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4622 Commits

Author SHA1 Message Date
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
Robert Lefebvre fd61c3179a Copter: Remove relay pointer from LandingGear object 2015-01-07 11:58:18 +09:00
Robert Lefebvre e10e020062 Copter: Add Landing Gear functionality to main code 2015-01-07 11:58:16 +09:00
Staroselskii Georgii 84a15304a1 Copter: added AK8963 support 2015-01-07 08:41:13 +11:00
Randy Mackay f54a13f24b Copter: report NAV_CONTROLLER_OUTPUT in RTL, Guided 
This allows the GCS to display to the user where the vehicle is flying
to in RTL and Guided flight modes
 2015-01-06 16:38:34 +09:00
Robert Lefebvre d7ba808400 ArduCopter: Bug fix, int8t should be uint16t. 2015-01-06 15:02:48 +09:00
Robert Lefebvre 205b312789 Copter: GCS Failsafe comments and format changes 2015-01-05 10:34:17 +09:00
Robert Lefebvre 5f19a43104 Copter: GCS Failsafe to trigger if using Guided mode 2015-01-05 10:33:50 +09:00
Andrew Tridgell c268d7252f Copter: fixed flymaple build 2015-01-05 07:36:40 +11:00
Andrew Tridgell cb5552f0e3 Copter: fixed build with optflow disabled 2015-01-04 12:29:22 +11:00
Andrew Tridgell ab62105afe Copter: use common send_opticalflow() 2015-01-03 15:53:49 +11:00
Andrew Tridgell 788bb8ab9f Copter: make optflow available to AHRS 2015-01-03 14:16:34 +11:00
Andrew Tridgell c784ee717b Copter: update for new OptFlow API 2015-01-03 14:16:33 +11:00
Randy Mackay f1f71ef605 Copter: cli uses has_current method 2014-12-31 15:22:50 +09:00
Randy Mackay 3ccc61c163 Copter: use battery.has_current method 2014-12-31 15:22:49 +09:00
Randy Mackay d6b4bfd97f Copter: move underscore in BATT_ parameters 2014-12-31 15:22:48 +09:00
Randy Mackay 2e7435df52 Copter: remove unused OF_LOITER pid defines 2014-12-31 13:16:18 +09:00
Randy Mackay 3e34e7ed7e Copter: remove logging dependency on optflow 2014-12-31 13:16:17 +09:00
priseborough 695f12bec0 Copter: Don't log EKF optical flow data if not required 2014-12-31 13:16:12 +09:00
Randy Mackay f2b0fc3566 Copter: disarm on landing regardless of pilot input 2014-12-27 13:33:06 +09:00
Randy Mackay 72127cde35 Copter: remove broken support for do-change-alt 
This command was not implemented fully removing this code resolves a
compiler warning
 2014-12-26 22:17:45 +09:00
Randy Mackay 2bc1b7e4d6 Copter: skip pre-arm checks when already armed 2014-12-26 22:01:43 +09:00
Randy Mackay 990a34cb75 Copter: remove support for do-set-home mission command 
This avoids the chance of an arithmetic exception in cases where the
position is moved too far
 2014-12-26 15:55:26 +09:00
Randy Mackay 2ea9b8a5a8 Copter: set pre_arm_gps_check flag 2014-12-26 12:32:36 +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
Randy Mackay b6bcf841e1 Copter: remove second camera mount 2014-12-16 21:26:20 +09:00
Jonathan Challinger cafb38e923 Copter: allow radio failsafe while disarmed so that user can be notified 2014-12-15 14:10:29 +09:00
Randy Mackay 79e40b4f6a Copter: do not send mode_change event before init complete 
This avoids a beep as the flight mode is set during start-up
 2014-12-15 14:10:23 +09:00
Randy Mackay 562f3e7382 Copter: set notify event when failsafe changes flight mode 2014-12-15 14:10:19 +09:00
Randy Mackay 6a15d21704 Copter: minor format change 2014-12-15 14:10:13 +09:00
Jonathan Challinger f045c75bfe Copter: play various tones 2014-12-15 14:09:12 +09:00
Randy Mackay fd55a2d9c4 Copter: increase GPS_HDOP_GOOD default to 2.3 2014-12-15 10:45:50 +09:00
Andrew Tridgell e73f8b8e40 Copter: removed use of mavlink_check_target() 2014-12-11 12:32:34 +09:00
