.travis.yml

@@ -4,7 +4,12 @@ before_install:
   - cd .. && ./ardupilot/Tools/scripts/install-prereqs-ubuntu.sh -y && . ~/.profile
 
 script: 
-  - cd ./ardupilot/ArduCopter && make configure && make && make px4-v2
-  - cd ../ArduPlane  && make configure && make && make px4-v2
-  - cd ../APMrover2  && make configure && make && make px4-v2
-  - cd ../ArduCopter && make configure && make && make vrubrain-v51
+  - cd ./ardupilot && Tools/scripts/build_all_travis.sh
+
+notifications:
+  webhooks:
+    urls:
+      - https://webhooks.gitter.im/e/e5e0b55e353e53945b4b
+    on_success: change  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
+    on_start: false     # default: false

APMrover2/GCS_Mavlink.pde

@@ -958,6 +958,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
         {
+            // mark the firmware version in the tlog
+            send_text_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
+
+#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
+            send_text_P(SEVERITY_LOW, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
+#endif
             handle_param_request_list(msg);
             break;
         }

ArduCopter/APM_Config.h

@@ -19,10 +19,6 @@
  */
 
 // uncomment the lines below to save on flash space if compiling for the APM using Arduino IDE.  Top items save the most flash space
-#if (CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_APM1)
- # define CLI_ENABLED           DISABLED            // disable the CLI (command-line-interface) to save 21K of flash space
- # define FRSKY_TELEM_ENABLED           DISABLED            // disable the FRSKY TELEM
-#endif
 //#define LOGGING_ENABLED       DISABLED            // disable dataflash logging to save 11K of flash space
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
 //#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
@@ -34,6 +30,7 @@
 // features below are disabled by default on APM (but enabled on Pixhawk)
 //#define AC_RALLY              ENABLED             // disable rally points to save 2k of flash, and also frees rally point EEPROM for more mission commands
 //#define PARACHUTE             ENABLED             // enable parachute release at a cost of 1k of flash
+//#define CLI_ENABLED           ENABLED             // enable the CLI (command-line-interface) at a cost of 21K of flash space
 
 // features below are disabled by default on all boards
 //#define OPTFLOW               ENABLED             // enable optical flow sensor and OF_LOITER flight mode at a cost of 5K of flash space

ArduCopter/AP_State.pde

@@ -110,6 +110,21 @@ void set_land_complete(bool b)
 
 // ---------------------------------------------
 
+// set land complete maybe flag
+void set_land_complete_maybe(bool b)
+{
+    // if no change, exit immediately
+    if (ap.land_complete_maybe == b)
+        return;
+
+    if (b) {
+        Log_Write_Event(DATA_LAND_COMPLETE_MAYBE);
+    }
+    ap.land_complete_maybe = b;
+}
+
+// ---------------------------------------------
+
 void set_pre_arm_check(bool b)
 {
     if(ap.pre_arm_check != b) {

ArduCopter/ArduCopter.pde

 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduCopter V3.2-rc5"
+#define THISFIRMWARE "ArduCopter V3.2"
 /*
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -206,6 +206,9 @@ static AP_Notify notify;
 // used to detect MAVLink acks from GCS to stop compassmot
 static uint8_t command_ack_counter;
 
+// has a log download started?
+static bool in_log_download;
+
 ////////////////////////////////////////////////////////////////////////////////
 // prototypes
 ////////////////////////////////////////////////////////////////////////////////
@@ -288,25 +291,7 @@ static AP_Compass_HIL compass;
 AP_ADC_ADS7844 apm1_adc;
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_MPU6000
-AP_InertialSensor_MPU6000 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_PX4
-AP_InertialSensor_PX4 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
-AP_InertialSensor_VRBRAIN ins;
-#elif CONFIG_INS_TYPE == HAL_INS_HIL
-AP_InertialSensor_HIL ins;
-#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
-AP_InertialSensor_Oilpan ins( &apm1_adc );
-#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
-AP_InertialSensor_Flymaple ins;
-#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
-AP_InertialSensor_L3G4200D ins;
-#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
-AP_InertialSensor_MPU9250 ins;
-#else
-  #error Unrecognised CONFIG_INS_TYPE setting.
-#endif // CONFIG_INS_TYPE
+AP_InertialSensor ins;
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
@@ -388,6 +373,9 @@ static union {
         uint8_t rc_receiver_present : 1; // 14  // true if we have an rc receiver present (i.e. if we've ever received an update
         uint8_t compass_mot         : 1; // 15  // true if we are currently performing compassmot calibration
         uint8_t motor_test          : 1; // 16  // true if we are currently performing the motors test
+        uint8_t initialised         : 1; // 17  // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
+        uint8_t land_complete_maybe : 1; // 18  // true if we may have landed (less strict version of land_complete)
+        uint8_t throttle_zero       : 1; // 19  // true if the throttle stick is at zero, debounced
     };
     uint32_t value;
 } ap;
@@ -571,8 +559,8 @@ static int16_t climb_rate;
 static int16_t sonar_alt;
 static uint8_t sonar_alt_health;   // true if we can trust the altitude from the sonar
 static float target_sonar_alt;      // desired altitude in cm above the ground
-// The altitude as reported by Baro in cm - Values can be quite high
-static int32_t baro_alt;
+static int32_t baro_alt;            // barometer altitude in cm above home
+static float baro_climbrate;        // barometer climbrate in cm/s
 
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -795,7 +783,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { arm_motors_check,     40,      1 },
     { auto_trim,            40,     14 },
     { update_altitude,      40,    100 },
-    { run_nav_updates,      40,     80 },
+    { run_nav_updates,       8,     80 },
     { update_thr_cruise,    40,     10 },
     { three_hz_loop,       133,      9 },
     { compass_accumulate,    8,     42 },
@@ -805,7 +793,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 #endif
     { update_notify,         8,     10 },
     { one_hz_loop,         400,     42 },
-    { ekf_check,            40,      2 },
+    { ekf_dcm_check,        40,      2 },
     { crash_check,          40,      2 },
     { gcs_check_input,	     8,    550 },
     { gcs_send_heartbeat,  400,    150 },
@@ -863,7 +851,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { arm_motors_check,     10,      10 },
     { auto_trim,            10,     140 },
     { update_altitude,      10,    1000 },
-    { run_nav_updates,      10,     800 },
+    { run_nav_updates,       4,     800 },
     { update_thr_cruise,     1,      50 },
     { three_hz_loop,        33,      90 },
     { compass_accumulate,    2,     420 },
@@ -873,7 +861,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 #endif
     { update_notify,         2,     100 },
     { one_hz_loop,         100,     420 },
-    { ekf_check,            10,      20 },
+    { ekf_dcm_check,        10,      20 },
     { crash_check,          10,      20 },
     { gcs_check_input,	     2,     550 },
     { gcs_send_heartbeat,  100,     150 },
@@ -942,7 +930,7 @@ static void barometer_accumulate(void)
 
 static void perf_update(void)
 {
-    if (g.log_bitmask & MASK_LOG_PM)
+    if (should_log(MASK_LOG_PM))
         Log_Write_Performance();
     if (scheduler.debug()) {
         cliSerial->printf_P(PSTR("PERF: %u/%u %lu\n"),
@@ -957,10 +945,7 @@ static void perf_update(void)
 void loop()
 {
     // wait for an INS sample
-    if (!ins.wait_for_sample(1000)) {
-        Log_Write_Error(ERROR_SUBSYSTEM_MAIN, ERROR_CODE_MAIN_INS_DELAY);
-        return;
-    }
+    ins.wait_for_sample();
     uint32_t timer = micros();
 
