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228 Commits

Author SHA1 Message Date
Leonard Hall
feae762e64 Copter: additional yaw modes and fixes 2021-07-10 20:25:05 +09:00
Leonard Hall
80e856af20 Copter: Guided: use common initialisation 2021-07-10 20:25:05 +09:00
Leonard Hall
635d13a106 Copter: support for acceleration-based AttitudeControl 2021-07-10 20:25:05 +09:00
Andrew Tridgell
d89388c4cc Copter: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Leonard Hall
e294991b08 Copter: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall
caeaf7c047 Copter: Fix take off altitude 2021-05-24 20:13:37 +10:00
Leonard Hall
4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Pierre Kancir
4368629fb6 Copter: rename RTLState to SubMode 2021-05-12 17:50:47 +10:00
Pierre Kancir
84d385654a Copter: rename SmartRTLState enum to Submode 2021-05-12 17:50:47 +10:00
Pierre Kancir
f43e42f0b6 Copter: rename AutoMode enum to SubMode 2021-05-12 17:50:47 +10:00
Pierre Kancir
3fb73d7e93 Copter: move SmartRTLState to SmartRTL class 2021-05-12 17:50:47 +10:00
Pierre Kancir
07632dc7ed Copter: move AutoMode to Auto class 2021-05-12 17:50:47 +10:00
Pierre Kancir
0fe10c6c57 Copter: make SmartRTLState an enum class 2021-05-12 17:50:47 +10:00
Pierre Kancir
c4cc3659fc Copter: make RTLState an enum class 2021-05-12 17:50:47 +10:00
Pierre Kancir
4987e54247 Copter: make AutoMode an enum class 2021-05-12 17:50:47 +10:00
Randy Mackay
67e15f8d07 Copter: autotune entry checks moved to init 2021-05-03 20:23:27 -04:00
Tatsuya Yamaguchi
c42681f4f2 Copter: add exit() method to Mode class 2021-04-26 09:56:34 +09:00
Randy Mackay
5fcd2de4fa Copter: attitude target thrust-as-thrust bit moved from DEV_OPTIONS to GUID_OPTIONS 2021-04-20 09:56:38 +10:00
Peter Barker
5df8dd8c50 Copter: move guided submode enumeration into ModeGuided 2021-04-14 16:12:57 +09:00
Peter Barker
e7a9e0acb4 Copter: move brake state into a structure 2021-04-06 07:53:23 +09:00
Randy Mackay
96267553cf Copter: auto detects mission changes 2021-04-03 12:07:59 +09:00
Leonard Hall
328c0655e3 Copter: support for SCurves and position controller changes 
wp_start provides next_dest_loc
send next_destination to wp_nav instead of setting fast_waypoint
fixup zigzag for S-curve changes
fixup guided
auto spline fixes
smart rtl rename of next_point to dest_NED
loc_from_cmd accepts default location
auto mode stops before starting land command
auto do_next_wp accepts default location
rename do_next_wp to set_next_wp
also rename get_spline_from_cmd argument
also improve failure to set next waypoint due to missing terrain data
also fixup comment in set_next_wp
also auto stops when moving from straight to spline segments
also auto mode spline fix
also auto mode calls AC_WPNav::set_spline_destination_next

Copter: AutoYaw provides rate from WPNav
 2021-04-03 12:07:59 +09:00
Peter Barker
1e0f106ed4 Copter: make AutoTune object private state to ModeAutoTune 2021-03-30 11:23:10 +11:00
Peter Barker
d387ad9921 Copter: have allows_arming take a AP_Arming::Method rather than bool from_gcs 
This API predates us having the arming methods being passed around.

