80059d3516
AP_HAL_AVR: resolve compiler warning
11 years ago
9485363c53
TradHeli: dynamic flight speed minimum to 5m/s
11 years ago
a98fb174c4
Copter: batt failsafe triggers RTL from AUTO
11 years ago
fd60285121
Copter: update AC3.1-rc6 release notes
11 years ago
87127f0ab8
Copter: allow battery failsafe to trigger RTL
11 years ago
a812ef4660
Copter: minor comment update for set_mode
11 years ago
bc1e06757b
Copter: allow GPS failsafe to trigger AltHold
...
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO. This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
11 years ago
321036b72e
Copter: update contributors list
11 years ago
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
7233a567fb
TradHeli: add accessor for phase_angle
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
...
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
b71c6bfd76
TradHeli: add RSC_RUNUP_TIME param and rotor speed estimate
11 years ago
bc4dba0eea
TradHeli: ext gyro gain range 0 to 1000
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
942c14258b
TradHeli: ramp up changes
...
Rewrote tail and main rotor ramp up methods
Moved direct drive ESC speed control into rsc_control method
Pass in ch7 servo as servo_aux to TradHeli motors object constructor
split CH7_SETPOINT parameter into GYR_GAIN and DIRECTDRIVE parameters
replaced RSC_RATE with uint8_t RSC_RAMP_TIME parameter
rename GOV_SETPOINT parameter to RSC_SETPOINT
RSC_MODE parameter description updated to indicate it controls the
source of main rotor speed
11 years ago
9ac051c56d
TradHeli: BugFix to ColYaw
...
Credit to Jolyon Saunders for finding this bug.
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
4426060ccc
TradHeli: COLYAW not applied when the motor is not running
11 years ago
9ae66c1773
TradHeli: add support for drive tail rotors
...
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
7ae0d3320b
TradHeli: add landing collective min
11 years ago
633e91b7d4
Copter: initialise roll, pitch, yaw modes to stabilize
...
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
1f65bb537f
TradHeli: add get_pilot_desired_collective
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Perhaps this should be moved to the main code's heli.pde sketch
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
13a412ee21
TradHeli: make parameters and variables private
...
add accessors for variables and params required in main code
replace tabs with spaces
11 years ago
72597cc5bd
TradHeli: remove setup via CLI
...
Saves 6k of flash
11 years ago
2cc48ffcd6
Copter: formatting and param description changes
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
...
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
f5488bc447
HAL: MPU6k and Baro SPI to 8Mhz
11 years ago
08a6503364
HAL_AVR: force all devices on SPI0 to low speed when one is low speed
...
this forces MS5611 to low speed when MPU6K is low speed
11 years ago
Randy Mackay
Robert Lefebvre
Andrew Tridgell