     // check loop time
@@ -1089,7 +1074,7 @@ static void update_batt_compass(void)
         compass.set_throttle((float)g.rc_3.servo_out/1000.0f);
         compass.read();
         // log compass information
-        if (g.log_bitmask & MASK_LOG_COMPASS) {
+        if (should_log(MASK_LOG_COMPASS)) {
             Log_Write_Compass();
         }
     }
@@ -1102,16 +1087,16 @@ static void update_batt_compass(void)
 // should be run at 10hz
 static void ten_hz_logging_loop()
 {
-    if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
+    if (should_log(MASK_LOG_ATTITUDE_MED)) {
         Log_Write_Attitude();
     }
-    if (g.log_bitmask & MASK_LOG_RCIN) {
+    if (should_log(MASK_LOG_RCIN)) {
         DataFlash.Log_Write_RCIN();
     }
-    if (g.log_bitmask & MASK_LOG_RCOUT) {
+    if (should_log(MASK_LOG_RCOUT)) {
         DataFlash.Log_Write_RCOUT();
     }
-    if ((g.log_bitmask & MASK_LOG_NTUN) && mode_requires_GPS(control_mode)) {
+    if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS(control_mode) || landing_with_GPS())) {
         Log_Write_Nav_Tuning();
     }
 }
@@ -1126,11 +1111,11 @@ static void fifty_hz_logging_loop()
 #endif
 
 #if HIL_MODE == HIL_MODE_DISABLED
-    if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) {
+    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
     }
 
-    if (g.log_bitmask & MASK_LOG_IMU) {
+    if (should_log(MASK_LOG_IMU)) {
         DataFlash.Log_Write_IMU(ins);
     }
 #endif
@@ -1160,12 +1145,12 @@ static void three_hz_loop()
 // one_hz_loop - runs at 1Hz
 static void one_hz_loop()
 {
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(DATA_AP_STATE, ap.value);
     }
 
     // log battery info to the dataflash
-    if (g.log_bitmask & MASK_LOG_CURRENT) {
+    if (should_log(MASK_LOG_CURRENT)) {
         Log_Write_Current();
     }
 
@@ -1224,7 +1209,7 @@ static void update_optical_flow(void)
         of_log_counter++;
         if( of_log_counter >= 4 ) {
             of_log_counter = 0;
-            if (g.log_bitmask & MASK_LOG_OPTFLOW) {
+            if (should_log(MASK_LOG_OPTFLOW)) {
                 Log_Write_Optflow();
             }
         }
@@ -1248,7 +1233,7 @@ static void update_GPS(void)
             last_gps_reading[i] = gps.last_message_time_ms(i);
 
             // log GPS message
-            if (g.log_bitmask & MASK_LOG_GPS) {
+            if (should_log(MASK_LOG_GPS)) {
                 DataFlash.Log_Write_GPS(gps, i, current_loc.alt);
             }
 
@@ -1334,7 +1319,7 @@ init_simple_bearing()
     super_simple_sin_yaw = simple_sin_yaw;
 
     // log the simple bearing to dataflash
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(DATA_INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
     }
 }
@@ -1399,13 +1384,13 @@ static void read_AHRS(void)
 static void update_altitude()
 {
     // read in baro altitude
-    baro_alt            = read_barometer();
+    read_barometer();
 
     // read in sonar altitude
     sonar_alt           = read_sonar();
 
     // write altitude info to dataflash logs
-    if (g.log_bitmask & MASK_LOG_CTUN) {
+    if (should_log(MASK_LOG_CTUN)) {
         Log_Write_Control_Tuning();
     }
 }

ArduCopter/Attitude.pde

@@ -151,8 +151,8 @@ static int16_t get_pilot_desired_throttle(int16_t throttle_control)
 // get_pilot_desired_climb_rate - transform pilot's throttle input to
 // climb rate in cm/s.  we use radio_in instead of control_in to get the full range
 // without any deadzone at the bottom
-#define THROTTLE_IN_DEADBAND_TOP (THROTTLE_IN_MIDDLE+THROTTLE_IN_DEADBAND)  // top of the deadband
-#define THROTTLE_IN_DEADBAND_BOTTOM (THROTTLE_IN_MIDDLE-THROTTLE_IN_DEADBAND)  // bottom of the deadband
+#define THROTTLE_IN_DEADBAND_TOP (THROTTLE_IN_MIDDLE+g.throttle_deadzone)  // top of the deadband
+#define THROTTLE_IN_DEADBAND_BOTTOM (THROTTLE_IN_MIDDLE-g.throttle_deadzone)  // bottom of the deadband
 static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
 {
     int16_t desired_rate = 0;
@@ -165,13 +165,16 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
     // ensure a reasonable throttle value
     throttle_control = constrain_int16(throttle_control,0,1000);
 
+    // ensure a reasonable deadzone
+    g.throttle_deadzone = constrain_int16(g.throttle_deadzone, 0, 400);
+
     // check throttle is above, below or in the deadband
     if (throttle_control < THROTTLE_IN_DEADBAND_BOTTOM) {
         // below the deadband
-        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
+        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - g.throttle_deadzone);
     }else if (throttle_control > THROTTLE_IN_DEADBAND_TOP) {
         // above the deadband
-        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
+        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - g.throttle_deadzone);
     }else{
         // must be in the deadband
         desired_rate = 0;

ArduCopter/GCS_Mavlink.pde

@@ -199,11 +199,14 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     if (ap.rc_receiver_present && !failsafe.radio) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
     }
-    if (!ins.healthy()) {
-        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+    if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
+    }
+    if (!ins.get_accel_health_all()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
     }
 
-    if (!ahrs.healthy()) {
+    if (ahrs.initialised() && !ahrs.healthy()) {
         // AHRS subsystem is unhealthy
         control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
     }
@@ -221,9 +224,10 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     case AP_Terrain::TerrainStatusDisabled:
         break;
     case AP_Terrain::TerrainStatusUnhealthy:
-        control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
-        control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
-        break;
+        // To-Do: restore unhealthy terrain status reporting once terrain is used in copter
+        //control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
+        //control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
+        //break;
     case AP_Terrain::TerrainStatusOK:
         control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
         control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
@@ -276,8 +280,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
 
 static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
 {
-    Vector3f targets;
-    get_angle_targets_for_reporting(targets);
+    const Vector3f &targets = attitude_control.angle_ef_targets();
     mavlink_msg_nav_controller_output_send(
         chan,
         targets.x / 1.0e2f,
@@ -479,10 +482,14 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         break;
 
     case MSG_EXTENDED_STATUS1:
-        CHECK_PAYLOAD_SIZE(SYS_STATUS);
-        send_extended_status1(chan);
-        CHECK_PAYLOAD_SIZE(POWER_STATUS);
-        gcs[chan-MAVLINK_COMM_0].send_power_status();
+        // send extended status only once vehicle has been initialised
+        // to avoid unnecessary errors being reported to user
+        if (ap.initialised) {
+            CHECK_PAYLOAD_SIZE(SYS_STATUS);
+            send_extended_status1(chan);
+            CHECK_PAYLOAD_SIZE(POWER_STATUS);
+            gcs[chan-MAVLINK_COMM_0].send_power_status();
+        }
         break;
 
     case MSG_EXTENDED_STATUS2:
@@ -877,6 +884,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         mavlink_set_mode_t packet;
         mavlink_msg_set_mode_decode(msg, &packet);
 
