fixed pde paths 2015-06-16 09:59:39 +10:00
Randy Mackay f603c1ef69 Copter: fix ekf-check reliance on position_ok 2015-06-15 22:29:20 +09:00
Randy Mackay f93a259b04 Copter: add comment to Solo section in Parameters.h 2015-06-14 14:47:02 +09:00
Jonathan Challinger fd37a48f8e Copter: clean up Parameters.h comments a bit 2015-06-14 14:44:15 +09:00
Jonathan Challinger 035c0b567e Copter: reserve param indices that exist in Solo repo 2015-06-14 14:44:13 +09:00
Randy Mackay 40ed2f7f53 Copter: send vibration in STREAM_EXTRA3 2015-06-12 21:36:45 +09:00
Randy Mackay 9e08775cbf Copter: log vibration at 10hz 2015-06-12 21:36:31 +09:00
Andrew Tridgell 290805b879 Copter: fixed logging of parameters on arming 
ensure parameters are logged when we have no logging before arming
 2015-06-12 13:10:54 +10:00
Randy Mackay 58505d8242 Copter: autotune relaxes alt controller when landed 2015-06-11 20:21:06 +09:00
Randy Mackay 1bd6728e21 Copter: add All+FullIMU to LOG_BITMASK param description 2015-06-11 20:21:01 +09:00
Randy Mackay 28fc981d29 Copter: refresh rc servo function on startup 2015-06-10 16:47:07 +09:00
Eugene Shamaev a3ddc49a70 Copter: added DSM bind support 2015-06-10 17:19:10 +10:00
Randy Mackay ce1031a5bd Copter: remove AP_AHRS_NAVEKF_AVAILABLE checks 
Copter requires an EKF
 2015-06-10 12:18:38 +09:00
Randy Mackay e3183babde Copter: remove unused GPS failsafe definitions 2015-06-10 12:06:10 +09:00
Randy Mackay aa05325b54 Copter: add althold as ekf failsafe action 2015-06-10 12:06:08 +09:00
Randy Mackay 4408f01f39 Copter: rename ekf_check_thresh to fs_ekf_thresh 2015-06-10 12:06:06 +09:00
Randy Mackay 6e23d05140 Copter: add member init 
Resolves Covarity warnings
 2015-06-08 14:46:27 +09:00
Randy Mackay a0d97f1160 Copter: acro_level_mix becomes local variable 
Coverity uncovered this as an uninitialised member defect
 2015-06-08 14:46:24 +09:00
Randy Mackay 7613964ecb Copter: fix bug in which do-parachute command could start motor test 
bug found by Coverity
 2015-06-08 14:46:19 +09:00
Randy Mackay ee3ba48097 Copter: set Brake speed to 250 2015-06-05 15:29:00 +09:00
Randy Mackay 362a43c126 Copter: explicitly set alt_target_from_climb_rate parameter 2015-06-05 15:11:30 +09:00
Michael Oborne ebeb2b7ebb Copter: add bitmask documentation 2015-06-04 21:33:31 +09:00
Tim Ryan 62816b28f6 Copter: corrects C11 errors in AutoTune for OS X with clang. 2015-06-04 21:01:30 +09:00
Lucas De Marchi a74113dde0 Copter: stop using alias FUNCTOR_BIND_VOID 2015-06-04 13:37:36 +09:00
Randy Mackay 738e4d89db Copter: default RC_FEEL to Medium 2015-06-03 11:38:54 +09:00
Randy Mackay b2ca7ee3fa Copter: Log_Write_Startup writes parameters 2015-06-01 20:22:48 +09:00
Grant Morphett 518308efae Copter: Moving parameter logging to be after all systems have started 2015-06-01 20:22:38 +09:00
Andrew Tridgell bfb105fa5a Copter: changes for new AHRS API 2015-06-01 16:16:59 +10:00
Andrew Tridgell e5e21ddcce Copter: fixed heli SITL build 2015-06-01 08:19:39 +10:00
Andrew Tridgell b87cc80486 Copter: fixed some warnings 2015-05-30 22:01:59 +10:00
Randy Mackay 42c202a08f Copter: move set_land_complete_maybe to landing_detector.cpp 2015-05-30 18:52:02 +09:00
Randy Mackay b139dfedae Copter: formatting minor fix to land-complete-maybe threshold 2015-05-30 18:51:59 +09:00
Jonathan Challinger fb82ac3eb3 Copter: rework land detector logic 2015-05-30 18:51:55 +09:00
Andrew Tridgell d167407462 Copter: added blank Parameters.pde for MissionPlanner 2015-05-30 15:21:31 +09:00
Andrew Tridgell 278883c521 Copter: finished conversion to .cpp files 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-05-30 15:21:19 +09:00
Andrew Tridgell 356ece3402 Copter: rename .pde files to .cpp files 2015-05-30 15:21:15 +09:00
Randy Mackay 8adc60751c Copte: fix LOG_BITMASK parameter description 2015-05-29 20:29:52 +09:00
Robert Lefebvre 80b4ca99f8 Copter: Heli Semantic Change. Motor Runup to Rotor Runup. 2015-05-29 17:46:20 +09:00
Robert Lefebvre db3852522f Copter: Arming failures should say Collective not Throttle for Tradheli. 