Randy Mackay 67f48168a8 Copter: send OPTICAL_FLOW msg to GCS 2014-12-08 14:58:31 +09:00
Randy Mackay 641c770726 Copter: send optflow health in extended status 2014-12-08 14:58:28 +09:00
Randy Mackay 882546aa8e Copter: optflow logging minor format change 2014-12-08 14:58:27 +09:00
Randy Mackay 3127dd94c1 Copter: add OPTFLOW to default logging 2014-12-08 14:58:27 +09:00
Randy Mackay aba829678a Copter: optflow instantiation format change 
No functional change
 2014-12-08 14:58:26 +09:00
Randy Mackay c93c7af20c Copter: move update_optflow to sensors.pde 
No functional change
 2014-12-08 14:58:25 +09:00
Randy Mackay 67fdfffc2a Copter: remove OF_Loiter PIDs and tuning 2014-12-08 14:58:18 +09:00
Randy Mackay 0994529624 Copter: remove OF_Loiter from FLTMODE param descriptions 
Also remove OF_Loiter reference in comments
No functional change
 2014-12-08 14:57:04 +09:00
Andrew Tridgell fba02479b7 Copter: fixed build with no EKF 2014-12-06 18:43:38 +11:00
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 9e7709fa09 Copter: Expand EKF speed limit public method to handle control limits 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
priseborough 715d64dce9 Copter: Check for new optical flow updates at 200Hz 
Supports use of higher flow read rates if required.
 2014-12-06 18:16:48 +11:00
priseborough 468c83c074 Copter : Check for new optical flow readings every 10ms 
The driver polls the sensor asynchronously every 100 msec, so we need to continually check for new data.
 2014-12-06 18:16:48 +11:00
priseborough be54f2d6ee Copter : Don't force pre-compiler inclusion of optical flow 2014-12-06 18:16:48 +11:00
priseborough 6d5fb33d1a Copter : enable optical flow by default 2014-12-06 18:16:47 +11:00
priseborough 45c007d216 Copter : Correct comment on required optical flow update rate 2014-12-06 18:16:47 +11:00
priseborough a72b6b179b Copter : Modify EKF optical flow data interface 2014-12-06 18:16:46 +11:00
priseborough 311206017c Copter : Update EKF optical flow data interface 
Makes it compatible with the new PX4Flow interface
 2014-12-06 18:16:46 +11:00
priseborough 267ef48026 Copter : disable tilt correction of range finder data for use by EKF 
This is a temporary fix. We need to make separate range and altitude measurements available.
 2014-12-06 18:16:45 +11:00
priseborough 27f9289391 Copter : Add range finder measurements to EKF optical flow data 2014-12-06 18:16:44 +11:00
priseborough 635e593d55 Copter : temporary mods to test use of flow sensor internal gyro data 2014-12-06 18:16:44 +11:00
priseborough 34249ffa42 Copter : EKF optical flow fusion support preliminary changes 
Assumes optflow sensor has been modified to push data at a low rate, eg 10Hz
and velocity data is angular velocity, not linear velocity
 2014-12-06 18:16:44 +11:00
Randy Mackay 8b80e58861 Copter: enable OPTFLOW - do not merge to master 2014-12-06 18:16:44 +11:00
priseborough 60527a023a Copter : Update optical flow test for new PX4Flow interface 2014-12-06 18:16:43 +11:00
priseborough 0d7555b259 Copter : Remove legacy optical flow control mode 
This mode is not compatible with the new PX4Flow interface
 2014-12-06 18:16:43 +11:00
priseborough 900519b35b Copter : Remove legacy optical flow control mode 
This mode is not compatible with the new PX4Flow interface
 2014-12-06 18:16:43 +11:00
priseborough 23953b459e Copter : Update logging for new PX4Flow sensor interface 2014-12-06 18:16:43 +11:00
priseborough 20e715aa13 Copter : Remove ADNS3080 flow sensor support 2014-12-06 18:16:43 +11:00