+        // exit immediately if this command is not meant for this vehicle
+        if (mavlink_check_target(packet.target_system, 0)) {
+            break;
+        }
+
         // only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
         if (packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
             if (set_mode(packet.custom_mode)) {
@@ -897,6 +909,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:         // MAV ID: 21
     {
+        // mark the firmware version in the tlog
+        send_text_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
+
+#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
+        send_text_P(SEVERITY_LOW, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
+#endif
+        send_text_P(SEVERITY_LOW, PSTR("Frame: " FRAME_CONFIG_STRING));
         handle_param_request_list(msg);
         break;
     }
@@ -1044,12 +1063,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_CONDITION_YAW:
             // param1 : target angle [0-360]
             // param2 : speed during change [deg per second]
-            // param3 : direction (not supported)
+            // param3 : direction (-1:ccw, +1:cw)
             // param4 : relative offset (1) or absolute angle (0)
             if ((packet.param1 >= 0.0f)   &&
             	(packet.param1 <= 360.0f) &&
             	((packet.param4 == 0) || (packet.param4 == 1))) {
-            	set_auto_yaw_look_at_heading(packet.param1, packet.param2, (uint8_t)packet.param4);
+            	set_auto_yaw_look_at_heading(packet.param1, packet.param2, (int8_t)packet.param3, (uint8_t)packet.param4);
                 result = MAV_RESULT_ACCEPTED;
             } else {
                 result = MAV_RESULT_FAILED;
@@ -1091,10 +1110,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_PREFLIGHT_CALIBRATION:
-            if (packet.param1 == 1 ||
-                packet.param2 == 1) {
-                ins.init_accel();
-                ahrs.set_trim(Vector3f(0,0,0));             // clear out saved trim
+            if (packet.param1 == 1) {
+                // gyro offset calibration
+                ins.init_gyro();
+                // reset ahrs gyro bias
+                ahrs.reset_gyro_drift();
                 result = MAV_RESULT_ACCEPTED;
             }
             if (packet.param3 == 1) {
@@ -1138,14 +1158,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             if (packet.param1 == 1.0f) {
                 // run pre_arm_checks and arm_checks and display failures
                 pre_arm_checks(true);
-                if(ap.pre_arm_check && arm_checks(true)) {
-                    init_arm_motors();
+                if(ap.pre_arm_check && arm_checks(true, true)) {
+                    if (init_arm_motors()) {
                     result = MAV_RESULT_ACCEPTED;
+                    } else {
+                        AP_Notify::flags.arming_failed = true;  // init_arm_motors function will reset flag back to false
+                        result = MAV_RESULT_UNSUPPORTED;
+                    }
                 }else{
                     AP_Notify::flags.arming_failed = true;  // init_arm_motors function will reset flag back to false
                     result = MAV_RESULT_UNSUPPORTED;
                 }
-            } else if (packet.param1 == 0.0f)  {
+            } else if (packet.param1 == 0.0f && (manual_flight_mode(control_mode) || ap.land_complete))  {
                 init_disarm_motors();
                 result = MAV_RESULT_ACCEPTED;
             } else {
@@ -1279,11 +1303,21 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_RADIO:
     case MAVLINK_MSG_ID_RADIO_STATUS:       // MAV ID: 109
     {
-        handle_radio_status(msg, DataFlash, (g.log_bitmask & MASK_LOG_PM) != 0);
+        handle_radio_status(msg, DataFlash, should_log(MASK_LOG_PM));
         break;
     }
 
-    case MAVLINK_MSG_ID_LOG_REQUEST_LIST ... MAVLINK_MSG_ID_LOG_REQUEST_END:    // MAV ID: 117 ... 122
+    case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
+    case MAVLINK_MSG_ID_LOG_ERASE:
+        in_log_download = true;
+        // fallthru
+    case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
+        if (!in_mavlink_delay && !motors.armed()) {
+            handle_log_message(msg, DataFlash);
+        }
+        break;
+    case MAVLINK_MSG_ID_LOG_REQUEST_END:
+        in_log_download = false;
         if (!in_mavlink_delay && !motors.armed()) {
             handle_log_message(msg, DataFlash);
         }

ArduCopter/Log.pde

@@ -173,7 +173,7 @@ struct PACKED log_AutoTune {
     float   new_gain_sp;       // newly calculated gain
 };
 
-// Write an Current data packet
+// Write an Autotune data packet
 static void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_min, float rate_max, float new_gain_rp, float new_gain_rd, float new_gain_sp)
 {
     struct log_AutoTune pkt = {
@@ -195,7 +195,7 @@ struct PACKED log_AutoTuneDetails {
     float   rate_cds;       // current rotation rate in centi-degrees / second
 };
 
-// Write an Current data packet
+// Write an Autotune data packet
 static void Log_Write_AutoTuneDetails(int16_t angle_cd, float rate_cds)
 {
     struct log_AutoTuneDetails pkt = {
@@ -464,13 +464,14 @@ struct PACKED log_Attitude {
     int16_t  pitch;
     uint16_t control_yaw;
     uint16_t yaw;
+    uint16_t error_rp;
+    uint16_t error_yaw;
 };
 
 // Write an attitude packet
 static void Log_Write_Attitude()
 {
-    Vector3f targets;
-    get_angle_targets_for_reporting(targets);
+    const Vector3f &targets = attitude_control.angle_ef_targets();
     struct log_Attitude pkt = {
         LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
         time_ms         : hal.scheduler->millis(),
@@ -479,7 +480,9 @@ static void Log_Write_Attitude()
         control_pitch   : (int16_t)targets.y,
         pitch           : (int16_t)ahrs.pitch_sensor,
         control_yaw     : (uint16_t)targets.z,
-        yaw             : (uint16_t)ahrs.yaw_sensor
+        yaw             : (uint16_t)ahrs.yaw_sensor,
+        error_rp        : (uint16_t)(ahrs.get_error_rp() * 100),
+        error_yaw       : (uint16_t)(ahrs.get_error_yaw() * 100)
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 
@@ -530,7 +533,7 @@ struct PACKED log_Event {
 // Wrote an event packet
 static void Log_Write_Event(uint8_t id)
 {
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         struct log_Event pkt = {
             LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
             id  : id
@@ -548,7 +551,7 @@ struct PACKED log_Data_Int16t {
 // Write an int16_t data packet
 static void Log_Write_Data(uint8_t id, int16_t value)
 {
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         struct log_Data_Int16t pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
             id          : id,
@@ -567,7 +570,7 @@ struct PACKED log_Data_UInt16t {
 // Write an uint16_t data packet
 static void Log_Write_Data(uint8_t id, uint16_t value)
 {
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         struct log_Data_UInt16t pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
             id          : id,
@@ -586,7 +589,7 @@ struct PACKED log_Data_Int32t {
 // Write an int32_t data packet
 static void Log_Write_Data(uint8_t id, int32_t value)
 {
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         struct log_Data_Int32t pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
             id          : id,
@@ -605,7 +608,7 @@ struct PACKED log_Data_UInt32t {
 // Write a uint32_t data packet
 static void Log_Write_Data(uint8_t id, uint32_t value)
 {
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         struct log_Data_UInt32t pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
             id          : id,
@@ -624,7 +627,7 @@ struct PACKED log_Data_Float {
 // Write a float data packet
 static void Log_Write_Data(uint8_t id, float value)
 {
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         struct log_Data_Float pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
             id          : id,
@@ -685,7 +688,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
       "PM",  "HHIhBHB",    "NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
     { LOG_ATTITUDE_MSG, sizeof(log_Attitude),       
-      "ATT", "IccccCC",      "TimeMS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw" },
+      "ATT", "IccccCCCC",    "TimeMS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" },
     { LOG_MODE_MSG, sizeof(log_Mode),
       "MODE", "Mh",          "Mode,ThrCrs" },
     { LOG_STARTUP_MSG, sizeof(log_Startup),         
@@ -715,7 +718,8 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
  #endif
 
