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45,343 Commits 71 Branches 509 Tags 753 MiB
chibios-rebase-jan2020
Commit Graph

6586 Commits

Author SHA1 Message Date
Andrew Tridgell
dbf6f6f4b1 Copter: fixed parachute checks for sink rate 
ensure is_flying is set, setup sink rate at the right position, force
disarm if chute releases
 2020-10-06 16:14:59 +11:00
Peter Barker
c86ee44264 Copter: correct compilation when AFS enabled 2020-10-06 11:25:09 +11:00
Peter Barker
4136397810 Copter: correct compilation when CIRCLE mode is disabled 2020-10-06 11:25:09 +11:00
Peter Barker
af53f9ce64 Copter: correct compilation when AUTO/RTL are disabled 2020-10-06 11:25:09 +11:00
Peter Barker
56790625b8 Copter: stop passing unused inav into autorotate library 2020-10-01 21:13:20 +10:00
Randy Mackay
8b3cc0b255 Copter: fixup auto options 2020-10-01 08:48:06 +09:00
Michael du Breuil
50dfe3f197 Copter: Add AUTO_OPTIONS and support arming and throttle bypass 
This allows you to arm the copter without any extra GCS commands while
in auto, and can be done from both the GCS, or the RC Tx. This is useful
for creating a simpler workflow.

This also allows you to set the auto_armed flag internally, which
bypasses the need to raise the throttle stick for the copter to start a
takeoff.

This exposed a problem where we would start running the controllers
before the EKF was at all initialized, if you switched into auto to
early. This now has a check that prevents us from running the mission
state machine until after the origin has been set. This was a suggestion
from @rmackay9.

When combined these options allow you to have the vehicle on the ground,
disarmed in auto with a takeoff waypoint loaded, then just arm the
aircraft and watch it takeoff. This is a feature we've had on quadplanes
for quite awhile now, and it has proven to be very nice for operators.
 2020-10-01 08:46:29 +09:00
Peter Barker
b03b3041e0 Copter: remove stale MAGNETOMETER config option from config files 
This isn't used in the code any more
 2020-09-29 11:17:08 +10:00
Andy Piper
e22f7ed353 Copter: remove duplicate include 2020-09-24 08:22:16 -07:00
Patrick José Pereira
ec153f59a2 ArduCopter: Use new AP_FWVersionDefine header 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-09-23 20:58:35 +10:00
Tatsuya Yamaguchi
813bc2e08a Copter: replace message indicating that initialisation has completed 2020-09-22 09:52:52 +10:00
Andy Piper
b8f613c965 Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
Randy Mackay
5a0e8daf61 Copter: fix 4.0.4-rc1 release notes 
GPS-For-Yaw only works with F9 (not M9) GPSs
 2020-09-16 15:43:42 +09:00
Randy Mackay
2c14463368 Copter: 4.0.4 release notes 2020-09-16 13:56:37 +09:00
Randy Mackay
5b71726c73 Copter: poshold wind effect comp limited to 2/3rds of angle max 2020-09-16 08:19:17 +09:00
Randy Mackay
ab54f8805a Copter: guided mode checks dest before changing submode 2020-09-15 08:36:39 +09:00
Randy Mackay
29a2be2d63 Copter: minor comment fix 2020-09-09 15:32:37 +09:00
Peter Barker
dba3158446 Copter: correct mode change for GCS failsafe in SmartRTL mode 
In the case that you:
 - have previously done a successful SmartRTL flight
 - get a mid-air gcs failsafe and enter SmartRTL
 - recover from that gcs failsafe but remain in SmartRTL
 - get another mid-air failsafe

then without this patch you will enter LAND mode.

When determining our failsafe action, we were looking at whether we
should just continue landing.  To do that, we ask the current mode if we
are landing.  Problem is that SmartRTL was handing back the wrong answer
- it was handing back ModeRTL's answer rather than its own, and
ModeRTL's answer was "yes, I'm landing", as that's the last state that
step 1 in the above list leaves that mode in.

