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4622 Commits

Author SHA1 Message Date
Leonard Hall 6eca767db0 Copter: reduce autotune min D param default to 0.001 2015-11-30 11:21:54 +09:00
Randy Mackay 19f5c8f209 Copter: remove debug comments 2015-11-27 16:17:00 +09:00
Luis Vale Gonçalves 3199829d45 Copter: revisions to text strings sent to GCS 2015-11-27 16:16:58 +09:00
Andrew Tridgell f5d73a9d10 Copter: fixed deadzone for acro with extgyro and no flybar 2015-11-27 15:24:43 +09:00
Randy Mackay 06880e8b04 Copter: fix input_manager init order to resolve compiler warning 2015-11-27 15:18:17 +09:00
Randy Mackay 4eafd90864 Copter: remove old comment 2015-11-27 15:02:24 +09:00
Randy Mackay e6f8d812d3 Copter: adsb handling simply logs error to dataflash 2015-11-27 15:02:20 +09:00
Randy Mackay 4ef53427f2 Copter: allow ADSB to be disabled 2015-11-27 15:02:17 +09:00
Tom Pittenger 34d6d985e9 Copter: Add support for ADS-B 2015-11-27 15:02:15 +09:00
Randy Mackay 802ced201d Copter: 3.3.2-rc2 release notes 2015-11-21 14:34:30 +09:00
Robert Lefebvre 90416ac81d Copter: 3.3.2-rc1 release notes 2015-11-21 14:34:27 +09:00
Andre Kjellstrup c2a810d72a Copter: update RTL altitude param description 2015-11-21 12:44:10 +09:00
Caio Marcelo de Oliveira Filho c7acc46d09 Copter: use millis/micros/panic functions 2015-11-20 12:26:31 +09:00
Randy Mackay 50e3c2ce3a Copter: minor comment updates 
No functional change
 2015-11-18 22:12:44 +09:00
bugobliterator 945bdee452 Copter: PILOT_VELZ_MAX and PILOT_ACCEL_Z take effect immediately 2015-11-18 22:12:41 +09:00
Randy Mackay 674bedd867 Copter: acro sets alt target to zero for reporting 2015-11-18 21:48:34 +09:00
Jonathan Challinger a5e4f64b20 Copter: refuse to enter manual throttle modes while landed with throttle high 2015-11-18 21:48:27 +09:00
Randy Mackay b2b8dcb8ff Copter: guided calls velocity controller at 400hz 
velocity controller internally updates xy-axis at 50hz, z-axis at 400hz
 2015-11-18 13:31:22 +09:00
Randy Mackay 1b29a1af46 Copter: consolidate setting of using-iterlock state 2015-11-17 09:02:31 +09:00
Andrew Tridgell 0c92331762 Copter: fixed build for SITL changes 2015-11-16 17:57:36 +11:00
Jonathan Challinger 5086168b03 Copter: add RTL_SPEED parameter 2015-11-16 10:20:32 +09:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
Randy Mackay 05246ea0c7 Copter: fix RTL compile error when rally disabled 
Thanks to derekxm for finding this
 2015-11-14 12:39:23 +09:00
Randy Mackay 731c44d053 Copter: allow terrain to be excluded from build 2015-11-14 12:38:47 +09:00
Robert Lefebvre 2b111c2bd6 Copter: fix Helicopter no-build issue 
Conflict with another recent change to disarm counter
 2015-11-14 10:32:58 +09:00
Andrew Tridgell 9214b85cf1 Copter: fixed path for AC_InputManager for heli 2015-11-13 13:49:25 +11:00
Fredrik Hedberg a6d2e0d4df Copter: Don't auto-disarm helicopters if rotor is still spinning. 2015-11-13 11:17:43 +09:00
Robert Lefebvre 02b8dd5ffd Copter: Heli to set hover roll trim scalar 2015-11-12 19:37:36 +09:00
Robert Lefebvre 5cc4f41d85 Copter: Helicopter: to use new Stab_Col and Acro_Col functions. 2015-11-12 19:37:23 +09:00
Robert Lefebvre 34fb600c4f Copter: Utilize Input Manager Class 2015-11-12 19:37:22 +09:00
Robert Lefebvre afcc304cbf AC_InputManager: Initial class creation 2015-11-12 19:37:21 +09:00
Robert Lefebvre 7ad623dc70 Copter: Helicopter, fix so servos move after arming in Acro and Stabilize. 2015-11-12 19:37:16 +09:00
Robert Lefebvre 2632a2e348 Copter: Rework arming proceedures for interlock/Estop 
to fix race condition.
