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7163 Commits

Author SHA1 Message Date
Randy Mackay
31fede4337 Copter: 4.1.1 release notes 2021-11-10 08:07:03 +09:00
Hwurzburg
ee5df978af ArduCopter: add Y4 Frame type to Quadcopters 2021-11-05 07:39:27 +11:00
Tatsuya Yamaguchi
0ff28df2ba Copter: change the default of zigzag wp delay to 0 2021-11-05 07:37:31 +11:00
Iampete1
7e2604ef1a Copter: run parent mandatory_checks 2021-11-02 10:05:07 +11:00
Supernovae
0e023f21a6 ArduCopter: Tuning, NFC grammar fixups 
changes to improve overall readablity
 2021-10-27 22:05:50 +11:00
Iampete1
2fa38e46a0 Copter: set_mode_auto_do_land_start_or_RTL uses set_mode 2021-10-23 15:19:38 +09:00
Peter Barker
a88264d73b ArduCopter: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav 2021-10-20 18:09:36 +11:00
Peter Barker
1aefa1b378 ArduCopter: move SITL object up to AP_Vehicle 2021-10-19 11:34:43 +11:00
murata
a6af0e87fc Copter: Change the auto mode judgment to address 2021-10-18 20:11:39 -04:00
Peter Barker
dcc9237c64 ArduCopter: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Randy Mackay
d78f156d6e Copter: 4.1.1-rc1 release notes 2021-10-18 09:03:57 +09:00
Tom Pittenger
e7c31dab9c Copter: move ADSB mavlink handling from vehicles to common library 2021-10-14 19:55:27 -07:00
Josh Henderson
3642b14a0b ArduCopter: Guided pos_control_run add yaw_rate timeout 2021-10-13 09:46:24 +11:00
Pierre Kancir
73ff525a30 Copter: fix takeoff end report on EXTEND_STATE 
regression from https://github.com/ArduPilot/ardupilot/pull/18700.
thanks to @arduouspilot on discuss to notice this, see https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996/3
 2021-10-12 16:59:39 -04:00
Randy Mackay
c524b6e5b5 Copter: 4.0.8 release notes 
TradHeli release only
 2021-10-12 14:28:20 +09:00
Iampete1
12c1b3e8f5 Copter: add MOT_PWM param conversion 2021-10-11 22:19:17 -04:00
Iampete1
f487118ee9 Copter: update_throttle_range don't set_throttle_range 2021-10-11 22:19:17 -04:00
Josh Henderson
483d308781 Copter: GCSMavlink Guided inputs check force_set and reject 2021-10-11 19:52:15 -04:00
Dr.-Ing. Amilcar do Carmo Lucas
181a5900df Copter: Send ESC telemetry over mavlink while doing compassmot 
compassmot can be used to bypass all PID control loops (this avoids forwarding IMU noise to the motors) while stress-testing the ESCs+motors.
So that temperatures can be monitored in real-time during those long tests, send ESC telemetry as well.