Referring to Collective Pitch as Throttle is confusing for helicopter users as the throttle is really on the motor and not the "throttle stick".
 2015-05-29 17:46:16 +09:00
Robert Lefebvre 112fef4825 Copter: Change Tradheli arming failure message. 
"stop rotor spinning" is not a good indication of what the problem really is.  The user needs to understand they must switch off the rotor speed control switch.  I would prefer to say "Rotor Speed Control Engaged" but we are limited in message length.
 2015-05-29 17:46:13 +09:00
Robert Lefebvre a8c4274db4 Copter: Tradheli: eliminate motors.set_dt 2015-05-29 17:46:12 +09:00
Robert Lefebvre bc23ea4633 Copter: Comment change, main loop time to 400Hz. 2015-05-29 17:46:07 +09:00
Randy Mackay 6b65aa465b Copter: pre-arm checks ignore unused compasses 2015-05-28 12:16:50 +09:00
Randy Mackay 17063792cb Copter: deploy gear during mission RTL descent 2015-05-27 16:10:58 +09:00
Andrew Tridgell 1792710f41 Copter: added a bit in LOG_BITMASK for PID logging 2015-05-27 15:09:47 +10:00
Andrew Tridgell 08f8355dd0 Copter: added logging of Z accel PID 2015-05-27 14:28:50 +10:00
Andrew Tridgell cdea9be9bb Copter: added PID_TUNING for accel controller 2015-05-27 14:28:49 +10:00
Andrew Tridgell 22524daf5f Copter: added GCS_PID_MASK for mavlink rate tuning 2015-05-27 14:28:46 +10:00
Robert Lefebvre dc69fe5c3b Copter: Add Attitude Rate PID logging functionality. 2015-05-27 14:28:44 +10:00
Robert Lefebvre c8a1e48f0c Copter: Tradheli fix Land Detector. 
Tradheli does not use throttle_mix.
 2015-05-27 12:01:17 +09:00
Peter Barker d7299aa884 Copter: use 64-bit timestamps in dataflash logs 2015-05-27 11:54:15 +10:00
Andrew Tridgell 19332be52e Copter: fix for scheduler API change 2015-05-26 14:33:47 +10:00
Randy Mackay 182db2ece0 Copter: remove unnecessary bracket 2015-05-25 22:13:51 +09:00
Robert Lefebvre 8f275ca2c4 Copter: Employ heli_radio_passthrough() for servo setup 2015-05-25 22:13:39 +09:00
Robert Lefebvre 70a9a5699c Copter: usage of rc_3.servo_out to use motors.get_throttle 
servo_out is no longer a data holder for control functions
 2015-05-25 22:13:30 +09:00
Robert Lefebvre 316196b12f Copter: Finish RCMap fix. 
All g.rc_X references changed to channel function pointers.
 2015-05-25 22:13:27 +09:00
Robert Lefebvre acdf4a226f Copter: RCMAP Fix, remove RC_Channel references 
from AP_Motors objects.  And a few function renaming to follow changes in AP_Motors.  Also add new throttle channel setter functionality.
Remove RC7 object from Tricopter.  Add special Tricopter param handling.
