84f82dd129
Copter: correct get_pilot_desired_throttle calc
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Also minor format and commenting addition
10 years ago
3a529b2cef
Copter: utilize get_control_mid for throttle calculations
10 years ago
83051c306d
Copter: minor rename of a circular limits variable
10 years ago
d46c659d0f
Copter: Add circular limits pilot's roll/pitch inputs
10 years ago
818b3b74f6
Copter: sanity check throttle deadzone
11 years ago
cf98cc29b5
Copter: throttle deadzone parameter
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Allows increasing or decreasing the deadband size in AltHold, Loiter,
PosHold flight modes
11 years ago
6fc5014a84
Copter: increase sonar timeout to 1sec
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Contributed by Julien Dubois.
11 years ago
610e747f27
Copter: minor formatting fix
11 years ago
edd7334544
Copter: add pre_takeoff throttle feedback
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pair-programmed with Randy Mackay
11 years ago
fd9502d3fa
Copter: Improve surface tracking dynamics
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This little fix will allow much higher sonar_gain without the
oscillating effect it used to bring.
11 years ago
640b64f5e4
Copter: convert to new GPS API
11 years ago
3910ab807f
Copter: replace input filtering with smoothing gain
11 years ago
fdae812814
Copter: DO_SET_ROI persists across waypoints
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Users should add a DO_SET_ROI command with zero lat, lon and alt to
restore the yaw control to the default control (which is normally
look-at-next-wp)
11 years ago
5e8fede19e
Copter: comment fix to Attitude.pde
11 years ago
38d5148b99
Copter: remove reset_I_all
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Each controller should reset the I terms as needed
11 years ago
90c5fe4be4
Copter: surface_tracking takes current_alt_target param
11 years ago
223c6fd4de
Copter: remove deadwood, update_thr_cruise always runs
11 years ago
c632211c8c
Copter: get_of_roll, get_of_pitch moved to control_ofloiter
11 years ago
96c61fcf28
Copter: removed get_throttle_land
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Now in the control_land.pde
11 years ago
d92e894af6
Copter: get_throttle_surface_tracking returns climb rate
11 years ago
65f7bf92f4
Copter: replace yaw_mode with auto_yaw_mode
11 years ago
b29a963fd6
Copter: remove unused Attitude.pde functions
11 years ago
b34664ea07
Copter: remove unused altitude error
11 years ago
abb42bcb41
Copter: remove unused run_rate_controllers
11 years ago
77c38f4de4
Copter: integrate init take-off
11 years ago
faf1e99f1a
Copter: surface tracking to use pos_control
11 years ago
7784fc7645
Copter: update pos_control's hover throttle
11 years ago
cbe56bba25
Copter: integrate AC_AttitudeControl
11 years ago
7b9a48107e
Copter: move angle_max parameter to AP_Vehicle
11 years ago
2219f21744
Copter: add RC_FEEL_RP parameter
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Values from 0 ~ 100 control amount of filtering on roll and pitch input.
100 = no filter so crisp feel, 0 = a lot of filtering so very sluggish
response
11 years ago
8f5585423c
Copter: use ahrs trig values
11 years ago
311bba1419
Copter: landing_complete stays true until thr is raised
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The idea of the fix is we can't leave land while throttle is 0 and then
we ignore the baro and it's disturbances.
11 years ago
a9f1a2ee5e
Copter: disarm on land even if pilot throttle not zero
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default behaviour remains as before, this is an compile time option only
11 years ago
df9d1614e2
Copter: remove PID logging
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Almost never used and eats up limited log description space
11 years ago
7ef04bb73b
Copter: rename nav_yaw to control_yaw
11 years ago
81fc24586e
TradHeli: remove calls to get_manual_collective in auto throttle
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set_collective_for_landing method makes this unnecessary
11 years ago
60bc9f4539
TradHeli: angle error to zero while motors runup
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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
11 years ago
9ae66c1773
TradHeli: add support for drive tail rotors
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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
11 years ago
eaef5315bf
TradHeli: bugfix to update swash in run_rate_controllers
11 years ago
46118b59d7
TradHeli: integrate motor lib changes
11 years ago
ffb605d06d
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.
11 years ago
8f2c9591ff
TradHeli: dynamic_flight flag based on inertial nav speed
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Created new heli.pde for heli_integrated_swash and check_dynamic_flight
11 years ago
f7c63be357
TradHeli: leaky-I-term based on dynamic_flight_detector
11 years ago
f5b1114aea
Copter: range check pilot requested lean angles
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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!
11 years ago
f29f7d9777
Copter: bug fix to take-off in Loiter and AltHold
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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.
11 years ago
8278767d0a
Copter: remove unused get_acro_yaw
11 years ago
8386b658e9
Copter: add ANGLE_RATE_MAX param
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Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes
11 years ago
d2bbc06502
Copter: allow throttle deadband to be redefined in APM_Config.h
11 years ago
6876107a15
Copter: autotune disables rate output from stab controller
11 years ago
7cc8a9038f
Copter: move failsafe flags into structure
12 years ago
Randy Mackay
Jonathan Challinger
Jolyon Saunders
lthall
Ju1ien
Andrew Tridgell
Robert Lefebvre