aepko/Ardupilot2
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17,969 Commits 72 Branches 509 Tags 683 MiB
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4117 Commits

Author SHA1 Message Date
Randy Mackay
0f174053d6 Coptre: disable esc calibration for TradHeli 2015-07-21 16:26:14 +09:00
Randy Mackay
1af383253f Copter: disable compassmot for TradHeli 2015-07-21 16:26:11 +09:00
Randy Mackay
546d668d1d Copter: no set_hover_throttle for TradHeli 2015-07-21 16:26:07 +09:00
Randy Mackay
88b617707f Copter: call set_throttle_range for multicopters only 2015-07-21 16:26:05 +09:00
Randy Mackay
53aad69fa2 Copter: include AttControl_Multi.h 2015-07-21 16:26:02 +09:00
Randy Mackay
0af7fb93e5 Copter: rename param to MotorsMulticopter 2015-07-21 16:25:58 +09:00
Robert Lefebvre
e3a0f1568d Copter: Tradheli to check rotor speed control input before arming 
Also, force rsc_control input to 0 when disarmed.  This prevents condition where AP_MotorsHeli can receive a rotor speed command greater than zero while disarmed, which was causing the ColYaw function to move the rudder servo.  These two changes are somewhat tied together as it required changing the arming_check to check the RSC_Control not desired_speed from AP_MotorsHeli.
 2015-07-21 16:25:25 +09:00
Robert Lefebvre
534ba89756 Copter: Tradheli manage yaw better on the ground. 2015-07-21 16:25:16 +09:00
Robert Lefebvre
92de71f993 Copter: Check helicopter parameters during Pre-Arm Checks 2015-07-21 16:25:07 +09:00
Robert Lefebvre
f3496356b2 Copter: Tradheli won't get set_yaw_headroom tuning function 2015-07-21 16:24:55 +09:00
Robert Lefebvre
cdfdb340df Copter: Use AP_Motors_Multirotors class for params 2015-07-21 16:24:46 +09:00
Tom Pittenger
0ecebbd55f Copter: Refactor verify_command 
- abstracted verify_command so that command-wide actions can happen more cleanly, namely mission_item_reached
- This also brings the structure in line with plane and rover
 2015-07-21 14:48:37 +09:00
Randy Mackay
4d24d1494d Copter: send_mission_item_reached when cmd completed 2015-07-19 12:14:15 +09:00
Randy Mackay
c62da52259 Copter: add gcs_send_mission_item_reached 2015-07-19 12:14:12 +09:00
Randy Mackay
ec298fb508 Copter: Log_Write_Attitude yaw as 0 to 36000 2015-07-18 13:26:01 +09:00
Randy Mackay
277e3d8675 Copter: enable ekf_check only after ekf origin has been set 2015-07-16 14:54:12 +09:00
Randy Mackay
35dd7322d2 Copter: float constant fix for heli's check_dynamic_flight 
No functional change
 2015-07-14 20:17:17 +09:00
Robert Lefebvre
5541899a99 Copter: Whitespace fixes. 2015-07-14 20:17:16 +09:00
Robert Lefebvre
24d0031389 Copter: replace slow_start() with full set_throttle_takeoff() function. 2015-07-14 20:17:15 +09:00
Robert Lefebvre
0a69c13b1d Copter: Fix helicopter ground stabilization in Auto, Brake, Circle, Guided, Land and RTL modes. 2015-07-14 20:17:14 +09:00
Randy Mackay
f3770432f9 Copter: fix do_user_takeoff indentation 
No functional change
 2015-07-14 20:16:57 +09:00
Robert Lefebvre
bc6deb5575 Copter: Tradheli Mavlink Takeoff to fail if rotor not spinning. 2015-07-14 20:13:46 +09:00
Andy Piper
425e26c258 Copter: reduce GPS_HDOP_GOOD params default to 140 
This is required as part of the ublox change from pdop to hdop
 2015-07-14 15:02:06 +09:00
Randy Mackay
4e3d0ae0c1 Copter: fix startup logging 
Removed potentially endless loop caused by start_logging calling
Log_Write_Startup which called should_log which could then call
start_logging.
