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
Jonathan Challinger
5fc02bdbc4
Copter: Reduce prearm alt disparity check back to 1m
2014-10-20 10:55:59 +09:00
Randy Mackay
27b73fa209
Copter: enable Optflow by default for Pixhawk only
2014-10-16 21:17:54 +09:00
Randy Mackay
b0e6931ab0
Copter: add DCM_CHECK_THRESH parameter
2014-10-16 17:22:11 +09:00
Randy Mackay
4e06970a1c
Copter: disable OptFlow in SITL
2014-10-15 20:46:06 +09:00
Randy Mackay
67b7b2d667
Copter: enable optflow by default for Pixhawk
2014-10-15 16:36:31 +09:00
Randy Mackay
8997c224e2
Copter: enable Guided velocity controller for Pixhawk
2014-10-13 21:40:20 +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
Jonathan Challinger
73e1719ee1
Copter: print frame type in log headers
2014-09-27 16:11:21 +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
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
Randy Mackay
adf00a207b
Copter: enable EPM by default on Pixhawk
2014-09-17 21:14:22 +09:00
Randy Mackay
d15a5f9dcb
Copter: THR_ACCEL_IMAX default to 800
2014-09-12 15:11:48 +09:00
Randy Mackay
4c6b0bb1cb
Copter: format change to flight mode default defined
...
This also kicks off the build for AC3.2-rc8
2014-09-11 16:52:36 +09:00
Randy Mackay
21d56735ca
Copter: increase EKF_CHECK_THRESH default to 0.8
...
Also remove unused #define related to inertial nav check (now removed)
2014-09-09 14:59:27 +09:00
Randy Mackay
9c613cd1ec
Copter: reduce alt hold defaults
...
Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
2014-09-07 22:14:40 +09:00
Randy Mackay
641c8317a5
Copter: pre-arm consistency check of gyros
2014-09-04 15:21:58 +09:00
Randy Mackay
28f31166b9
Copter: land check gets overall throttle and rotation rate check
...
add check that overall throttle level is below the non-takeoff throttle
instead of just checking that it's motors have hit their lower limits
because low limits can also be caused by high yaw rotation requests.
Absolute climb rate requirement reduced to 30cm/s
2014-09-04 15:21:51 +09:00
Randy Mackay
59404c25e3
Copter: pre-arm consistency check of accels
2014-09-03 13:51:44 +09:00
Randy Mackay
07420521ab
Copter: default LAND_REPOSITION to 1
2014-08-31 10:44:09 +09:00
Randy Mackay
cf98cc29b5
Copter: throttle deadzone parameter
...
Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
2014-08-29 15:54:34 +09:00
Randy Mackay
eb51a8e5da
Copter: pre-arm check of internal vs ext compass
2014-08-26 22:34:06 +09:00
Andrew Tridgell
a627cd2af2
Copter: run Linux boards at 100Hz for now
...
we should be able to do 400Hz in future
2014-08-19 20:03:33 +10:00
Randy Mackay
6fc5014a84
Copter: increase sonar timeout to 1sec
...
Contributed by Julien Dubois.
2014-08-14 19:37:00 +09:00
Randy Mackay
f3fd79597f
Copter: add ACRO_EXPO parameter
2014-08-14 11:47:37 +09:00
Randy Mackay
7b9fa1ea79
Copter: rate IMAX increase to 1000
2014-08-04 11:31:02 +09:00
Randy Mackay
4e2683421c
Copter: disable parachute and rally on APM1
2014-08-01 15:14:40 +09:00
Randy Mackay
b52f8351e8
Copter: rename EKFCHECK_COMPASS to EKFCHECK_THRESH
...
Renamed because this threshold is now used for both compass and velocity
variance.
Also minor reorganisation of ekfcheck but no functional change.
2014-07-31 22:58:43 +09:00
Matthias Badaire
147e91877e
Copter: Add SERIAL2_PROTOCOL for GCS and FRsky telemtry
...
this allows selection of protocol type on telem2. The default is
MAVLink, but can be selected as FrSky protocol
2014-07-29 17:08:19 -07:00
akdslr
dc67058771
ArduCopter: Removed CONFIG_SONAR_SOURCE, SONAR_SOURCE_ADC, and SONAR_SOURCE_ANALOG_PIN since no longer used
2014-07-24 14:41:55 +10:00
Randy Mackay
a4a4334b13
Copter: add EKFCHECK_COMPASS parameter
2014-07-22 23:13:22 +09:00
Craig Elder
07d43534c1
Copter: Change Radio Failsafe Timeout
...
