50f583f116
Copter: AC3.1-rc6 version and release notes
11 years ago
5cc8772947
Copter: bug fix to Tricopter motor logging
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Fourth motor taken from yaw channel's radio_out instead of random
location in memory
11 years ago
8c9ab50ba2
TradHeli: restore CC_COMP and PIRO_COMP
11 years ago
0f67e25d37
TradHeli: set throttle_min to zero by default
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
c9c803ffd4
TradHeli: move STAB_COL_MIN to main parameter list
11 years ago
197fc67897
TradHeli: move pilot desired rotor speed to heli.pde
11 years ago
527f05ddec
Copter: remove unused init_rate_controllers
11 years ago
4537e0aa15
Copter: add deadzone to ch8 for TradHeli
11 years ago
1f6bc7bd9c
Copter: log TradHeli ch7, ch8 in MOT message
11 years ago
19ddb8e5f3
TradHeli: integrate constructor changes to main code
11 years ago
bba7fdc7c3
TradHeli: ch6 tuning of ext gyro to use control_in
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This could also be used to control the other Heli Ch7 functions (direct drive tail rotor control). This should be tidied up.
Credit: Jolyon Saunders
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
232a116973
TradHeli: Use Leaky Integrator on Yaw Rate controller
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Use when rotor is not running to prevent the rudder from slowly moving over
11 years ago
3ce16113b5
TradHeli: use landing collective when landed or landing
11 years ago
633e91b7d4
Copter: initialise roll, pitch, yaw modes to stabilize
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This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
11 years ago
ae87759e6d
TradHeli: add THROTTLE_MANUAL_HELI
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Move check_dynamic_flight to run as scheduled task
11 years ago
eaef5315bf
TradHeli: bugfix to update swash in run_rate_controllers
11 years ago
34fb70cfc7
TradHeli: formatting and param description changes
11 years ago
46118b59d7
TradHeli: integrate motor lib changes
11 years ago
72597cc5bd
TradHeli: remove setup via CLI
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Saves 6k of flash
11 years ago
0e2ddb0378
Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete.
11 years ago
c5b119288d
TradHeli: Add Motor Runup check to the auto_arming check.
11 years ago
f67d95ac75
TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly.
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
e23e4bc7d8
TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector
11 years ago
324c866ae1
TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started.
11 years ago
f7c63be357
TradHeli: leaky-I-term based on dynamic_flight_detector
11 years ago
f0f6e85b39
Copter: ARMING_CHECK made into bitmask
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Allows arming checks to be individually enabled or disabled for baro,
compass, GPS, INS, parameters, RC and board voltage
11 years ago
fe822ba0b6
Copter: pre-arm check of INS health
11 years ago
371dc8c616
Copter: Drift Mode
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Changes Toy mode declarations to Drift mode.
Requires GPS, Mode 2 transmitter
Drift mode mixes Roll, Pitch and Yaw into a single stick on mode two transmitters.
11 years ago
57b291b1c5
Copter: reject change_command if not in AUTO
11 years ago
0778454434
Copter: disarm routine shortcut
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Extra check so we only run the disarm check when we are actually armed.
The ground stations sometimes send many disarm messages which can be
ignored
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
159d6320bf
Copter: move SINGLE parameters to start at 75
11 years ago
06ce98a2f4
Copter: add SINGLE_FRAME definition
11 years ago
07d3f2a3c5
Copter: add support for singlecopter airframe
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this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
11 years ago
13fd33c2d8
Copter: gps failsafe disabled until we get first 3d lock
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
03831cdd28
Copter: GPS ok only when not glitching
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Removed redundant checks to GPS_ok before setting flight mode to RTL
(this check is already performed inside the set_mode function)
Removed reset of home distance and bearing when GPS lock is lost, it now
remains at the last known value
11 years ago
e4d8c673f3
Copter: force gyro calibration on start-up
11 years ago
6b1f59372c
Copter: show git and firmware version in tlog
11 years ago
b41f4898e0
Copter: report INS health
11 years ago
2f6cfd1ff8
Copter: update for AHRS API changes
11 years ago
620109d894
Copter: formatting fix to config.h
11 years ago
8868af7c2f
TradHeli: Change default Auto-Yaw to Yaw Look Ahead
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This leads to smoother flight in Auto modes, particularly with fast waypoints.
11 years ago
66b8ca3a27
Copter: updated toy gains
11 years ago
2a82d1b0b0
Copter: CH7 SaveWP fix corner case
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If the user is on the ground and flips CH7, do nothing instead of recording a bad takeoff altitude. Do another check to avoid a land right after a takeoff.
11 years ago
Randy Mackay
Robert Lefebvre
Jason Short
ssq870424
Andrew Tridgell