 2015-11-12 19:37:15 +09:00
Jonathan Challinger 6524222397 Copter: adapt auto disarm check to use a timer 2015-11-09 15:34:41 +09:00
Jonathan Challinger 05e533e6fc Copter: don't accept disarm commands in stabilize and acro unless also landed 2015-11-07 11:07:14 +09:00
lvale 549695181c Copter: revised and uniformization of severity messages 2015-11-05 12:20:49 +09:00
Randy Mackay 420b1ca715 Copter: minor comment and order change to takeoff 
No functional change
 2015-11-04 20:49:25 +09:00
Jonathan Challinger 082c1f77fb Copter: soften takeoff 2015-11-04 20:49:22 +09:00
Lucas De Marchi 030fd046c7 ArduCopter: remove check for MAVLINK_COMM_NUM_BUFFERS 2015-11-04 12:14:15 +11:00
Lucas De Marchi e0639ac029 ArduCopter: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:15 +11:00
Lucas De Marchi 3e889b005f ArduCopter: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Andrew Tridgell 99b448d1bb Copter: make EV log messages critical 
these should be a high priority
 2015-11-02 20:29:10 +11:00
Lucas De Marchi f4e71affa1 ArduCopter: fix wrong printf format for 32 bits 
Heading is a 32 bits value, so use %u.
 2015-10-30 14:35:36 +09:00
Lucas De Marchi e9b6c76454 ArduCopter: fix wrong printf format for 32 bits 
"micros() - before" doesn't return a long value. Use "%u".
 2015-10-30 14:35:34 +09:00
Lucas De Marchi c397e550e2 ArduCopter: fix warning due to wrong type 
"%s" expects a string. This works since the string in the struct is the
first member so it's harmless.
 2015-10-30 14:35:33 +09:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char 
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
 2015-10-30 14:35:30 +09:00
Lucas De Marchi 4ab9821624 Replace use of Log_Write_Message_P() with Log_Write_Message() 2015-10-30 14:35:28 +09:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00
Lucas De Marchi 6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi a964ac38ec Replace use of print_P() with print() 2015-10-30 14:35:21 +09:00
Lucas De Marchi 89fc4f4b62 Replace use of send_text_P() with send_text() 2015-10-30 14:35:17 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi 6f0db45b57 Replace use of strcasecmp_P() with strcasecmp() 2015-10-30 14:35:08 +09:00
Lucas De Marchi 84da1f5039 Rename gcs_send_text_P to gcs_send_text 2015-10-30 14:35:07 +09:00
Lucas De Marchi 84d5fb006f Remove use of Util::{v,}snprintf_P() 
These are now the same function as Util::snprintf().
 2015-10-30 14:35:05 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Randy Mackay 606a0e0d0b Copter: set jerk to default for circle and guided 2015-10-29 12:10:49 +09:00
Leonard Hall 411e75b917 Copter: feed forward only used for AltHold, Loiter, PosHold 
land modes use non-feedforward alt hold
 2015-10-28 20:21:54 +09:00
Randy Mackay b49fda4a94 Copter: remove rotor spinning arming check from TradHeli 2015-10-27 09:14:39 +09:00
Jonathan Challinger da3961e4a6 Copter: support MAV_CMD_DO_SEND_BANNER 2015-10-26 16:28:57 +09:00
Randy Mackay 02c4fdf519 Copter: 3.3.1 release notes 2015-10-26 11:32:28 +09:00
Jonathan Challinger 5486be34b1 Copter: use configured function to determine if heli_servo_rsc has been configured 2015-10-26 11:15:54 +11:00
Jonathan Challinger 28f55766fd Copter: use configured to check whether radio has been calibrated 2015-10-26 11:15:54 +11:00
Caio Marcelo de Oliveira Filho bf6d1afd59 ArduCopter: include SITL only for SITL board 
Include board-specific files only when the board is used. Since these
should be exceptional cases, let the includer handle the ifdef instead
of putting ifdefs in every platform-specific header.

