aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
9,792 Commits 72 Branches 509 Tags 683 MiB
dc6375f343
Commit Graph

2592 Commits

Author SHA1 Message Date
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
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
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
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
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
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
259a3296d1 TradHeli: remove setup via CLI 
Saves 6k of flash
 2013-11-23 17:06:49 +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
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
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
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
898fa2f2a1 Copter: move SINGLE parameters to start at 75 2013-11-23 17:06:00 +09:00
Randy Mackay
e138a12f80 Copter: add SINGLE_FRAME definition 2013-11-23 17:05:58 +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
Randy Mackay
1bbc7d7185 Copter: gps failsafe disabled until we get first 3d lock 2013-11-23 17:05:52 +09:00
Randy Mackay
acd5846994 Copter: bug fix to take-off in Loiter and AltHold 
Always set the target altitude after take-off to be current altitude +
20cm.  This resolves a bug in which the target altitude could end up
being a couple of meters higher than the current altitude if the user
entered Loiter / Alt Hold mode before inertial nav altitude estimate had
settled.
 2013-11-23 17:05:50 +09:00
Randy Mackay
259988a0be Copter: GPS ok only when not glitching 
Removed redundant checks to GPS_ok before setting flight mode to RTL
(this check is already performed inside the set_mode function)
Removed reset of home distance and bearing when GPS lock is lost, it now
remains at the last known value
 2013-11-23 17:05:48 +09:00
Randy Mackay
b33ea01366 Copter: force gyro calibration on start-up 2013-11-23 17:05:47 +09:00
Andrew Tridgell
1bec20482f Copter: show git and firmware version in tlog 2013-11-23 17:05:34 +09:00
Andrew Tridgell
f182169c01 Copter: report INS health 2013-11-23 17:05:16 +09:00
Andrew Tridgell
dca5bee080 Copter: update for AHRS API changes 2013-11-23 17:04:22 +09:00
Randy Mackay
917d9226b2 Copter: formatting fix to config.h 2013-11-23 17:03:58 +09:00
Robert Lefebvre
7e49f630ad TradHeli: Change default Auto-Yaw to Yaw Look Ahead 
This leads to smoother flight in Auto modes, particularly with fast waypoints.
 2013-11-23 17:03:55 +09:00
Jason Short
558dd6db04 Copter: updated toy gains 2013-11-23 17:03:53 +09:00
Jason Short
945b9260b5 Copter: CH7 SaveWP fix corner case 
If the user is on the ground and flips CH7, do nothing instead of recording a bad takeoff altitude. Do another check to avoid a land right after a takeoff.
 2013-11-23 17:03:46 +09:00
Randy Mackay
bb0f18e2d4 Copter: remove unused get_acro_yaw 2013-11-23 17:03:44 +09:00
Jason Short
cbbd3ae50e Copter: remove unused Toy param 2013-11-23 17:03:42 +09:00
Jason Short
60775e94b9 Copter: TOY mode updates 2013-11-23 17:03:41 +09:00
Andrew Tridgell
4194b2fdd7 Copter: int gyros on arm, not on first boot 
this makes first boot much faster
 2013-11-23 17:03:25 +09:00