 2021-10-11 19:03:01 -04:00
Tatsuya Yamaguchi
918218bdd4 Copter: fix compilation when ACRO, SPORT and DRIFT modes are disabled 2021-10-12 09:01:14 +11:00
Bill Geyer
d0d6457b31 Copter: fix tradheli landing detector bug 2021-10-10 18:55:31 -04:00
murata
995b02e66b Copter: Flight mode channels are optional, not just channel 5 2021-10-08 14:24:23 +11:00
Randy Mackay
7424e0c743 Copter: 4.1.0 release notes 2021-10-08 09:25:41 +09:00
Iampete1
1f163453fc Copter: don't check PWM type directly use helpers 2021-10-06 18:59:57 +11:00
Randy Mackay
9de5ef72db Copter: 4.1.0-rc4 release notes 2021-10-01 20:38:10 -04:00
bugobliterator
2751afaa75 Copter: replace config_error with allocation_error 2021-09-30 08:51:26 +10:00
murata
b8456f7b89 Copter: YAW_MODE judgment does everything 2021-09-29 23:52:40 +09:00
Peter Barker
cfd686c772 Copter: stop passing current_loc into AP_Camera 2021-09-29 18:33:01 +10:00
Tatsuya Yamaguchi
e9115601dd Copter: reset land_repo_active flag in Auto mode 2021-09-28 21:17:45 +09:00
Randy Mackay
51d9714dbb Copter: 4.1.0-rc3 release notes 2021-09-27 17:56:08 -04:00
Randy Mackay
d4ff180b29 Copter: guided mode remains in takeoff submode longer 2021-09-28 00:17:25 +09:00
Randy Mackay
59d1af2716 Copter: guided takeoff supports autoyaw 
allows both pilot controlled and externally controlled yaw control
 2021-09-28 00:17:25 +09:00
Randy Mackay
3438d1b46b Copter: param conversion for ACRO_RP_RATE, Y_RATE 2021-09-23 20:03:53 +09:00
Leonard Hall
5d5ccc8c78 Copter: Update ACRO to use rate parameters and update expo function 2021-09-23 20:03:53 +09:00
Randy Mackay
1d7d5d23f7 Copter: add acro and pilot yaw rate and expo 2021-09-23 20:03:53 +09:00
Iampete1
85638cf4fa Copter: fix RC init order to avoid error message 2021-09-21 17:49:47 +10:00
Josh Henderson
3d25eedeb2 Copter: GCS_Mavlink set_position_target_global_int() remove yaw_relative 2021-09-21 09:44:43 +09:00
Iampete1
07824fc963 Copter: support ARMDISARM_AIRMODE 2021-09-21 09:36:24 +10:00
Iampete1
456d57c28f Copter: rename armed_with_switch to armed_with_airmode_switch 2021-09-21 09:36:24 +10:00
Iampete1
5002abcea6 Copter: convert to new ARMDISARM_AIRMODE 2021-09-21 09:36:24 +10:00
Iampete1
804efb51e0 Copter: Only run AP_ARMING throttle arming check if PILOT_THR_BHV bit "Feedback from mid stick" is not set 2021-09-18 15:52:38 +01:00
Andrew Tridgell
ab36dc0ed9 Copter: moved accel cal update to vehicle code 2021-09-17 14:07:14 +10:00
Pierre Kancir
7e1716eaeb Copter: Classify failsafe action definitions 2021-09-15 18:04:58 +10:00
Josh Henderson
24b6f024ea Copter: convert RTL_ALT to int32 2021-09-15 16:17:08 +09:00
Randy Mackay
1d7778778d Copter: 4.1.0-rc2 release notes 
also update missing item from 4.1.0-rc1
 2021-09-15 16:15:17 +09:00
Josh Henderson
46ec70f9fc Copter: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Iampete1
ec5d5b4471 Copter: check for takeoff before continuing after land 2021-09-14 08:24:02 +09:00
Randy Mackay
e0dd294806 Copter: guided supports using wpnav to reach position targets 2021-09-13 07:49:16 +09:00
Randy Mackay
396ab6f50e Copter: remove unused set_desired_velocity_with_accel_and_fence_limits 2021-09-13 07:49:16 +09:00
Randy Mackay
c7a38b2dff Copter: comment fixup for GUIDED_OPTIONS accessors 2021-09-13 07:49:16 +09:00
