8c48b65175
Copter: bug fix to remove home variable
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pair programmed with Craig Elder
11 years ago
d0194b7a9d
Copter: remove home variable
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home has moved to ahrs
saves 15 bytes of RAM
11 years ago
5c305989b9
Copter: set home alt to absolute alt
11 years ago
09fc777ab9
Copter: slow motors after landing in AUTO
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This resolves an issue in which the vehicle could tip over if the pilot
did not reduce the throttle to zero soon after landing in AUTO mode
11 years ago
0c9a496262
AC_AttControlHeli: add ATC_RATE_FF_ENAB parameter
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Because this class inherits from AC_AttitudeControl library this new
parameter must be added here as well
11 years ago
a873942f73
Fix to restore Gimbal control after Mission with ROI
11 years ago
810c87969c
Copter: Ch7/8 switch to enable/disable feed forward and accel limiting
11 years ago
46f25c52a4
AC_AttControl: allow enabling/disabling feedforward and accel limiting
11 years ago
a2f54fdf2c
AC_WPNav: smooth waypoint by freezing feed-forward and allowing overshoot
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First part of this fix is freezing the position controller's xy-axis
feed foward as we transition to the new segment.
Second part is work-around for straight line segments in that we allow
the target point to actually overshoot the end of the segment by up to
2m if the segment is a "fast waypoint". Ideally we would instead notice
the waypoint has been completed and take any left over time or distance
and move our target along the track towards the next waypoint but that
would require a much larger change to allow the wpnav lib to hold the
next two waypoints.
11 years ago
ce85d1f6b2
AC_WPNav: use curr pos target as spline origin
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We only use the current target position as origin if the waypoint
controller is active (i..e has been used in the past 1 second). This is
consistent with how we initialise straight line waypoints
11 years ago
130eb07d48
AC_AttControl: angle_ef_roll_pitch_rate_ef_yaw supports zero yaw accel
11 years ago
f2d3fed612
Add name to GTI_Success.txt
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this is just a test
11 years ago
02b4b21f67
AC_AttControl: disable feed forward by default
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Can be re-enabled by setting ATC_RATE_FF_ENAB parameter to 1
11 years ago
b57c0dabf6
AC_AttControl: check accel_rp_max instead of rate_bff_ff_enabled
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We use the accel_rp_max, accel_y_max to check whether to apply accel
limiting or not. This is related to separate from the
body-frame-feed-forward.
11 years ago
91b1d20b70
Heli: integrate AttControl's set_yaw_target_to_current_heading
11 years ago
08801eebf2
Copter: integrate AttControl's set_yaw_target_to_current_heading
11 years ago
2bb30b3ef9
AC_AttControl: add set_yaw_target_to_current_heading method
11 years ago
d9c966c927
AC_AttControl: RATE_FF_ENAB param to disable rate feed forward
11 years ago
4d4c7a2118
AC_AttControl: move freeze_ff to flags structure
11 years ago
a662f87ffb
AC_AttControl: remove resolved To-Do
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This To-Do is resolved by heli flight modes calling the
relax_bf_rate_controller method
11 years ago
7f734f38d6
AC_AttControl: add earth frame angle constraints
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This should help recovery time if pilot switches out of ACRO (into
Stabilize, AltHold, etc) while inverted
11 years ago
698cf934b8
AC_AttControl: formatting fixes
11 years ago
2bb63857fa
AC_AttControl: clean up stabilize
11 years ago
c24d293e1b
AC_AttControl: zero _accel_xyz_max stops feed forward
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Also added place holder for turning off feed forward.
11 years ago
babe655b8f
Copter: Remove acro acceleration slew todo
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It has already been done :)
11 years ago
8bbce7e658
AC_PosControl: freeze feed forward for alt control in Auto
11 years ago
922026c15c
AC_AttControl: rate compensation for yaw
11 years ago
0d87298221
AC_PosControl: freeze feed forward and vector fixes
11 years ago
4221833028
Copter: flip records starting attitude
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Previously flip relied on the attitude controller not updating the earth
frame target during the flip which can't be guaranteed. Safer for flip
to maintain it's own copy of the original attitude .
11 years ago
75c328a752
TradHeli: integrate init_targets rename to relax_bf_rate_controller
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
5209598459
AC_AttControl: rename init_targets to relax_bf_rate_controller
11 years ago
1bdde31f6b
Copter: Fix zero throttle flip issue Stabilize
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The problem is that the init_targets is intended to ensure the
controller doesn't build up the I term when the throttle is low. Because
it is poorly named (or used) it have been written to do something else.
Here I change it to do what the code is trying to use it to do.
11 years ago
105382bf21
Plane: release 3.0.4beta2
11 years ago
94876dccb1
autotest: added Ballarat to autotest locations
11 years ago
915dad2da4
AC_Circle: use fast_atan2 to calc bearing from center
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This does not save much time because it's only called at initialisation
11 years ago
f23e94707c
AC_WPNav: use fast_atan2 for bearing calcs
11 years ago
083f2898a9
Copter: use fast_atan2 for bearings to home and next WP
11 years ago
919b0ea29b
CPUInfo: add fast_atan2
11 years ago
17374ff5e8
AP_Math: fast_atan2
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This is 126us per call vs 199us on the AVR. it is accurate to about
0.28 degrees
Committed by rmackay9 but contribution is from David Dewey
11 years ago
f5f206b055
Copter: set inav alt to zero when arming
11 years ago
28ce66f314
INav: clear historic z-axis position estimate when set_altitude called
11 years ago
abd1370b2c
Copter: flag stays landed unless pilot raises throttle
11 years ago
9fcfea5404
Copter: accept DO_CHANGE_SPEED outside of missions
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https://github.com/diydrones/ardupilot/issues/1095
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
4f75cbcce0
AutoTest: fix error reporting for copter AVC mission
11 years ago
efd6d6dc70
AC_WPNav: spline div by zero fix
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Also add check for straight line navigation to ensure speed is not
reduced below zero when it hits the leash limit
Also minor formatting changes
11 years ago
0912bec8f5
Spline div zero and leash limit fix
11 years ago
ea086fa79c
Plane: added MAV_CMD_DO_INVERTED_FLIGHT support
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allows for mission control over inverted flight
11 years ago
f0df912a11
AP_Mission: added support for MAV_CMD_DO_INVERTED_FLIGHT
11 years ago
Randy Mackay
Jason Short
hazyhxj
lthall
Andrew Tridgell
David Dewey
Ju1ien
Valentin Brossard