priseborough 5ef2208017 Copter: Change flow sensor read sample rate to 10Hz 2014-12-06 18:16:43 +11:00
Randy Mackay 7be78621f4 Copter: run_nav_updates at 50hz on Pixhawk, 25hz on APM2 
Based on work by Jon Challinger (see earlier commit)
 2014-12-05 14:01:16 +09:00
Jonathan Challinger 203b713f0d Copter: run_nav_updates at 100hz on pixhawk 2014-12-05 14:01:14 +09:00
Andrew Tridgell dcdfff66e8 Copter: setup pwm esc scaling 2014-11-26 11:14:44 +11:00
Randy Mackay 13b8159fb5 Copter: only allow one preflight calibration at a time 2014-11-21 22:00:45 +09:00
Randy Mackay 330b52194f Copter: change to switch order in guided spline 
No functional change
 2014-11-19 12:06:30 -08:00
Arthur Benemann db89bd6f03 Copter: correct frame/location of guided spline 2014-11-19 11:59:13 -08:00
Randy Mackay 84f82dd129 Copter: correct get_pilot_desired_throttle calc 
Also minor format and commenting addition
 2014-11-17 18:16:14 -08:00
Jonathan Challinger 3a529b2cef Copter: utilize get_control_mid for throttle calculations 2014-11-17 18:16:11 -08:00
Andrew Tridgell b6c06ab691 Copter: fix build with new mavlink repo 2014-11-18 11:20:04 +11:00
Randy Mackay c6e70179d2 Copter: move MOUNT_STATUS lower in GCS_MAVLink 
No functional change
 2014-11-17 15:59:41 -08:00
Arthur Benemann 6bee8969a1 Copter: append MOUNT_STATUS message to STREAM_EXTRA3 messages 
The msg is now periodically sent to the GCS, instead of only on request.STREAM_EXTRA3
 2014-11-17 15:59:26 -08:00
Jonathan Challinger 387f3276cb Copter: handle SET_POSITION_TARGET mavlink messages 2014-11-17 14:38:55 -08:00
Jonathan Challinger 1b1327dc93 Copter: add Guided_Spline mode 2014-11-17 14:38:48 -08:00
Jonathan Challinger e7939cca01 Copter: change function definitions in guided to static 2014-11-17 14:38:43 -08:00
Jonathan Challinger c7a38c4350 Copter: use force_descend option on auto landings 2014-11-13 18:40:42 -08:00
Craig Elder f7d0a930c2 Copter: Updated GCS_FAILSAFE Parameter Description 2014-11-13 13:10:06 -08:00
Arthur Benemann f24f5a6a32 Copter: remove call to camera.configure and control 
The do_take_picture() function must be called for logging to occur.
configure_msg is empty at the moment so the call to this is remove
 2014-11-11 10:31:49 -08:00
Randy Mackay ed099a73a3 Copter: minor rename of ACRO circular limits variable 2014-11-10 18:36:17 -08:00
Randy Mackay 83051c306d Copter: minor rename of a circular limits variable 2014-11-10 18:36:15 -08:00
Jolyon Saunders a9205e1032 Copter: Add circular limits to ACRO 2014-11-10 18:36:13 -08:00
Jolyon Saunders d46c659d0f Copter: Add circular limits pilot's roll/pitch inputs 2014-11-10 18:36:10 -08:00
Randy Mackay b2badee172 Copter: reset baro glitch after baro init 2014-11-09 13:34:17 -08:00
Randy Mackay 9e12b01569 Copter: CPU failsafe set motors to min before logging error 
This ensures that if the logging stalls the motors will have already
been reduced to zero
 2014-11-08 11:37:23 +09:00
Jonathan Challinger 80ba40d149 Copter: CPU failsafe logs an error 2014-11-08 11:27:16 +09:00
Jonathan Challinger e37337b744 Copter: remove gyro cal prearm check 2014-11-07 14:02:26 +09:00
Randy Mackay 9f2af783db Copter: update AC3.2 ReleaseNotes 2014-11-07 14:00:00 +09:00
Randy Mackay 1b64dd2280 Copter: clarify pv_location_to_vector param name 
Also update function description
 2014-11-06 11:53:57 +09:00
Clay McClure a897c14255 Copter: ensure lat, lon, alt all zero is handled 
Use default position when waypoint lat/lon are zero,
and default altitude when waypoint alt is zero, for
both spline and straight-line waypoints.