 2015-05-25 22:13:25 +09:00
Andrew Tridgell 554de1f2d7 Copter: added channel objects named after input function 
this follows the pattern used in plane and rover
 2015-05-25 22:13:23 +09:00
Robert Lefebvre 7a0e07e67a Copter: update AC3.3-rc5 release notes 2015-05-23 21:18:07 +09:00
Randy Mackay 616dcf2721 Copter: version to AC3.4-dev 2015-05-23 14:57:33 +09:00
Randy Mackay 43a3d0cd95 Copter: version to AC3.3-rc5 2015-05-23 14:42:48 +09:00
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
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
Jonathan Challinger b344a7ed17 Copter: fix set_position_target altitudes 2015-04-14 16:10:05 +09:00
Jonathan Challinger 301d4cc4a6 Copter: fix guided takeoff altitude 2015-04-14 16:10:05 +09:00
Jonathan Challinger 920ac12214 Copter: pv_location_to_vector use pv_alt_above_origin 2015-04-14 16:10:04 +09:00
Jonathan Challinger e5a6023827 Copter: pass inertial_nav to fence 2015-04-14 16:10:03 +09:00
Jonathan Challinger fddaca4cf7 Copter: rename get_throttle_surface_tracking to get_surface_tracking_climb_rate 2015-04-14 16:10:01 +09:00
Randy Mackay ea5c24b70b Copter: rename lost_copter to vehicle_lost 2015-04-13 17:44:44 +09:00
Jaime Machuca 3c00b0a0a8 Copter: ch7/ch8 for lost copter sound 2015-04-13 17:44:39 +09:00
Randy Mackay a20a89181c Copter: enable CPU failsafe after initialisation 
This removes a false positive during startup that lead to an error
appearing at the start of the dataflash log
 2015-04-13 15:58:13 +09:00
Randy Mackay 83c966eaa7 Copter: update 3.3-rc1 release notes 2015-04-12 09:41:23 +09:00
Randy Mackay 5a4039d99c Copter: version to APM:Copter 3.3-rc1 2015-04-12 09:21:44 +09:00
Randy Mackay df59a912d1 Copter: 3.3-rc1 release notes 2015-04-12 09:21:22 +09:00
Randy Mackay 11576a0f1e Copter: fix bitmask for use with SET_POSITION_TARGET 
Thanks to vooon for spotting this
 2015-04-11 11:57:41 +09:00
Randy Mackay 4b5d07252e Copter: ekf_check ok if optflow pos available 2015-04-10 11:08:21 +09:00
Randy Mackay 52f7186cbf Copter: pre-arm check primary compass health 
Previously we would check the 1st compass which might not necessarily be
the primary compass
 2015-04-10 11:08:18 +09:00
Randy Mackay 6834b5943e Copter: pre-arm alt disparity check only if using baro 
We should probably consolidate the baro pre-arm and arming checks into a
single check_baro function but the difference in the error message stops
me from immediately doing that
 2015-04-10 11:08:02 +09:00
Paul Riseborough 1d7cb25c17 Copter : Update pre-arm and arm checks using EKF health status 
Bypass alt disparity check when doing ground relative navigation using range finder height
Add check of EKF health status to indicate when EKF is waiting to complete checks
 2015-04-10 11:07:50 +09:00
Randy Mackay fea7632eac Copter: save EKF learned compass to primary compass 2015-04-10 11:07:18 +09:00
Paul Riseborough 2406e26ab4 Copter : Save EKF learned compass offsets on disarm 
Requires compass learning to be enabled in the compass parameters

Copter: fix compass offsets patch
 2015-04-10 11:07:13 +09:00
Leonard Hall 70fbb3c67e Copter: RATE_RLL_P param def max to 0.30 
same for RATE_PIT_P
 2015-04-09 20:19:57 +09:00
Leonard Hall 2bf8f21b7a Copter: roll, pitch rate IMAX to 2000 2015-04-09 20:19:56 +09:00
Randy Mackay d589c591a6 Copter: only log home when first set 
We should also log home when we arm
 2015-04-09 10:57:08 +09:00
Randy Mackay b0c777259f Copter: update home constantly while disarmed 2015-04-09 10:57:06 +09:00
Randy Mackay c3bdb9a13e Copter: update inertial alt only after home is set 2015-04-09 10:57:04 +09:00
Randy Mackay 2bec00e1c5 Copter: set ahrs home from ekf location 2015-04-09 10:57:02 +09:00
Randy Mackay e5ddd276fd Copter: remove baro init on arming 2015-04-09 10:56:59 +09:00
Andrew Tridgell 29be2f0b60 Copter: send LOCAL_POSITION_NED 
very useful for GPS-disabled operation and EKF debugging
 2015-04-05 09:16:41 -07:00
Randy Mackay 24f24a7db7 Copter: integrate Serial Manager instance 2015-04-01 14:59:25 -07:00
Randy Mackay e1900f646f Copter: remove PREARM_MAX_VELOCITY definition 2015-03-30 18:08:34 -07:00
Jonathan Challinger ffc445098b Copter: remove velocity pre-arm check 2015-03-30 16:44:50 -07:00
Leonard Hall cfe12f38a5 Copter: Adjust Autotune backoff of accel 2015-03-27 06:24:53 -07:00
Randy Mackay 765b8ded02 Copter: ekf check triggers if position bad 2015-03-27 00:04:41 -07:00
Randy Mackay 74b98b89d0 Copter: remove dcm check 2015-03-27 00:04:37 -07:00
Leonard Hall 35d1cbd053 Copter: Autotune fix P test 2015-03-23 07:40:00 -07:00
Leonard Hall cedd423c30 Copter: Autotune Yaw limits update 2015-03-23 07:39:58 -07:00
Leonard Hall 7cd78f63bf Copter: Stop autotune repeatedly saving gains 2015-03-23 07:39:55 -07:00
Andrew Tridgell a4be1fede8 Copter: run all boards at 400Hz 
SITL and Linux can now run at 400Hz
 2015-03-22 18:57:43 -07:00
Randy Mackay b4df5b35f0 Copter: fix compiler error when mount disabled 2015-03-21 21:52:27 +09:00
Randy Mackay a3933f7a1f Copter: handle do_mount_control mission commands 2015-03-21 21:52:24 +09:00
Randy Mackay 9a5ff97c61 Copter: send invalid batt curr if monitor unhealthy 2015-03-20 11:05:33 +09:00
Randy Mackay c41ecca8d5 Copter: re-order position_ok function 
no functional change
 2015-03-19 15:15:49 +09:00
Randy Mackay 522ef8f91f Copter: rename MOT df msg to MOTB 
This will slightly reduce confusion with the MOT message from AC3.1.5
that eventually became RCOUT
 2015-03-18 21:25:45 +09:00
Randy Mackay b679fd0be0 Copter: log RATE with ATT 2015-03-18 21:25:42 +09:00
Randy Mackay d9b65cec22 Copter: fix compiler error re ch9, ch12 on some boards 
channel 9 and 12 are not exist on some builds.
