Jani Hirvinen
bdbe26eb28
Copter: minor comment fix
...
small edit on comments to kickoff autobuild
2017-08-09 20:14:22 +09:00
Peter Barker
431e3443bd
Copter: move try_send_message send_hwstatus up
2017-08-03 14:33:37 +01:00
Peter Barker
3e5665735f
Copter: move try_send_message mission handling up
2017-08-03 14:24:47 +01:00
Peter Barker
cdf9ebcb39
Copter: camera is responsible for taking distance-based-images and logging
2017-07-28 14:27:53 +01:00
Randy Mackay
f97e43919b
Copter: add gps glitch notification and pre-arm check
2017-07-27 14:16:23 +09:00
khancyr
49755063ab
Copter: move send_proximity to GCS common code (NFC)
2017-07-24 13:44:43 +01:00
Peter Barker
e45efeb829
Copter: move starting of new logs into DataFlash
2017-07-19 16:37:28 +01:00
Randy Mackay
2b98fd765d
Copter: guided_set_destination accepts relative yaw
2017-07-12 13:27:45 +09:00
Randy Mackay
4c9e118ceb
Copter: set_auto_yaw_look_at_heading takes bool for relative angle arg
...
No functional change
2017-07-12 13:27:45 +09:00
Randy Mackay
9b05f1d9c7
Copter: add auto-yaw-rate and replace guided_angle_state.use_yaw_rate
...
We use the auto_yaw_mode in auto and guided modes to allow various yaw behaviours
This commit adds a new AUTO_YAW_RATE control to the mode and uses it within guided mode.
This new RATE control is not currently used within auto mode because there is no way (yet) for a mission command to specify a desired rate.
2017-07-12 13:27:45 +09:00
kouseii
4dd7d9eaff
Copter: guided mode supports heading and yaw-rate target
2017-07-12 13:27:45 +09:00
Peter Barker
358555446b
Copter: eliminate gcs_send_mission_item_reached wrapper
2017-07-11 23:45:16 +01:00
Peter Barker
0ac045febe
Copter: eliminate gcs_send_message wrapper
2017-07-11 23:45:16 +01:00
Peter Barker
f60389d4aa
Copter: use send_text method on the GCS singleton
2017-07-09 17:17:29 -04:00
Peter Barker
d9b45cc202
Copter: create GCS subclass, use inheritted methods
2017-07-07 16:18:37 +01:00
Eugene Shamaev
24c390ade0
ArduCopter: move of CAN parameters into separate group
2017-07-03 11:44:32 +01:00
Peter Barker
8b57405143
Copter: handle knowledge of in_log_download in DataFlash
2017-06-27 03:10:43 +01:00
Leonard Hall
7eab1239c7
Copter: attitude logging at 400hz
2017-06-22 15:18:04 +09:00
Pierre Kancir
261eb387eb
ArduCopter: change rangefinder msg for common one
2017-06-08 01:31:43 +01:00
Randy Mackay
cb76bd8f3d
Copter: compass set-initial-location uses ahrs location
...
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
2017-06-07 13:01:38 +09:00
Randy Mackay
814cadac68
Copter: consolidate set_home functions
...
added lock argument instead of having twice as many functions
no functional change
2017-06-07 13:01:38 +09:00
Peter Barker
0bc17645fb
Copter: AutoTune: add gcs messages detailing wait-for-level state
2017-05-18 09:36:00 +09:00
Peter Barker
586a5df814
Copter: add GCS messaging during autotune
2017-05-18 09:36:00 +09:00
Randy Mackay
91d4b4777b
Copter: respond to param list request after motor init
2017-05-15 14:13:43 +09:00
Randy Mackay
a3450a955d
Copter: fix LED notify during auto esc calibration
2017-05-11 11:30:05 +09:00
Randy Mackay
713c08672f
Copter: integrate AP_VisualOdom
2017-04-19 11:04:40 +09:00
Jonathan Challinger
054aab738b
Copter: remove const qualifier from do_precision_loiter
2017-03-29 14:06:12 +09:00
Andrew Tridgell
6bb5c16fb8
Copter: allow for HELI_DUAL configurations
2017-03-25 16:22:10 +11:00
Randy Mackay
8140353c64
Copter: log event when primary GPS changes
2017-03-13 11:31:51 +11:00
Peter Barker
1d70a337dd
Copter: remove unused desired_climb_rate variable
2017-03-09 19:52:58 +11:00
Andrew Tridgell
0d1bcd3b94
Copter: added automatic yaw to autotune position control
2017-02-27 19:34:44 +09:00
Andrew Tridgell
37fca03db3
Copter: implement simple position hold during autotune
...
this holds position during tuning with low gain
2017-02-27 19:34:36 +09:00
Randy Mackay
51c00f8144
Copter: use only downward facing rangefinder
2017-02-27 15:18:16 +09:00
Peter Barker
029aeeb4fd
Copter: support for a GCS singleton
2017-02-13 09:32:01 +11:00
Peter Barker
f49f153da0
Copter: rename gcs[] to gcs_chan[]
...
