aepko/Ardupilot2
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9,787 Commits 72 Branches 509 Tags 683 MiB
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Author SHA1 Message Date
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
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
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
259a3296d1 TradHeli: remove setup via CLI 
Saves 6k of flash
 2013-11-23 17:06:49 +09:00
Randy Mackay
3ebc4e5ede Copter: formatting and param description changes 2013-11-23 17:06:47 +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
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
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
Randy Mackay
bea7e4c9bc Copter: ARMING_CHECK made into bitmask 
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
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
proficnc
0af6dff283 Update README.md 
Updated build instruction link to the one on the Dev.Ardupilot wiki
 2013-11-23 17:06:20 +09:00
Jason Short
44d64a84d9 Copter: Drift Mode 
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 
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
ec73169c02 Copter: parameter files for beg, int, adv and camera ship 2013-11-23 17:06:14 +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
f0970fc4be Copter: range check pilot requested lean angles 
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
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
Andrew Tridgell
6062dd6d00 build: added new copter frame type 'single' 2013-11-23 17:06:04 +09:00
Andrew Tridgell
aaa9bbac6e build: fixed build_all for heli 2013-11-23 17:06:03 +09:00