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Author SHA1 Message Date
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
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
f84b04daa9 Copter: display pre-arm check failure reason every 30sec 2013-11-23 17:08:11 +09:00
Randy Mackay
5bedb3c683 Copter: default MOT_SPIN_ARMED to 70 2013-11-23 17:08:09 +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
a266109f8b Rover: log INS errors in PM message 2013-11-23 17:08:01 +09:00
Randy Mackay
3c2a496745 Plane: log INS errors in PM message 2013-11-23 17:07:59 +09:00
Randy Mackay
a5cca22252 Copter: log INS errors in PM message 2013-11-23 17:07:58 +09:00
Andrew Tridgell
64d6d54757 Rover: added basic support for reverse in STEERING mode 
this will allow for reverse in steering mode, while also fixing a
problem with AHRS yaw when reversing, and a problem with initial
throttle in steering mode
 2013-11-23 17:07:56 +09:00
Andrew Tridgell
661f8b2ae0 Plane: fixed throttle failsafe with reversed throttle 2013-11-23 17:07:55 +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
2fca578989 AP_HAL_AVR: resolve compiler warning 2013-11-23 17:07:50 +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
69e81587e2 TradHeli: add accessor for phase_angle 2013-11-23 17:07:32 +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
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
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
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
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
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
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
87bd57c9aa TradHeli: add landing collective min 2013-11-23 17:07:02 +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
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
ab076d002f TradHeli: bugfix to update swash in run_rate_controllers 2013-11-23 17:06:55 +09:00