Wish to use gcs() to return the gcs singleton
2017-02-13 09:32:01 +11:00
Randy Mackay
cb1f7ba4bb
Copter: remove setting position control's altitude max
...
AC_Avoid now takes responsibility for enforcing the alt limit and accesses inertial nav's limit directly
2017-01-18 09:35:47 +09:00
Randy Mackay
b15d341850
Copter: add avoidance adjusted climb rate
2017-01-18 09:35:47 +09:00
Randy Mackay
cc217550c0
Copter: rename arming_checks to AP_Arming
2017-01-17 11:45:08 +09:00
Peter Barker
bd6ffc025e
Copter: start conversion to AP_Arming_Copter
2017-01-17 11:45:08 +09:00
Andrew Tridgell
1297a7dedb
Copter: convert the rest of motors class for tricopter
2017-01-12 17:39:37 +11:00
Andrew Tridgell
0f6d0c5ba9
Copter: combined tri, single, coax and multicopter into a single build
...
this allows copter to be just 2 builds, one for heli, and one for
everything else
2017-01-12 17:39:37 +11:00
Andrew Tridgell
5a87ae3f01
Copter: use new SRV_Channels API
2017-01-12 17:39:37 +11:00
Francisco Ferreira
11b635df12
Copter: correct limit status to fence status
2017-01-12 02:00:51 +00:00
Peter Barker
a233024e05
Copter: fix compilation when fence andd proximity are disabled
...
This adds AC_AVOID_ENABLED; avoidance must be disabled if either
of fence or proximity are disabled.
Parameter definitions have been reordered to avoid compiler warnings;
this make sthe numbering non-linear
2017-01-03 10:44:03 +09:00
Randy Mackay
01bcf5e528
Copter: add arming checks for motor setup
2016-12-31 10:55:23 +09:00
Randy Mackay
217757fdc8
Copter: default FRAME_CLASS
2016-12-31 10:55:23 +09:00
Randy Mackay
0ac00dbfd6
Copter: add FRAME_CLASS parameter
2016-12-31 10:55:23 +09:00
Andrew Tridgell
c3b9dbf5c8
ArduCopter: Add EKF3 and remove EKF1
2016-12-19 08:07:09 +11:00
Pierre Kancir
3fc17a5ed5
Copter: avoid must be initialized after fence as it use it
2016-12-05 10:59:45 -08:00
Peter Barker
556eb88fe5
Copter: fix compile when precland is not selected
...
Fixes #5327
2016-12-05 20:03:00 +09:00
Peter Barker
289aba4350
Copter: support for NAV_CMD_PLACE
2016-12-02 12:52:53 +11:00
Randy Mackay
74c9c4aa9d
Copter: add beacon data flash logging
...
Added to Copter vehicle because currently only used by Copter
2016-11-30 17:56:59 +09:00
Randy Mackay
21c7ea1df7
Copter: integrate AP_Beacon
2016-11-30 17:56:55 +09:00
Andrew Tridgell
bcea3ac8d4
Copter: handle rangefinder glitches in alt tracking
...
this handles glitches from the rangefinder when tracking the
ground. It requires 3 readings in a row to settle on a new target
altitude
thanks to discussions with Leonard and Randy
2016-11-28 17:36:01 +11:00
Randy Mackay
7485de3498
Copter: add send_proximity to send distances to GCS
2016-11-27 15:05:46 +09:00
Randy Mackay
218c8b2d16
Copter: proximity pre-arm check displays closet object
2016-11-27 15:05:44 +09:00
Peter Barker
e72f5a6240
ArduCopter: enable/disable precision loiter on a switch
...
A switch MUST be assigned for precision loiter to be enabled
2016-11-18 09:41:56 +09:00
Peter Barker
9e4628af58
Copter: precision loiter
2016-11-18 09:41:56 +09:00
Peter Barker
236b8ab6b7
Copter: make EPM a subclass of AP_Gripper_Backend
2016-11-05 10:20:39 +09:00
Peter Barker
920868145c
Copter: support for AP_Gripper
2016-11-05 10:20:33 +09:00
Peter Barker
1bb6350a67
Copter: periodically call stats update
2016-10-29 14:53:25 +09:00
Peter Barker
df07cb525a
Copter: use AP_Stats to store statistics about vehicle
2016-10-29 14:53:25 +09:00
floaledm
34718b130a
Copter: update sensor status error flags independently of sending a sys_status message
...
Without this, there is no update to the sensor status flags in the Frsky
lib unless there's an active Mavlink connection configured to send
extended_status1
2016-10-28 10:03:38 +11:00
Mathieu OTHACEHE
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Leonard Hall
fec24437f2
Copter: load accel throttle I term from attitude controller input
...