     cliSerial->printf_P(PSTR("\n" FIRMWARE_STRING
-                             "\nFree RAM: %u\n"),
+                             "\nFree RAM: %u\n"
+                             "\nFrame: " FRAME_CONFIG_STRING "\n"),
                         (unsigned) hal.util->available_memory());
 
     cliSerial->println_P(PSTR(HAL_BOARD_NAME));
@@ -746,6 +750,7 @@ static void start_logging()
             if (hal.util->get_system_id(sysid)) {
                 DataFlash.Log_Write_Message(sysid);
             }
+            DataFlash.Log_Write_Message_P(PSTR("Frame: " FRAME_CONFIG_STRING));
 
             // log the flight mode
             Log_Write_Mode(control_mode);

ArduCopter/Parameters.h

@@ -81,7 +81,7 @@ public:
 
         // Misc
         //
-        k_param_log_bitmask = 20,
+        k_param_log_bitmask_old = 20,           // Deprecated
         k_param_log_last_filenumber,            // *** Deprecated - remove
                                                 // with next eeprom number
                                                 // change
@@ -119,7 +119,11 @@ public:
         k_param_sonar, // sonar object
         k_param_ekfcheck_thresh,
         k_param_terrain,
-        k_param_acro_expo,              // 56
+        k_param_acro_expo,
+        k_param_throttle_deadzone,
+        k_param_optflow,
+        k_param_dcmcheck_thresh,        // 59
+        k_param_log_bitmask,
 
         // 65: AP_Limits Library
         k_param_limits = 65,            // deprecated - remove
@@ -365,6 +369,7 @@ public:
     AP_Int16        failsafe_throttle_value;
     AP_Int16        throttle_cruise;
     AP_Int16        throttle_mid;
+    AP_Int16        throttle_deadzone;
 
     // Flight modes
     //
@@ -378,7 +383,7 @@ public:
 
     // Misc
     //
-    AP_Int16        log_bitmask;
+    AP_Int32        log_bitmask;
     AP_Int8         esc_calibrate;
     AP_Int8         radio_tuning;
     AP_Int16        radio_tuning_high;
@@ -390,6 +395,7 @@ public:
 
     AP_Int8         land_repositioning;
     AP_Float        ekfcheck_thresh;
+    AP_Float        dcmcheck_thresh;
 
 #if FRAME_CONFIG ==     HELI_FRAME
     // Heli

ArduCopter/Parameters.pde

@@ -295,6 +295,15 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Increment: 1
     GSCALAR(throttle_mid,        "THR_MID",    THR_MID_DEFAULT),
 
+    // @Param: THR_DZ
+    // @DisplayName: Throttle deadzone
+    // @Description: The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes
+    // @User: Standard
+    // @Range: 0 300
+    // @Units: pwm
+    // @Increment: 1
+    GSCALAR(throttle_deadzone,  "THR_DZ",    THR_DZ_DEFAULT),
+
     // @Param: FLTMODE1
     // @DisplayName: Flight Mode 1
     // @Description: Flight mode when Channel 5 pwm is <= 1230
@@ -345,8 +354,8 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Param: LOG_BITMASK
     // @DisplayName: Log bitmask
-    // @Description: 2 byte bitmap of log types to enable
-    // @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll,0:Disabled
+    // @Description: 4 byte bitmap of log types to enable
+    // @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,43006:NearlyAll,131070:All+DisarmedLogging,0:Disabled
     // @User: Standard
     GSCALAR(log_bitmask,    "LOG_BITMASK",          DEFAULT_LOG_BITMASK),
 
@@ -381,7 +390,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: FRAME
     // @DisplayName: Frame Orientation (+, X or V)
     // @Description: Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters.
-    // @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 10:Y6B (New)
+    // @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B (New)
     // @User: Standard
     GSCALAR(frame_orientation, "FRAME",             AP_MOTORS_X_FRAME),
 
@@ -447,12 +456,19 @@ const AP_Param::Info var_info[] PROGMEM = {
     GSCALAR(land_repositioning, "LAND_REPOSITION",     LAND_REPOSITION_DEFAULT),
 
     // @Param: EKF_CHECK_THRESH
-    // @DisplayName: EKF and InertialNav check compass and velocity variance threshold
+    // @DisplayName: EKF check compass and velocity variance threshold
     // @Description: Allows setting the maximum acceptable compass and velocity variance (0 to disable check)
     // @Values: 0:Disabled, 0.6:Default, 1.0:Relaxed
     // @User: Advanced
     GSCALAR(ekfcheck_thresh, "EKF_CHECK_THRESH",    EKFCHECK_THRESHOLD_DEFAULT),
 
+    // @Param: DCM_CHECK_THRESH
+    // @DisplayName: DCM yaw error threshold
+    // @Description: Allows setting the maximum acceptable yaw error as a sin of the yaw error (0 to disable check)
+    // @Values: 0:Disabled, 0.8:Default, 0.98:Relaxed
+    // @User: Advanced
+    GSCALAR(dcmcheck_thresh, "DCM_CHECK_THRESH",    DCMCHECK_THRESHOLD_DEFAULT),
+
 #if FRAME_CONFIG ==     HELI_FRAME
     // @Group: HS1_
     // @Path: ../libraries/RC_Channel/RC_Channel.cpp
@@ -589,7 +605,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: ACRO_EXPO
     // @DisplayName: Acro Expo
     // @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
-    // @Values: 0:Disabled,0.2:Low,0.3:Medium,0.4:High
+    // @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
     // @User: Advanced
     GSCALAR(acro_expo,  "ACRO_EXPO",    ACRO_EXPO_DEFAULT),
 
@@ -799,7 +815,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: THR_ACCEL_IMAX
     // @DisplayName: Throttle acceleration controller I gain maximum
     // @Description: Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate
-    // @Range: 0 500
+    // @Range: 0 1000
     // @Units: Percent*10
     // @User: Standard
 