In the future we should evaluate whether the HAL for the board should
instantiate this.
 2015-10-22 13:36:14 -02:00
Caio Marcelo de Oliveira Filho 49a42dc985 SITL: use a SITL namespace 2015-10-22 11:04:42 -02:00
Caio Marcelo de Oliveira Filho 05ae7858e8 Copter: explicitly ask for always using EKF 
When instantiating AP_AHRS_NavEKF for ArduCopter, explicitly pass the
flag to always use the EKF.

The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
 2015-10-21 11:01:11 +11:00
Peter Barker 080c31c15e Copter: use simple log entry numbers to download logs 2015-10-21 10:50:32 +11:00
Lucas De Marchi 09f185eb5e ArduCopter: remove check for max INS instances 
For all supported boards the maximum number of instances is 3.
 2015-10-21 10:05:17 +11:00
Caio Marcelo de Oliveira Filho 3e3f13659d ArduCopter: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Randy Mackay 3f9d62d6b4 Copter: 3.3.1-rc1 release notes 2015-10-20 16:00:41 +09:00
Randy Mackay 1858a0544f Copter: guided takeoff checks auto-armed status 
This resolves an edge case in which the vehicle could takeoff with auto-armed false
 2015-10-20 15:51:55 +09:00
Paul Riseborough 75a61df627 Copter: Enable access to EKF2 height tuning 2015-10-20 15:21:38 +11:00
Paul Riseborough d0aba09503 Copter: Access EKF healthy through AHRS object 
Enables EKF2 use
 2015-10-20 15:21:38 +11:00
Paul Riseborough 19785c1033 Copter: Access EKF origin through AHRS object 
Enables EKF2 use
 2015-10-20 15:21:38 +11:00
Paul Riseborough 7c6b31b585 Copter: Access EKF variance checks through AHRS object 
Supports flight using EKF2
 2015-10-20 15:21:38 +11:00
Randy Mackay d03489263d Copter: remove gyro cal on first arming 2015-10-19 12:00:41 +09:00
Jonathan Challinger 598925f8d2 Copter: EKF failsafe action always Land if RC failsafe active 2015-10-18 10:06:05 +09:00
José Roberto de Souza c581a702a0 ArduCopter: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
Gustavo Jose de Sousa fb5320bb25 ArduCopter: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:05 +09:00
Randy Mackay 9b80ab18ae Copter: position_ok when optical flow ok 
Previously the GPS based absolute position was required
This allows using optical flow in all flight modes
 2015-10-14 12:01:41 +09:00
vooon f3cbbef418 Copter: fix guided attitude type_mask check 2015-10-10 22:04:51 +09:00
Randy Mackay a142688fea Copter: guided attitude timeout to 1sec 
Also add set-attitude-target capabilities flag
Thanks to Fredia and Sebastian for noticing these issues!
 2015-10-10 22:04:48 +09:00
Randy Mackay e20038a453 Copter: support SET_ATTITUDE_TARGET in guided mode 2015-10-09 12:15:38 +09:00
Randy Mackay 1dcf58bc20 Copter: support set-home-position message 2015-10-03 12:51:32 +09:00
Randy Mackay 330961b524 Copter: send home position when home is set or get-home msg received 2015-10-03 12:50:45 +09:00
Randy Mackay 26329c5a03 Copter: 3.3 release notes 2015-09-29 10:25:43 +09:00
Andrew Tridgell 38bae40ca0 Copter: use ahrs.send_ekf_status_report() 2015-09-29 10:59:24 +10:00
Andrew Tridgell 5cb088fe14 Copter: pass display_failure to AP_Motors heli check 2015-09-25 12:30:34 +10:00
Andrew Tridgell 94eb23ef56 Copter: consider flight to be dynamic at greater than 2m above ground 
use rangefinder to switch to dynamic flight if possible
 2015-09-25 12:30:34 +10:00
Andrew Tridgell 49ee4b7965 Copter: tell motors library when to use acro gyro gain 2015-09-25 12:30:34 +10:00
Andrew Tridgell 1c26ed0fca Copter: fixed deadzone handling for external tail gyro 
when using an external tail gyro on a flybar heli the stick input
should be directly passed to output. This patch fixes the use of
deadzone in that passthrough.