Previously we loaded up the I term from the pilot's input but a more reliable method is to get what was passed into the attitude controller. In particular the addition of the acro-thr-mid parameter means the pilot's input must be interpreted differently for different flight modes.
2016-10-15 11:27:53 +09:00
Randy Mackay
a124001b8b
Copter: get_pilot_desired_throttle gets thr_mid argument default
2016-10-15 11:27:53 +09:00
Leonard Hall
5c47f3f9e5
Copter: add acro throttle and yaw expo and smoother manual pilot throttle
2016-10-15 11:27:53 +09:00
Randy Mackay
0aab175051
Copter: move proximity to g2
2016-10-14 14:02:29 +09:00
Jonathan Challinger
f2ef8eec8c
Copter: use velocity output from AC_PrecLand
2016-10-14 10:46:08 +09:00
Randy Mackay
a07ecfe2b3
Copter: log proximity sensor at 10hz
...
This is current in the Copter vehicle code but we can move to the dataflash library when other vehicles start using this type of sensor. Until then adding it to common will just increase the dependencies unnecessarily for other vehicles.
2016-10-13 20:21:07 +09:00
Randy Mackay
fcc2a1b378
Copter: integrate AP_Proximity into main vehicle
2016-10-13 20:21:07 +09:00
Randy Mackay
26c3295042
Copter: ignore first ekf core switch
...
The ekf core is initialised to -1 but after initialisation changes to zero. Ignore this first change.
2016-10-13 15:20:16 +09:00
Randy Mackay
d74ae535d1
Copter: log EKF lane switch
2016-10-10 16:40:08 +09:00
Randy Mackay
35864c6226
Copter: move check_ekf_reset to ekf_check.cpp
...
No functional change
2016-10-10 16:40:08 +09:00
murata
7148cc6239
Copter: Return value is changed to Enum Value.
2016-10-05 08:25:15 -03:00
Andrew Tridgell
f18e0dadc9
Copter: added optional AdvancedFailsafe for copter and heli
2016-08-25 14:14:18 +10:00
floaledm
893614897e
Copter: moved MAV_TYPE to Copter.h
2016-08-25 10:16:20 +10:00
Andrew Tridgell
a14ff8ac77
Copter: fixes for Frsky_Telem API changes
2016-08-25 10:16:20 +10:00
floaledm
157db51b9d
Copter: make control_sensor vars available outside of send_extended_status1
2016-08-25 10:16:18 +10:00
floaledm
f73fa1fc80
Copter: removed frsky_telemetry_send scheduled task
2016-08-25 10:16:17 +10:00
Peter Barker
f67d247a46
Copter: factor pre-arm checks, continue testing after a failure
...
The functional change here is that we continue to run later checks
when a check fails.
The user-visible effect of that is that your GCS will tell you about
all pre-arm failures, not just the first.
This makes things work a little more like Plane, in preparation for
using AP_Arming.
2016-08-16 11:37:18 -03:00
Andrew Tridgell
3041a75798
Copter: limit attitude on landing using WP_NAVALT_MIN
2016-08-16 11:26:56 +10:00
Randy Mackay
0ed5665193
Copter: change parameter order of guided_set_angle
...
I thought it might be slightly better to put the optional parameters at the end
No functional change
2016-08-10 10:03:54 +09:00
Allan Matthew
6dd4e1a2aa
Copter: accept yaw rate commands in Guided atttude controller
2016-08-10 10:03:37 +09:00
Randy Mackay
9842840346
Copter: GND_EFFECT_COMP parameter to enable ground effect compensation
2016-08-09 13:31:36 +09:00
Randy Mackay
728e8f8f56
Copter: land_state uses enum
...
This resolves a Covarity warning related to initialisation (that was not really a problem) but it is better form anyway
2016-08-08 13:31:29 +09:00
Francisco Ferreira
43ad1f372d
Copter: change function from computing return altitude to computing return target
...
Also fix altitude for rally points
2016-08-06 13:50:53 +09:00
Francisco Ferreira
e732cda577
Copter: when calculating RTL return alt use rtl_path directly
...
At the same time, fix bug: check return point for terrain and not origin twice
2016-08-06 13:50:50 +09:00
Randy Mackay
c3d71f733c
Copter: remove get_takeoff_trigger_throttle
...
get_pilot_desired_climbrate can be used instead.
2016-08-05 12:40:37 +09:00
Randy Mackay
d1e257d5b6
Copter: remove unused get_throttle_pre_takeoff
2016-08-05 12:40:37 +09:00
Jonathan Challinger
80f3541933
Copter: add configurable arming delay
2016-08-04 15:19:22 +09:00
Jonathan Challinger
4a6cc75ebb
Copter: whitespace change
2016-08-04 15:17:38 +09:00
Randy Mackay
595aea236a
Copter: consolidate throw mode state into structure
2016-08-02 20:25:52 +09:00
Randy Mackay
807e930251
Copter: throw uses motor spooling instead of interlock
2016-08-02 20:25:52 +09:00
Randy Mackay
f4f13bbe6b
Copter: add throw mode logging
2016-08-02 20:25:52 +09:00
Randy Mackay
f0f87a2f0c
Copter: add throw_nextmode
...
vehicle switches to mode specified in THROW_NEXTMODE parameter after the
throw is completed.