 2015-03-17 22:16:48 +09:00
Randy Mackay 3be0a47c02 Copter: minor formatting fix 2015-03-17 21:18:51 +09:00
Randy Mackay 20311c3ba2 Copter: remove CH7_OPTION definition 
We can replace the unused definitions and just set the aux switch
defaults to do-nothing directly in the parameter table
 2015-03-17 21:18:50 +09:00
Randy Mackay e6c3f4f97b Copter: move aux switch enum to defines.h 2015-03-17 21:18:49 +09:00
Robert Lefebvre fd0cb0beed Copter: Create check_duplicate_auxsw() method to streamline pre-arm check code 2015-03-17 21:18:48 +09:00
Robert Lefebvre 1afeb05398 Copter: Create check_if_auxsw_mode_used() to check for function usage 2015-03-17 21:18:47 +09:00
Robert Lefebvre 97cd3614eb Copter: Change Aux Switch function list to enum. 2015-03-17 21:18:46 +09:00
Robert Lefebvre a5af151a91 Copter: Initial expansion of Aux Switch to Ch7-12 2015-03-17 21:18:41 +09:00
Randy Mackay b10730f35c Copter: remove THR_MAX parameter 2015-03-16 14:49:34 +09:00
Randy Mackay 2a47337dc1 Copter: fix multiple flight-mode fail log messages 
When the vehicle failed to enter a flight mode it was logging the
failure repeatedly in the dataflash
 2015-03-13 22:15:27 +09:00
Víctor Mayoral Vilches 79e152cd93 Copter: Update compass to the new interface 2015-03-13 18:46:16 +11:00
Randy Mackay 9c6531ebeb Copter: simplify APM_Config after removing APM1,2 support 2015-03-13 16:41:05 +09:00
Randy Mackay 088a49abbf Copter: remove APM1, APM2 support 2015-03-13 16:41:03 +09:00
Randy Mackay fbfc94cf69 Copter: remove GPS glitch and failsafe 
The EKF failsafe now captures all failures that could lead to a bad
position including GPS glitches and a bad compass meaning we do not need
this protection in the main flight code.
 2015-03-13 16:40:46 +09:00
Randy Mackay 6f6847c025 Copter: use only InertialNav_EKF 
remove calls to unsupported functions including ignore_next_error,
set_altitude, etc.
 2015-03-13 16:40:37 +09:00
Randy Mackay d7f624be39 Copter: remove baro_glitch protection 2015-03-13 16:40:27 +09:00
Randy Mackay 0476558049 Copter: remove USE_EKF from ch7/ch8 switch 2015-03-13 16:40:20 +09:00
Andrew Tridgell d9342ed854 Copter: allow motor test using raw pwm without RC cal 2015-03-12 17:49:39 +11:00
Randy Mackay 553261d4ce Copter: send EKF_STATUS_REPORT in extra3 stream 2015-03-12 12:20:03 +09:00
Randy Mackay 0447f6216a Copter: get_pilot_desired_lean_angles uses angle_max of at least 10deg 
Removes the unlikely event of a divide by zero if ANGLE_MAX is set to
zero and sticks were in middle
 2015-03-11 22:24:44 +09:00
Jonathan Challinger ecefe78417 Copter: interpret input in stabilize as a tilt vector 2015-03-11 22:24:42 +09:00
Randy Mackay 721d551239 Copter: extend AUTOTUNE_AXIS param description 2015-03-11 17:28:47 +09:00
Randy Mackay b475a2fe10 Copter: AutoTune formatting fixes 
no functional change
 2015-03-11 17:28:46 +09:00
Leonard Hall c537c38646 Copter: add update_throttle_low_comp 
sets the priority of throttle vs attiude control so that attitude is
favoured (i.e. high throttle-low-comp) during dynamic flight while
throttle is favoured when vehicle may be landing.