Fixes #1145.
 2014-11-06 11:53:32 +09:00
Randy Mackay 07975ed564 Copter: minor reformat of control_autotune 2014-11-05 21:08:39 +09:00
Brad Bosch 74fedc0897 Copter: allow starting autotune from flightmode switch 
ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.
 2014-11-05 21:08:36 +09:00
squilter ad3bce105c Copter: remove abbreviations from GCS messages 2014-11-05 20:04:52 +09:00
Randy Mackay 5104d5f0fe Copter: re-order init_sonar 
No functional change.
 2014-10-31 20:40:24 +09:00
Randy Mackay 8a61f5acd2 Copter: add comments to control switch debouncing 2014-10-31 15:48:28 +09:00
Jonathan Challinger 5c8b39562f Copter: rework control switch debouncing 2014-10-31 15:30:27 +09:00
Jonathan Challinger b0594e8d56 Copter: supply wp_nav with attitude_control 2014-10-31 15:23:54 +09:00
Randy Mackay 44dbf50101 Copter: fix camera feedback msg handling 
If the camera was disabled, camera message handling would fall though to
status-text msg handling.
 2014-10-31 14:46:47 +09:00
Arthur Benemann b587025ad1 Copter: send a camera_feedback message when there is a camera trigger 2014-10-31 14:46:42 +09:00
Randy Mackay 8eb866adef Copter: minor update to AC3.2-rc14 ReleaseNotes 2014-10-31 10:57:43 +09:00
Randy Mackay bb85e77173 Copter: update AC3.2-rc14 ReleaseNotes 2014-10-29 18:09:46 +09:00
Randy Mackay beb54b087b Copter: re-enable CPU failsafe if arming fails 2014-10-29 16:00:32 +09:00
Randy Mackay cce876c2f9 Copter: fail to arm if gyro cal fails 2014-10-29 15:36:29 +09:00
Randy Mackay 0ac3267d52 Copter: reset ahrs gyro drift after gyro calibration 2014-10-28 20:25:36 +09:00
Jonathan Challinger 25a2fa67b6 Copter: don't stop logging on disarm when LOG_WHEN_DISARMED is set 2014-10-28 15:19:01 +09:00
Randy Mackay 07a74bc39f Copter: ReleaseNotes for AC3.2-rc14 2014-10-27 22:37:19 +09:00
Randy Mackay 28b98a170b Copter: fix to dcm-check to be continuous 
dcm-check was triggering after 10 bad headings but these did not need to
be continuous meaning if the vehicle was flown long enough it would
almost certainly trigger a dcm-check failure and land
 2014-10-27 12:37:56 +09:00
Andrew Tridgell 4c0351a76a Copter: convert to new AP_InertialSensor API 2014-10-24 12:10:38 +11:00
Randy Mackay 0532a4bbc3 Copter: ReleaseNotes for AC3.2-rc13 2014-10-23 22:22:28 +09:00
Randy Mackay 8fc2ccdc76 Copter: remove debug 2014-10-23 22:21:48 +09:00
Randy Mackay f6ff1742d5 Copter: landing detector checks baro climb rate 
Barometer climb rate must be -150cm/s ~ +150cm/s
This threshold is generous because we already use the inertial
navigation climb rate so this is just to catch cases where inertial nav
is very incorrect in it's climbrate estimates
 2014-10-22 17:29:14 +09:00
benoit35690 f866bf979e Copter: fix compiler warnings in GCS_Mavlink.pde 2014-10-21 12:00:01 +09:00
benoit35690 b63f701fd3 Copter: minor formatting fix 2014-10-21 11:59:48 +09:00
benoit35690 e22130cbc7 Copter: minor format fix 2014-10-21 11:54:35 +09:00
benoit35690 3c01353dcd Copter: fix compiler warning in control_auto.pde 2014-10-21 11:53:17 +09:00
Jonathan Challinger 5fc02bdbc4 Copter: Reduce prearm alt disparity check back to 1m 2014-10-20 10:55:59 +09:00
Randy Mackay 3296eb24b3 Copter: add comments to auto_loiter 2014-10-20 10:54:57 +09:00
Jonathan Challinger d7d8330303 Copter: loiter copter without accepting user input at end of auto mission 2014-10-20 10:46:14 +09:00
Jonathan Challinger ef12ea4d3b Copter: fix indentation mistake in motors.pde 2014-10-20 10:43:53 +09:00