Randy Mackay
2597a5c0c2 Copter: GUID_OPTIONS descriptions includes spaces 2021-09-13 07:49:16 +09:00
Peter Barker
2da88263e6 Copter: tidy invocation of precland.update 
Setting the altitude to home-relative is misleading/wasteful in this method as
the alt is unused in precland unless it is marked as "OK" with the
second parameter
 2021-09-11 14:17:24 +10:00
Randy Mackay
76a5682065 Copter: 4.1.0-rc1 release notes 2021-09-10 14:41:48 +09:00
Leonard Hall
f3dc47ce3d Copter: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Tatsuya Yamaguchi
470cf82a53 Copter: add use_pilot_yaw to ModeSmartRTL class 2021-09-09 07:54:59 +09:00
Tatsuya Yamaguchi
6d7ef8f436 Copter: ignore pilot yaw during takeoff with option 2021-09-09 07:54:59 +09:00
Tatsuya Yamaguchi
94c771ee74 Copter: add use_pilot_yaw to Mode class 2021-09-09 07:54:59 +09:00
Tatsuya Yamaguchi
84845584c8 Copter: remove unused config 2021-09-08 19:34:33 +09:00
Iampete1
38cdc00137 Copter: set force log disarmed moved to AP_Arming 2021-09-08 18:26:40 +10:00
Iampete1
ed83edc2a6 Copter: add SIMPLE_HEADING_RESET RCx_OPTION 2021-09-08 16:49:33 +09:00
Andy Piper
2693b893ad Copter: airmode should mean airmode. only idle on landing when in airmode 2021-09-08 17:11:34 +10:00
Andrew Tridgell
f7f63b715f Copter: no need to fabs() get_default_speed_down() as it does fabs already 2021-09-07 18:55:00 +09:00
Iampete1
f848917e1a Copter: log entry and exit of Auto RTL pseudo mode 2021-09-07 09:35:35 +09:00
Randy Mackay
af9a91c853 Copter: terrain spelling fix 2021-09-06 16:02:25 +09:00
Leonard Hall
97decc4c21 Copter: Remove parameter RNGFND_GAIN 2021-09-06 16:00:19 +09:00
Leonard Hall
5fea74d4d0 Copter: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Andy Piper
568ad09eb8 Copter: NFC variable naming cleanups on turtle mode 2021-09-06 10:06:40 +09:00
Peter Barker
2d023967dc ArduCopter: make bad-mode-number notification consistent across vehicles 2021-09-01 19:45:46 +09:00
Andy Piper
83bcea1fe0 Copter: turtle mode should output to motors from within motors_output() 
move motor output to flightmode
 2021-09-01 16:25:11 +09:00
Peter Barker
a38879f77e ArduCopter: eliminate AP::ahrs().get_location 2021-08-31 09:47:31 +10:00
Iampete1
09f1a3da8a Copter: auto RTL: don't switch modes if already in auto 2021-08-31 08:40:08 +09:00
Randy Mackay
b4e073d6f7 Copter: AP_Arming integrates rename to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay
8102629dfb Copter: refactor/rename precland methods 2021-08-30 14:08:44 +09:00
Rishabh
40adad743e Copter: Disable Prec Land State Machine when Prec Land disabled 2021-08-30 14:08:44 +09:00
Randy Mackay
b54821f608 Copter: 4.1.0-beta8 release notes 2021-08-28 17:14:02 +09:00
Randy Mackay
da12593bd8 Copter: implement new set_target methods 2021-08-26 11:25:54 +09:00
Randy Mackay
0b4e926215 Copter: fix ModeGuided::set_destination_posvel 2021-08-26 11:25:54 +09:00
Peter Barker
3a3433cad2 ArduCopter: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Randy Mackay
8c5b079d8e Copter: implement get_circle_radius, set_circle_rate 2021-08-25 18:39:09 +10:00
murata
7f6fbe72e6 Copter: Change the parameter description 
Revert "Copter: Change the parameter description"

This reverts commit 406a1f976c85ae3bda252b6b7c4f8808e91c9fe7.
