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10,119 Commits 71 Branches 509 Tags 758 MiB
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2685 Commits

Author SHA1 Message Date
Randy Mackay 10d6a9a34e Copter: replace Log_Write_Motors with Log_Write_RCOU 2013-11-27 20:18:18 +09:00
Randy Mackay af657d58b9 Copter: RCIN dataflash logging 2013-11-27 16:46:25 +09:00
Randy Mackay 7ae3014c14 Copter: parameter @Units to Percent*10 2013-11-26 22:35:11 +09:00
Randy Mackay 14b3547830 Copter: rename some parameter Display Names 
Also move some parameter descriptions to @User Advanced
 2013-11-26 22:17:02 +09:00
Randy Mackay c32d77c626 Copter: fix @Group for SingleCopter 2013-11-26 21:50:29 +09:00
Andrew Tridgell 9c812d5028 Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:05:32 +11:00
Andrew Tridgell 49062d8a37 Copter: removed extra features of copter telemetry merge 2013-11-26 13:05:32 +11:00
Andrew Tridgell a49710f20e Copter: added uartD support 
this also brings GCS_Mavlink.pde closer to the plane implementation
 2013-11-26 13:05:32 +11:00
Andrew Tridgell 21eac34cd1 Copter: log system ID if available 2013-11-26 13:00:03 +11:00
Randy Mackay ed9f369492 Copter: shorten g.arming_check_enabled variable 
g.arming_check_enabled shortened to g.arming_check
 2013-11-25 17:23:39 +09:00
Randy Mackay 1645748e43 Copter: update @Range for Rate PIDs and Sonar 
This will reduce false positives in DroneShare's tlog analyser
 2013-11-25 12:52:37 +09:00
Randy Mackay b8bfe008e1 Copter: run GPS glitch detection even when not armed 2013-11-22 21:46:32 +09:00
Randy Mackay 4e6d41bc8e Copter: remove unused gps_fix_count 2013-11-22 11:53:50 +09:00
Randy Mackay fe6ad3579c Copter: log GPS messages even when no fix 2013-11-22 11:51:48 +09:00
Randy Mackay 667c3ecbf8 Copter: commit to kick-off auto rebuild for -rc7 release 2013-11-22 10:34:35 +09:00
Randy Mackay 96fdc129b1 Copter: update -rc7 release notes 2013-11-22 09:55:23 +09:00
Randy Mackay 8eb46ced53 Copter: revert pre-arm check for slow GPS 2013-11-22 09:53:21 +09:00
Randy Mackay 1a0f80ee64 Copter: AC3.1-rc7 version and release notes 2013-11-21 17:30:08 +09:00
Randy Mackay 0bc505514a Copter: pre-arm check that INAV has no errors 2013-11-21 17:02:07 +09:00
Randy Mackay 965af43121 Copter: add INAV error count to PM dataflash msg 2013-11-21 17:02:04 +09:00
Randy Mackay 0219c85ee3 Copter: increase min LAND_SPEED to 30cm/s 2013-11-19 16:46:16 +09:00
Randy Mackay e6a2940718 Copter: prefix SingleCopter's MOT param description 
This should allow single copter's MOT_ parameter descriptions to be more
easily recognised as belonging to SingleCopter when viewed on the wiki's
arducopter-parameters page
 2013-11-19 13:38:17 +09:00
Randy Mackay b47cd6d5be Copter: fix SingleCopter motor parameters link 2013-11-19 13:25:53 +09:00
Randy Mackay 7a2f49f7da Copter: arming check for gps if GPS FS set to LAND_EVEN_STABILIZE 
Setting the GPS Failsafe to LAND_EVEN_STABILIZE means the copter will
LAND if it loses GPS even if it's in a manual flight mode like
Stabilize.  With this setting it makes sense to check the GPS quality
before arming even if we're in stabilize mode.