It also makes the tail handling consistent with roll and pitch
handling, by not using ACRO_YAW_P when in tail pass-through.

Finally it also fixes deadzone handling for roll and pitch, and
removes the unnecessary get_pilot_desired_yaw_rate() that has a
different prototype from the one used in the rest of the code
 2015-09-25 12:05:43 +10:00
Randy Mackay cdd4570f02 Copter: fix init order of ekfYawReset_ms 2015-09-24 16:57:50 +09:00
Randy Mackay 317779f976 Copter: check_ekf_yaw_reset uses ahrs method 2015-09-24 16:57:47 +09:00
Jonathan Challinger e47175862a Copter: use modified getLastYawResetAngle function 2015-09-24 16:57:44 +09:00
Andrew Tridgell 2470cf0e76 Copter: use resetHeightDatum() and getLastYawResetAngle() 2015-09-23 17:47:11 +10:00
Andrew Tridgell 053194fd51 Copter: added EK2_* parameters and EKF2 instance 2015-09-23 11:56:33 +10:00
Randy Mackay 96d6b8eb61 Copter: 3.3-rc12 release notes 2015-09-22 15:17:23 +09:00
Randy Mackay 57c5840f0d Copter: add EKF attitude arming check 2015-09-21 17:06:39 +09:00
Randy Mackay f3d4b20a80 Copter: calibrate gyros during accel calibration 2015-09-21 17:06:37 +09:00
Randy Mackay 01c0b20930 Copter: calibrate gyros depending on INS GYR_CAL parameter 2015-09-21 17:06:34 +09:00
KiwiHC16 004c5b8416 Copter: mission_start always restarts mission 2015-09-16 17:17:20 +09:00
Stewart Loving-Gibbard 985be6dd86 Copter: Adding Logging of RSSI data. 2015-09-16 16:41:43 +09:00
Randy Mackay 0f55b2a0eb Copter: replace vehicle compass consistency check 2015-09-16 15:13:38 +09:00
squilter 30ed2508d6 Copter: Support do_digicam_x via command_long 2015-09-16 13:06:49 +09:00
Randy Mackay a403e5aef0 Copter: fix severity of super simple message to GCS 2015-09-12 12:35:42 +09:00
Ivale 6c74981010 Copter: report simple mode status to GCS as text 2015-09-12 12:28:58 +09:00
Daniel Nugent 3a7036fd67 Copter: pass LANDING_TARGET message to precland lib 2015-09-11 20:56:10 +09:00
Daniel Nugent 9fe3abf5ca Copter: precision landing uses sonar alt if available 2015-09-11 20:56:09 +09:00
Randy Mackay cf6d0db0f1 Copter: 3.3-rc11 release notes 2015-09-10 14:54:55 +09:00
Peter Barker 1103451d36 Copter: ensure 10% free space when initialising logging 2015-09-09 12:22:36 +10:00
Randy Mackay 8efc02fe0c Copter: delay for 200ms instead of 50ms before reboot 2015-09-09 10:39:56 +09:00
Jonathan Challinger 1fbdf11eca Copter: set firmware_update flag instead of event 2015-09-09 10:39:55 +09:00
Staroselskii Georgii 68e0d57998 Copter: make Copter use milligauss 
The telemetry and and logging is still in compass units, though. This
way, users won't need to recalibrate their compasses.
