8ba195a3a2
Copter: add Mot and Rate dataflash logging
10 years ago
1ebf2c40f5
Copter: Autotune rewrite
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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
3e8563dd8b
Copter: ch6 tuning definition for yaw min headroom
10 years ago
c5b3bc5698
Copter: handle LED_CONTROL and pass to Notify
10 years ago
7c975808f8
Copter: provide terrain height to rangefinder
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used for power saving
10 years ago
74ef1b8d2f
Copter: removed HomeState from defines.h
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now in AP_Common.h
10 years ago
b99f38d39d
Copter: Fixed MAVLINK stream trigger calculation.
10 years ago
307b9e807f
Copter: reduced build warnings
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removed some unused code, and mark some functions with UNUSED_FUNCTION
10 years ago
191d803968
Copter: make PERF info message into a STATUSTEXT message
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this makes it appear properly in tlogs. Also show both min and max
loop times
10 years ago
da4a36c4e0
Copter: fix nack result_unsupported when arming fails
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We should return unsupported if param1 does not equal 0 or 1
10 years ago
7ae1436b97
Copter: nack result_failed when arming fails
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Previously result_unsupported was returned which is a less accurate
description of the failure
10 years ago
77d8f88e45
Copter: fence, rtl, land use alt-above-home
10 years ago
4d566bf462
Copter: current_loc.alt is alt-above-home
10 years ago
7e11ec9a6f
Copter: surf tracking, do-land use inav alt
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Also CTUN logging of inav alt switched to get directly from inertial nav
lib instead of using current_loc.alt
10 years ago
cb66bf8b98
Copter: functions to convert alt-above-home vs alt-above-origin
10 years ago
9bd3a7249a
Copter: disable inertial nav
10 years ago
fbe87afb9c
Copter: pre-arm check of EKF origin vs home
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EKF origin must be within 50km of home or numerical errors get too large
10 years ago
e7579198c9
Copter: when arming set home to current loc only if not locked
10 years ago
9e156d2f81
Copter: always update current_loc regardless of inav state
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If inertial nav is not initialised these will be set to zero anyway
10 years ago
7029b11414
Copter: support do_set_home command from GCS and mission
10 years ago
d5fd6d2a99
Copter: use home_is_set function
10 years ago
e081b9d1c7
Copter: home is set becomes three state
10 years ago
a4fd36a775
Copter: fix compile error when fence disabled
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Fix provided by iyia12co
10 years ago
81302fe190
Copter: implement MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES
10 years ago
0cc83b1826
Copter: use hal.util soft_armed state
10 years ago
4ade22c94b
Copter: use common send_autopilot_version()
10 years ago
62c63e9b35
Copter: support AUTOPILOT_VERSION_REQUEST message
10 years ago
c5d66cdfba
Copter: add send_autopilot_version
10 years ago
e7ac9d27f5
Copter: AC3.2.1 release notes
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No changes from AC3.2.1-rc2
10 years ago
99ca779718
Copter: fix to allow arming in Guided from GCS
10 years ago
4ff75f0371
Copter: perf info ignores slow loop due to arming
10 years ago
8b5f1575ad
Copter: remove pre-arm check of RC3_TRIM
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RC3_TRIM parameter is not used so we can remove this check
10 years ago
a70f98552e
Copter: rename xy_mode
10 years ago
e71ad72fc0
Copter: update usage of update_xy_controller
10 years ago
0b1f217420
Copter: Add PreArm check for radio trims.
10 years ago
2186dec271
Copter: Remove trim_radio() function.
10 years ago
ecaf3280e5
Copter: update AC3.2.1-rc2 release notes
10 years ago
4311fa8952
Copter: 90-atan2(-x,y) is the same as atan2(y,x)
10 years ago
f77b359e83
Copter: increase get_roi_yaw from 40hz to 100hz
10 years ago
2cb63dc792
Copter: don't assume home is at the origin
10 years ago
9c2865f6a8
Copter: update pv_location_to_vector to use get_origin instead of get_home
10 years ago
3b5228922e
Copter: increased ESC auto-cal delay
10 years ago
51dc3c120d
Copter: handle GIMBAL_REPORT receive and send
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Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
10 years ago
f00861d2f1
Copter: using arming_failed as event
10 years ago
9e813948fa
Copter: protect against multiple arming messages
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Protect against the GCS sending multiple arming messages close together
which disrupts the gyro calibration
10 years ago
Leonard Hall
Randy Mackay
Andrew Tridgell
João Fortuna
Jonathan Challinger
Robert Lefebvre
Jason Short