2016-08-02 20:25:52 +09:00
Randy Mackay
64ac18da6c
Copter: move throw state into structure
...
This makes it easier to add more state which is required for the follow throw_nextmode change
2016-08-02 20:25:52 +09:00
Randy Mackay
1161417d7f
Copter: add GUIDED_NOGPS flight mode
...
This mode is a cut down version of Guided mode that only accepts attitude commands.
This mode does not require a GPS lock
2016-08-02 18:25:59 +09:00
Randy Mackay
49674abb21
Copter: guided mode's velocity controller stops before fence
2016-07-25 20:24:37 +09:00
Randy Mackay
dc52f3b2df
Copter: guided mode applies acceleration limits to velocity controller
2016-07-25 20:24:37 +09:00
Randy Mackay
6118bf1b14
Copter: remove adsb sensor library based avoidance
...
adsb based avoidance has been moved to AP_Avoidance library
2016-07-25 20:24:37 +09:00
Randy Mackay
d50987f976
Copter: avoidance_adsb implements copter avoidance using ADSB
2016-07-25 20:24:37 +09:00
Randy Mackay
68899ed921
Copter: add adsb to failsafe structure and report in heartbeat to GCS
2016-07-25 20:24:37 +09:00
Andrew Tridgell
387da40fc5
ArduCopter: adjust for 16 channels in SERVO_OUTPUT_RAW
2016-07-25 10:06:02 +10:00
Andrew Tridgell
cb5ca713a9
Copter: added AP_Button support
2016-07-22 15:01:20 +10:00
Francisco Ferreira
90a4b36263
Copter: remove pre-arm check for rally points
2016-07-22 09:00:23 +09:00
Francisco Ferreira
25fefe77b7
Copter: add AP_Rally_Copter
...
override default is_valid method so we can check if rally point is inside the fence, if it isn't we ignore it
2016-07-22 09:00:18 +09:00
Jonathan Challinger
e22220ab62
Copter: refactor landing to reduce duplication, use vertical vel ff
2016-07-12 18:40:25 +09:00
Andrew Tridgell
3a8ed06267
Copter: added TKOFF_NAV_ALT parameter
...
this adds TKOFF_NAV_ALT which controls the altitude above takeoff that
navigation can begin. It is meant for unstable vehicles such as helis
to prevent blade strike during initial takeoff.
This also adds a new parameter class ParametersG2 which can hold 64
parameters. This is to avoid running out of parameters in the first
256 block
2016-07-07 14:21:47 +09:00
Randy Mackay
877a144dea
Copter: pre-arm check that rally points are within fence
2016-07-04 18:25:03 +09:00
Jonathan Challinger
91a5b26725
Copter: use simplified precland interface
2016-07-04 16:57:06 +09:00
Randy Mackay
543d5701e7
Copter: remove unused log_write_startup
2016-07-04 11:17:16 +09:00
Daniel Ricketts
87be8daf0e
Copter: integrate AC_Avoidance library
2016-06-22 11:38:15 +09:00
Leonard Hall
e9d8a28ec0
Copter: AP_Motor's throttle_hover replaces throttle_average
2016-06-18 11:55:49 +09:00
Peter Barker
e977d85e0c
Copter: move telemetry_delayed up into base class
2016-05-31 08:46:09 +10:00
Peter Barker
bb19c57615
Copter: subclass GCS_MAVLink in place of defining its functions for it
2016-05-29 16:21:21 +10:00
Randy Mackay
cb9ca94dd1
Copter: remove unused pv_location_to_vector_with_default
2016-05-25 16:19:42 +09:00
Randy Mackay
8171532dc5
Copter: allow rangefinder to be disabled from definition
2016-05-21 10:36:53 +09:00
Randy Mackay
e489c3184c
Copter: rangefinder.enabled false if no range finders are configured
2016-05-21 10:36:53 +09:00
Randy Mackay
59070653cc
Copter: provide filtered range finder altitude to AC_WPNav
2016-05-21 10:36:53 +09:00
Randy Mackay
5ac13c0355
Copter: move rangefinder variables into structure
...
moved in rangefinder_alt, rangefinder_alt_health and rangefinder_enabled
2016-05-21 10:36:53 +09:00
Randy Mackay
273b9acad8
Copter: prearm check that RTL_ALT is below rangefinder max alt
...
Only applies where terrain following is enabled and a range finder is connected
2016-05-21 10:36:53 +09:00
Randy Mackay
ba38b0234f
Copter: use rangefinder class's valid_range_count
...