 2013-11-18 23:59:26 +09:00
Randy Mackay 24dc4391bb Copter: display pre-arm check failure reason every 30sec 2013-11-18 17:20:39 +09:00
Randy Mackay d003334b75 Copter: pre-arm check for ACRO_BAL_ROLL and PITCH 2013-11-18 16:38:05 +09:00
Randy Mackay 9ee308efd5 Copter: auto disarm in Loiter, AltHold after 15sec 2013-11-18 16:13:15 +09:00
Randy Mackay 699a5bd381 Copter: radio, batt failsafe disarm if copter is landed in Loiter or AltHold 2013-11-18 15:51:17 +09:00
Randy Mackay 7dd4ab835f Copter: CURR dataflash msg to output throttle_out 
Previously it was outputting throttle-in which is not as useful in
autonomous modes
 2013-11-18 13:30:48 +09:00
Randy Mackay 1359a8fea5 Copter: log INS errors in PM message 2013-11-18 12:16:21 +09:00
Randy Mackay e32e83f2f0 Copter: commit to kick off MP rebuild 
Required to push back MP Beta Firmwares version to AC3.1-rc5
 2013-11-17 00:56:46 +09:00
Randy Mackay cf21774cf4 Copter: update AC3.1-rc6 release notes again 2013-11-16 17:14:41 +09:00
Randy Mackay 9485363c53 TradHeli: dynamic flight speed minimum to 5m/s 2013-11-16 16:58:14 +09:00
Randy Mackay a98fb174c4 Copter: batt failsafe triggers RTL from AUTO 2013-11-16 14:55:49 +09:00
Randy Mackay fd60285121 Copter: update AC3.1-rc6 release notes 2013-11-16 14:49:03 +09:00
Randy Mackay 87127f0ab8 Copter: allow battery failsafe to trigger RTL 2013-11-16 14:46:57 +09:00
Randy Mackay a812ef4660 Copter: minor comment update for set_mode 2013-11-16 13:56:15 +09:00
Randy Mackay bc1e06757b Copter: allow GPS failsafe to trigger AltHold 
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO.  This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
 2013-11-16 13:55:59 +09:00
Randy Mackay 321036b72e Copter: update contributors list 2013-11-16 12:10:38 +09:00
Randy Mackay 50f583f116 Copter: AC3.1-rc6 version and release notes 2013-11-16 11:35:01 +09:00
Randy Mackay 5cc8772947 Copter: bug fix to Tricopter motor logging 
Fourth motor taken from yaw channel's radio_out instead of random
location in memory
 2013-11-16 10:48:02 +09:00
Randy Mackay 8c9ab50ba2 TradHeli: restore CC_COMP and PIRO_COMP 2013-11-15 22:58:43 +09:00
Randy Mackay 0f67e25d37 TradHeli: set throttle_min to zero by default 2013-11-15 22:58:38 +09:00
Randy Mackay 81fc24586e TradHeli: remove calls to get_manual_collective in auto throttle 
set_collective_for_landing method makes this unnecessary
 2013-11-15 22:58:36 +09:00
Randy Mackay 60bc9f4539 TradHeli: angle error to zero while motors runup 
Set angle error to zero in get_roll_rate_stabilized_bf,
get_pitch_rate_stabillize_bf, get_yaw_rate_stabilized_bf.
Original commit by Rob Lefebvre
 2013-11-15 22:58:34 +09:00
Randy Mackay c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay 197fc67897 TradHeli: move pilot desired rotor speed to heli.pde 2013-11-15 22:58:24 +09:00
Randy Mackay 527f05ddec Copter: remove unused init_rate_controllers 2013-11-15 22:58:22 +09:00
Randy Mackay 4537e0aa15 Copter: add deadzone to ch8 for TradHeli 2013-11-15 22:58:20 +09:00
Randy Mackay 1f6bc7bd9c Copter: log TradHeli ch7, ch8 in MOT message 2013-11-15 22:58:17 +09:00
Randy Mackay 19ddb8e5f3 TradHeli: integrate constructor changes to main code 2013-11-15 22:58:15 +09:00
Robert Lefebvre bba7fdc7c3 TradHeli: ch6 tuning of ext gyro to use control_in 
This could also be used to control the other Heli Ch7 functions (direct drive tail rotor control).  This should be tidied up.