squilter 343a673762 Copter: reset ROI when requested, regardless of current MOUNT_MODE 2014-10-20 10:41:06 +09:00
Randy Mackay a8c96946eb Copter: log DCM reported roll-pitch and yaw error 2014-10-18 20:09:39 +09:00
Randy Mackay a559a12ea2 Copter: remove LOG_FROM_STARTUP define 
This compile-time method is obsolete now that we have the logging while
disarmed feature
 2014-10-17 16:40:18 +09:00
Randy Mackay ebcf582f66 Copter: add NearlyAll-AC315 LOG_BITMASK description 2014-10-17 16:40:13 +09:00
Randy Mackay dcf72e9b78 Copter: remove extra in_mavlink_delay from should_log function 
Also return false when logging disabled
 2014-10-17 16:32:39 +09:00
Andrew Tridgell c3d839456b Copter: support logging while disarmed 2014-10-17 16:29:59 +09:00
Andrew Tridgell 874efe95a1 Copter: fixed parameter path 
fixes build of parameters
 2014-10-17 15:54:53 +11:00
Randy Mackay 27b73fa209 Copter: enable Optflow by default for Pixhawk only 2014-10-16 21:17:54 +09:00
Randy Mackay 6becb1a722 Copter: add DCM check of yaw error 
Triggers an "ekf" failsafe if the DCM yaw error is > 60deg
 2014-10-16 17:22:14 +09:00
Randy Mackay b0e6931ab0 Copter: add DCM_CHECK_THRESH parameter 2014-10-16 17:22:11 +09:00
Randy Mackay b96e123480 Copter: remove unused Log_Write_IMU function 2014-10-16 15:25:34 +09:00
Randy Mackay 7bd8d48809 Copter: fence breach causes disarm if landed 
Previously it would only disarm if the throttle was also at zero.
Pair programmed with Tridge
 2014-10-16 14:09:02 +09:00
Andrew Tridgell 26f7ab49e3 Copter: fixed some build warnings 2014-10-16 14:04:11 +09:00
Randy Mackay 4e06970a1c Copter: disable OptFlow in SITL 2014-10-15 20:46:06 +09:00
Randy Mackay aa3e34a44a Copter: move update_optflow to sensors.pde 
Also slightly shorten function name
 2014-10-15 16:36:36 +09:00
Randy Mackay 67b7b2d667 Copter: enable optflow by default for Pixhawk 2014-10-15 16:36:31 +09:00
Randy Mackay 7b07b575cf Copter: pilot override used immediately in OF_Loiter 
Replace some hard coded numbers with definitions
 2014-10-15 16:36:28 +09:00
Randy Mackay 28876b7ef6 Copter: log ground distance from optflow sensor 2014-10-15 16:35:51 +09:00
Randy Mackay b2e167f9a5 Copter: Of_Loiter uses sensor velocity instead of integrated position 2014-10-15 16:35:45 +09:00
Randy Mackay 3201a8dbca Copter: integrate optflow_enable param move to optflow class 2014-10-15 16:35:43 +09:00
Randy Mackay 717e63f47a Copter: instantiate optflow on Pixhawk 
Run sensor reads from scheduler
 2014-10-15 16:35:40 +09:00
Randy Mackay 021485fffc Copter: simpler optflow logging 
Removed of_loiter control output from message
add TimeMS to OF dataflash log msg
 2014-10-15 16:35:38 +09:00
Randy Mackay 765ce2f6ca Copter: optflow parameters moved to optflow class 2014-10-15 16:35:36 +09:00
Randy Mackay 57229345e0 Copter: minor param description updates 2014-10-14 12:42:14 +09:00
Randy Mackay 6a225865ce Copter: accept velocity requests in Auto-Guided mode 2014-10-14 11:27:34 +09:00
Randy Mackay c636ea9101 Copter: support SET_POSITION_TARGET messages 2014-10-13 21:55:17 +09:00
Randy Mackay 992ce9b69c Copter: remove nav_guided structure 
This has been replaced by guided_limit structure
 2014-10-13 21:40:26 +09:00
Randy Mackay 6659473420 Copter: support GUIDED_ENABLE and GUIDED_LIMITS 
Split of NAV_GUIDED into these two command necessitated guided mode
store the limits
 2014-10-13 21:40:24 +09:00