 2015-03-10 12:20:24 +09:00
Leonard Hall 36c91970f1 Copter: Autotune algorithm update 2015-03-09 18:02:55 +09:00
Leonard Hall 9bfb0e1f40 Copter: Autotune comment changes and formatting 2015-03-09 18:02:52 +09:00
Leonard Hall 1c57c6a266 Copter: Autotune update yaw filt and rate P max 2015-03-09 18:02:50 +09:00
Randy Mackay 72d1113501 Copter: set accel and gyro disabled during calibration 2015-03-09 17:58:38 +11:00
Randy Mackay 3e45052a75 Copter: reply with failed if gyro or accel cal fails 2015-03-09 17:58:38 +11:00
Randy Mackay 10724f5738 Copter: reject preflight calibration when armed 2015-03-09 17:58:38 +11:00
Andrew Tridgell 3f906f6bd1 Copter: added CLI_ENABLED option 2015-03-09 17:58:37 +11:00
Andrew Tridgell 47e9409d00 Copter: set gyros disabled when calibrating 2015-03-09 17:58:36 +11:00
Andrew Tridgell 9b9aa3dc33 Copter: use new interactive accelcal 2015-03-07 21:56:40 +11:00
Randy Mackay 033bcd849b Copter: add 0.6 to EKF and DCM CHECK_THRESH param description 2015-03-06 17:58:37 +09:00
Randy Mackay e0acd250d1 Copter: set Notify firmware_update flag before reboot 2015-03-06 17:26:53 +09:00
Randy Mackay 61ed812fc4 Copter: set Notify's autopilot_mode flag 2015-03-06 17:26:49 +09:00
Leonard Hall 778edfda72 Copter: default yaw rate filter to 5hz 2015-03-06 16:08:32 +09:00
Leonard Hall d5bbe6de03 Copter: remove TRIM_THROTTLE 
throttle_trim is replaced by throttle_average which is initialised to
the throttle_mid parameter value at startup
 2015-03-06 14:02:19 +09:00
Leonard Hall c78480e14f Copter: rename loiter_pos to pos_xy 
Also renamed throttle_rate to vel_z, throttle_accel to accel_z
 2015-03-06 14:02:17 +09:00
Leonard Hall e232867661 Copter: move LOITER_RATE to 2-axis PI controller 
Also rename LOITER_RATE to VEL_XY for parameters, definitions, variables
 2015-03-06 14:02:15 +09:00
Leonard Hall 1ec5eedd23 Copter: ch6 tuning of yaw rate filter 2015-03-06 14:02:13 +09:00
Leonard Hall 2b0fb45fe8 Copter: integrate PID input filter 2015-03-06 14:02:11 +09:00
Leonard Hall d233ca3133 Copter: add Time and rate_target to AutoTune logging 2015-03-06 14:02:09 +09:00
Leonard Hall 8ba195a3a2 Copter: add Mot and Rate dataflash logging 2015-03-06 14:02:07 +09:00
Leonard Hall 1ebf2c40f5 Copter: Autotune rewrite 
Includes the following:
Increase Autotune Limits
Low Rate_P_Max prevents correct Rate_D prediction.
make adjustment proportional
increase the maximum value of Rate_P
adjustment for zero overshoot
Speed up autotune
Reduce D bounce back requirement
adapt matthewlloyd's switching
Includes many enhancements to the basic code but doesn't bring in his
speed up ideas
Reduce Stab P down
Add Calibration
Repeat side to increase speed
Update Autotune PI ratios
fixup comments
autotune incorporate aggressiveness parameter
sets max accel for roll, pitch, yaw
Update accel calc and set Yaw D to zero
Calculate Accel correctly on SP Limit
Send saved gains msg to GCS
updates PID filter
increase accel backoff
save max accel if rate feedfwd enabled
keep stabilizing
 2015-03-06 14:02:04 +09:00
Leonard Hall a9a6e8856b Copter: add AUTOTUNE_AGGR parameter 2015-03-06 14:02:02 +09:00
Leonard Hall 864168e5ea Copter: add AUTOTUNE_AXES bitmask parameter 
This is used to allow tuning just some axis
 2015-03-06 14:02:01 +09:00
Randy Mackay c711179ffe Copter: set_mid_throttle renamed to set_hover_throttle 2015-03-03 15:48:56 +09:00
Randy Mackay bae424fa88 Copter: pass in loop_rate to motors constructor 2015-03-03 15:48:37 +09:00
Leonard Hall 8eedb2c040 Copter: sent battery voltage and current to motors 2015-03-03 15:48:26 +09:00
Leonard Hall 3e8563dd8b Copter: ch6 tuning definition for yaw min headroom 2015-03-03 15:48:17 +09:00
Randy Mackay c5b3bc5698 Copter: handle LED_CONTROL and pass to Notify 2015-03-02 16:58:08 +09:00
Andrew Tridgell 7c975808f8 Copter: provide terrain height to rangefinder 
used for power saving
 2015-02-23 14:15:14 +11:00
Andrew Tridgell 74ef1b8d2f Copter: removed HomeState from defines.h 
now in AP_Common.h
 2015-02-21 10:14:32 +11:00
João Fortuna b99f38d39d Copter: Fixed MAVLINK stream trigger calculation. 2015-02-20 13:10:57 +09:00