@@ -993,7 +1009,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Group: BRD_
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
-    GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),    
+    GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
 #if SPRAYER == ENABLED
     // @Group: SPRAY_
@@ -1126,12 +1142,13 @@ const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
     { Parameters::k_param_volt_div_ratio,     0,      AP_PARAM_FLOAT, "BATT_VOLT_MULT" },
     { Parameters::k_param_curr_amp_per_volt,  0,      AP_PARAM_FLOAT, "BATT_AMP_PERVOLT" },
     { Parameters::k_param_pack_capacity,      0,      AP_PARAM_INT32, "BATT_CAPACITY" },
+    { Parameters::k_param_log_bitmask_old,    0,      AP_PARAM_INT16, "LOG_BITMASK" },
 };
 
 static void load_parameters(void)
 {
     if (!AP_Param::check_var_info()) {
-        cliSerial->printf_P(PSTR("Bad var table\n"));        
+        cliSerial->printf_P(PSTR("Bad var table\n"));
         hal.scheduler->panic(PSTR("Bad var table"));
     }
 

ArduCopter/ReleaseNotes.txt

 ArduCopter Release Notes:
 ------------------------------------------------------------------
+ArduCopter 3.2 07-Nov2014 / 3.2-rc14 31-Oct-2014
+Changes from 3.2-rc13
+1) Safety Features:
+    a) fail to arm if second gyro calibration fails (can be disabled with ARMING_CHECK)
+2) Bug fixes:
+    a) DCM-check to require one continuous second of bad heading before triggering LAND
+    b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy
+    c) reset DCM and EKF gyro bias estimates after gyro calibration (DCM heading could drift after takeoff due to sudden change in gyro values)
+    d) use primary GPS for LED status (instead of always using first GPS)
+------------------------------------------------------------------
+ArduCopter 3.2-rc13 23-Oct-2014
+Changes from 3.2-rc12
+1) DCM check triggers LAND if yaw disagrees with GPS by > 60deg (configure with DCM_CHECK_THRESH param) and in Loiter, PosHold, Auto, etc 
+2) Safety features:
+    a) landing detector checks baro climbrate between -1.5 ~ +1.5 m/s
+    b) sanity check AHRS_RP_P and AHRS_YAW_P are never less than 0.05
+    c) check set-mode requests from GCS are for this vehicle
+3) Bug fixes:
+    a) fix ch6 tuning of wp-speed (was getting stuck at zero)
+    b) parachute servo set to off position on startup
+    c) Auto Takeoff timing bug fix that could cause severe lean on takeoff
+    d) timer fix for "slow start" of motors on Pixhawk (timer was incorrectly based on 100hz APM2 main loop speed)
+4) reduced number of relays from 4 to 2 (saves memory and flash required on APM boards)
+5) reduced number of range finders from 2 to 1 (saves memory and flash on APM boards)
+6) allow logging from startup when LOG_BITMASK set to "All+DisarmedLogging" 
+------------------------------------------------------------------
+ArduCopter 3.2-rc12 10-Oct-2014
+Changes from 3.2-rc11
+1) disable sonar on APM1 and TradHeli (APM1 & APM2) to allow code to fit 
+2) Add pre-arm and health check that gyro calibration succeeded 
+3) Bug fix to EKF reporting invalid position and velocity when switched on in flight with Ch7/Ch8 switch 
+------------------------------------------------------------------
+ArduCopter 3.2-rc11 06-Oct-2014
+Changes from 3.2-rc10
+1) reduce lean on take-off in Auto by resetting horizontal position targets 
+2) TradHeli landing check ignores overall throttle output
+3) reduce AHRS bad messages by delaying 20sec after init to allow EKF to settle (Pixhawk only)
+4) Bug fixes:
+    a) fix THR_MIN scaling issue that could cause landing-detector to fail to detect landing when ch3 min~max > 1000 pwm
+    b) fix Mediatek GPS configuration so update rate is set correctly to 5hz
+    c) fix to Condition-Yaw mission command to support relative angles
+    d) EKF bug fixes when recovering from GPS glitches (affects only Pixhawks using EKF)
+------------------------------------------------------------------
+ArduCopter 3.2-rc10 24-Sep-2014
+Changes from 3.2-rc9
+1) two-stage land-detector to reduce motor run-up when landing in Loiter, PosHold, RTL, Auto
+2) Allow passthrough from input to output of channels 9 ~ 14 (thanks Emile!)
+3) Add 4hz filter to vertical velocity error during AltHold
+4) Safety Feature:
+    a) increase Alt Disparity pre-arm check threshold to 2m (was 1m)
+    b) reset battery failsafe after disarming/arming (thanks AndKe!)
+    c) EKF only apply centrifugal corrections when GPS has at least 6 satellites (Pixhawk with EKF enabled only)
+5) Bug fixes:
+    a) to default compass devid to zero when no compass connected
+    b) reduce motor run-up while landing in RTL
+------------------------------------------------------------------
+ArduCopter 3.2-rc9 11-Sep-2014
+Changes from 3.2-rc8
+1) FRAM bug fix that could stop Mission or Parameter changes from being saved (Pixhawk, VRBrain only)
+------------------------------------------------------------------
+ArduCopter 3.2-rc8 11-Sep-2014
+Changes from 3.2-rc7
+1) EKF reduced ripple to resolve copter motor pulsing
+2) Default Param changes:
+    a) AltHold Rate P reduced from 6 to 5
+    b) AltHold Accel P reduced from 0.75 to 0.5, I from 1.5 to 1.0
+    c) EKF check threshold increased from 0.6 to 0.8 to reduce false positives
+3) sensor health flags sent to GCS only after initialisation to remove false alerts 
+4) suppress bad terrain data alerts
+5) Bug Fix:
+    a)PX4 dataflash RAM useage reduced to 8k so it works again  
+------------------------------------------------------------------
+ArduCopter 3.2-rc7 04-Sep-2014
+Changes from 3.2-rc6
+1) Safety Items:
+    a) Landing check made more strict (climb rate requirement reduced to 30cm/s, overall throttle < 25%, rotation < 20deg/sec)
+    b) pre-arm check that accels are consistent (Pixhawk only, must be within 1m/sec/sec of each other)
+    c) pre-arm check that gyros are consistent (Pixhawk only, must be within 20deg/sec of each other)
+    d) report health of all accels and gyros (not just primary) to ground station 
+------------------------------------------------------------------
+ArduCopter 3.2-rc6 31-Aug-2014
+Changes from 3.2-rc5 
+1) Spline twitch when passing through a waypoint largely resolved
+2) THR_DZ param added to allow user configuration of throttle deadzone during AltHold, Loiter, PosHold
+3) Landing check made more strict (climb rate must be -40~40cm/s for 1 full second)
+4) LAND_REPOSITION param default set to 1
+5) TradHeli with flybar passes through pilot inputs directly to swash when in ACRO mode
+6) Safety Items:
+    a) EKF check disabled when using inertial nav (caused too many false positives)
+    b) pre-arm check of internal vs external compass direction (must be within 45deg of each other)
+7) Bug Fixes:
+    a) resolve NaN in angle targets when vehicle hits gimbal lock in ACRO mode
+    b) resolve GPS driver buffer overflow that could lead to missed GPS messages on Pixhawk/PX4 boards
+    c) resolve false "compass not calibrated" warnings on Pixhawk/PX4 caused by missing device id initialisation 
+------------------------------------------------------------------
 ArduCopter 3.2-rc5 15-Aug-2014
 Changes from 3.2-rc4 
 1) Pixhawk's max num waypoints increased to 718

