Randy Mackay
2ee22e1b85
Copter: AC3.1-rc7 version and release notes
2013-11-23 17:08:33 +09:00
Randy Mackay
fc4b5c962f
Copter: pre-arm check that INAV has no errors
2013-11-23 17:08:31 +09:00
Randy Mackay
e47e1f21d8
Copter: add INAV error count to PM dataflash msg
2013-11-23 17:08:30 +09:00
Randy Mackay
680e3316e4
Copter: increase min LAND_SPEED to 30cm/s
2013-11-23 17:08:20 +09:00
Randy Mackay
878ef115a6
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
2013-11-23 17:08:19 +09:00
Randy Mackay
46a1649f2c
Copter: fix SingleCopter motor parameters link
2013-11-23 17:08:17 +09:00
Randy Mackay
514568afcf
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.
2013-11-23 17:08:14 +09:00
Randy Mackay
f84b04daa9
Copter: display pre-arm check failure reason every 30sec
2013-11-23 17:08:11 +09:00
Randy Mackay
35e23ff0f3
Copter: pre-arm check for ACRO_BAL_ROLL and PITCH
2013-11-23 17:08:07 +09:00
Randy Mackay
5808515e61
Copter: auto disarm in Loiter, AltHold after 15sec
2013-11-23 17:08:06 +09:00
Randy Mackay
e5cc16b45f
Copter: radio, batt failsafe disarm if copter is landed in Loiter or AltHold
2013-11-23 17:08:04 +09:00
Randy Mackay
b66beff283
Copter: CURR dataflash msg to output throttle_out
...
Previously it was outputting throttle-in which is not as useful in
autonomous modes
2013-11-23 17:08:03 +09:00
Randy Mackay
a5cca22252
Copter: log INS errors in PM message
2013-11-23 17:07:58 +09:00
Randy Mackay
8fc03b0d17
Copter: commit to kick off MP rebuild
...
Required to push back MP Beta Firmwares version to AC3.1-rc5
2013-11-23 17:07:53 +09:00
Randy Mackay
0cbcadb605
Copter: update AC3.1-rc6 release notes again
2013-11-23 17:07:51 +09:00
Randy Mackay
b7c9f7b4e9
TradHeli: dynamic flight speed minimum to 5m/s
2013-11-23 17:07:48 +09:00
Randy Mackay
74e33d97ef
Copter: batt failsafe triggers RTL from AUTO
2013-11-23 17:07:46 +09:00
Randy Mackay
5b4ca2d334
Copter: update AC3.1-rc6 release notes
2013-11-23 17:07:45 +09:00
Randy Mackay
d4ad891265
Copter: allow battery failsafe to trigger RTL
2013-11-23 17:07:43 +09:00
Randy Mackay
4aa7d6e436
Copter: minor comment update for set_mode
2013-11-23 17:07:42 +09:00
Randy Mackay
d9399f35d4
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)
2013-11-23 17:07:40 +09:00
Randy Mackay
5c40424a1b
Copter: update contributors list
2013-11-23 17:07:38 +09:00
Randy Mackay
3cdf94a2fd
Copter: AC3.1-rc6 version and release notes
2013-11-23 17:07:37 +09:00
Randy Mackay
e5e31de148
Copter: bug fix to Tricopter motor logging
...
Fourth motor taken from yaw channel's radio_out instead of random
location in memory
2013-11-23 17:07:35 +09:00
Randy Mackay
cebbb082a0
TradHeli: restore CC_COMP and PIRO_COMP
2013-11-23 17:07:34 +09:00
Randy Mackay
edcf347b10
TradHeli: set throttle_min to zero by default
2013-11-23 17:07:31 +09:00
Randy Mackay
dc6375f343
TradHeli: remove calls to get_manual_collective in auto throttle
...
set_collective_for_landing method makes this unnecessary
2013-11-23 17:07:29 +09:00
Randy Mackay
214b403586
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
2013-11-23 17:07:27 +09:00
Randy Mackay
099ca84754
TradHeli: move STAB_COL_MIN to main parameter list
2013-11-23 17:07:26 +09:00
Randy Mackay
554ee5df66
TradHeli: move pilot desired rotor speed to heli.pde
2013-11-23 17:07:21 +09:00
Randy Mackay
43b0c4f0f4
Copter: remove unused init_rate_controllers
2013-11-23 17:07:19 +09:00
Randy Mackay
6c5f2e6368
Copter: add deadzone to ch8 for TradHeli
2013-11-23 17:07:18 +09:00
Randy Mackay
e619e30a70
Copter: log TradHeli ch7, ch8 in MOT message
2013-11-23 17:07:16 +09:00
Randy Mackay
680fe72937
TradHeli: integrate constructor changes to main code
2013-11-23 17:07:15 +09:00
Robert Lefebvre
0e2b0a8079
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
2013-11-23 17:07:10 +09:00
Robert Lefebvre
a81922d5fb
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
2013-11-23 17:07:06 +09:00
Robert Lefebvre
7240765342
TradHeli: Use Leaky Integrator on Yaw Rate controller
...
Use when rotor is not running to prevent the rudder from slowly moving over
2013-11-23 17:07:05 +09:00
Randy Mackay
0734c13fb4
TradHeli: use landing collective when landed or landing
2013-11-23 17:07:03 +09:00
Randy Mackay
15dacea70e
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
2013-11-23 17:07:00 +09:00
Randy Mackay
20b2fb7680
TradHeli: add THROTTLE_MANUAL_HELI
...
Move check_dynamic_flight to run as scheduled task
2013-11-23 17:06:58 +09:00
Randy Mackay
ab076d002f
TradHeli: bugfix to update swash in run_rate_controllers
2013-11-23 17:06:55 +09:00
Randy Mackay
cd538624a0
TradHeli: formatting and param description changes
2013-11-23 17:06:54 +09:00
Randy Mackay
68cc55e98f
TradHeli: integrate motor lib changes
2013-11-23 17:06:52 +09:00
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
...
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