Change Radio Failsafe Timeout from 2 seconds to 200ms
2014-07-16 19:41:43 -07:00
Craig Elder
e85c9f078d
Copter: Change Radio Failsafe Timeout
...
Change Radio Failsafe Timeout from 2 seconds to 200ms
2014-07-16 11:02:32 -07:00
Andrew Tridgell
49954a3a61
Copter: use sensors from board subtypes
2014-07-14 09:44:35 +10:00
Randy Mackay
65e5367619
Copter: rename hybrid to poshold
2014-07-11 14:09:01 +09:00
Jonathan Challinger
09a01a4668
Copter: Wait 4 seconds before beginning to land during failsafes
2014-07-06 20:25:04 +09:00
Jonathan Challinger
5b36e65cb9
Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents
2014-07-06 19:20:25 +09:00
Randy Mackay
fdc0ec837b
Copter: add nav_guided suport to Auto mode
2014-07-06 17:00:31 +09:00
Randy Mackay
db000f2287
Copter: remove setting rate and thr D term filters
2014-05-29 17:40:24 +09:00
Robert Lefebvre
5eb206e6bb
Copter: Add 'handle' to allow #define updating of AC_PID filter rate for Throttle Accel.
2014-05-29 17:39:16 +09:00
Robert Lefebvre
df1de4260d
Copter: Set Rate PID D-term filter rates on initialization.
2014-05-29 17:39:12 +09:00
Randy Mackay
20719e23fd
Copter: enable PARACHUTE and RALLY for all but APM
2014-05-27 14:43:33 +09:00
Randy Mackay
ff1a58e078
Copter: increase LOITER_RATE_IMAX to 1000
...
This allows us to load up the I term with the vehicle's current
acceleration during mode transitions
pair programmed with Randy
2014-05-08 16:15:34 +09:00
Randy Mackay
d857427444
Copter: disable RALLY points by default
...
This saves 2k of flash which allows the code to fix on the APM1/2
2014-04-30 21:46:21 +09:00
Randy Mackay
a4c675c23e
Copter: add PILOT_ACCEL_Z parameter
...
Allows configurable z-axis acceleration when pilot is controlling
altitude
2014-04-30 21:46:13 +09:00
Randy Mackay
19f1e7fec4
Copter: disable Parachute by default
...
This saves 1k of flash and we are desperately low on the APM1/APM2.
Hopefully we can find savings somewhere and re-enable it by default.
2014-04-24 19:02:32 +09:00
Randy Mackay
287af8f66e
Copter: disable optical flow by default
...
We have run out of flash on the APM2, it was a choice between Hybrid
flight mode and OF_Loiter
2014-04-23 15:27:08 +09:00
Randy Mackay
55e7e1eb3e
Copter: allow HYBRID to be disabled to save flash
...
Hybrid flight mode costs 4.5k of flash which currently puts us over the
limit for APM1 and APM2 unless optical flow or other features are
disabled
2014-04-23 15:27:05 +09:00
Ju1ien
f8e8d4024d
Copter: Hybrid's max brake angle to 30deg
2014-04-23 14:59:53 +09:00
Randy Mackay
f467d7bc20
Copter: add Hybrid parameters
2014-04-23 14:59:25 +09:00
Randy Mackay
5fc071f5f9
Copter: restore SITL to run at 100hz
2014-04-21 21:46:22 +09:00
Randy Mackay
8ac14023b4
Copter: set main loop rate from CPU class
...
Previously this was determined by the board
2014-04-21 13:32:00 +09:00
Andrew Chapman
fa3732ac6d
Copter: integrate AP_Rally
2014-04-19 15:00:23 +09:00
Emile Castelnuovo
9e31f032c2
Copter: added VRBRAIN board #includes and #defines
2014-04-08 16:19:20 +10:00
Randy Mackay
ff32b27272
Copter: integrate parachute lib
2014-04-07 13:36:44 +09:00
Andrew Tridgell
640b64f5e4
Copter: convert to new GPS API
2014-04-01 06:38:24 +11:00
Jonathan Challinger
2601ac9959
Copter: Remove 80m altitude limit on RTL
2014-03-31 20:34:19 +09:00
Andrew Tridgell
3de574e5dc
Copter: disable GPS2 in HIL
2014-02-27 08:16:20 +11:00
Andrew Tridgell
37394b30ee
Copter: added support for 2nd GPS
2014-02-26 09:40:29 +11:00
Randy Mackay
00913ffe1b
Copter: throttle rate to simple P controller
...