 2021-08-25 15:46:41 +09:00
Andrew Tridgell
4de4db2aac Copter: added MCU_STATUS message 2021-08-25 07:11:31 +10:00
Iampete1
0895cf0a07 Copter: remove gesture compass cal start / stop 2021-08-24 08:51:29 +09:00
Rishabh
c5b98c3490 Copter: Support Prec Land State Machine 2021-08-23 15:00:56 +09:00
bnsgeyer
ca007ee6f6 Copter: Allow Tradheli to spoolup in guided or auto mode 2021-08-23 12:26:00 +09:00
Andrew Tridgell
0268506678 Copter: add pad fields for extended COMMAND_ACK 2021-08-19 12:08:54 +10:00
Andrew Tridgell
dabdf69e56 Copter: added slew rate and Dmod for PID_TUNING message 2021-08-19 12:08:54 +10:00
Iampete1
1301372bfd Copter: remove override compass check 2021-08-18 18:30:51 +10:00
Iampete1
aa290795c6 Copter: always check GPS in super simple mode 2021-08-18 17:13:51 +09:00
Peter Barker
eb5fd84f67 ArduCopter: stop sending SENSOR_OFFSETS 
Only works for first compass instance.

We have all of these in parameters anyway.
 2021-08-18 18:06:24 +10:00
Andrew Tridgell
1b21077edd Copter: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Rishabh
cb0b12f25c Copter: only descend when close to target while Prec Land is active 2021-08-17 15:09:55 +09:00
Peter Barker
000b410daa ArduCopter: DCM handles centrifugal correction application internally now 2021-08-17 10:36:46 +10:00
Peter Barker
6f5e3bf4ff ArduCopter: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Iampete1
f5c68d54cb Copter: flowhold: use correct angle max 2021-08-17 09:23:47 +09:00
Tatsuya Yamaguchi
8bd04c17c8 Copter: add DO_LAND_START description to THR/GCS FS action 2021-08-16 20:53:56 +09:00
Tatsuya Yamaguchi
1f8df7e5ff Copter: correct compilation when AUTO mode is disabled 2021-08-16 20:53:56 +09:00
Randy Mackay
d7e0c65d55 Copter: 4.1.0-beta7 release notes 2021-08-14 11:03:42 +09:00
Randy Mackay
8d0dd08312 Copter: minor format fix to guided mode 2021-08-13 12:04:36 +09:00
Andy Piper
1b5ed1caff Copter: add turtle mode 
add turtle mode as an RC function
add turtle mode arming checks
re-use motortest arming checks for turtle mode
 2021-08-12 19:00:51 +09:00
Leonard Hall
666c8214b6 Copter: support Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Randy Mackay
672b8350c7 Copter: flowhold minor format fix 2021-08-11 17:07:29 +09:00
Leonard Hall
4d514e9a59 Copter: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-10 08:33:56 +09:00
Peter Barker
14e5c99b0c ArduCopter: log GPS primary change event in GPS library 2021-08-06 15:30:18 +10:00
Iampete1
9f5591be02 Copter: notify buzzer on every flight mode change 2021-08-05 14:42:42 +10:00
Leonard Hall
5c7b05f345 Copter: Guided: Add terrain following initialization. 2021-08-05 08:15:52 +09:00
bugobliterator
7e01e10056 Copter: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Randy Mackay
5dea87ae41 Copter: remove ekf check debug logging 2021-08-03 17:05:09 +09:00
Josh Henderson
daf73e7174 ArduCopter: remove POSITION_TARGET_TYPEMASK_FORCE_SET 2021-08-03 12:48:38 +10:00
Peter Barker
f21cddcf0f ArduCopter: use mission singleton inside AP_AdvancedFailsafe 2021-08-03 10:35:24 +10:00
Andrew Tridgell
e1094bc845 Copter: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Josh Henderson
6dce2e89c5 ArduCopter: guided auto_yaw_angle_rate timeout 2021-07-31 08:32:45 +09:00
Peter Barker
f7b877f4da ArduCopter: use AP::compass().available in place of enabled() 2021-07-30 12:19:42 +10:00
Randy Mackay
564f3dde74 Copter: version to 4.1.0-dev 2021-07-29 09:29:23 +09:00
Iampete1
c2a6377c53 Copter: #ifdef scripting specific functions 2021-07-28 18:18:32 +10:00
Iampete1
cc53db406d Copter: treat Auto RTL the same as Auto 2021-07-27 09:00:11 +09:00
Iampete1
885b12f179 Copter: command long DO_LAND_START enters Auto RTL pseudo mode 2021-07-27 09:00:11 +09:00
Iampete1
6561669213 Copter: support Auto RTL for failsafe events 2021-07-27 09:00:11 +09:00
Iampete1
b63cc809ce Copter: add AUTO RTL pseudo mode, DO_LAND_START 2021-07-27 09:00:11 +09:00
Randy Mackay
a713139d79 Copter: 4.1.0-beta6 release notes 2021-07-23 12:02:46 +09:00
Paul Riseborough
cd0eb379fd Revert "Copter: failsafe if bad vibration" 
This reverts commit fce517fef45d1de95b6cb8d5f79ddd6c374f8482.