Also read_rangefinder directly updates rangefinder_alt variable instead of returning distance
No functional change
2016-05-21 10:36:53 +09:00
Randy Mackay
949d5f7109
Copter: add rangefinder_alt_ok
...
Reduces some duplicate code,no functional change.
2016-05-21 10:36:53 +09:00
Randy Mackay
7689315ba2
Copter: rename sonar to rangefinder
2016-05-21 10:36:53 +09:00
Randy Mackay
028946ae9e
Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE
2016-05-21 10:36:53 +09:00
Randy Mackay
e0bf08abe0
Copter: fixes to guided mode target check is within fence
...
guided altitude targets are converted to alt-above-home
remove unnecessary fence_status local variable from guided_set_destination methods
log failures to set guided target under a new failure code: ERROR_CODE_DEST_OUTSIDE_FENCE (5)
rename pv_get_home_destination_distance_mc to pv_distance_to_home_cm
2016-05-21 09:56:12 +09:00
Saloni Jain
bc22419286
Copter : Modified set_guided_destination() to reject requests for guided waypoints outside the fence.
2016-05-21 09:56:12 +09:00
Randy Mackay
793e3da904
Copter: rename variables used for NAV_DELAY command
2016-05-19 16:16:03 +09:00
Niti Rohilla
55f66b7696
Copter: Add support for MAV_CMD_NAV_DELAY
2016-05-19 16:16:02 +09:00
Jonathan Challinger
c99cac773b
Copter: add brake_timeout_to_loiter_ms
2016-05-13 11:42:25 +09:00
Andrew Tridgell
9da3b8db60
Copter: only log baro, gps and mag if ekf not logging them
2016-05-07 18:27:19 +10:00
Andrew Tridgell
b235304235
Copter: reduce IMU logging to 25Hz
...
leave more room for IMT logging needed for Replay
2016-05-07 18:27:17 +10:00
Lucas De Marchi
352e103f1a
ArduCopter: use separate header for version macro
...
Having the version macro in the config.h and consequently in the main
vehicle header means that whenever the version changes we need to
compiler the whole vehicle again. This would not be so bad if we weren't
also appending the git hash in the version. In this case, whenever we
commit to the repository we would need to recompile everything.
Move to a separate header that is include only by its users. Then
instead of compiling everything we will compile just a few files.
2016-05-06 13:11:28 -03:00
Michael du Breuil
c97888f524
Copter: Remove support for CONDITION_CHANGE_ALT
2016-04-30 10:56:07 +09:00
Randy Mackay
43d14defd4
Copter: RTL handles terrain data failure
2016-04-30 10:33:01 +09:00
Randy Mackay
47658fe964
Copter: add terrain failsafe
2016-04-30 10:33:01 +09:00
Randy Mackay
13c26eab67
Copter: update current_loc at 400hz
2016-04-30 10:33:01 +09:00
Randy Mackay
ddffbe27aa
Copter: add terrain pre-arm check
2016-04-30 10:33:01 +09:00
Randy Mackay
91f6c7b503
Copter: add TERRAIN_USE parameter
...
Also add terrain.cpp to hold terrain_update and terrain_logging functions
2016-04-30 10:33:01 +09:00
Randy Mackay
267c1c3934
Copter: guided mode handles terrain alt
2016-04-30 10:33:01 +09:00
Randy Mackay
e8b14e59fc
Copter: spline mission commands handle terrain altitudes
2016-04-30 10:33:01 +09:00
Randy Mackay
81d244c9bd
Copter: do-circle accept terrain altitude
2016-04-30 10:33:01 +09:00
Randy Mackay
352b6ae82a
Copter: RTL supports terrain altitudes
2016-04-30 10:33:01 +09:00
Randy Mackay
06ee6a7bd4
Copter: auto takeoff accepts abs and terrain alts
2016-04-30 10:33:01 +09:00
Randy Mackay
9449776e3c
Copter: straight line waypoints accept terrain
...
auto_wp_start calls AC_WPNav's new set_wp_destination which accepts a
Location class allow altitude to be set as above-terrain or even an
absolute altitude
2016-04-30 10:33:01 +09:00
Randy Mackay
84fd8da944
Copter: current_loc to Location class
2016-04-30 10:33:01 +09:00
Andrew Tridgell
5149a49daa
Copter: added logging of dropped log messages in PM message
2016-04-21 17:05:17 +10:00
Jonathan Challinger
2a36c32cf3
Copter: add prev_control_mode and prev_control_reason
2016-04-14 12:24:04 +09:00
Jonathan Challinger
1356deab8b
Copter: add control_mode_reason
2016-04-14 12:24:04 +09:00
Jonathan Challinger
a0ce8af633
Copter: use enum type for control_mode
2016-04-14 12:24:04 +09:00
Ricardo de Almeida Gonzaga
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
Leonard Hall
a9cda8b384
Copter: add convert_pid_parameters to ease migration to new PID gains
2016-04-01 11:59:30 +09:00
Randy Mackay
d2a42a7a0e
Copter: remove heli_radio_passthrough
...