ArduCopter/commands.pde

@@ -14,7 +14,7 @@ static void init_home()
     inertial_nav.setup_home_position();
 
     // log new home position which mission library will pull from ahrs
-    if (g.log_bitmask & MASK_LOG_CMD) {
+    if (should_log(MASK_LOG_CMD)) {
         AP_Mission::Mission_Command temp_cmd;
         if (mission.read_cmd_from_storage(0, temp_cmd)) {
             Log_Write_Cmd(temp_cmd);

ArduCopter/commands_logic.pde

@@ -33,7 +33,7 @@ static void auto_spline_start(const Vector3f& destination, bool stopped_at_start
 static bool start_command(const AP_Mission::Mission_Command& cmd)
 {
     // To-Do: logging when new commands start/end
-    if (g.log_bitmask & MASK_LOG_CMD) {
+    if (should_log(MASK_LOG_CMD)) {
         Log_Write_Cmd(cmd);
     }
 
@@ -151,16 +151,6 @@ static bool start_command(const AP_Mission::Mission_Command& cmd)
         break;
 #endif
 
-#if MOUNT == ENABLED
-    case MAV_CMD_DO_MOUNT_CONFIGURE:                    // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
-        camera_mount.configure_cmd();
-        break;
-
-    case MAV_CMD_DO_MOUNT_CONTROL:                      // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
-        camera_mount.control_cmd();
-        break;
-#endif
-
 #if PARACHUTE == ENABLED
     case MAV_CMD_DO_PARACHUTE:                          // Mission command to configure or release parachute
         do_parachute(cmd);
@@ -275,7 +265,7 @@ static void exit_mission()
     }else{
 #if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
         // disarm when the landing detector says we've landed and throttle is at minimum
-        if (g.rc_3.control_in == 0 || failsafe.radio) {
+        if (ap.throttle_zero || failsafe.radio) {
             init_disarm_motors();
         }
 #else
@@ -782,6 +772,7 @@ static void do_yaw(const AP_Mission::Mission_Command& cmd)
 	set_auto_yaw_look_at_heading(
 		cmd.content.yaw.angle_deg,
 		cmd.content.yaw.turn_rate_dps,
+		cmd.content.yaw.direction,
 		cmd.content.yaw.relative_angle);
 }
 
@@ -913,7 +904,7 @@ static void do_take_picture()
 {
 #if CAMERA == ENABLED
     camera.trigger_pic();
-    if (g.log_bitmask & MASK_LOG_CAMERA) {
+    if (should_log(MASK_LOG_CAMERA)) {
         DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
     }
 #endif

ArduCopter/config.h

@@ -84,6 +84,13 @@
 #if HAL_CPU_CLASS < HAL_CPU_CLASS_75
  # define PARACHUTE DISABLED
  # define AC_RALLY DISABLED
+ # define CLI_ENABLED           DISABLED
+ # define FRSKY_TELEM_ENABLED   DISABLED
+#endif
+
+// disable sonar on APM1 and TradHeli/APM2
+#if (CONFIG_HAL_BOARD == HAL_BOARD_APM1 || (CONFIG_HAL_BOARD == HAL_BOARD_APM2 && FRAME_CONFIG == HELI_FRAME))
+ # define CONFIG_SONAR          DISABLED
 #endif
 
 #if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
@@ -110,6 +117,28 @@
  # define FRAME_CONFIG   QUAD_FRAME
 #endif
 
+#if FRAME_CONFIG == QUAD_FRAME
+ # define FRAME_CONFIG_STRING "QUAD"
+#elif FRAME_CONFIG == TRI_FRAME
+ # define FRAME_CONFIG_STRING "TRI"
+#elif FRAME_CONFIG == HEXA_FRAME
+ # define FRAME_CONFIG_STRING "HEXA"
+#elif FRAME_CONFIG == Y6_FRAME
+ # define FRAME_CONFIG_STRING "Y6"
+#elif FRAME_CONFIG == OCTA_FRAME
+ # define FRAME_CONFIG_STRING "OCTA"
+#elif FRAME_CONFIG == OCTA_QUAD_FRAME
+ # define FRAME_CONFIG_STRING "OCTA_QUAD"
+#elif FRAME_CONFIG == HELI_FRAME
+ # define FRAME_CONFIG_STRING "HELI"
+#elif FRAME_CONFIG == SINGLE_FRAME
+ # define FRAME_CONFIG_STRING "SINGLE"
+#elif FRAME_CONFIG == COAX_FRAME
+ # define FRAME_CONFIG_STRING "COAX"
+#else
+ # define FRAME_CONFIG_STRING "UNKNOWN"
+#endif
+
 /////////////////////////////////////////////////////////////////////////////////
 // TradHeli defaults
 #if FRAME_CONFIG == HELI_FRAME
@@ -299,15 +328,33 @@
 #define FS_GCS_ENABLED_ALWAYS_RTL           1
 #define FS_GCS_ENABLED_CONTINUE_MISSION     2
 
+// pre-arm baro vs inertial nav max alt disparity
+#ifndef PREARM_MAX_ALT_DISPARITY_CM
+ # define PREARM_MAX_ALT_DISPARITY_CM       200     // barometer and inertial nav altitude must be within this many centimeters
+#endif
+
 // pre-arm check max velocity
 #ifndef PREARM_MAX_VELOCITY_CMS
  # define PREARM_MAX_VELOCITY_CMS           50.0f   // vehicle must be travelling under 50cm/s before arming
 #endif
 
+// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers
+#ifndef PREARM_MAX_ACCEL_VECTOR_DIFF
+  #define PREARM_MAX_ACCEL_VECTOR_DIFF  1.0f    // pre arm accel check will fail if primary and backup accelerometer vectors differ by 1m/s/s
+#endif
+
+// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
+#ifndef PREARM_MAX_GYRO_VECTOR_DIFF
+  #define PREARM_MAX_GYRO_VECTOR_DIFF   0.35f   // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.35 rad/sec (=20deg/sec)
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
-//  EKF Checker
+//  EKF & DCM Checker
 #ifndef EKFCHECK_THRESHOLD_DEFAULT
- # define EKFCHECK_THRESHOLD_DEFAULT    0.6f    // EKF checker's default compass and velocity variance above which the EKF's horizontal position will be considered bad
+ # define EKFCHECK_THRESHOLD_DEFAULT    0.8f    // EKF checker's default compass and velocity variance above which the EKF's horizontal position will be considered bad
+#endif
+#ifndef DCMCHECK_THRESHOLD_DEFAULT
+ # define DCMCHECK_THRESHOLD_DEFAULT    0.8f    // DCM checker's default yaw error threshold above which we will abandon horizontal position hold.  The units are sin(angle) so 0.8 = about 60degrees of error
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -338,6 +385,11 @@
  #endif
 #endif
 