Credit: Jolyon Saunders
 2013-11-15 22:58:08 +09:00
Robert Lefebvre 9ae66c1773 TradHeli: add support for drive tail rotors 
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
 2013-11-15 22:58:04 +09:00
Robert Lefebvre 232a116973 TradHeli: Use Leaky Integrator on Yaw Rate controller 
Use when rotor is not running to prevent the rudder from slowly moving over
 2013-11-15 22:58:02 +09:00
Randy Mackay 3ce16113b5 TradHeli: use landing collective when landed or landing 2013-11-15 22:58:00 +09:00
Randy Mackay 633e91b7d4 Copter: initialise roll, pitch, yaw modes to stabilize 
This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
 2013-11-15 22:57:56 +09:00
Randy Mackay ae87759e6d TradHeli: add THROTTLE_MANUAL_HELI 
Move check_dynamic_flight to run as scheduled task
 2013-11-15 22:57:53 +09:00
Randy Mackay eaef5315bf TradHeli: bugfix to update swash in run_rate_controllers 2013-11-15 22:57:47 +09:00
Randy Mackay 34fb70cfc7 TradHeli: formatting and param description changes 2013-11-15 22:57:45 +09:00
Randy Mackay 46118b59d7 TradHeli: integrate motor lib changes 2013-11-15 22:57:43 +09:00
Randy Mackay 72597cc5bd TradHeli: remove setup via CLI 
Saves 6k of flash
 2013-11-15 22:57:39 +09:00
Robert Lefebvre 0e2ddb0378 Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete. 2013-11-15 22:57:34 +09:00
Robert Lefebvre c5b119288d TradHeli: Add Motor Runup check to the auto_arming check. 2013-11-15 22:57:31 +09:00
Robert Lefebvre f67d95ac75 TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly. 2013-11-15 22:57:28 +09:00
Robert Lefebvre ffb605d06d TradHeli: Modify the constrain on the auto throttle controller to prevent it from commanding full down collective if we think we are on the ground still. 2013-11-15 22:57:22 +09:00
Randy Mackay 8f2c9591ff TradHeli: dynamic_flight flag based on inertial nav speed 
Created new heli.pde for heli_integrated_swash and check_dynamic_flight
 2013-11-15 22:57:20 +09:00
Robert Lefebvre e23e4bc7d8 TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector 2013-11-15 22:57:18 +09:00
Robert Lefebvre 324c866ae1 TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started. 2013-11-15 22:57:16 +09:00
Robert Lefebvre f7c63be357 TradHeli: leaky-I-term based on dynamic_flight_detector 2013-11-15 22:57:14 +09:00
Randy Mackay f0f6e85b39 Copter: ARMING_CHECK made into bitmask 
Allows arming checks to be individually enabled or disabled for baro,
compass, GPS, INS, parameters, RC and board voltage
 2013-11-15 17:13:56 +09:00
Randy Mackay fe822ba0b6 Copter: pre-arm check of INS health 2013-11-15 17:13:53 +09:00
Jason Short 371dc8c616 Copter: Drift Mode 
Changes Toy mode declarations to Drift mode.
Requires GPS, Mode 2 transmitter
Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.
 2013-11-14 14:43:15 +09:00
Randy Mackay 57b291b1c5 Copter: reject change_command if not in AUTO 2013-11-14 13:49:37 +09:00
Randy Mackay 0778454434 Copter: disarm routine shortcut 
Extra check so we only run the disarm check when we are actually armed.
The ground stations sometimes send many disarm messages which can be
ignored
 2013-11-14 13:14:51 +09:00
Randy Mackay f5b1114aea Copter: range check pilot requested lean angles 
This fixes a bug uncovered by MHA in which the receiver output 900 pwm
for roll and pitch to the APM which was interpreted as requesting an 80
deg lean angle which the copter then attempted to do!