Moved disarm event logging above motors disarm so it is logged
 2015-07-14 14:03:00 +09:00
Randy Mackay
063faa0383 Copter: add RTL_CLIMB_MIN 
Vehicle climbs at least this many cm when entering RTL
 2015-07-13 20:38:52 +09:00
Randy Mackay
c33453fcf9 Copter: rename ESC param to ESC_CALIBRATION 2015-07-13 09:33:37 +09:00
Randy Mackay
1a911553eb Copter: allow disabling ESC calibration 2015-07-13 09:33:35 +09:00
Randy Mackay
764fa36716 Copter: log ERR when compass, baro unhealthy 2015-07-12 22:11:35 +09:00
Randy Mackay
2e6b6e473a Copter: fix home_distance calculation 
Distance was calculated vs EKF origin instead of AHRS home
 2015-07-08 15:27:59 +09:00
Randy Mackay
290cdcf6fb Copter: check fence when disarmed 
this allows catching fence breaches as part of arming checks
 2015-07-08 15:27:57 +09:00
Randy Mackay
fbe0e5dfb3 Copter: add arming check of fence 2015-07-08 15:27:54 +09:00
Randy Mackay
07880bf90a Copter: add TRI yaw servo changes to release notes 2015-07-07 13:29:22 +09:00
Lucas De Marchi
0bc09adc78 ArduCopter: use ARRAY_SIZE macro 2015-07-07 07:56:30 +10:00
Randy Mackay
cfe046c9d1 Copter: log EKF height reset 2015-07-06 12:11:54 +09:00
Randy Mackay
221ddb545e Copter: log ahrs home and ekf origin 2015-07-06 12:11:51 +09:00
Randy Mackay
af8b9e703c Copter: fix compiler warning from pid_tuning_send call 2015-07-02 14:22:53 +09:00
Randy Mackay
63052ff874 Copter: pre-arm check of battery voltage 2015-07-02 14:19:13 +09:00
Randy Mackay
c57b4f9c8c Copter: add Flip, AutoTune to FLTMODE param descriptions 2015-07-02 13:24:20 +09:00
Randy Mackay
ea30e5151d Copter: pre-arm check thr is above failsafe 2015-07-01 16:36:11 +09:00
Peter Barker
12bce49cd1 Copter: use common mission logging code 2015-06-30 16:23:35 +10:00
Peter Barker
52a31a31e0 Copter: use common system information logging 2015-06-30 16:23:34 +10:00
Randy Mackay
d89058a75c Copter: loiter state reads takeoff climb rate during takeoff 2015-06-29 13:49:58 +09:00
Robert Lefebvre
01ae84dda6 Copter: Create Loiter state machine. 2015-06-29 13:49:55 +09:00
Randy Mackay
1a9cdac441 Copter: remove unused definition 2015-06-28 21:55:31 +09:00
Randy Mackay
cc212f1398 Copter: AC3.3-rc7 release notes 2015-06-28 21:21:05 +09:00
Randy Mackay
e60f53d144 Copter: arming check Bitmask param description 2015-06-27 19:20:52 +09:00
Randy Mackay
2b35fbc81f Copter: remove redundant ToRad definition 2015-06-27 19:20:50 +09:00
Peter Barker
788faf1f7d Copter: DataFlash frontend/backend split 2015-06-26 16:02:50 +10:00
Andrew Tridgell
ebddc05ead Copter: enable tail pass thru in acro for EXTGYRO tails 
this allows acro mode to function as full passthru
 2015-06-26 12:45:40 +09:00
Randy Mackay
163e1d8e1b Copter: update AC3.3-rc6 release notes 2015-06-26 10:17:14 +09:00
Randy Mackay
58b2f2b112 Copter: update AC3.3-rc6 release notes 2015-06-25 21:32:03 +09:00
Randy Mackay
c57c0ee0d8 Copter: AC3.3-rc6 release notes 2015-06-25 20:31:00 +09:00
Randy Mackay
14cf9b1621 Copter: reset ekf height if arming before home set 2015-06-24 16:25:17 +09:00
Randy Mackay
814edfa457 Copter: shift yaw target if ekf yaw estimate resets 2015-06-24 11:49:35 +09:00
Robert Lefebvre
8891cd159a Copter: Tradheli to check rotor_runup_complete before allowing takeoff. 2015-06-24 11:42:48 +09:00
Randy Mackay
89345bad7a Copter: clarify takeoff_timer_start alt units 
No functional change
 2015-06-22 13:24:01 +09:00
Randy Mackay
f79ac46d60 Copter: fix althold take-off state 
Also abort takeoff when switching into AltHold
 2015-06-22 13:24:00 +09:00
Randy Mackay
15c57342a5 Copter: remove some comments from althold 2015-06-22 13:23:58 +09:00
Robert Lefebvre
a642c88e34 Copter: AltHold state machine 2015-06-22 13:23:53 +09:00
Randy Mackay
8f95bc3b67 Copter: parachute check uses lean angle error of 30deg 
Also slightly restructured
 2015-06-19 15:46:13 +09:00
Leonard Hall
4154ecdf18 Copter: use angle error instead of absolute angle 2015-06-19 15:46:12 +09:00
Leonard Hall
911bee3518 Copter: set throttle_mix to min when disarmed 2015-06-19 15:46:11 +09:00
Randy Mackay
