35a924703f
Copter: change multirotor comments to multicopter
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No functional change
10 years ago
0a69c13b1d
Copter: Fix helicopter ground stabilization in Auto, Brake, Circle, Guided, Land and RTL modes.
10 years ago
fb82ac3eb3
Copter: rework land detector logic
10 years ago
278883c521
Copter: finished conversion to .cpp files
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Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
10 years ago
356ece3402
Copter: rename .pde files to .cpp files
10 years ago
554de1f2d7
Copter: added channel objects named after input function
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this follows the pattern used in plane and rover
10 years ago
8610da7fbc
Copter: autopilot modes to check for motor interlock status
10 years ago
5e359c977f
Copter: replace range finder health with status
10 years ago
91a03ae0e7
Copter: add PILOT_THR_FILT and call set_throttle_out functions with that value
10 years ago
b27b9dd86e
Copter: use new throttle interface
10 years ago
ecefe78417
Copter: interpret input in stabilize as a tilt vector
10 years ago
77d8f88e45
Copter: fence, rtl, land use alt-above-home
10 years ago
199dc3454d
Copter: replace GPS_ok with position_ok
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position_ok uses the EKF's filter status if the EKF is being used
otherwise it falls back to the GPS based checks used by inertial nav
10 years ago
1c25c00f5b
Copter: move land_detector to separate file
10 years ago
36410a5131
Copter: clean up land detector and modify to use desired velocity
10 years ago
05fedbf98f
Copter: minor formatting fixes
10 years ago
91bff63267
Copter: Fix LAND overshoot issue
10 years ago
562f3e7382
Copter: set notify event when failsafe changes flight mode
10 years ago
963cc4d60a
Copter: Add velocity gain scaler to interfaces
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Allows nav gain to be scaled to compensate for optical flow noise
10 years ago
9844dacf40
Copter: Add EKF ground speed limit to loiter speed control
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This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
10 years ago
c7a38c4350
Copter: use force_descend option on auto landings
10 years ago
f6ff1742d5
Copter: landing detector checks baro climb rate
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Barometer climb rate must be -150cm/s ~ +150cm/s
This threshold is generous because we already use the inertial
navigation climb rate so this is just to catch cases where inertial nav
is very incorrect in it's climbrate estimates
10 years ago
8e3d163c3d
Copter: Change all zero throttle checks that should be conservative to use ap.throttle_zero
10 years ago
7ced9b1bd3
TradHeli: remove overall throttle level from landing check
11 years ago
1c11a91ec2
Copter: rename land_maybe_complete function
11 years ago
b9977a1115
Copter: add land_complete_maybe flag
11 years ago
6951a20fb0
Copter: soften loiter target when maybe landed
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Applies to auto's land, land, loiter, pos hold and rtl flight modes
11 years ago
8ca4795ffb
Copter: Log NTUN while in LAND mode with GPS
11 years ago
28f31166b9
Copter: land check gets overall throttle and rotation rate check
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add check that overall throttle level is below the non-takeoff throttle
instead of just checking that it's motors have hit their lower limits
because low limits can also be caused by high yaw rotation requests.
Absolute climb rate requirement reduced to 30cm/s
11 years ago
63d0cddfa4
Copter: make landing detector more strict
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Made more strict by requiring 50 consecutive iterations where the climb
rate is below +- 40cm/s. Previously it was 50 cumulative.
Removed check of failsafe.radio when clearing the land flag because it
could result in the vehicle taking off if the user picked it up.
11 years ago
279aff87f2
Copter: bug fix to land-detector
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vehicle should become un-landed only when throttle out is above the
get-non-throttle-takeoff value
11 years ago
11678ba936
Copter: remain landed until throttle output above 25 percent
11 years ago
6416a4d0e6
Copter: fixed apm1-hil build
11 years ago
a4b9b989b7
Copter: convert to new AP_RangeFinder API
11 years ago
09a01a4668
Copter: Wait 4 seconds before beginning to land during failsafes
11 years ago
5b36e65cb9
Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents
11 years ago
08801eebf2
Copter: integrate AttControl's set_yaw_target_to_current_heading
11 years ago
77d5d682c1
Copter: integrate init_targets rename to relax_bf_rate_controller
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Also remove unnecessary init_targets from flight mode init functions.
11 years ago
abd1370b2c
Copter: flag stays landed unless pilot raises throttle
11 years ago
d5a0ca4f3c
Copter: integrate init_loiter_target name change
11 years ago
a3036fc443
Copter: init pos_control z-axis after setting speed and accel
11 years ago
7d7a2aced7
Copter: init vert speed and accel for each flight mode
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This resolves issue #1021 in which LAND mode could descend at the
PILOT_VELZ rate instead of the WPNAV_SPEED_DN
Pilot defined acceleration is used for AltHold, AutoTune , Circle,
Hybrid, Loiter, OF_Loiter and Sport flight modes
Waypoint Nav (ie. AutoPilot) acceleration is used for Auto, Land, RTL
11 years ago
5fe86a657e
Copter: land_do_not_use_GPS has no return value
11 years ago
4686eef266
Copter: GPS failsafe ensures LAND is pilot-controlled
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This resolves issue #880 in which if a GPS failsafe occurred while the
vehicle was already in LAND mode, the LAND would continue to be GPS
controlled LAND instead of pilot-controlled LAND
11 years ago
3a934357e9
Copter: remove unused reset_land_detector
11 years ago
e89600afe3
Copter: integrate smoothing gain into flight modes
11 years ago
b259510095
Copter: init roll/pitch input filters
11 years ago
3ccd1ad170
Copter: integrate AttControl method name changes
11 years ago
2c1ec9d0c0
Copter: remove control_roll, pitch, yaw from control files
11 years ago
bd88ed8a53
Copter: LAND at stopping point instead of curr pos
11 years ago
Randy Mackay
Robert Lefebvre
Jonathan Challinger
Andrew Tridgell
priseborough
Andrew Tridgell
Ju1ien