 2021-07-22 18:20:45 +10:00
Paul Riseborough
5dcd4834f3 Copter: failsafe if bad vibration 2021-07-22 18:20:45 +10:00
Paul Riseborough
9654697415 Copter: rework ekf_check to use the EKF vibration_affected status 2021-07-22 18:20:45 +10:00
Peter Barker
e74a8e28af ArduCopter: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
f0e660db51 ArduCopter: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Randy Mackay
d39581f996 Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN 2021-07-21 16:03:44 +09:00
Leonard Hall
6d6ab89a72 Copter: Guided and Loiter mode returns Crosstrack error 2021-07-21 15:40:41 +09:00
Leonard Hall
a3c31f7ba1 Copter: Fix guided yaw bug. 2021-07-20 15:25:17 +09:00
Iampete1
cbf93c7dad Copter: add new dynamic mixer frame class 2021-07-20 09:19:28 +10:00
Tal Bass
4051b1ca0e Copter: reset land_repo_active flag in RTL mode 2021-07-14 20:49:11 +09:00
Peter Barker
2e18b2d162 Copter: simplify throttle-is-unlimited check 
Now not the same pattern as the other checks - but it is much shorter
 2021-07-14 16:38:36 +09:00
Peter Barker
8ccb77f708 Copter: wait for motors to spool up before trying to upright vehicle 
This stops us from progressing through the whole throw mode if the
vehicle just happens to be in the right state - which is can be for a
drop.
 2021-07-14 16:38:36 +09:00
Peter Barker
21f8ff4a4e Copter: constify some ModeThrow methods 2021-07-14 16:38:36 +09:00
Andrew Tridgell
bd84ed126e Copter: removed max home distance 
after discussion with Randy we agreed to just remove this check now we
are numerically stable at long distances
 2021-07-14 17:34:40 +10:00
Leonard Hall
df9470d8af Copter: Don't reset yaw rate when disarmed or ground idle in Heli Stab and Acro 2021-07-13 09:51:36 +10:00
Josh Henderson
2ba6ae6196 ArduCopter: mark get_wp() const 2021-07-13 08:05:25 +09:00
Peter Barker
5f039ba06d Copter: fix build for lack of AC_TERRAIN define 2021-07-12 21:14:40 +10:00
Peter Barker
52f6c0e5ca ArduCopter: use singleton to access AP_Terrain data 2021-07-12 17:34:44 +10:00
Peter Barker
3684741517 ArduCopter: remove AC_TERRAIN compilation option 
Use AP_TERRAIN_AVAILABLE instead
 2021-07-12 17:34:44 +10:00
Randy Mackay
7dcc5dd7ac Copter: add TERRAIN_MARGIN parameter 2021-07-10 20:25:05 +09:00
Randy Mackay
50d0592962 Copter: add GUID_TIMEOUT for guided mode vel, accel and angle control 2021-07-10 20:25:05 +09:00
Leonard Hall
1aa3ef9b67 Copter: Guided: move to zero velocity after takeoff 2021-07-10 20:25:05 +09:00
Leonard Hall
58497bacbd Copter: Auto Yaw variable names and comments 2021-07-10 20:25:05 +09:00
Leonard Hall
0f9fcb8c2e Copter: Guided Angle init Z controller on time out 2021-07-10 20:25:05 +09:00
Leonard Hall
feae762e64 Copter: additional yaw modes and fixes 2021-07-10 20:25:05 +09:00
Leonard Hall
58b0853012 Copter: Guided: use default yaw mode for all gps based sub modes. 2021-07-10 20:25:05 +09:00
Leonard Hall
b84fc7e5e9 Copter: Guided: stop aircraft if an invalid command is sent 2021-07-10 20:25:05 +09:00