Saves at least 15bytes of RAM
2014-02-16 13:35:40 +11:00
Randy Mackay
aab9b30bf6
Copter: replace APM_PI with AC_P
...
Saves about 90bytes of RAM
2014-02-15 06:09:08 +11:00
Randy Mackay
ea1158a9d5
Copter: remove unused config
2014-02-15 05:27:47 +11:00
Randy Mackay
aec67cd3df
Copter: integrate control_autotune
2014-02-15 05:27:44 +11:00
Randy Mackay
ef666c73ab
Copter: remove Position mode
2014-02-15 05:27:42 +11:00
Robert Lefebvre
c561d6bb9e
Small comment change.
2014-02-15 05:27:42 +11:00
Randy Mackay
2253cf9769
Copter: run main loop at 400hz for pixhawk
2014-02-15 05:27:33 +11:00
Andrew Tridgell
0a3476bbf1
Copter: change to new board_voltage() API
2014-02-14 21:50:59 +11:00
Randy Mackay
dee5fb212a
Copter: remove dup definition of FRAME_ORIENTATION
...
Ideally the frame orientation parameter should be moved to the motors
class
2014-01-21 21:44:17 +09:00
Randy Mackay
a9f1a2ee5e
Copter: disarm on land even if pilot throttle not zero
...
default behaviour remains as before, this is an compile time option only
2014-01-15 11:31:00 +09:00
Randy Mackay
a3527ade61
Copter: move EARTH_FRAME definition to defines.h
...
defines.h is for defining enumerations and other unchanging values while
config.h is for changeable values like parameter defaults, enabling or
disabling sensors.
2014-01-14 21:53:13 +09:00
Randy Mackay
138c2803be
Copter: combine NTUN and INAV dataflash msgs
2014-01-13 22:00:11 +09:00
Randy Mackay
5e0ddd299f
Copter: disable OPTFLOW for SITL
2014-01-13 17:11:27 +09:00
Randy Mackay
61f319ce38
Copter: disable OPTFLOW for PX4/Pixhawk
2014-01-13 12:02:03 +09:00
Randy Mackay
b3d20bb8aa
TradHeli: Drift mode to use heli manual throttle
2014-01-10 11:06:06 +09:00
Robert Lefebvre
531a9f4f25
TradHeli: disable AutoTune for Tradheli compile
...
We need the flash space, and this probably won't work for tradheli anyway since tradheli needs most of the control from Feedforward rather than P term. And D-term is very very bad.
2014-01-10 10:50:09 +09:00
Randy Mackay
9f2f44f0f6
Copter: integrate shrunken optflow
2014-01-09 12:31:53 +09:00
ctech4285
2b5d8aa5b7
Copter: integrate EPM library
2013-12-17 15:36:42 +09:00
Randy Mackay
c7dc351609
Copter: remove unnecessary MPU6K filter definition
...
This should also help kick off the AC3.1 rebuild
2013-12-15 11:01:31 +09:00
Randy Mackay
2a61053634
Copter: reduce default logging for SITL
2013-12-12 22:19:12 +09:00
Randy Mackay
58788d2934
Copter: increasd default logging for PX4, Pixhawk
2013-12-05 16:04:52 +09:00
Randy Mackay
2ba233942d
Copter: pre arm mag offset limit to 600 for PX4
2013-12-03 23:23:26 +09:00
Randy Mackay
0cda3c9a71
Copter: reduce SONAR_GAIN to 0.8 (was 2.0)
2013-12-01 16:25:47 +09:00
Robert Lefebvre
dbbe0f960a
Copter: remove LED_ON/OFF defines
2013-11-30 18:20:58 +09:00
Randy Mackay
59cea4b88c
Copter: remove CopterLED from main code
2013-11-30 18:20:55 +09:00
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
Andrew Tridgell
9c812d5028
Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD
2013-11-26 13:05:32 +11:00
Randy Mackay
87127f0ab8
Copter: allow battery failsafe to trigger RTL
2013-11-16 14:46:57 +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
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
c9c803ffd4
TradHeli: move STAB_COL_MIN to main parameter list
2013-11-15 22:58:32 +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
Andrew Tridgell
6b1f59372c
Copter: show git and firmware version in tlog
2013-11-09 10:09:20 +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