 2015-09-09 10:38:16 +10:00
Andrew Tridgell d6b244670b Copter: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell dff9fe9cb2 Copter: use prearm_failure_reason() 2015-09-08 16:07:33 +10:00
Leonard Hall 0129110502 Copter: limit throttle mid to throttle min + 50 2015-09-07 18:10:28 +09:00
Leonard Hall 6b01c1117f Copter: keep thr-mix at min when landed 2015-09-07 18:10:25 +09:00
Randy Mackay 0eaf815411 Copter: guided mode vel controller integrates althold lean limit 
Note it does not yet actually limit the lean angles based on throttle
 2015-09-07 15:10:13 +09:00
Leonard Hall 543f6fdcd4 Copter: AltHold limits lean angle to maintain altitude 
get_pilot_desired_lean_angles function now takes angle max parameter but
all flight modes except AltHold simply pass in the ANGLE_MAX parameter
meaning no functional change for them
 2015-09-07 15:10:12 +09:00
Leonard Hall 61d6c44e3b Copter: tricopter yaw rate filter to 100hz 2015-09-07 12:30:39 +09:00
Randy Mackay dc4923a88d Copter: suppressing comment for switch case fall through 2015-09-06 16:01:33 +09:00
Randy Mackay 5e38adfae3 Copter: remove support for configure as command long 
Also protect mount calls with MOUNT definition
 2015-09-06 16:01:21 +09:00
squilter 8320c06700 Copter: Support do-mount-control via command-long 2015-09-06 16:01:16 +09:00
Andrew Tridgell fdb1cc38b0 Copter: removed redundent copter dereference 2015-09-03 16:59:24 +10:00
Siddharth Bharat Purohit 347d1f0a25 Copter: use handle message function for compass cal from compass library 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit 9cf2998bba Copter: update send text severity for compass cal 2015-09-03 16:59:13 +10:00
Jonathan Challinger 1dc373fa20 Copter: correct compile errors after compass cal merge 2015-09-03 16:59:13 +10:00
Jonathan Challinger 7d67a00aa3 Copter: add compass_cal update function 2015-09-03 16:59:12 +10:00
Jonathan Challinger eec5c2a5eb Copter: send NACK if compass.start_calibration_all fails 2015-09-03 16:59:12 +10:00
Jonathan Challinger 2864d58474 Copter: refuse to start mag cal if armed 2015-09-03 16:59:12 +10:00
Jonathan Challinger fa6bfee433 Copter: add arming check for compass calibration running 2015-09-03 16:59:12 +10:00
Jonathan Challinger 3739318d2f Copter: Hook up compass calibrator 2015-09-03 16:59:11 +10:00
Jonathan Challinger ee1209c03f Copter: run compass_accumulate at 100hz 2015-09-03 16:59:09 +10:00
Peter Barker 51a761656e Copter: DFMessageWriter; ability to trickle messages out to DF 2015-09-03 15:20:19 +10:00
Andrew Tridgell 00da3ccc49 Copter: set in_arm_motors to false on all arm failure returns 
otherwise if the user fails to arm due to interlock or emergency stop
then they won't be able to try to arm again until they reboot
 2015-09-02 11:03:36 +10:00
Andrew Tridgell 64a8e66dd7 Copter: automatically set H_RSC_MIN/MAX from RC8_MIN/MAX on upgrade 
this prevents a problem where the disarm throttle will change after
upgrading to 3.4
 2015-09-02 10:25:48 +10:00
Gustavo Jose de Sousa 19d1c28c06 ArduCopter: use function name for AP_Scheduler task name 
That makes it easier to identify tasks when debug is enabled in AP_Scheduler.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa 79b8b15053 ArduCopter: use designated initializers for tasks structs 
Makes code less prone to break build and semantics (e.g., when a new field is
added).
 2015-09-01 20:22:18 +10:00
Randy Mackay 7db77482f5 Copter: precision landing velocity PI object 
Follow up changes required to actually use this PI during landing
 2015-08-31 18:00:32 +09:00
Randy Mackay f4b152f0e3 Copter: add Precision Landing to GPS land 2015-08-31 18:00:31 +09:00
Randy Mackay 0da38ba2bf Copter: add Precision Landing log message 2015-08-31 18:00:30 +09:00
Randy Mackay 26ded641db Copter: integrate Precision Landing lib 2015-08-31 18:00:28 +09:00
Randy Mackay 5a4729a966 Make: include AC_PrecLand and AP_IRLock libs in Copter 2015-08-31 18:00:27 +09:00
Randy Mackay e92296a0b7 TradHeli: integrate RotorControlMode enum 2015-08-31 11:44:00 +09:00
Randy Mackay d99bb66f8a TradHeli: remove duplicate code in update_rotor_speed_target 2015-08-31 11:43:56 +09:00
Robert Lefebvre c51b57e71c Copter: Remove Armed check from heli RSC controls 2015-08-31 11:43:53 +09:00
Robert Lefebvre b331799dac Copter: Add handle to control Throttle Curve RSC. 2015-08-31 11:43:46 +09:00
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