Replaced with set_radio_passthrough which can be used for all frames
2016-04-01 11:59:30 +09:00
Randy Mackay
ce1fb7fb06
Copter: passthrough pilot input to motors to allow wiggling servos
2016-04-01 11:59:30 +09:00
Randy Mackay
3eaf7a4582
Copter: set tradheli rotor speed using 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
263052da21
Copter: drift uses 0 to 1 throttle and sets motor spool state
2016-04-01 11:59:30 +09:00
Leonard Hall
74983669be
Copter: set_accel_throttle_I_from_pilot_throttle uses 0 to 1 range
2016-04-01 11:59:30 +09:00
Leonard Hall
fd2509f6ed
Copter: get_pilot_desired_throttle outputs in 0 to 1 range
2016-04-01 11:59:30 +09:00
Andrew Tridgell
31000ac756
Copter: moved Log_Write_Rate() to common code
2016-03-25 12:13:59 +11:00
Lucas De Marchi
e88ba38595
ArduCopter: replace header guard with pragma once
2016-03-16 18:40:44 +11:00
Randy Mackay
dca89e7fe7
Copter: throw static variables moved to global scope
2016-03-03 12:18:27 +09:00
Randy Mackay
24cfbeebd0
Copter: add throw_exit
2016-03-03 12:18:25 +09:00
Paul Riseborough
a7b69366a1
Copter: Add flight mode for throw launch
...
The is commit adds a new flight mode called 'Throw' to Copter that enables the copter to be thrown into the air to start motors. This mode can only be netered when the copters EKF has a valid position estimate and goes through the following states
Throw_Disarmed - The copter is disarmed and motors are off.
Throw_Detecting - The copter is armed, but motors will not spin unless THROW_MOT_START has been set to 1. The copter is waiting to detect the throw. A throw with an upwards velocity of at least 50cm/s is required to trigger the detector.
Throw_Uprighting - The throw has been detected and the copter is being uprighted with 50% throttle to maximise control authority. This state transitions when the copter is within 30 degrees of level.
Throw_HgtStabilise - The copter is kept level and height is stabilised about the target height which is 3m above the height at which the throw release was detected. This state transitions when the height is no more than 0.5m below the demanded height.
Throw_PosHold - The horizontal motion is arrested and the copter is kept at a constant position and height.
2016-03-03 12:18:13 +09:00
Tom Pittenger
6568402b28
Copter: convert to using static send_statustext
...
- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
2016-02-24 09:18:06 +11:00
Peter Barker
44c63b8873
Copter: move use of defines after config.h and defines.h
2016-02-19 12:34:23 -02:00
Andrew Tridgell
4efb9bd785
ArduCopter: update for changed AP_Camera API
2016-01-29 09:19:43 +11:00
Dario Lindo Andres
90bf13279b
ArduCopter: Added precise camera trigger logging
...
Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
APMrover2.
added support for TRIGGER MSG
corrected according to defines.h
2016-01-29 09:19:43 +11:00
Jonathan Challinger
82322144ee
Copter: remove unnecessary header file
2016-01-23 09:42:08 +09:00
Randy Mackay
2c5f9422d4
Copter: log event if pilot cancels land
...
Also add definition for throttle value that cancels land
2016-01-14 15:21:57 +09:00
Jonathan Challinger
8965185587
Copter: add "high throttle cancels landing" option
2016-01-14 15:21:54 +09:00
Jonathan Challinger
5cc969f01b
Copter: simplify battery and radio failsafe logic
2016-01-12 18:23:01 +09:00
Randy Mackay
89c147184f
Copter: log guided mode targets
2016-01-12 18:04:59 +09:00
Jonathan Challinger
dcd16696a2
Copter: refactor RTL to compute full path on initialization
2016-01-07 17:22:31 +09:00
bugobliterator
9a976963aa
Copter: support AP_AccelCal
2015-12-29 10:46:34 -08:00
Lucas De Marchi
e5e8bf3203
ArduCopter: don't link unused AP_Curve library
2015-12-28 10:23:23 -02:00
Jonathan Challinger
750cacc875
Copter: barometer ground effect compensation
2015-12-28 13:51:27 +09:00
Andrew Tridgell
4dd8714880
Copter: changed to Hz based task table
2015-12-27 14:57:21 +09:00
Jonathan Challinger
933ffb2b10
Copter: move prearm logic to arming_checks.cpp
2015-12-24 14:10:23 +09:00
Julien BERAUD
f897356fd9
Copter: Optflow constructor update
...
