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
fb0f5d46ba
Copter: use BIT_IF_SET()
...
this should fix the problem with simple mode on PX4
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
5ad9deecfb
Copter: cleanup some bit if tests to be clearer
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
8ec1eaa8b1
build: removed obsolete cmake rules
...
these have not been maintained for over a year
12 years ago
63a48f76e2
Copter: add pre-arm check of radio and accel
...
Only checks throttle channel and accelerometer scaling
12 years ago
07b6efafd8
Copter: use DEGX100 constant for position_vector calcs
12 years ago
0b29754920
Copter: simplify roll-pitch stabilize controller
...
remove check of whether to freeze i term when attitude is less than 5
degrees from horizontal. I terms have been moved to the rate
controllers.
12 years ago
82c604dd67
Copter: more constrain fixes
12 years ago
d5875676b1
Copter: use a reference to DCM matrix
12 years ago
c2c037ec0d
Copter: use the right constrain() type in Attitude code
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
12 years ago
a9da3c9d3d
Copter: remove unused throttle functions
...
removed get_pilot_desired_acceleration vand get_pilot_desired_direct_alt
were used for initial testing of the inertial alt-hold controller but
are no longer required.
12 years ago
9cec664236
Copter: fixed format of PM message log
12 years ago
94d4ecef11
Copter: reduce throttle rate D to zero
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
36041bb9ff
Copter: Enable CURRENT logging by default to dataflash
12 years ago
8b31f276a2
Copter: switch to block based logs for SITL
12 years ago
745df9b13c
Copter: add SONAR_GAIN to tune reaction to sonar
...
Some users report the response to sonar is too violent, this allows that
reaction to be reduced
12 years ago
50515e28e1
Copter: replace fabs with fabsf
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
ce3ee97e73
Copter: removed duplicate print_latlon() declarations
12 years ago
93d075404c
Copter: added board voltage to current message
12 years ago
a0708460a4
Copter: convert to new logging system
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
d65d7d95e2
Copter: bug fix for take-off so it never descends
...
If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
12 years ago
0fc9c8739e
Copter: add WP_YAW_BEHAVE parameter
...
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose. Almost nobody
ever knew about or used this parameter.
12 years ago
18c1373847
Copter: remove unused AUTO_VELZ defaults
...
These have now moved to AC_WPNav
12 years ago
f5955d8915
Copter: auto climb and descent params removed
...
These params now reside in the AC_WPNav library
12 years ago
9b351feade
Copter: shorted INAV dataflash log message length
...
Velocities are now output in WPNav message
12 years ago
f7524e5741
Copter: remove unnecessary cast to float in Log
12 years ago
7c8527e6a6
Copter: resolve compiler warning
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
0b808abbed
Copter: remove unused waypoint_valid function
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
61c2befd4d
Copter: fixed logging for new API
12 years ago
82989d85f2
Copter: remove unused #defines
12 years ago
0663da7c9e
Copter: loiter rate IMAX to 4m/s/s and D to zero
12 years ago
b8974dec99
Copter: compass learn off by default
12 years ago
a7b32caf72
Copter: bug fix for loiter_time check
...
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
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
8fe3e689f4
Copter: add WPNAV log message
12 years ago
b48864e1ad
Copter: allow CH6 tuning of compass declination
12 years ago
cf6ae4a746
Copter: remove ahrs.set_barometer()
12 years ago
8c7a1597dc
Copter: remove debug comment from RTL
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
b58c26bcd5
Copter: remove pid_nav_lat, pid_nav_lon
12 years ago
Randy Mackay
Andrew Tridgell
Bill Bonney