Randy Mackay
259a3296d1
TradHeli: remove setup via CLI
...
Saves 6k of flash
2013-11-23 17:06:49 +09:00
Robert Lefebvre
7eb43973af
Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete.
2013-11-23 17:06:46 +09:00
Robert Lefebvre
f9b547061e
TradHeli: Add Motor Runup check to the auto_arming check.
2013-11-23 17:06:44 +09:00
Robert Lefebvre
0941615495
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.
2013-11-23 17:06:43 +09:00
Robert Lefebvre
c6294eb561
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.
2013-11-23 17:06:41 +09:00
Randy Mackay
8e5b398b79
TradHeli: dynamic_flight flag based on inertial nav speed
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Created new heli.pde for heli_integrated_swash and check_dynamic_flight
2013-11-23 17:06:39 +09:00
Robert Lefebvre
6f54d63f6f
TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector
2013-11-23 17:06:38 +09:00
Robert Lefebvre
2438330b40
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.
2013-11-23 17:06:36 +09:00
Robert Lefebvre
c60ff46cc5
TradHeli: leaky-I-term based on dynamic_flight_detector
2013-11-23 17:06:35 +09:00
Randy Mackay
bea7e4c9bc
Copter: ARMING_CHECK made into bitmask
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Allows arming checks to be individually enabled or disabled for baro,
compass, GPS, INS, parameters, RC and board voltage
2013-11-23 17:06:30 +09:00
Randy Mackay
32b99867b9
Copter: pre-arm check of INS health
2013-11-23 17:06:28 +09:00
Jason Short
44d64a84d9
Copter: Drift Mode
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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.
2013-11-23 17:06:19 +09:00
Randy Mackay
10158185d5
Copter: reject change_command if not in AUTO
2013-11-23 17:06:17 +09:00
Randy Mackay
bc4b2ff05d
Copter: disarm routine shortcut
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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
2013-11-23 17:06:16 +09:00
Randy Mackay
f0970fc4be
Copter: range check pilot requested lean angles
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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!
2013-11-23 17:06:11 +09:00
Randy Mackay
898fa2f2a1
Copter: move SINGLE parameters to start at 75
2013-11-23 17:06:00 +09:00
Randy Mackay
e138a12f80
Copter: add SINGLE_FRAME definition
2013-11-23 17:05:58 +09:00
ssq870424
374f341c76
Copter: add support for singlecopter airframe
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this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
2013-11-23 17:05:55 +09:00
Randy Mackay
1bbc7d7185
Copter: gps failsafe disabled until we get first 3d lock
2013-11-23 17:05:52 +09:00
Randy Mackay
acd5846994
Copter: bug fix to take-off in Loiter and AltHold
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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.
2013-11-23 17:05:50 +09:00
Randy Mackay
259988a0be
Copter: GPS ok only when not glitching
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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
2013-11-23 17:05:48 +09:00
Randy Mackay
b33ea01366
Copter: force gyro calibration on start-up
2013-11-23 17:05:47 +09:00
Andrew Tridgell
1bec20482f
Copter: show git and firmware version in tlog
2013-11-23 17:05:34 +09:00
Andrew Tridgell
f182169c01
Copter: report INS health
2013-11-23 17:05:16 +09:00
Andrew Tridgell
dca5bee080
Copter: update for AHRS API changes
2013-11-23 17:04:22 +09:00
Randy Mackay
917d9226b2
Copter: formatting fix to config.h
2013-11-23 17:03:58 +09:00
Robert Lefebvre
7e49f630ad
TradHeli: Change default Auto-Yaw to Yaw Look Ahead
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This leads to smoother flight in Auto modes, particularly with fast waypoints.
2013-11-23 17:03:55 +09:00
Jason Short
558dd6db04
Copter: updated toy gains
2013-11-23 17:03:53 +09:00
Jason Short
945b9260b5
Copter: CH7 SaveWP fix corner case
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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.
2013-11-23 17:03:46 +09:00
Randy Mackay
bb0f18e2d4
Copter: remove unused get_acro_yaw
2013-11-23 17:03:44 +09:00
Jason Short
cbbd3ae50e
Copter: remove unused Toy param
2013-11-23 17:03:42 +09:00
Jason Short
60775e94b9
Copter: TOY mode updates
2013-11-23 17:03:41 +09:00
Andrew Tridgell
4194b2fdd7
Copter: int gyros on arm, not on first boot
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this makes first boot much faster
2013-11-23 17:03:25 +09:00
Randy Mackay
d06d999903
Copter: arming check that throttle is above failsafe
2013-11-23 17:03:23 +09:00
Randy Mackay
a692790342
Copter: disable autotune if pilot moves yaw stick
2013-11-23 17:03:22 +09:00
Randy Mackay
81ac548e2c
Copter: recalc distance to home during arming
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fixes an rare edge case in which the fence could trigger immediately
after arming
2013-11-23 17:03:20 +09:00
Randy Mackay
c824ccfb38
Copter: more Ch7/Ch8 event logging
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Additional event logging for SaveWP, Fence, Acro trainer, Save Trim
2013-11-23 17:03:18 +09:00
Randy Mackay
249c757b94
Copter: default Ch7 to DO_NOTHING
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Ch7/Ch8 Save_WP feature triggers when switch is brought high (instead of
low) to be consistent with other aux features
2013-11-23 17:03:17 +09:00
Randy Mackay
12093f4dd6
Copter: rc10, rc11 available even without MOUNT
2013-11-23 17:03:15 +09:00
Randy Mackay
1a8feee298
Copter: disable some aux channels on hexa and octas
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Resolves issue #324
2013-11-23 17:03:12 +09:00
Randy Mackay
7f8e9ea27f
Copter: remove some commented out send_text code
2013-11-23 17:03:09 +09:00
Randy Mackay
3e139adf08
Copter: add alt and throttle checks to crash detector
2013-11-23 17:03:07 +09:00
Randy Mackay
30d908e2fa
Copter: crash checker
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Crash is determined to have happened when the copter is 20deg more than
the ANGLE_MAX parameter continuously for more than 2 seconds
Not activated when in ACRO mode or while flipping
2013-11-23 17:03:05 +09:00
Randy Mackay
b4c8dd5a41
Copter: add ANGLE_RATE_MAX param
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Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes
2013-11-23 17:03:02 +09:00
Randy Mackay
05cf1015fc
Copter: add @Increment to battery failsafe descriptions
2013-11-23 17:03:00 +09:00
Andrew Tridgell
c700f61ffa
Copter: fixed HIL build
2013-11-23 17:02:54 +09:00
Andrew Tridgell
f1ebd036b0
Copter: fixed baro-only preflight cal
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this was causing a full level, which mucked up the INS calibration
2013-11-23 17:02:46 +09:00
Randy Mackay
eee7a1de22
Copter: remove unused #defines from config.h
2013-11-23 17:02:43 +09:00
Randy Mackay
9a6c61d42f
Copter: add features that can be disabled to APM_Config.h
2013-11-23 17:02:41 +09:00
Randy Mackay
8b293f10a4
Copter: remove ins from InertialNav object instantiation
2013-11-23 17:02:32 +09:00