This patch simply hands back the correct answer for, "am I landing"
 2020-09-08 09:05:03 +09:00
Peter Barker
397b95154c Copter: remove superfluous RETURN_TARGET_ALTTYPE_ from enum class names 
Just repeats what's in the required prefix for the enum class
 2020-09-08 10:01:59 +10:00
Randy Mackay
2398b5dec4 Copter: guided consumes set-pos-target-local-ned Z-axis as offset from origin 2020-09-01 10:27:18 +10:00
Randy Mackay
afa810041b Copter: 4.0.4-rc4 release notes 2020-08-28 09:37:59 +09:00
Iampete1
c265a38344 Copter: add gripper release FS_Option 2020-08-26 17:58:24 +09:00
Peter Barker
afa153fb6f Copter: remove wrapper for get_avoidance_adjusted_climbrate 
Only the modes are interested in this - there's no point having it on
the Copter object.
 2020-08-22 08:31:25 +09:00
Randy Mackay
315d9da138 Copter: add ekf alt pre-arm and mode init checks 2020-08-20 12:41:40 +09:00
Siddharth Purohit
9b9954aa46 Copter: move to using CANManager library 2020-08-19 17:31:09 +10:00
Peter Barker
38122eb35e ArduCopter: use an enumeration for the AP_Avoidance recovery action 2020-08-19 11:38:19 +10:00
Hwurzburg
8484e8271f Copter: fix init of RC option 52 2020-08-18 18:55:29 +10:00
Hwurzburg
08e89b0b96 Copter: Add RC option for ACRO mode in Copter 2020-08-18 12:22:46 +09:00
Peter Barker
76e5ae9b41 Copter: move mavlink set-position defines into mavlink library 2020-08-11 09:52:52 +09:00
Randy Mackay
9e06b78fda Copter: minor formatting fix 2020-08-10 09:34:28 +09:00
Josh Welsh
de9e9b90e5 Copter: Tradheli servo_test fix 2020-08-10 09:16:44 +09:00
Peter Barker
66e0afedb2 Copter: correct motor test order parameter description 2020-08-10 09:18:05 +10:00
Michael du Breuil
376494027b Copter: Support higher resolution percent based motor tests 2020-08-09 13:47:48 +10:00
Randy Mackay
48d27e1016 Copter: fixup winch comment 2020-08-07 21:55:07 +09:00
Randy Mackay
09bf76d9a4 RC_Channel: correct winch switch comment 2020-08-07 21:55:07 +09:00
Randy Mackay
a2224f066a Copter: winch enabled with hal-minimize-features 2020-08-07 21:55:07 +09:00
Randy Mackay
54b714a24e Copter: implement send_winch_status 2020-08-07 21:55:07 +09:00
Randy Mackay
f607ff28b3 Copter: integrate winch arming checks 2020-08-07 21:55:07 +09:00
Randy Mackay
925f76c048 Copter: integrate winch changes 
includes the following changes
winch_update called at 50hz
removed ability to set winch rate from ch6 tuning
remove wheel encoder
call winch library to log at 10hz
fix winch param prefix
 2020-08-07 21:55:07 +09:00
Randy Mackay
6ea3c2a091 Copter: compile fix for winch 2020-08-07 21:55:07 +09:00
Peter Barker
d87986ecdd Copter: move set_throttle_takeoff implementation into Mode 
No callers except the mode objects, so move it.
 2020-08-05 08:23:03 +09:00
Mark Whitehorn
8325de0845 Copter: default RC_OPTIONS to 0 for tradheli 2020-08-04 10:26:45 +10:00
Andy Piper
54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
5fad6ddddb Copter: fix typos in PL dataflash logs field description text 2020-08-04 08:14:29 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
be963bbdf9 Copter: fix units and multipliers in PL dataflash logs message 2020-08-04 08:14:29 +09:00
Randy Mackay
30c8d7bf40 Copter: dev option so set-attitude-target thrust field used as thrust 2020-08-01 08:32:23 +09:00
Randy Mackay
3c9a16d8a7 Copter: 4.0.4-rc3 release notes 2020-07-30 09:40:46 +09:00
Peter Barker
73526c0256 Copter: pass reason through in set_mode AP_Vehicle override 
Other vehicles seem to do this correctly.
 2020-07-28 09:10:38 +09:00
Peter Barker
ac6cf1132c Copter: add documentation for DU16 message 2020-07-24 09:37:28 +09:00
Leonard Hall
de8439dc3a Copter: crash check reqs 15deg lean and under 10m/s 
pair programmed with rmackay9@yahoo.com
 2020-07-20 12:49:53 +09:00
Michael du Breuil
08f8a41ecb Copter: Support DO_LAND_START as an adhoc MAVLink command 2020-07-17 09:15:05 +09:00
Mirko Denecke
89d423556c ArduCopter: update_trigger() is now called in AP_Camera update() 2020-07-15 08:37:28 +09:00
Andy Piper
12c9578a66 Copter: add in additional acro options 
Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit
 2020-07-14 15:54:24 +09:00
murata
a783763f5a Copter: Crash origin to crash message 
Copter: Crash origin to crash message
 2020-07-11 08:35:29 +09:00
murata
c9990cdecc Copter: Change Need 3D Fix message. 2020-07-11 08:33:55 +09:00
Michael du Breuil
c971fe0ca4 Copter: Support MAV_CMD_DO_REPOSITION on COMMAND_INT 2020-07-07 10:34:19 +10:00
Peter Barker
b64a34fc38 Copter: add GENERATOR_STATUS to STREAM3 2020-07-03 08:21:42 +09:00
Peter Barker
a679cd9b92 Copter: add support for AP_Generator 2020-07-03 08:21:42 +09:00
Randy Mackay
dfbb357aaf Copter: minor formatting fix 2020-06-24 21:26:30 +09:00
Randy Mackay
0f6e2b6960 Copter: fix GUID message scaling for pos and velocity 2020-06-24 21:26:30 +09:00
Randy Mackay
ac21becb6a Copter: simplified update of ekf terrain height stable setting 2020-06-24 21:16:50 +09:00
Randy Mackay
980c1f5020 Copter: update ekf terrain height stable setting 
setting is true only when taking off or landing and horizontal speed is no more than 0.5m/s
 2020-06-24 21:16:50 +09:00
Andy Piper
25dcc1a623 Copter: add support for individually tracking fft peaks and motor rpms with harmonic notches 
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli
move harmonic notch update to AP_Vehicle
 2020-06-21 19:09:35 +10:00
Iampete1
e797685771 Copter: add set guided mode angle for scripting 2020-06-19 10:09:35 +10:00
Andy Piper
8d2f2443a2 Copter: add air mode aux function 2020-06-16 20:30:26 +10:00
Peter Barker
0eb03ba7d5 Copter: make SuperSimple type-safe 2020-06-16 19:39:42 +10:00
Randy Mackay
d35643a372 Copter: 4.0.4-rc2 release notes 2020-06-16 14:17:12 +09:00
Peter Barker
a629e91f30 ArduCopter: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
Andrew Tridgell
2cd5519d5d Copter: rename 2D rotation functions 
drop the rotate prefix
 2020-06-04 09:49:52 +10:00
Tatsuya Yamaguchi
cde7ae246e Copter: add ZIGZ_AUTO_ENABLE parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
78fd5fac04 Copter: allow to resume in ZigZag Auto 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
cee7e94ebc Copter: add zigzag_line_num parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
7bc528097d Copter: support zigzag auto feature 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
60fb275501 Copter: rename zigzag_auto_pump to zigzag_sprayer 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
63002111eb Copter: add ZIGZAG_WP_DELAY parameter 2020-06-03 15:21:21 +09:00
murata
923237ffd3 Copter: Enumerate A and B points of ZigZag 2020-06-03 15:21:21 +09:00
Peter Barker
9b64ca040d Copter: do not adjust trims while landed 
Closes #1282

