mirror of https://github.com/ArduPilot/ardupilot
Copter : correct spelling on comment
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@ -169,7 +169,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
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}
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}
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char fail_msg[50];
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char fail_msg[50];
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// check input mangager parameters
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// check input manager parameters
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if (!copter.input_manager.parameter_check(fail_msg, ARRAY_SIZE(fail_msg))) {
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if (!copter.input_manager.parameter_check(fail_msg, ARRAY_SIZE(fail_msg))) {
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "%s", fail_msg);
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "%s", fail_msg);
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return false;
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return false;
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@ -191,7 +191,7 @@ void Copter::yaw_imbalance_check()
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return;
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return;
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}
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}
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// thrust loss is trigerred, yaw issues are expected
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// thrust loss is triggered, yaw issues are expected
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if (motors->get_thrust_boost()) {
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if (motors->get_thrust_boost()) {
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yaw_I_filt.reset(0.0f);
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yaw_I_filt.reset(0.0f);
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return;
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return;
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@ -219,8 +219,8 @@ void Copter::yaw_imbalance_check()
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const float I_max = attitude_control->get_rate_yaw_pid().imax();
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const float I_max = attitude_control->get_rate_yaw_pid().imax();
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if ((is_positive(I_max) && ((I > YAW_IMBALANCE_IMAX_THRESHOLD * I_max) || (is_equal(I_term,I_max))))) {
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if ((is_positive(I_max) && ((I > YAW_IMBALANCE_IMAX_THRESHOLD * I_max) || (is_equal(I_term,I_max))))) {
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// filtered using over precentage of I max or unfiltered = I max
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// filtered using over percentage of I max or unfiltered = I max
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// I makes up more than precentage of total available control power
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// I makes up more than percentage of total available control power
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const uint32_t now = millis();
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const uint32_t now = millis();
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if (now - last_yaw_warn_ms > YAW_IMBALANCE_WARN_MS) {
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if (now - last_yaw_warn_ms > YAW_IMBALANCE_WARN_MS) {
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last_yaw_warn_ms = now;
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last_yaw_warn_ms = now;
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@ -772,7 +772,7 @@ void Mode::precland_retry_position(const Vector3f &retry_pos)
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}
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}
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// allow user to take control during repositioning. Note: copied from land_run_horizontal_control()
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// allow user to take control during repositioning. Note: copied from land_run_horizontal_control()
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// To-Do: this code exists at several different places in slightly diffrent forms and that should be fixed
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// To-Do: this code exists at several different places in slightly different forms and that should be fixed
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if (g.land_repositioning) {
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if (g.land_repositioning) {
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float target_roll = 0.0f;
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float target_roll = 0.0f;
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float target_pitch = 0.0f;
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float target_pitch = 0.0f;
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@ -796,7 +796,7 @@ void Mode::precland_retry_position(const Vector3f &retry_pos)
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}
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}
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Vector3p retry_pos_NEU{retry_pos.x, retry_pos.y, retry_pos.z * -1.0f};
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Vector3p retry_pos_NEU{retry_pos.x, retry_pos.y, retry_pos.z * -1.0f};
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//pos contoller expects input in NEU cm's
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// pos controller expects input in NEU cm's
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retry_pos_NEU = retry_pos_NEU * 100.0f;
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retry_pos_NEU = retry_pos_NEU * 100.0f;
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pos_control->input_pos_xyz(retry_pos_NEU, 0.0f, 1000.0f);
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pos_control->input_pos_xyz(retry_pos_NEU, 0.0f, 1000.0f);
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@ -633,7 +633,7 @@ private:
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int8_t pitch_deg; // target pitch angle in degrees. provided by mission command
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int8_t pitch_deg; // target pitch angle in degrees. provided by mission command
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int16_t yaw_deg; // target yaw angle in degrees. provided by mission command
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int16_t yaw_deg; // target yaw angle in degrees. provided by mission command
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float climb_rate; // climb rate in m/s. provided by mission command
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float climb_rate; // climb rate in m/s. provided by mission command
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uint32_t start_ms; // system time that nav attitude time command was recieved (used for timeout)
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uint32_t start_ms; // system time that nav attitude time command was received (used for timeout)
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} nav_attitude_time;
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} nav_attitude_time;
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};
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};
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@ -41,7 +41,7 @@ bool ModeAutorotate::init(bool ignore_checks)
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g2.arot.init_hs_controller();
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g2.arot.init_hs_controller();
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g2.arot.init_fwd_spd_controller();
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g2.arot.init_fwd_spd_controller();
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// Retrive rpm and start rpm sensor health checks
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// Retrieve rpm and start rpm sensor health checks
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_initial_rpm = g2.arot.get_rpm(true);
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_initial_rpm = g2.arot.get_rpm(true);
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// Display message
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// Display message
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@ -209,7 +209,7 @@ void ModeAutorotate::run()
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gcs().send_text(MAV_SEVERITY_INFO, "Bailing Out of Autorotation");
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gcs().send_text(MAV_SEVERITY_INFO, "Bailing Out of Autorotation");
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#endif
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#endif
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// Set bail out timer remaining equal to the paramter value, bailout time
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// Set bail out timer remaining equal to the parameter value, bailout time
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// cannot be less than the motor spool-up time: BAILOUT_MOTOR_RAMP_TIME.
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// cannot be less than the motor spool-up time: BAILOUT_MOTOR_RAMP_TIME.
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_bail_time = MAX(g2.arot.get_bail_time(),BAILOUT_MOTOR_RAMP_TIME+0.1f);
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_bail_time = MAX(g2.arot.get_bail_time(),BAILOUT_MOTOR_RAMP_TIME+0.1f);
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@ -77,7 +77,7 @@ void Copter::init_ardupilot()
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init_rc_in(); // sets up rc channels from radio
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init_rc_in(); // sets up rc channels from radio
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// initialise surface to be tracked in SurfaceTracking
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// initialise surface to be tracked in SurfaceTracking
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// must be before rc init to not override inital switch position
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// must be before rc init to not override initial switch position
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surface_tracking.init((SurfaceTracking::Surface)copter.g2.surftrak_mode.get());
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surface_tracking.init((SurfaceTracking::Surface)copter.g2.surftrak_mode.get());
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// allocate the motors class
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// allocate the motors class
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