+// arming check's maximum acceptable vector difference between internal and external compass after vectors are normalized to field length of 1.0
+#ifndef COMPASS_ACCEPTABLE_VECTOR_DIFF
+  #define COMPASS_ACCEPTABLE_VECTOR_DIFF    0.75    // pre arm compass check will fail if internal vs external compass direction differ by more than 45 degrees
+ #endif
+
 //////////////////////////////////////////////////////////////////////////////
 //  OPTICAL_FLOW
 #ifndef OPTFLOW                         // sets global enabled/disabled flag for optflow (as seen in CLI)
@@ -442,11 +494,23 @@
 #ifndef LAND_DETECTOR_TRIGGER
  # define LAND_DETECTOR_TRIGGER 50    // number of 50hz iterations with near zero climb rate and low throttle that triggers landing complete.
 #endif
+#ifndef LAND_DETECTOR_MAYBE_TRIGGER
+ # define LAND_DETECTOR_MAYBE_TRIGGER   10  // number of 50hz iterations with near zero climb rate and low throttle that means we might be landed (used to reset horizontal position targets to prevent tipping over)
+#endif
+#ifndef LAND_DETECTOR_CLIMBRATE_MAX
+# define LAND_DETECTOR_CLIMBRATE_MAX    30  // vehicle climb rate must be between -30 and +30 cm/s
+#endif
+#ifndef LAND_DETECTOR_BARO_CLIMBRATE_MAX
+# define LAND_DETECTOR_BARO_CLIMBRATE_MAX   150  // barometer climb rate must be between -150cm/s ~ +150cm/s
+#endif
+#ifndef LAND_DETECTOR_ROTATION_MAX
+ # define LAND_DETECTOR_ROTATION_MAX    0.50f   // vehicle rotation must be below 0.5 rad/sec (=30deg/sec for) vehicle to consider itself landed
+#endif
 #ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM // require pilot to reduce throttle to minimum before vehicle will disarm
  # define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED
 #endif
 #ifndef LAND_REPOSITION_DEFAULT
- # define LAND_REPOSITION_DEFAULT   0   // by default the pilot cannot override roll/pitch during landing
+ # define LAND_REPOSITION_DEFAULT   1   // by default the pilot can override roll/pitch during landing
 #endif
 #ifndef LAND_WITH_DELAY_MS
  # define LAND_WITH_DELAY_MS        4000    // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
@@ -584,7 +648,7 @@
  # define RATE_PITCH_D       		0.004f
 #endif
 #ifndef RATE_PITCH_IMAX
- # define RATE_PITCH_IMAX        	500
+ # define RATE_PITCH_IMAX        	1000
 #endif
 
 #ifndef RATE_YAW_P
@@ -654,8 +718,8 @@
  # define THR_MAX_DEFAULT       1000            // maximum throttle sent to the motors
 #endif
 
-#ifndef THROTTLE_IN_DEADBAND
-# define THROTTLE_IN_DEADBAND    100            // the throttle input channel's deadband in PWM
+#ifndef THR_DZ_DEFAULT
+# define THR_DZ_DEFAULT         100             // the deadzone above and below mid throttle while in althold or loiter
 #endif
 
 #ifndef ALT_HOLD_P
@@ -664,7 +728,21 @@
 
 // RATE control
 #ifndef THROTTLE_RATE_P
- # define THROTTLE_RATE_P       6.0f
+ # define THROTTLE_RATE_P       5.0f
+#endif
+
+// Throttle Accel control
+#ifndef THROTTLE_ACCEL_P
+ # define THROTTLE_ACCEL_P      0.50f
+#endif
+#ifndef THROTTLE_ACCEL_I
+ # define THROTTLE_ACCEL_I      1.00f
+#endif
+#ifndef THROTTLE_ACCEL_D
+ # define THROTTLE_ACCEL_D      0.0f
+#endif
+#ifndef THROTTLE_ACCEL_IMAX
+ # define THROTTLE_ACCEL_IMAX   800
 #endif
 
 // default maximum vertical velocity and acceleration the pilot may request
@@ -684,20 +762,6 @@
  # define ALT_HOLD_ACCEL_MAX 250    // if you change this you must also update the duplicate declaration in AC_WPNav.h
 #endif
 
-// Throttle Accel control
-#ifndef THROTTLE_ACCEL_P
- # define THROTTLE_ACCEL_P  0.75f
-#endif
-#ifndef THROTTLE_ACCEL_I
- # define THROTTLE_ACCEL_I  1.50f
-#endif
-#ifndef THROTTLE_ACCEL_D
- # define THROTTLE_ACCEL_D 0.0f
-#endif
-#ifndef THROTTLE_ACCEL_IMAX
- # define THROTTLE_ACCEL_IMAX 500
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Dataflash logging control
 //

ArduCopter/control_acro.pde

@@ -59,6 +59,11 @@ static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int
         // expo variables
         float rp_in, rp_in3, rp_out;
 
+        // range check expo
+        if (g.acro_expo > 1.0f) {
+            g.acro_expo = 1.0f;
+        }
+
         // roll expo
         rp_in = float(roll_in)/ROLL_PITCH_INPUT_MAX;
         rp_in3 = rp_in*rp_in*rp_in;

ArduCopter/control_auto.pde

@@ -102,13 +102,14 @@ static void auto_takeoff_run()
 {
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
+        // initialise wpnav targets
+        wp_nav.shift_wp_origin_to_current_pos();
         // reset attitude control targets
         attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // tell motors to do a slow start
         motors.slow_start(true);
-        // To-Do: re-initialise wpnav targets
         return;
     }
 
@@ -287,6 +288,11 @@ static void auto_land_run()
         return;
     }
 
+    // relax loiter targets if we might be landed
+    if (land_complete_maybe()) {
+        wp_nav.loiter_soften_for_landing();
+    }
+
     // process pilot's input
     if (!failsafe.radio) {
         if (g.land_repositioning) {
@@ -309,7 +315,7 @@ static void auto_land_run()
     wp_nav.update_loiter();
 
     // call z-axis position controller
-    pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt);
+    pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt, true);
     pos_control.update_z_controller();
 
     // roll & pitch from waypoint controller, yaw rate from pilot
@@ -470,7 +476,7 @@ void set_auto_yaw_mode(uint8_t yaw_mode)
 }
 
 // set_auto_yaw_look_at_heading - sets the yaw look at heading for auto mode 
-static void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, uint8_t relative_angle)
+static void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle)
 {
     // get current yaw target
     int32_t curr_yaw_target = attitude_control.angle_ef_targets().z;
@@ -481,7 +487,10 @@ static void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, u
         yaw_look_at_heading = wrap_360_cd(angle_deg * 100);
     } else {
         // relative angle
-        yaw_look_at_heading = wrap_360_cd(angle_deg * 100);
+        if (direction < 0) {
+            angle_deg = -angle_deg;
+        }
+        yaw_look_at_heading = wrap_360_cd((angle_deg*100+curr_yaw_target));
     }
 