 2013-11-13 14:21:21 +09:00
Randy Mackay 159d6320bf Copter: move SINGLE parameters to start at 75 2013-11-12 23:40:38 +09:00
Randy Mackay 06ce98a2f4 Copter: add SINGLE_FRAME definition 2013-11-12 23:40:32 +09:00
ssq870424 07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00
Randy Mackay 13fd33c2d8 Copter: gps failsafe disabled until we get first 3d lock 2013-11-12 11:13:05 +09:00
Randy Mackay f29f7d9777 Copter: bug fix to take-off in Loiter and AltHold 
Always set the target altitude after take-off to be current altitude +
20cm.  This resolves a bug in which the target altitude could end up
being a couple of meters higher than the current altitude if the user
entered Loiter / Alt Hold mode before inertial nav altitude estimate had
settled.
 2013-11-11 22:29:09 +09:00
Randy Mackay 03831cdd28 Copter: GPS ok only when not glitching 
Removed redundant checks to GPS_ok before setting flight mode to RTL
(this check is already performed inside the set_mode function)
Removed reset of home distance and bearing when GPS lock is lost, it now
remains at the last known value
 2013-11-11 22:24:18 +09:00
Randy Mackay e4d8c673f3 Copter: force gyro calibration on start-up 2013-11-10 21:51:54 +09:00
Andrew Tridgell 6b1f59372c Copter: show git and firmware version in tlog 2013-11-09 10:09:20 +11:00
Andrew Tridgell b41f4898e0 Copter: report INS health 2013-11-07 12:48:17 +11:00
Andrew Tridgell 2f6cfd1ff8 Copter: update for AHRS API changes 2013-11-04 21:21:42 +11:00
Randy Mackay 620109d894 Copter: formatting fix to config.h 2013-11-03 12:57:02 +09:00
Robert Lefebvre 8868af7c2f TradHeli: Change default Auto-Yaw to Yaw Look Ahead 
This leads to smoother flight in Auto modes, particularly with fast waypoints.
 2013-11-03 12:56:57 +09:00
Jason Short 66b8ca3a27 Copter: updated toy gains 2013-11-03 10:14:10 +09:00
Jason Short 2a82d1b0b0 Copter: CH7 SaveWP fix corner case 
If the user is on the ground and flips CH7, do nothing instead of recording a bad takeoff altitude. Do another check to avoid a land right after a takeoff.
 2013-11-02 21:34:55 +09:00
Randy Mackay 8278767d0a Copter: remove unused get_acro_yaw 2013-11-02 21:34:53 +09:00
Jason Short c3aa56459a Copter: remove unused Toy param 2013-11-02 21:34:50 +09:00
Jason Short 520a535c21 Copter: TOY mode updates 2013-11-02 21:34:48 +09:00
Andrew Tridgell f6f6caafc8 Copter: int gyros on arm, not on first boot 
this makes first boot much faster
 2013-11-02 21:41:11 +11:00
Randy Mackay 977983904f Copter: arming check that throttle is above failsafe 2013-11-02 14:06:19 +09:00
Randy Mackay aaf642c223 Copter: disable autotune if pilot moves yaw stick 2013-11-02 12:12:46 +09:00
Randy Mackay 94f301181e Copter: recalc distance to home during arming 
fixes an rare edge case in which the fence could trigger immediately
after arming
 2013-11-01 23:54:32 +09:00
Randy Mackay 798c4e2278 Copter: more Ch7/Ch8 event logging 
Additional event logging for SaveWP, Fence, Acro trainer, Save Trim
 2013-11-01 11:53:16 +09:00
Randy Mackay babc54ec60 Copter: default Ch7 to DO_NOTHING 
Ch7/Ch8 Save_WP feature triggers when switch is brought high (instead of
low) to be consistent with other aux features
 2013-11-01 11:42:33 +09:00
Randy Mackay 97770ae352 Copter: rc10, rc11 available even without MOUNT 2013-10-31 22:55:02 +09:00
Randy Mackay de08116320 Copter: disable some aux channels on hexa and octas 
Resolves issue #324
 2013-10-31 15:22:34 +09:00