300a8d2bbc
Copter: support all 12 channels on PX4
...
last 4 channels are on the FMU pins
12 years ago
74dca6da22
Copter: move update_commands to run_autopilot fn
...
update_commands was being run in the medium_loop counter but it is
easier to understand the flow of the code if it is consolidated along
with other autopilot calls.
12 years ago
5ad9deecfb
Copter: cleanup some bit if tests to be clearer
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
63a48f76e2
Copter: add pre-arm check of radio and accel
...
Only checks throttle channel and accelerometer scaling
12 years ago
d5875676b1
Copter: use a reference to DCM matrix
12 years ago
2fc25da4c3
Copter: Leonard's fix for get_loiter_accel_to_lean_angle
12 years ago
c53ede506d
Copter: make if statement clearer
12 years ago
8b31f276a2
Copter: switch to block based logs for SITL
12 years ago
a53e5f747b
Copter: add fourth yaw behaviour, look-at-home
...
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
12 years ago
02c3083f60
Copter: print flight mode as string
12 years ago
67484a2ea1
Copter: make copter code compatible with the new logging system
...
not fully converted yet
12 years ago
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
...
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
12 years ago
f5955d8915
Copter: auto climb and descent params removed
...
These params now reside in the AC_WPNav library
12 years ago
2b4a7d60a9
Copter: remove unused throttle modes
...
These were useful for testing the alt-hold when it was first introduced
but now they just add complexity
12 years ago
56809a9df2
Copter: remove unused nav_ok and alt_sensor_flag
12 years ago
d2bd818b2d
Copter: bug fix for auto_armed logic
...
Zero throttle when switching into an auto flight mode would cause the
motors to stop.
12 years ago
501eb4f0b4
Copter: made more variables static
12 years ago
a185fa950c
Copter: Jason's fix to auto disarming
...
Added check so that it only starts counting down when motors are armed.
This removes the issue in which the copter sometimes disarms shortly
aftering being armed.
12 years ago
b48864e1ad
Copter: allow CH6 tuning of compass declination
12 years ago
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
12 years ago
bffe4fa412
Copter: remove NAV_LAT and NAV_LON
...
Loiter and navigation controllers now combined
12 years ago
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
12 years ago
bc87118062
AC_WPNav: add get_target_alt method
12 years ago
6dbcbdcb43
AC_WPNav: limit max loiter position error
...
move interpretation of pilot input to wpnav lib
12 years ago
926c404994
AC_WPNav: Leonard's loiter target smoothing
12 years ago
553f40a99c
Copter: bug fix to loiter delay
...
change delay to seconds to allow delays longer than 65seconds
12 years ago
4de5f67a91
Copter: replace wp_nav.get_target_alt with get_destination_alt
12 years ago
5b93990e41
Copter: removed next_WP
...
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
12 years ago
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
12 years ago
58ed8cd544
Copter: replace set_next_WP with direct call to wp_nav
12 years ago
49828eba7d
Copter: integrate AC_WPNav
12 years ago
3bf847f675
Copter: Jason's faster cos_yaw, sin_yaw
12 years ago
7ccb14344c
Copter: update version to 2.9.1b-dev
12 years ago
59f80410d5
Add ability to compile sensor hil with sitl
12 years ago
b280857025
Copter: use common angle wrap code
12 years ago
f7d977fe37
Copter: add support for GPS fix type 2D
12 years ago
597a4b912a
Copter: fix to allow building HIL_MODE_SENSORS
12 years ago
61e29173e3
Copter: remove unused crosstrack variables and parameters
...
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
12 years ago
fdcb78ccf7
Copter: leonard's smoother alt-hold transition
...
Target altitude when entering alt-hold is based on a projection from
current alt and climb rate
12 years ago
150046f2b8
Copter: GPS Failsafe implemented
...
Switches to LAND mode 5 seconds after losing GPS if you're in a flight
mode that requires a GPS
12 years ago
f9539384a1
Copter: rename failsafe to failsafe_radio
...
Makes way for separation of failsafes for throttle, gps and gcs
12 years ago
f263e81ed7
Copter: remove unused GPS and baro filters
...
Saves 24bytes of RAM
Removing the baro filter leads to noisier Baro Alt appearing in the log
so we should make the inertial nav altitude appear in the CTUN message
12 years ago
cb84ec9d9b
Copter: add current based compass compensation
12 years ago
e0506bd622
Copter: inav circle initial implementation
12 years ago
d6ff5ae261
Copter: add roll-pitch slew for auto modes
...
Added reporting of roll, pitch inputs for ACRO, AUTO
12 years ago
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
12 years ago
609676e26c
Copter: add logging of compass values
...
Removed rarely used ITERM because we didn't have enough bits in the log
mask
12 years ago
1410063a14
Copter: new ROLL_PITCH_WP_INAV roll-pitch mode
...
small corrections to allow waypoints to work with new inertial nav wp
controller
12 years ago
67c69a19ee
Copter: remove baro-only alt hold
...
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
12 years ago
fcf102b2cf
Copter: inertial nav waypoint controller
...
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
12 years ago
Andrew Tridgell
Randy Mackay
Michael Oborne