Randy Mackay e5c3c306bd Copter: remove unused pilot_yaw_override flag 2014-10-13 21:40:21 +09:00
Randy Mackay 8997c224e2 Copter: enable Guided velocity controller for Pixhawk 2014-10-13 21:40:20 +09:00
Jonathan Challinger dd38ad6bbf Copter: Start logging on arming attempt, rather than on successful arm 2014-10-11 17:32:27 +09:00
Randy Mackay 9d4107f1fc Copter: allow arming in GUIDED only from GCS 
Also changed mode_allows_arming function to accept arming_from_gcs param
Also remove AUTOTUNE from arming list
 2014-10-11 16:05:32 +09:00
Jonathan Challinger 2b0cffda29 Copter: move all arm check logic into arm_checks 2014-10-11 15:34:12 +09:00
Jonathan Challinger cc56a972d0 Copter: add mode_allows_arming function 2014-10-11 15:34:10 +09:00
Jonathan Challinger 3e1bffe9ab Copter: auto-disarm if land complete regardless of mode 2014-10-11 15:32:29 +09:00
Jonathan Challinger d0d26b6878 Copter: use ap.throttle_zero instead of rc_3.control_in in auto_disarm_check 2014-10-11 15:30:57 +09:00
Jonathan Challinger a04ec79efa Copter: add land_complete to fence disarm check 2014-10-11 15:29:41 +09:00
Jonathan Challinger 450f988a21 Copter: remove DRIFT and SPORT from manual_flight_mode function 2014-10-11 15:27:45 +09:00
Randy Mackay 5f55944e43 Copter: AC3.2-rc12 release notes 2014-10-10 14:53:25 +09:00
Randy Mackay d7cd745cf4 Copter: auto-trim start delays auto-disarm by 15sec 
Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
 2014-10-09 22:43:44 +09:00
Randy Mackay a8733ae8a8 Copter: support pre-flight calibration of gyro 2014-10-09 10:00:15 +09:00
Randy Mackay 9a0a83f404 Copter: report gyro unhealthy if failed calibration 2014-10-09 10:00:12 +09:00
Randy Mackay 128058362b Copter: pre-arm check that gyro cal succeeded 2014-10-09 10:00:09 +09:00
Randy Mackay 8eba55ed67 Copter: throttle zero debounce to separate function 
Also initialise throttle_zero  to true on startup
Treat throttle less than zero as zero
 2014-10-08 21:52:16 +09:00
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
Jonathan Challinger 96f50b7cd7 Copter: add throttle_zero state 2014-10-08 20:54:19 +09:00
Jonathan Challinger fa9d10e59b Copter: log CURR message at 10hz 2014-10-08 20:49:36 +09:00
Randy Mackay 2f3f1a1d5e Copter: Rate Pitch IMAX default to 1000 
Spotted by Jonathan Challinger, thanks!
 2014-10-07 21:06:43 +09:00
Randy Mackay 4e27dbdc42 Copter: ReleaseNotes for AC3.2-rc11 2014-10-06 11:55:46 +09:00
Randy Mackay 68a9286086 Copter: use define for pre-arm compass offset check 2014-10-03 13:59:31 +09:00
Randy Mackay 7ced9b1bd3 TradHeli: remove overall throttle level from landing check 2014-10-02 16:10:44 +09:00
Randy Mackay f059af2386 Copter: only report ahrs unhealthy after initialisation 2014-10-02 14:41:26 +09:00
Andrew Tridgell f2e6fa3fb0 Copter: use handle_set_mode() 2014-10-01 14:19:31 +10:00
Randy Mackay 77e89214eb Copter: shift pos targets to current location before takeoff 2014-09-29 15:26:54 +09:00
Jonathan Challinger 73e1719ee1 Copter: print frame type in log headers 2014-09-27 16:11:21 +09:00
Randy Mackay 8aa5c10d53 Copter: remove unused AIRFRAME definition 2014-09-27 15:15:13 +09:00
Randy Mackay 1a249a8129 Copter: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-27 12:22:12 +09:00
Randy Mackay ef0e37b478 Copter: bugfix to condition-yaw for relative angles 
Thanks to roque-canales for raising the issue and paradisephil for finding
the specific piece of code that went wrong and suggesting the fix.
