aepko/Ardupilot2
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4154 Commits

Author SHA1 Message Date
Randy Mackay
cb64955806 TradHeli: bug fix for main rotor ramp up 
The main rotor ramp was being held back by the rotor speed estimate
instead of being allowed to jump up to the estimate if it's lower.

Also fixed some incorrect indentation
 2013-12-05 21:25:46 +09:00
Randy Mackay
6fd51342fe Copter: add Y6 with all top props CW 
Set FRAME parameter to 10
 2013-12-03 23:24:45 +09:00
Randy Mackay
eb1b2c4265 OptFlow: correct SPI mode and baud rates 2013-12-02 12:01:45 +09:00
Andrew Tridgell
94924571d8 GCS_MAVLink: increase max packet size to 104 
this enables the DATA96 packet to be sent
 2013-11-23 17:08:43 +09:00
Randy Mackay
7b849d8cfb INav: record error_count when GPS msg is late 2013-11-23 17:08:28 +09:00
Randy Mackay
6ef0337a30 Ublox: disable NMEA info in 3DR config 2013-11-23 17:08:27 +09:00
Randy Mackay
4c2c3e719b Ublox: set default rate to 5hz in 3DR config 2013-11-23 17:08:25 +09:00
Randy Mackay
5c37526208 Ublox: disable TimePulse Timedata in 3DR config 2013-11-23 17:08:24 +09:00
Randy Mackay
986023495e Ublox: update config to ver 7.03 2013-11-23 17:08:22 +09:00
Randy Mackay
c4a5bbd3c2 TradHeli: remove slash from parameter description 
This may fix the issue in which the parameter descriptions are appearing
twice on the arducopter-parameters wiki page
 2013-11-23 17:08:16 +09:00
Randy Mackay
999f4bf289 INav: degrade pos error slowly on loss of GPS 
When GPS message is late by 100ms or we are glitching, degrade the GPS
vs inertial nav position error to 10% over 2 seconds instead of
immediately setting it to zero.  This avoids jumpy position estimates
when the GPS misses an update
 2013-11-23 17:08:12 +09:00
Randy Mackay
5bedb3c683 Copter: default MOT_SPIN_ARMED to 70 2013-11-23 17:08:09 +09:00
Randy Mackay
2fca578989 AP_HAL_AVR: resolve compiler warning 2013-11-23 17:07:50 +09:00
Randy Mackay
69e81587e2 TradHeli: add accessor for phase_angle 2013-11-23 17:07:32 +09:00
Randy Mackay
099ca84754 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-23 17:07:26 +09:00
Randy Mackay
ea32cc0a2f TradHeli: add RSC_RUNUP_TIME param and rotor speed estimate 2013-11-23 17:07:24 +09:00
Randy Mackay
e860419bae TradHeli: ext gyro gain range 0 to 1000 2013-11-23 17:07:23 +09:00
Randy Mackay
554ee5df66 TradHeli: move pilot desired rotor speed to heli.pde 2013-11-23 17:07:21 +09:00
Randy Mackay
c4ae641c81 TradHeli: ramp up changes 
Rewrote tail and main rotor ramp up methods
Moved direct drive ESC speed control into rsc_control method
Pass in ch7 servo as servo_aux to TradHeli motors object constructor
split CH7_SETPOINT parameter into GYR_GAIN and DIRECTDRIVE parameters
replaced RSC_RATE with uint8_t RSC_RAMP_TIME parameter
rename GOV_SETPOINT parameter to RSC_SETPOINT
RSC_MODE parameter description updated to indicate it controls the
source of main rotor speed
 2013-11-23 17:07:13 +09:00
Robert Lefebvre
a0a4ea4904 TradHeli: BugFix to ColYaw 
Credit to Jolyon Saunders for finding this bug.
