d9b65cec22
Copter: fix compiler error re ch9, ch12 on some boards
...
channel 9 and 12 are not exist on some builds.
10 years ago
3be0a47c02
Copter: minor formatting fix
10 years ago
20311c3ba2
Copter: remove CH7_OPTION definition
...
We can replace the unused definitions and just set the aux switch
defaults to do-nothing directly in the parameter table
10 years ago
e6c3f4f97b
Copter: move aux switch enum to defines.h
10 years ago
fd0cb0beed
Copter: Create check_duplicate_auxsw() method to streamline pre-arm check code
10 years ago
1afeb05398
Copter: Create check_if_auxsw_mode_used() to check for function usage
10 years ago
97cd3614eb
Copter: Change Aux Switch function list to enum.
10 years ago
a5af151a91
Copter: Initial expansion of Aux Switch to Ch7-12
10 years ago
b10730f35c
Copter: remove THR_MAX parameter
10 years ago
2a47337dc1
Copter: fix multiple flight-mode fail log messages
...
When the vehicle failed to enter a flight mode it was logging the
failure repeatedly in the dataflash
10 years ago
79e152cd93
Copter: Update compass to the new interface
10 years ago
9c6531ebeb
Copter: simplify APM_Config after removing APM1,2 support
10 years ago
088a49abbf
Copter: remove APM1, APM2 support
10 years ago
fbfc94cf69
Copter: remove GPS glitch and failsafe
...
The EKF failsafe now captures all failures that could lead to a bad
position including GPS glitches and a bad compass meaning we do not need
this protection in the main flight code.
10 years ago
6f6847c025
Copter: use only InertialNav_EKF
...
remove calls to unsupported functions including ignore_next_error,
set_altitude, etc.
10 years ago
d7f624be39
Copter: remove baro_glitch protection
10 years ago
0476558049
Copter: remove USE_EKF from ch7/ch8 switch
10 years ago
d9342ed854
Copter: allow motor test using raw pwm without RC cal
10 years ago
553261d4ce
Copter: send EKF_STATUS_REPORT in extra3 stream
10 years ago
0447f6216a
Copter: get_pilot_desired_lean_angles uses angle_max of at least 10deg
...
Removes the unlikely event of a divide by zero if ANGLE_MAX is set to
zero and sticks were in middle
10 years ago
ecefe78417
Copter: interpret input in stabilize as a tilt vector
10 years ago
721d551239
Copter: extend AUTOTUNE_AXIS param description
10 years ago
b475a2fe10
Copter: AutoTune formatting fixes
...
no functional change
10 years ago
c537c38646
Copter: add update_throttle_low_comp
...
sets the priority of throttle vs attiude control so that attitude is
favoured (i.e. high throttle-low-comp) during dynamic flight while
throttle is favoured when vehicle may be landing.
10 years ago
36c91970f1
Copter: Autotune algorithm update
10 years ago
9bfb0e1f40
Copter: Autotune comment changes and formatting
10 years ago
1c57c6a266
Copter: Autotune update yaw filt and rate P max
10 years ago
72d1113501
Copter: set accel and gyro disabled during calibration
10 years ago
3e45052a75
Copter: reply with failed if gyro or accel cal fails
10 years ago
10724f5738
Copter: reject preflight calibration when armed
10 years ago
3f906f6bd1
Copter: added CLI_ENABLED option
10 years ago
47e9409d00
Copter: set gyros disabled when calibrating
10 years ago
9b9aa3dc33
Copter: use new interactive accelcal
10 years ago
033bcd849b
Copter: add 0.6 to EKF and DCM CHECK_THRESH param description
10 years ago
e0acd250d1
Copter: set Notify firmware_update flag before reboot
10 years ago
61ed812fc4
Copter: set Notify's autopilot_mode flag
10 years ago
778edfda72
Copter: default yaw rate filter to 5hz
10 years ago
d5bbe6de03
Copter: remove TRIM_THROTTLE
...
throttle_trim is replaced by throttle_average which is initialised to
the throttle_mid parameter value at startup
10 years ago
c78480e14f
Copter: rename loiter_pos to pos_xy
...
Also renamed throttle_rate to vel_z, throttle_accel to accel_z
10 years ago
e232867661
Copter: move LOITER_RATE to 2-axis PI controller
...
Also rename LOITER_RATE to VEL_XY for parameters, definitions, variables
10 years ago
1ec5eedd23
Copter: ch6 tuning of yaw rate filter
10 years ago
2b0fb45fe8
Copter: integrate PID input filter
10 years ago
d233ca3133
Copter: add Time and rate_target to AutoTune logging
10 years ago
8ba195a3a2
Copter: add Mot and Rate dataflash logging
10 years ago
1ebf2c40f5
Copter: Autotune rewrite
...
Includes the following:
Increase Autotune Limits
Low Rate_P_Max prevents correct Rate_D prediction.
make adjustment proportional
increase the maximum value of Rate_P
adjustment for zero overshoot
Speed up autotune
Reduce D bounce back requirement
adapt matthewlloyd's switching
Includes many enhancements to the basic code but doesn't bring in his
speed up ideas
Reduce Stab P down
Add Calibration
Repeat side to increase speed
Update Autotune PI ratios
fixup comments
autotune incorporate aggressiveness parameter
sets max accel for roll, pitch, yaw
Update accel calc and set Yaw D to zero
Calculate Accel correctly on SP Limit
Send saved gains msg to GCS
updates PID filter
increase accel backoff
save max accel if rate feedfwd enabled
keep stabilizing
10 years ago
a9a6e8856b
Copter: add AUTOTUNE_AGGR parameter
10 years ago
864168e5ea
Copter: add AUTOTUNE_AXES bitmask parameter
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This is used to allow tuning just some axis
10 years ago
c711179ffe
Copter: set_mid_throttle renamed to set_hover_throttle
10 years ago
bae424fa88
Copter: pass in loop_rate to motors constructor
10 years ago
8eedb2c040
Copter: sent battery voltage and current to motors
10 years ago
Randy Mackay
Robert Lefebvre
Víctor Mayoral Vilches
Andrew Tridgell
Jonathan Challinger
Leonard Hall