Andrew Tridgell 307b9e807f Copter: reduced build warnings 
removed some unused code, and mark some functions with UNUSED_FUNCTION
 2015-02-18 11:13:48 +11:00
Andrew Tridgell 191d803968 Copter: make PERF info message into a STATUSTEXT message 
this makes it appear properly in tlogs. Also show both min and max
loop times
 2015-02-16 10:02:53 +11:00
Randy Mackay da4a36c4e0 Copter: fix nack result_unsupported when arming fails 
We should return unsupported if param1 does not equal 0 or 1
 2015-02-14 14:27:47 +09:00
Randy Mackay 7ae1436b97 Copter: nack result_failed when arming fails 
Previously result_unsupported was returned which is a less accurate
description of the failure
 2015-02-14 14:03:41 +09:00
Randy Mackay 77d8f88e45 Copter: fence, rtl, land use alt-above-home 2015-02-12 15:08:00 +09:00
Randy Mackay 4d566bf462 Copter: current_loc.alt is alt-above-home 2015-02-12 15:07:59 +09:00
Randy Mackay 7e11ec9a6f Copter: surf tracking, do-land use inav alt 
Also CTUN logging of inav alt switched to get directly from inertial nav
lib instead of using current_loc.alt
 2015-02-12 15:07:00 +09:00
Randy Mackay cb66bf8b98 Copter: functions to convert alt-above-home vs alt-above-origin 2015-02-12 15:01:05 +09:00
Randy Mackay 9bd3a7249a Copter: disable inertial nav 2015-02-12 15:01:03 +09:00
Randy Mackay fbe87afb9c Copter: pre-arm check of EKF origin vs home 
EKF origin must be within 50km of home or numerical errors get too large
 2015-02-12 15:01:00 +09:00
Randy Mackay e7579198c9 Copter: when arming set home to current loc only if not locked 2015-02-12 15:00:58 +09:00
Randy Mackay 9e156d2f81 Copter: always update current_loc regardless of inav state 
If inertial nav is not initialised these will be set to zero anyway
 2015-02-12 15:00:56 +09:00
Randy Mackay 7029b11414 Copter: support do_set_home command from GCS and mission 2015-02-12 15:00:54 +09:00
Randy Mackay d5fd6d2a99 Copter: use home_is_set function 2015-02-12 15:00:52 +09:00
Randy Mackay e081b9d1c7 Copter: home is set becomes three state 2015-02-12 15:00:50 +09:00
Randy Mackay a4fd36a775 Copter: fix compile error when fence disabled 
Fix provided by iyia12co
 2015-02-12 12:03:54 +09:00
Andrew Tridgell 81302fe190 Copter: implement MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES 2015-02-12 09:04:20 +11:00
Jonathan Challinger 0cc83b1826 Copter: use hal.util soft_armed state 2015-02-11 20:25:11 +11:00
Andrew Tridgell 4ade22c94b Copter: use common send_autopilot_version() 2015-02-11 19:50:51 +11:00
Jonathan Challinger 62c63e9b35 Copter: support AUTOPILOT_VERSION_REQUEST message 2015-02-11 19:11:53 +11:00
Jonathan Challinger c5d66cdfba Copter: add send_autopilot_version 2015-02-11 19:11:53 +11:00
Randy Mackay e7ac9d27f5 Copter: AC3.2.1 release notes 
No changes from AC3.2.1-rc2
 2015-02-11 14:08:57 +09:00
Randy Mackay 99ca779718 Copter: fix to allow arming in Guided from GCS 2015-02-10 22:12:38 +09:00
Randy Mackay 4ff75f0371 Copter: perf info ignores slow loop due to arming 2015-02-09 23:07:18 +09:00
Randy Mackay 8b5f1575ad Copter: remove pre-arm check of RC3_TRIM 
RC3_TRIM parameter is not used so we can remove this check
 2015-02-06 17:55:28 +09:00
Randy Mackay a70f98552e Copter: rename xy_mode 2015-02-06 17:00:58 +09:00
Jonathan Challinger e71ad72fc0 Copter: update usage of update_xy_controller 2015-02-06 17:00:51 +09:00
Robert Lefebvre 0b1f217420 Copter: Add PreArm check for radio trims. 2015-02-05 11:17:58 +09:00
Robert Lefebvre 2186dec271 Copter: Remove trim_radio() function. 2015-02-05 11:17:56 +09:00
Randy Mackay ecaf3280e5 Copter: update AC3.2.1-rc2 release notes 2015-02-03 15:58:33 +09:00
Jonathan Challinger 4311fa8952 Copter: 90-atan2(-x,y) is the same as atan2(y,x) 2015-02-03 14:48:02 +09:00
Jonathan Challinger f77b359e83 Copter: increase get_roi_yaw from 40hz to 100hz 2015-02-03 14:46:17 +09:00
Jonathan Challinger 2cb63dc792 Copter: don't assume home is at the origin 2015-02-03 11:38:25 +09:00
Jonathan Challinger 9c2865f6a8 Copter: update pv_location_to_vector to use get_origin instead of get_home 2015-02-03 11:38:23 +09:00
Jason Short 3b5228922e Copter: increased ESC auto-cal delay 2015-02-03 11:33:54 +09:00