 2014-09-26 12:22:58 +09:00
Randy Mackay 45bc9fd10c Copter: add AC3.2 default to LOG_BITMASK value 2014-09-25 15:32:21 +09:00
Randy Mackay 0d88b602ec Copter: fix RSSI_RANGE param values 
The extra .0 after the 5 was causing the mission planner to not display
5V in the dropdown even though the value was 5.
 2014-09-25 15:32:20 +09:00
Randy Mackay ed566fa56c Copter: update AC3.2-rc10 release notes 2014-09-24 14:30:10 +09:00
Randy Mackay 41c576044f Copter: allow passthru for ch 9 ~ 14 
Based on work by Emile Castelnuovo
 2014-09-23 22:55:19 +09:00
Randy Mackay d4cfb432ca Copter: use disparity threshold define for pre-arm checks 
There are two duplicate checks, one in the pre-arm checks (i.e. checks
run every 15 seconds or so before the vehicle is armed) and one in the
arming checks (run immediately before arming).  The definition in the
pre-arm checks was still using the old hardcoded value.
 2014-09-23 19:33:04 +09:00
lthall 2b4f5fa79d Copter: increase autotune limits 
Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
 2014-09-22 21:33:35 +09:00
Randy Mackay e7753223ba Copter: low battery msg to severity high 2014-09-21 17:33:19 +09:00
Randy Mackay 193bc5331a Copter: cleanup enabling of cli and frsky telem for APM 2014-09-20 14:41:26 +09:00
Randy Mackay d8d1b38a52 Copter: increase Alt Disparity check to 2m 2014-09-20 12:24:36 +09:00
Randy Mackay 9bbf40109e Copter: add LOG_FROM_STARTUP definition 
Uncommenting this line in APM_Config.h will start logging as soon as the
board starts up instead of waiting for the vehicle to be armed
 2014-09-20 12:23:47 +09:00
Jason Short b2238b7c8a Copter: auto esc calibration 
Throttle is raised to maximum and then lowered without any input from
pilot
 2014-09-19 22:21:49 +09:00
Randy Mackay 58602bd1ae Copter: move esc calibration to separate file 
Restructured into case statement
Replaced use of g.throttle_max with definition
Added more comments
Send message to ground station instead of printing on console (although
probably both are unlikely to be read)
 2014-09-19 22:21:47 +09:00
Jason Short b57539a9ad AP_Motors: throttle_pass_through accepts pwm 2014-09-19 22:21:45 +09:00
Randy Mackay 1c11a91ec2 Copter: rename land_maybe_complete function 2014-09-19 16:43:17 +09:00
Randy Mackay b9977a1115 Copter: add land_complete_maybe flag 2014-09-19 16:43:15 +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 b552479e31 Copter: typo fix for baro vs inav alt disparity definition 2014-09-18 17:32:03 +09:00
Randy Mackay 18e3db0011 Copter: define limit for baro vs inav alt disparity 2014-09-18 17:24:40 +09:00
Andre Kjellstrup b4c6d6395e Copter: reset battery_fs after dis/rearming 2014-09-18 11:17:03 +09:00
Randy Mackay 2efeb768e0 Copter: allow GCS to turn safety switch on/off 2014-09-17 21:51:25 +09:00
Randy Mackay 9bcf9a31ed Copter: set sys_status motor outputs bit from safety switch 2014-09-17 21:51:23 +09:00
Randy Mackay 9f3803052f Copter: add support for DO_PARACHUTE from GCS 
Mission command support was already included but this adds support for
DO_PARACHUTE received as a COMMAND_LONG message which are sent from the
GCS when the command should be executed immediately
 2014-09-17 21:14:26 +09:00