8cdfac8fcd Copter: remove baro and pilot thr from crash checks 
Add acceleration < 3m/s/s check
Run crash and parachute checks at 400hz
 2015-06-19 15:46:10 +09:00
Randy Mackay
e9829e0d82 Copter: remove unused landing detector definitions 
Also separate from land mode definitions
 2015-06-19 15:46:09 +09:00
Robert Lefebvre
ee6508d5a7 Copter: Event Log rotor speed going below critical 2015-06-19 15:10:54 +09:00
Robert Lefebvre
62079226ff Copter: add Heli Dataflash message 2015-06-19 15:10:52 +09:00
Robert Lefebvre
3e2e0d07a4 Copter: THO Check Rotor Speed before declaring not landed. 2015-06-19 15:10:49 +09:00
Robert Lefebvre
c6281c772d Copter: add rotor_runup_complete Event Logging 2015-06-19 15:10:48 +09:00
Robert Lefebvre
ef80634435 Copter: auto_armed goes false for Heli when landed and motor shut off. 2015-06-19 15:10:46 +09:00
Leonard Hall
a87e06e6c2 Copter: Autotune Final Tweak 2015-06-18 23:07:10 +09:00
Leonard Hall
7745fb21a7 Copter: remove set_accel_roll_max 2015-06-18 23:07:08 +09:00
Leonard Hall
c8b522a064 Copter: AutoTune always backup gains regardless of which axis enabled 2015-06-18 23:07:02 +09:00
Leonard Hall
c1134c1639 Copter: AutoTune remove unused local variable 2015-06-18 23:06:59 +09:00
Leonard Hall
e8cc5d6312 Copter: Autotune aggressiveness tweeks 2015-06-18 23:06:56 +09:00
Leonard Hall
0b4d9b80e7 Copter: AutoTune increase max aggressiveness 2015-06-18 23:06:54 +09:00
Leonard Hall
fe0d069eab Copter: Autotune log acceleration 2015-06-18 23:06:51 +09:00
Leonard Hall
b336ab4de7 Copter: Autotune remove logging of BAD_GAINS event 
This should never happen so no need to log
 2015-06-18 23:06:48 +09:00
Leonard Hall
7957d5fc19 Copter: Autotune use set_accel_roll, pitch, yaw 2015-06-18 23:06:45 +09:00
Leonard Hall
196f6cf1b7 Copter: AutoTune definition and comment changes 2015-06-18 23:06:43 +09:00
Leonard Hall
21cd73e877 Copter: AutoTune bug fix to save feedforward setting 2015-06-18 23:06:40 +09:00
Leonard Hall
773984b4ea Copter: AutoTune record accel max values 2015-06-18 23:06:37 +09:00
Andrew Tridgell
db4ac68f5e Copter: fixed logging of IMT without raw logging 2015-06-17 13:10:25 +10:00
Randy Mackay
82ad454864 Copter: log sonar_alt even when disabled 2015-06-17 12:46:55 +10:00
Randy Mackay
5644dd8620 Copter: fix duplicate IMU logging 
IMU logs could be written at FULL rate and at lower rates leading to duplicates
 2015-06-17 12:46:55 +10:00
Randy Mackay
cd9f62328e Copter: log IMUDT with IMU 2015-06-17 12:46:54 +10:00
Jonathan Challinger
5b14ce7694 Copter: remove comments that number scheduler table 2015-06-16 18:07:20 +09:00
Randy Mackay
5e40ad5c38 Copter: sonar pre-arm check only if optflow enabled 2015-06-16 17:59:25 +09:00
Andrew Tridgell
58b1702552 Copter: fixed pde paths 2015-06-16 09:59:39 +10:00
Randy Mackay
f603c1ef69 Copter: fix ekf-check reliance on position_ok 2015-06-15 22:29:20 +09:00
Randy Mackay
f93a259b04 Copter: add comment to Solo section in Parameters.h 2015-06-14 14:47:02 +09:00
Jonathan Challinger
fd37a48f8e Copter: clean up Parameters.h comments a bit 2015-06-14 14:44:15 +09:00
Jonathan Challinger
035c0b567e Copter: reserve param indices that exist in Solo repo 2015-06-14 14:44:13 +09:00
Randy Mackay
40ed2f7f53 Copter: send vibration in STREAM_EXTRA3 2015-06-12 21:36:45 +09:00
Randy Mackay
9e08775cbf Copter: log vibration at 10hz 2015-06-12 21:36:31 +09:00
Andrew Tridgell
290805b879 Copter: fixed logging of parameters on arming 
ensure parameters are logged when we have no logging before arming
 2015-06-12 13:10:54 +10:00
Randy Mackay
58505d8242 Copter: autotune relaxes alt controller when landed 2015-06-11 20:21:06 +09:00
Randy Mackay
1bd6728e21 Copter: add All+FullIMU to LOG_BITMASK param description 2015-06-11 20:21:01 +09:00
Randy Mackay
28fc981d29 Copter: refresh rc servo function on startup 2015-06-10 16:47:07 +09:00
Eugene Shamaev
a3ddc49a70 Copter: added DSM bind support 2015-06-10 17:19:10 +10:00
Randy Mackay
ce1031a5bd Copter: remove AP_AHRS_NAVEKF_AVAILABLE checks 
Copter requires an EKF
 2015-06-10 12:18:38 +09:00