Andrew Tridgell 51dc3c120d Copter: handle GIMBAL_REPORT receive and send 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-02-03 09:49:15 +11:00
Randy Mackay f00861d2f1 Copter: using arming_failed as event 2015-02-03 06:14:56 +09:00
Randy Mackay 9e813948fa Copter: protect against multiple arming messages 
Protect against the GCS sending multiple arming messages close together
which disrupts the gyro calibration
 2015-02-02 22:31:20 +09:00
Randy Mackay 32cb901ce3 Copter: allow arming at mid throttle in AltHold, Loiter 2015-02-02 22:31:18 +09:00
Randy Mackay e7f20c04c3 Copter: init_arm_motors calls pre-arm checks 
This reduces a small amount of duplicated code in the pilot initiated
arming and GCS initiated arming functions
 2015-02-02 22:31:14 +09:00
Randy Mackay f4c392c64d Copter: pre_arm_checks returns success or failure 
This makes the pre-arm check function consist with the other arming
check functions
 2015-02-02 22:31:11 +09:00
Randy Mackay 64af4ff923 Copter: rename set_servos_4 to motors_output 2015-02-02 22:31:08 +09:00
Randy Mackay 8754ce9eed Copter: move 80% thr limit to MotorsTri 2015-02-02 22:31:04 +09:00
Randy Mackay 43ba94e99a Copter: rename manual_flight_mode to mode_has_manual_throttle 2015-02-02 22:31:01 +09:00
Randy Mackay 3aac281c5a Copter: land detector requires desired climb rate be < -20cm/s 2015-01-31 17:23:43 +09:00
Randy Mackay 3e872c71fc Copter: AC3.2.1-rc2 release notes 2015-01-30 16:23:52 +09:00
Robert Lefebvre 8e8ec09740 Copter: update pos_control alt_max from fence at 1hz 2015-01-30 14:13:49 +09:00
Randy Mackay e0cfe091fb Copter: setup uart after checking usb_connected 2015-01-29 14:05:15 +11:00
Randy Mackay 8ea65c2dc2 Copter: APM_Config define to disable FRSKY telem 2015-01-29 14:05:14 +11:00
Randy Mackay f91fb9a4e8 Copter: rename frsky_telemetry_send function 2015-01-29 14:05:14 +11:00
Randy Mackay 34503de18e Copter: integrate SerialManager 
Remove serial0, serial1 baud and protocol parameters
Pass serial_manager to GCS, GPS, mount, FrSky_telem objects during init
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
 2015-01-29 14:05:14 +11:00
Randy Mackay 7ffcf62e2e Copter: move MNT param's underscore to mount lib 2015-01-29 13:57:19 +11:00
Randy Mackay c51ba8cd03 Copter: integrate mount frontend-backend restructure 
initialise mount on startup
use Mount::has_pan_control method
Remove calls to unimplemented mount.configure_cmd
Remove call to update_mount_type which will be handled from within mount
lib
 2015-01-29 13:57:18 +11:00
Randy Mackay 31b2534c1d Copter: rename mount.set_roi_cmd to set_roi_target 2015-01-29 13:57:18 +11:00
Randy Mackay 18f8ffab6f Copter: remove land detector bar climb rate definition 2015-01-28 10:59:15 +09:00
Jonathan Challinger 9d585700f8 Copter: remove baro climb rate check from land detector 2015-01-28 10:57:00 +09:00
Matthias Badaire a2d71d2811 Copter: Frsky telemtry change move parameter to init of the class 
Parameter needs to be passed and use at the init of the class frsky telem
 2015-01-22 16:49:39 +11:00
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 d49489ca7e Copter: optflow_position_ok requires using EKF 2015-01-22 14:40:13 +09:00
Randy Mackay 01f1ce4cb3 Copter: position_ok false when EKF in const pos mode 2015-01-22 14:40:11 +09:00
Randy Mackay 74ac79ba10 Copter: Drift uses throttle_zero flag 2015-01-22 14:40:08 +09:00
Randy Mackay 02d0b05926 Copter: minor format fix 2015-01-22 14:40:05 +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 cc52bbbffb Copter: update current loc once home is set 2015-01-22 14:39:59 +09:00
Randy Mackay f1a6b06586 Copter: remove redundant filter status checks 2015-01-22 14:39:57 +09:00
Randy Mackay 3641d3d508 Copter: send inav velocities in global position message 
Also absolute alt now calculated from home alt + current alt above home
instead of using GPS absolute alt
 2015-01-22 14:39:54 +09:00
Randy Mackay e464909ddf Copter: position_ok true when EKF predicts it will be ok 
This resolves the chicken and egg problem of the EKF filter status's
position flags not becoming true until after the vehicle has been armed
at least once.