AHRS passed as param
2015-12-18 17:56:06 +11:00
Lucas De Marchi
164b9f345c
ArduCopter: remove unused AP_ADC_AnalogSource
2015-12-03 13:32:45 +11:00
Tom Pittenger
34d6d985e9
Copter: Add support for ADS-B
2015-11-27 15:02:15 +09:00
Caio Marcelo de Oliveira Filho
c7acc46d09
Copter: use millis/micros/panic functions
2015-11-20 12:26:31 +09:00
Randy Mackay
1b29a1af46
Copter: consolidate setting of using-iterlock state
2015-11-17 09:02:31 +09:00
Randy Mackay
731c44d053
Copter: allow terrain to be excluded from build
2015-11-14 12:38:47 +09:00
Robert Lefebvre
5cc4f41d85
Copter: Helicopter: to use new Stab_Col and Acro_Col functions.
2015-11-12 19:37:23 +09:00
Robert Lefebvre
34fb600c4f
Copter: Utilize Input Manager Class
2015-11-12 19:37:22 +09:00
lvale
549695181c
Copter: revised and uniformization of severity messages
2015-11-05 12:20:49 +09:00
Jonathan Challinger
082c1f77fb
Copter: soften takeoff
2015-11-04 20:49:22 +09:00
Lucas De Marchi
5244559010
Minimize AP_Progmem.h includes
...
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
Lucas De Marchi
1b07dabeb7
Replace prog_char and prog_char_t with char
...
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.
AVR-specific places were not changed.
2015-10-30 14:35:30 +09:00
Lucas De Marchi
84da1f5039
Rename gcs_send_text_P to gcs_send_text
2015-10-30 14:35:07 +09:00
Caio Marcelo de Oliveira Filho
bf6d1afd59
ArduCopter: include SITL only for SITL board
...
Include board-specific files only when the board is used. Since these
should be exceptional cases, let the includer handle the ifdef instead
of putting ifdefs in every platform-specific header.
In the future we should evaluate whether the HAL for the board should
instantiate this.
2015-10-22 13:36:14 -02:00
Caio Marcelo de Oliveira Filho
49a42dc985
SITL: use a SITL namespace
2015-10-22 11:04:42 -02:00
Caio Marcelo de Oliveira Filho
05ae7858e8
Copter: explicitly ask for always using EKF
...
When instantiating AP_AHRS_NavEKF for ArduCopter, explicitly pass the
flag to always use the EKF.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
2015-10-21 11:01:11 +11:00
Caio Marcelo de Oliveira Filho
3e3f13659d
ArduCopter: implement HAL::Callbacks
...
Also removes includes for each board since they are not necessary
anymore.
2015-10-21 09:16:09 +11:00
Randy Mackay
e20038a453
Copter: support SET_ATTITUDE_TARGET in guided mode
2015-10-09 12:15:38 +09:00
Andrew Tridgell
1c26ed0fca
Copter: fixed deadzone handling for external tail gyro
...
when using an external tail gyro on a flybar heli the stick input
should be directly passed to output. This patch fixes the use of
deadzone in that passthrough.
It also makes the tail handling consistent with roll and pitch
handling, by not using ACRO_YAW_P when in tail pass-through.
Finally it also fixes deadzone handling for roll and pitch, and
removes the unnecessary get_pilot_desired_yaw_rate() that has a
different prototype from the one used in the rest of the code
2015-09-25 12:05:43 +10:00
Randy Mackay
cdd4570f02
Copter: fix init order of ekfYawReset_ms
2015-09-24 16:57:50 +09:00
Jonathan Challinger
e47175862a
Copter: use modified getLastYawResetAngle function
2015-09-24 16:57:44 +09:00
Andrew Tridgell
053194fd51
Copter: added EK2_* parameters and EKF2 instance
2015-09-23 11:56:33 +10:00
Randy Mackay
57c5840f0d
Copter: add EKF attitude arming check
2015-09-21 17:06:39 +09:00
Randy Mackay
01c0b20930
Copter: calibrate gyros depending on INS GYR_CAL parameter
2015-09-21 17:06:34 +09:00
Andrew Tridgell
d6b244670b
Copter: fix for changed AP_RangeFinder API
2015-09-08 16:46:52 +10:00
Leonard Hall
543f6fdcd4
Copter: AltHold limits lean angle to maintain altitude
...
get_pilot_desired_lean_angles function now takes angle max parameter but
all flight modes except AltHold simply pass in the ANGLE_MAX parameter
meaning no functional change for them
2015-09-07 15:10:12 +09:00
Jonathan Challinger
7d67a00aa3
Copter: add compass_cal update function
2015-09-03 16:59:12 +10:00
Peter Barker
51a761656e
Copter: DFMessageWriter; ability to trickle messages out to DF
2015-09-03 15:20:19 +10:00
Randy Mackay
f4b152f0e3
Copter: add Precision Landing to GPS land
2015-08-31 18:00:31 +09:00
Randy Mackay
0da38ba2bf
Copter: add Precision Landing log message
2015-08-31 18:00:30 +09:00
Randy Mackay
26ded641db
Copter: integrate Precision Landing lib
2015-08-31 18:00:28 +09:00
Fredrik Hedberg
66d9d38750
Copter: Use AP_MotorsHeli_Single for HELI_FRAME.