 2013-11-23 17:07:11 +09:00
Robert Lefebvre
920641931a TradHeli: COLYAW not applied when the motor is not running 2013-11-23 17:07:08 +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
Randy Mackay
87bd57c9aa TradHeli: add landing collective min 2013-11-23 17:07:02 +09:00
Randy Mackay
537b4aef38 TradHeli: add get_pilot_desired_collective 
Perhaps this should be moved to the main code's heli.pde sketch
 2013-11-23 17:06:57 +09:00
Randy Mackay
9172b92fb8 TradHeli: make parameters and variables private 
add accessors for variables and params required in main code
replace tabs with spaces
 2013-11-23 17:06:50 +09:00
Randy Mackay
3ebc4e5ede Copter: formatting and param description changes 2013-11-23 17:06:47 +09:00
Randy Mackay
19716e21b5 HAL: MPU6k and Baro SPI to 8Mhz 2013-11-23 17:06:33 +09:00
Andrew Tridgell
5999a468ac HAL_AVR: force all devices on SPI0 to low speed when one is low speed 
this forces MS5611 to low speed when MPU6K is low speed
 2013-11-23 17:06:32 +09:00
Andrew Tridgell
844d93f362 AP_InertialSensor: use fabsf() 2013-11-23 17:06:27 +09:00
Andrew Tridgell
0cb1325ede AP_InertialSensor: added INS_PRODUCT_ID values 2013-11-23 17:06:25 +09:00
Randy Mackay
eed7ad36b9 CopterMotors: fix example sketch 2013-11-23 17:06:24 +09:00
Randy Mackay
f461a0b55a Copter: remove unused variable from Single copter 2013-11-23 17:06:22 +09:00
Randy Mackay
919b26d28f GPS Glitch: revert accel max to 10m/s/s 
This may not be the best real world value but it keeps the autotester
from failing because it recovers from the glitch before the 5second
time-out on the GPS failsafe
 2013-11-23 17:06:12 +09:00
Randy Mackay
5a726ace9b Copter: add @User and @Increment to motor params description 2013-11-23 17:06:09 +09:00
Randy Mackay
19b02f47ea Copter: default SPIN_WHEN_ARMED to zero 2013-11-23 17:06:08 +09:00
Randy Mackay
17b0921f17 GPS Glitch: radius and accel max to 5m and 5m/s/s 2013-11-23 17:06:06 +09:00
Randy Mackay
586e5a0162 SingleCopter: formatting changes 
replace tab with 4-spaces
remove blank lines
 2013-11-23 17:05:56 +09:00
ssq870424
374f341c76 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-23 17:05:55 +09:00
Andrew Tridgell
41f9eebb32 AP_InertialSensor: make PX4 healthy call _get_sample() 
this prevents a false positive during times like arming where we are
not reading the sensors
 2013-11-23 17:05:45 +09:00
Andrew Tridgell
8a68fd236d AP_L1_Control: fixed switchover from loiter capture to circling 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-11-23 17:05:42 +09:00
Paul Riseborough
4d2fe4a488 L1_Control : Added hysteresis for rear WP capture 2013-11-23 17:05:40 +09:00
Andrew Tridgell
49bd45cf3a AP_L1_Control: fixed waypoint approach logic 
this could cause the RTL approach to not break off onto the circle
correctly
 2013-11-23 17:05:39 +09:00
Andrew Tridgell
d435547cf8 AP_InertialSensor: fixed semaphore error on startup for MPU6000 2013-11-23 17:05:37 +09:00
Andrew Tridgell
cccdf27dd2 DataFlash: print FMT messages for wrapped logs 
this ensures we have FMT messages in every log, even if the log was
wrapped and the FMT messages were overwritten
 2013-11-23 17:05:36 +09:00
Andrew Tridgell
70b0bb475f AP_AHRS: detect and try to cope with bad accels 2013-11-23 17:05:24 +09:00
Andrew Tridgell
74bf82a09b AP_InertialSensor: added healthy check for PX4 and HIL 
used to detect bad accels
 2013-11-23 17:05:23 +09:00
Andrew Tridgell
8a5729de0a SITL: added SIM_ACCEL_FAIL option 
used to test accelerometer failure in flight
 2013-11-23 17:05:21 +09:00
Andrew Tridgell
0c5caac632 AP_Airspeed: added healthy() API 2013-11-23 17:05:20 +09:00
Andrew Tridgell
d87b50c35c AP_Baro: start MS5611 at high speed 2013-11-23 17:05:13 +09:00
Andrew Tridgell
ee2fb33567 AP_InertialSensor: detect bad MPU6000 SPI transactions and lower bus speed 
this uses bad data or bad INT_STATUS values from the MPU6000 to detect
the sensor running too fast and lower bus speed
 2013-11-23 17:05:12 +09:00