Also cancels autotrim if you change modes, disarm the vehicle or land
again.
 2020-06-03 16:19:01 +10:00
Randy Mackay
d2b94bd45d Copter: verify_circle removes redundant setting of circle center 
the circle center is already set in circle_movetoedge_start
 2020-06-03 10:08:52 +09:00
Andrew Tridgell
e673bd8909 Copter: implement disarm on land based on MIS_OPTIONS 
only continue with mission if MIS_OPTIONS bit is set
 2020-06-02 09:12:22 +09:00
mmk0102
c0d7739929 Copter: move check for duplicate auxswitch options up 2020-06-02 09:43:31 +10:00
Randy Mackay
baa33d99a9 Copter: version to 4.1.0-dev 2020-06-01 12:58:12 +09:00
Randy Mackay
ce17844a72 Copter: release notes update for 4.0.4-rc1 2020-06-01 12:55:39 +09:00
Randy Mackay
fb2ac2db93 Copter: release notes for 4.0.4-rc1 2020-06-01 12:55:37 +09:00
Andy Piper
3515dc9322 Copter: make sure AP_Vehicle::fast_loop() gets called 2020-05-24 07:43:34 +10:00
Gone4Dirt
9269ee50ed Copter: Allow manual autorotations without enabling arot flight mode 2020-05-20 21:56:09 -04:00
Iampete1
13d6a887fd Copter: align GCS PID with logged 2020-05-19 09:04:16 +10:00
murata
520782d7f2 Copter: Correction of spelling errors (NFC) 2020-05-18 13:26:11 +10:00
Randy Mackay
64360f263c Copter: land detector allows larger lean angle request in land mode 2020-05-14 08:24:29 +09:00
chobits
8ce27afba0 Copter: fix mode and fence gps check fail message 2020-05-11 10:41:06 +09:00
Tatsuya Yamaguchi
875fa36018 Copter: remove an unnecessary condition 2020-05-05 11:03:38 +10:00
Tatsuya Yamaguchi
9c3a0b863f Copter: use check_failed function for ESTOP arming check 2020-05-05 11:03:38 +10:00
Randy Mackay
944939fde3 Copter: remove unused heli definitions 2020-05-02 11:32:09 +09:00
Randy Mackay
e889f6091e Copter: fix Throw param desc 2020-05-02 11:32:06 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
d1eb03df30 Copter: Report MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL and MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL as healthy if the flight mode says so. 
Brings it up to the Sub and Plane status
 2020-05-01 08:14:11 +09:00
Peter Barker
ba5bbcdea7 ArduCopter: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Andrew Tridgell
265b9a42fb ArduCopter: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Randy Mackay
d9ecf51457 Copter: auto mode loiter-turns accepts pilot yaw input 2020-04-27 09:39:46 +09:00
murata
e1df6933f0 Copter: Set the minimum value to zero. 2020-04-27 08:57:49 +09:00
Randy Mackay
77ff169757 Copter: minor comment fix 2020-04-24 18:18:05 +09:00
Randy Mackay
680e417c2c Copter: remove unnecessary includes 2020-04-24 18:18:05 +09:00