 2015-01-22 14:39:52 +09:00
Randy Mackay 58ac9de94b Copter: update home position when disarmed 
This resolves the issue in which the vehicle's position jumped back to
it's home location when disarmed and using the EKF.  This also makes
copter consistent with plane.
 2015-01-22 14:39:50 +09:00
Randy Mackay fd0b82f669 Copter: add optflow_position_ok and use for loiter 
This allows entering Loiter flight mode with only optical flow based
position
 2015-01-22 14:39:47 +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 e94693e8ac Copter: remove unused throttle integrator 2015-01-21 14:38:06 +09:00
Robert Lefebvre b8822a42b6 Copter: Change Compass logging to new DataFlash method that handles instances. 2015-01-21 14:37:52 +09:00
Robert Lefebvre 37304fd5ed Copter: Minor formatting changes in Log.pde 2015-01-21 14:37:23 +09:00
Robert Lefebvre 4b86a4aeec Arducopter: Change mode logging to use common-vehicle DataFlash library. 2015-01-21 14:37:20 +09:00
Robert Lefebvre 422970a1b1 Arducopter: Change compass logging to use common-vehicle DataFlash library. 2015-01-21 14:37:16 +09:00
Robert Lefebvre 1b152cf2bf ArduCopter: Change Current logging to use common-vehicle logging in DataFlash library. 2015-01-21 14:37:04 +09:00
Robert Lefebvre c9d5b6aa7f Arducopter: Change Attitude logging to use common-vehicle logging in DataFlash library. 2015-01-21 14:36:59 +09:00
Randy Mackay 0065b3b224 Copter: tighten accel and gyro pre-arm consistency check 
Accel diff threshold to 0.7m/s/s (was 1.0 m/s/s)
Gyro diff threshold to 5deg/sec (was 20deg/sec)
 2015-01-20 12:44:02 +09:00
Randy Mackay 4059e02a8c Copter: move ch6 tuning to tuning.pde 2015-01-16 15:12:58 +09:00
Jason Short fe74a11b4e Copter: Drift mode gain changes and roll control through ch4 2015-01-15 11:55:24 +09:00
Randy Mackay d6c48e422a Copter: restore baro climb rate check to land_detector 2015-01-14 16:08:57 +09:00
Randy Mackay 1c25c00f5b Copter: move land_detector to separate file 2015-01-14 16:08:55 +09:00
Jonathan Challinger 36410a5131 Copter: clean up land detector and modify to use desired velocity 2015-01-14 16:08:50 +09:00
Randy Mackay 0c44b5f4fe Copter: fix typo in AC3.2.1 Release Notes 2015-01-10 22:29:46 +09:00
Andrew Tridgell 557f4df77e Copter: use barometer.all_healthy() for health check in SYS_STATUS and arming 2015-01-09 11:51:51 +11:00
Andrew Tridgell c151f24672 Copter: updates for new AP_Baro API 2015-01-09 11:50:55 +11:00
Randy Mackay 781f2b7ddc Copter: update AC3.2.1-rc1 Release Notes 2015-01-09 05:06:36 +09:00
Randy Mackay ce9b87c101 Copter: AC3.2.1-rc1 Release Notes 2015-01-08 21:53:47 +09:00
Randy Mackay 80f59694d0 Copter: remove deprecated Guided-Spline 
Guided-Spline has been replaced by Guided-PosVel
 2015-01-07 14:03:50 +09:00
Randy Mackay be5bf91e92 Copter: add ekf velocity scaler to posvel controller 
Also set auto-yaw-mode to yaw-hold only when posvel controller is
started instead of on every iteration.
added GUIDED_POSVEL_TIMEOUT_MS definition.
removed deprecated trigger_xy call.
Also use wp_nav.get_speed_xy in place of get_speed_param
 2015-01-07 14:03:08 +09:00
Jonathan Challinger 474456e349 Copter: use guided_posvel for set_position_target messages 2015-01-07 14:02:24 +09:00
Jonathan Challinger bc29008233 Copter: add guided_posvel 2015-01-07 14:02:21 +09:00
Randy Mackay 06d1a4c59f Copter: use LandingGear command mode enum 2015-01-07 11:58:23 +09:00
Randy Mackay d26fa6d827 Copter: minor format fix 
no functional change
 2015-01-07 11:58:23 +09:00
Randy Mackay 5f3c2bcd11 Copter: rename landing_gear.pde 2015-01-07 11:58:21 +09:00
Robert Lefebvre 62b5f32643 Copter: Use landinggear.force_deploy method when auto-landing 2015-01-07 11:58:20 +09:00
Robert Lefebvre 20fce5c9ff Copter: Move landing gear code into new file 2015-01-07 11:58:20 +09:00