This makes the calls look like Plane
 2021-03-30 09:00:26 +09:00
Peter Barker
3af006019b Copter: mark ModeSystemID as has_manual_throttle, no-arm and no-gps 
This has implications for many things, like smoothing transition to auto
modes, and for arming
 2021-03-26 10:26:34 +09:00
Peter Barker
a274697776 Copter: move LAND state variables to be members rather than static 
Also rename one of them as we may be using (e.g.) OF to control position rather
than GPS.
 2021-03-25 09:39:29 +11:00
Tatsuya Yamaguchi
069b7142b7 Copter: add allows_flip function to Mode class 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi
f4eed612d7 Copter: add allows_autotune function to Mode class 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi
2b89ac625f Copter: add allows_save_trim function to Mode class 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi
1dccc0ceb3 Copter: add mode_number function to Mode class 2021-03-23 22:48:20 +11:00
Randy Mackay
32fb3cb929 Copter: remove unused update_navigation and run_autopilot 2021-03-23 10:12:08 +09:00
Randy Mackay
1c350514ca Copter: auto mode starts or updates mission from run method 2021-03-23 10:12:08 +09:00
chobits
b7c937592e Copter: send mission_item_reached in guided 2021-03-09 10:04:24 +09:00
James O'Shannessy
2a9affe517 ArduCopter: Remove unused fence floor enable function 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
92122e5133 Copter: automatically enable and disable floor fence on automated takeoff and landing 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
2302f08f75 Copter: run the "point yaw to ROI" controller at full rate (400Hz) instead of 1/4 of full rate (100Hz) 
- This should improve pointing at ROI and replaces #11172
 - Remove unused member variable as per review suggestion
 - declare Mode::AutoYaw::roi_yaw() as const
 2021-02-16 09:30:21 +09:00
Patrick José Pereira
ad82e01270 ArduCopter: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker
f4cbc50ba4 Copter: use an enumeration for pre-throw motor state 2020-12-08 12:04:14 +11:00
Peter Barker
bd0dff1b0e Copter: use enum-class and AP_Enum for ThrowType 2020-12-08 12:04:14 +11:00
Michael du Breuil
f9b4e81702 Copter: Add ignore pilot yaw to guided, auto and RTL options 2020-11-19 07:22:54 +09:00
Randy Mackay
0f234583d6 Copter: poshold clears wind est when disarmed or landed 2020-11-10 08:56:36 +09:00
Peter Barker
225de23950 Copter: cope with race conditioning popping points on SmartRTL return 
There is a race with the cleanup thread.  While thin, it only has to
happen once.  After this patch the race would have to happen... a lot.

Co-authored-by: jasclarke308 <jasclarke308@gmail.com>
 2020-10-24 08:59:26 +09:00
Randy Mackay
9104b4800f Copter: correct GuidedOptions enum after peer review 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2020-10-20 23:04:45 +09:00
Randy Mackay
eb3aca7acf Copter: add GUIDED_OPTIONS to allow arming from transmitter 2020-10-20 23:04:45 +09:00
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
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
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
30c8d7bf40 Copter: dev option so set-attitude-target thrust field used as thrust 2020-08-01 08:32:23 +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
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
murata
923237ffd3 Copter: Enumerate A and B points of ZigZag 2020-06-03 15:21:21 +09:00
Andrew Tridgell
4c2cf2139e Copter: fixed use of timestamps in autorotate 
fixes wrap handling
 2020-04-20 07:10:21 +10:00
Andrew Tridgell
ffd601aca4 Copter: fixed build warnings in autorotate 
unused code, and incorrect use of abs()
 2020-04-20 07:10:21 +10:00
Tatsuya Yamaguchi
735498e160 Copter: move zigzag exit into mode_zigzag.cpp 2020-03-26 14:56:40 +09:00
Randy Mackay
db2229f684 Copter: ModeGuided::do_user_takeoff_start arg rename 
this makes it more consistent with the method it is overriding
 2020-03-19 15:17:11 -07:00
Randy Mackay
90883624bc Copter: fix use of wp-navmin-alt 2020-03-11 10:39:18 +09:00
Randy Mackay
8d99f204b0 Copter: integrate landing gear option and make edge based 
also guided mode now retracts landing gear after takeoff
previously landing gear deployment was "level based" meaning the pilot could not override the gear's position
 2020-02-26 08:01:00 +09:00
Sachchit Vekaria
f6125b26e8 Copter: Allowing Terrain Following in Guided Mode 
Uses frame type of MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT message to decide the value of terrain_alt boolean.
 2020-02-17 14:42:42 +09:00
Randy Mackay
495c4ad6b6 Copter: remove unused ModeAuto::wp_start 
this version accepts an offset from the ekf origin which is not required.  All callers provide a Location
 2020-02-17 14:30:18 +09:00
Randy Mackay
d244162587 Copter: zigzag supports arming, takeoff and landing 2020-02-13 07:37:29 +09:00
Matt Lawrence
809b170015 Copter: Circle mode pilot control of rate & radius 
RC pitch stick controls circle mode radius.  RC roll stick controls circle mode rate (speed) and direction.
 2020-01-07 09:30:33 +09:00
Peter Barker
72e6446204 Copter: make requires_terrain a callback on the flightmode 
This will prompt new modes to consider whether failsafe should be active
for terrain.
 2019-12-24 09:46:19 +09:00
Randy Mackay
ea22e888c7 Copter: improve RTL terrain following 
RTL_ALT_TYPE replaces TERRAIN_FOLLOW param
return path built using rangefinder or terrain database
pre-arm checks for RTL_ALT_TYPE parameter
pre-arm checks of terrain data only run if RTL might use it
 2019-12-17 20:02:01 +09:00
Randy Mackay
39a6b104dd Copter: move RTLState to ModeRTL 2019-12-17 20:02:01 +09:00
Randy Mackay
54582814aa Copter: use SID_AXIS to hide other SystemID mode params 2019-12-03 14:53:55 +08:00
Peter Barker
2296448027 Copter: make private enum class for LAND mode's state 2019-12-03 07:38:22 +08:00
Gone4Dirt
180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Peter Barker
e6c6189fe5 Copter: cope with change in namespace of LogEvent enum 
Also move Acro Trainer types into an enum class as the global defines
interfere with the Event names.