2015-08-31 11:27:32 +09:00
Stewart Loving-Gibbard
7cb494d8e2
Copter: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more.
...
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
2015-08-29 08:05:59 +10:00
squilter
767b4da5b6
Copter: update send text severities
2015-08-25 14:05:25 +09:00
Grant Morphett
da37769e33
Copter: Added include guards for Copter.h
2015-08-25 13:54:18 +09:00
squilter
a11227af84
Copter: define and send FIRMWARE_VERSION
2015-08-21 22:40:52 +09:00
Tom Pittenger
87d0b12c7c
Copter: implement try send mission_item_reached
...
clean up unreachable code
2015-08-19 15:42:07 +10:00
Andrew Tridgell
1fdf7ec83f
Copter: added RPM sensor support
...
send result via MAVLink
2015-08-12 15:03:50 +10:00
Randy Mackay
b781f85948
Copter: convert fn from body-frame to NE
2015-08-11 16:41:08 -07:00
Gustavo Jose de Sousa
4d4b856735
ArduCopter: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:40 +10:00
Jonathan Challinger
a18f71b29e
Copter: bug fix to RTL_ALT_MIN feature
...
commited by Randy
2015-08-08 15:38:47 +09:00
Randy Mackay
6765aedb5b
Copter: init vehicle capabilities
2015-07-31 14:50:29 +09:00
squilter
edf5ff1bbe
Copter: add capability bitmask
2015-07-31 14:50:15 +09:00
Randy Mackay
53aad69fa2
Copter: include AttControl_Multi.h
2015-07-21 16:26:02 +09:00
Robert Lefebvre
e3a0f1568d
Copter: Tradheli to check rotor speed control input before arming
...
Also, force rsc_control input to 0 when disarmed. This prevents condition where AP_MotorsHeli can receive a rotor speed command greater than zero while disarmed, which was causing the ColYaw function to move the rudder servo. These two changes are somewhat tied together as it required changing the arming_check to check the RSC_Control not desired_speed from AP_MotorsHeli.
2015-07-21 16:25:25 +09:00
Tom Pittenger
0ecebbd55f
Copter: Refactor verify_command
...
- abstracted verify_command so that command-wide actions can happen more cleanly, namely mission_item_reached
- This also brings the structure in line with plane and rover
2015-07-21 14:48:37 +09:00
Randy Mackay
c62da52259
Copter: add gcs_send_mission_item_reached
2015-07-19 12:14:12 +09:00
Robert Lefebvre
5541899a99
Copter: Whitespace fixes.
2015-07-14 20:17:16 +09:00
Randy Mackay
764fa36716
Copter: log ERR when compass, baro unhealthy
2015-07-12 22:11:35 +09:00
Randy Mackay
221ddb545e
Copter: log ahrs home and ekf origin
2015-07-06 12:11:51 +09:00
Peter Barker
12bce49cd1
Copter: use common mission logging code
2015-06-30 16:23:35 +10:00
Peter Barker
788faf1f7d
Copter: DataFlash frontend/backend split
2015-06-26 16:02:50 +10:00
Randy Mackay
814edfa457
Copter: shift yaw target if ekf yaw estimate resets
2015-06-24 11:49:35 +09:00
Randy Mackay
89345bad7a
Copter: clarify takeoff_timer_start alt units
...
No functional change
2015-06-22 13:24:01 +09:00
Randy Mackay
8cdfac8fcd
Copter: remove baro and pilot thr from crash checks
...
Add acceleration < 3m/s/s check
Run crash and parachute checks at 400hz
2015-06-19 15:46:10 +09:00
Robert Lefebvre
62079226ff
Copter: add Heli Dataflash message
2015-06-19 15:10:52 +09:00
Leonard Hall
fe0d069eab
Copter: Autotune log acceleration
2015-06-18 23:06:51 +09:00
Randy Mackay
f603c1ef69
Copter: fix ekf-check reliance on position_ok
2015-06-15 22:29:20 +09:00
Randy Mackay
a0d97f1160
Copter: acro_level_mix becomes local variable
...
Coverity uncovered this as an uninitialised member defect
2015-06-08 14:46:24 +09:00
Andrew Tridgell
bfb105fa5a
Copter: changes for new AHRS API
2015-06-01 16:16:59 +10:00
Andrew Tridgell
e5e21ddcce
Copter: fixed heli SITL build
2015-06-01 08:19:39 +10:00
Andrew Tridgell
278883c521
Copter: finished conversion to .cpp files
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2015-05-30 15:21:19 +09:00