aepko/Ardupilot2
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5c37526208
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4147 Commits

Author SHA1 Message Date
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
Andrew Tridgell
8e55ab5072 AP_Math: fixed zero function for integer vectors 2013-11-23 17:05:10 +09:00
Andrew Tridgell
23eed03852 AP_InertialSensor: automatically lower bus speed on mpu6k bad reads 2013-11-23 17:05:09 +09:00
Andrew Tridgell
f049d19aa3 AP_InertialSensor: try to lower SPI bus speed on errors 2013-11-23 17:05:07 +09:00
Andrew Tridgell
0bda21a3fc HAL_AVR: changed to 16 byte bulk transfer on SPI0 2013-11-23 17:05:05 +09:00
Andrew Tridgell
08e1ce428a DataFlash: make the SITL dataflash log 4x larger 2013-11-23 17:04:59 +09:00
Andrew Tridgell
0967aec802 AP_Menu: fixed double display of prompt 2013-11-23 17:04:57 +09:00
Andrew Tridgell
83f8dd150e AP_Menu: added check_for_input() API 
this allows for async use of the menus, so that a main loop can run
while allowing the user to enter menu commands
 2013-11-23 17:04:56 +09:00