     // get turn speed

ArduCopter/control_autotune.pde

@@ -53,10 +53,10 @@
 #define AUTOTUNE_PI_RATIO_FOR_TESTING      0.1f    // I is set 10x smaller than P during testing
 #define AUTOTUNE_RP_RATIO_FINAL            1.0f    // I is set 1x P after testing
 #define AUTOTUNE_RD_MIN                  0.002f    // minimum Rate D value
-#define AUTOTUNE_RD_MAX                  0.015f    // maximum Rate D value
+#define AUTOTUNE_RD_MAX                  0.020f    // maximum Rate D value
 #define AUTOTUNE_RP_MIN                   0.01f    // minimum Rate P value
-#define AUTOTUNE_RP_MAX                   0.25f    // maximum Rate P value
-#define AUTOTUNE_SP_MAX                   15.0f    // maximum Stab P value
+#define AUTOTUNE_RP_MAX                   0.35f    // maximum Rate P value
+#define AUTOTUNE_SP_MAX                   20.0f    // maximum Stab P value
 #define AUTOTUNE_SUCCESS_COUNT                4    // how many successful iterations we need to freeze at current gains
 
 // Auto Tune message ids for ground station

ArduCopter/control_guided.pde

@@ -64,6 +64,7 @@ void guided_pos_control_start()
     set_auto_yaw_mode(get_default_auto_yaw_mode(false));
 }
 
+#if NAV_GUIDED == ENABLED
 // initialise guided mode's velocity controller
 void guided_vel_control_start()
 {
@@ -77,6 +78,7 @@ void guided_vel_control_start()
     // initialise velocity controller
     pos_control.init_vel_controller_xyz();
 }
+#endif
 
 // guided_set_destination - sets guided mode's target destination
 static void guided_set_destination(const Vector3f& destination)
@@ -89,6 +91,7 @@ static void guided_set_destination(const Vector3f& destination)
     wp_nav.set_wp_destination(destination);
 }
 
+#if NAV_GUIDED == ENABLED
 // guided_set_velocity - sets guided mode's target velocity
 static void guided_set_velocity(const Vector3f& velocity)
 {
@@ -100,6 +103,7 @@ static void guided_set_velocity(const Vector3f& velocity)
     // set position controller velocity target
     pos_control.set_desired_velocity(velocity);
 }
+#endif
 
 // guided_run - runs the guided controller
 // should be called at 100hz or more
@@ -128,9 +132,12 @@ static void guided_run()
         guided_pos_control_run();
         break;
 
+#if NAV_GUIDED == ENABLED
     case Guided_Velocity:
         // run velocity controller
         guided_vel_control_run();
+        break;
+#endif
     }
  }
 
@@ -140,13 +147,14 @@ static void guided_takeoff_run()
 {
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
+        // initialise wpnav targets
+        wp_nav.shift_wp_origin_to_current_pos();
         // reset attitude control targets
         attitude_control.relax_bf_rate_controller();
         attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // tell motors to do a slow start
         motors.slow_start(true);
-        // To-Do: re-initialise wpnav targets
         return;
     }
 

ArduCopter/control_land.pde

 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 // counter to verify landings
-static uint16_t land_detector;
+static uint16_t land_detector = LAND_DETECTOR_TRIGGER;  // we assume we are landed
 static bool land_with_gps;
 
 static uint32_t land_start_time;
@@ -61,7 +61,7 @@ static void land_gps_run()
 
 #if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
         // disarm when the landing detector says we've landed and throttle is at minimum
-        if (ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio)) {
+        if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
             init_disarm_motors();
         }
 #else
@@ -73,6 +73,11 @@ static void land_gps_run()
         return;
     }
 
+    // relax loiter target if we might be landed
+    if (land_complete_maybe()) {
+        wp_nav.loiter_soften_for_landing();
+    }
+
     // process pilot inputs
     if (!failsafe.radio) {
         if (g.land_repositioning) {
@@ -107,7 +112,7 @@ static void land_gps_run()
     }
 
     // update altitude target and call position controller
-    pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt);
+    pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
     pos_control.update_z_controller();
 }
 
@@ -126,7 +131,7 @@ static void land_nogps_run()
         attitude_control.set_throttle_out(0, false);
 #if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
         // disarm when the landing detector says we've landed and throttle is at minimum
-        if (ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio)) {
+        if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
             init_disarm_motors();
         }
 #else
@@ -165,7 +170,7 @@ static void land_nogps_run()
     }
 
     // call position controller
-    pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt);
+    pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
     pos_control.update_z_controller();
 }
 
@@ -187,31 +192,44 @@ static float get_throttle_land()
     }
 }
 
+// land_complete_maybe - return true if we may have landed (used to reset loiter targets during landing)
+static bool land_complete_maybe()
+{
+    return (ap.land_complete || ap.land_complete_maybe);
+}
+
 // update_land_detector - checks if we have landed and updates the ap.land_complete flag
-// returns true if we have landed
-static bool update_land_detector()
+// called at 50hz
+static void update_land_detector()
 {
-    // detect whether we have landed by watching for low climb rate and minimum throttle
-    if (abs(climb_rate) < 40 && motors.limit.throttle_lower) {
+    // detect whether we have landed by watching for low climb rate, motors hitting their lower limit, overall low throttle and low rotation rate
+    if ((abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) &&
+        (abs(baro_climbrate) < LAND_DETECTOR_BARO_CLIMBRATE_MAX) &&
+        motors.limit.throttle_lower &&
+#if FRAME_CONFIG != HELI_FRAME
+        (motors.get_throttle_out() < get_non_takeoff_throttle()) &&
+#endif
+        (ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX)) {
         if (!ap.land_complete) {
-            // run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
+            // increase counter until we hit the trigger then set land complete flag
             if( land_detector < LAND_DETECTOR_TRIGGER) {
                 land_detector++;
             }else{
                 set_land_complete(true);
-                land_detector = 0;
+                land_detector = LAND_DETECTOR_TRIGGER;
             }
         }
-    } else if ((motors.get_throttle_out() > get_non_takeoff_throttle()) || failsafe.radio) {
+    } else {
         // we've sensed movement up or down so reset land_detector
         land_detector = 0;
-        if(ap.land_complete) {
+        // if throttle output is high then clear landing flag
+        if (motors.get_throttle_out() > get_non_takeoff_throttle()) {
             set_land_complete(false);
         }
     }
 
-    // return current state of landing
-    return ap.land_complete;
+    // set land maybe flag
+    set_land_complete_maybe(land_detector >= LAND_DETECTOR_MAYBE_TRIGGER);
 }
 
 // land_do_not_use_GPS - forces land-mode to not use the GPS but instead rely on pilot input for roll and pitch
@@ -228,3 +246,8 @@ static void set_mode_land_with_pause()
     set_mode(LAND);
     land_pause = true;
 }
+
+// landing_with_GPS - returns true if vehicle is landing using GPS
+static bool landing_with_GPS() {
+    return (control_mode == LAND && land_with_gps);
+}

ArduCopter/control_loiter.pde

@@ -68,6 +68,11 @@ static void loiter_run()
         wp_nav.clear_pilot_desired_acceleration();
     }
 
+    // relax loiter target if we might be landed
+    if (land_complete_maybe()) {
+        wp_nav.loiter_soften_for_landing();
+    }
+
     // when landed reset targets and output zero throttle
     if (ap.land_complete) {
         wp_nav.init_loiter_target();