Also eliminate the Log_Write_Event wrappers.
 2019-11-05 08:19:26 +08:00
Peter Barker
5ece75a09a Copter: AC_AutoTune writes events itself now 2019-11-01 14:47:52 +08:00
Michael du Breuil
b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Randy Mackay
2cb3e446ab Copter: systemid mode formatting and name changes 2019-10-16 08:17:09 +09:00
Leonard Hall
c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
Leonard Hall
91be844b66 Copter: Let modes stop Attitude Logging 2019-10-16 08:17:09 +09:00
Randy Mackay
ca92f0505e Copter: follow mode restores offsets to zero on exit 2019-10-07 08:30:45 +09:00
Peter Barker
b4537bebd8 Copter: move control_mode_t into being Mode::Number enum class 
Fixes this compiler error:

In file included from ../../ArduCopter/sensors.cpp:1:
In file included from ../../ArduCopter/Copter.h:195:
../../ArduCopter/mode.h:1291:9: fatal error: declaration shadows a variable in the global namespace [-Wshadow]
        AUTO,           // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
        ^
../../ArduCopter/defines.h:38:5: note: previous declaration is here
    AUTO =          3,  // fully automatic waypoint control using mission commands
    ^
1 error generated.
 2019-09-13 13:12:08 +09:00
Tom Pittenger
0983a04d52 Copter: NAV_Delay variable timers to be all unsigned and labeled as _ms 2019-08-19 15:24:06 -07:00
Randy Mackay
709c874d8b Copter: integrate AP_OAPathPlanner 2019-08-17 09:42:43 +09:00
Leonard Hall
0e34d8b1ff Copter: PosHold fix for low brake_rate 2019-07-18 11:13:51 +09:00
Randy Mackay
b7a748df88 Copter: auto's wp_start accepts terrain alts 2019-07-18 09:01:09 +09:00
Rishabh
00f6dc9b05 Copter: brake moved in from AC_WPNav 2019-06-13 09:02:46 +09:00
Peter Barker
676d75c391 Copter: correct namespacing of Copter modes 
This makes us look like Rover and Plane in terms of namespacing for the
Mode classes, and removes a wart where we #include mode.h in the middle
of the Mode class.

This was done mechanically for the most part.

I've had to remove the convenience reference for ap as part of this.
 2019-06-11 09:18:22 +09:00
Bill Geyer
0c64cdc565 Copter: TradHeli - add virtual flybar to heli acro flight mode 2019-06-04 09:57:13 +09:00
Peter Barker
08a18d6a0a Copter: avoid working with uninitialised home location 2019-05-29 09:04:37 +09:00
Peter Barker
d34c4b01f4 Copter: build return path in run() rather than init() 
This avoids attempting to build a return path if we don't currently have
a home or origin
 2019-05-29 09:04:37 +09:00
Peter Hall
3fe63d5bc0 Copter: only save autotune gains if disarmed in autotue 2019-05-07 09:23:50 +10:00
Peter Barker
37c07e1d89 Copter: use enum class for roll/pitch mode 
This adds some type-safety and helps distinguish between the many
defines which are used within PosHold mode

Saves about 210 bytes of flash
 2019-04-30 08:36:59 +09:00
Peter Barker
462d87e5d0 Copter: remove unused PosHoldModeState enumeration 2019-04-30 08:36:59 +09:00
Peter Barker
e28c6b9dc6 Copter: remove redundant poshold_ prefix on PosHold methods 2019-04-30 08:36:59 +09:00
Peter Barker
f57a9f11cc Copter: move poshold state variables into mode object 
This was simply moving the members from the poshold struct into the
class then mechanically removing poshold. from in front of the member
access.
 2019-04-30 08:36:59 +09:00
Randy Mackay
8a5141f751 Copter: mode autoyaw lower in mode.h 
make ordering of some declarations consistent across child classes
 2019-04-20 10:04:33 +09:00
Peter Barker
7945c1fdfd Copter: mode class unfriends everyone, make relevant methods public 2019-04-20 10:04:33 +09:00
Randy Mackay
b7d0e4ec10 Copter: remove surface tracking shim functions 2019-04-19 07:45:52 +09:00
Randy Mackay
01909cf4c8 Copter: zigzag mode gets terrain following support 2019-04-19 07:45:52 +09:00
Randy Mackay
33a57361bd Copter: reduce args passed to get_surface_tracking_climb_rate 
The same arguments are always passed in
 2019-04-19 07:45:52 +09:00