Leonard Hall
991cc19f85 Copter: Guided: make aircraft stop on accel time out 2021-07-10 20:25:05 +09:00
Leonard Hall
0132b30d27 Copter: Guided add terrain failsafe 2021-07-10 20:25:05 +09:00
Leonard Hall
8631c3c68f Copter: Guided: support terrain following 2021-07-10 20:25:05 +09:00
Leonard Hall
92099d83ca Copter: Guided: fix waypoint track reporting 2021-07-10 20:25:05 +09:00
Leonard Hall
8da8af973b Copter: Guided close gap between TARGET_LOCAL_NED and TARGET_GLOBAL_INT 2021-07-10 20:25:05 +09:00
Leonard Hall
a1ad194abd Copter: seperate kinimatic shaping from pid limit setting 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
dfbd757f82 Copter: Guided prevent takeoff without takeoff command. 2021-07-10 20:25:05 +09:00
Randy Mackay
ba1951a372 Copter: guided accepts terrain alt position targets 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
Peter Barker
af357ee45c ArduCopter: remove misleading NOINLINE comment 
NOINLINE hasn't been used in years in these files
 2021-07-08 21:28:38 +10:00
Stephen Dade
6c02cd1b54 ArduCopter: Add support for HIGH_LATENCY2 messages 2021-07-07 17:10:05 +10:00
Leonard Hall
455787869e Copter: Correct yaw expo range limit 2021-07-02 16:06:50 +09:00
Randy Mackay
97db237b96 Copter: 4.1.0-beta5 release notes 2021-06-30 13:45:03 +09:00
Andrew Tridgell
5eb1d4a5a9 Copter: improve check of far_from_EKF_origin 
- increases the maximum distance from EKF origin to 250km horizontally
- adds arming check that the vehicle is within 250km of the EKF origin
- fixes a bug in the far-from-EKF-origin related to height (was 500m, now 50km)
 2021-06-30 11:52:55 +09:00
Hwurzburg
e6c80744db ArduCopter: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Shiv
4a39424d6b Copter: added comments to include libraries in copter.h and attitude.cpp 
fixed typo in a comment and added more comments for included libraries in copter.h and fixed a comment in attitude.cpp
 2021-06-30 09:23:24 +09:00
Randy Mackay
290124720d Copter: RNGFND_FILT param default increased from 0.25 to 0.5 2021-06-25 15:36:31 +10:00
Andrew Tridgell
bada2670a6 Copter: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell
d89388c4cc Copter: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Leonard Hall
3fd28bd74b Copter: Set Force Descend to true only when in the last phase of landing 2021-06-23 10:58:50 +09:00
Peter Barker
c2c013964d ArduCopter: tidy frame description strings 
Before: AP: Frame: TRI/
After: AP: Frame: TRI
 2021-06-21 16:30:37 +10:00
Randy Mackay
1cafbe1e65 Copter: add configurable rangefinder filter 2021-06-16 18:54:13 +10:00
Peter Barker
cdbf6d216e ArduCopter: remove HIL support 2021-06-15 09:47:31 +10:00
Randy Mackay
81e82f75c6 Copter: 4.1.0-beta4 release notes 2021-06-14 10:11:33 +09:00
chobitsfan
14c32f556c Copter: fix build problem when log disabled 2021-06-09 09:34:13 +10:00
Andrew Tridgell
77e566c6ed Copter: don't set takeoff expected in throw mode 
especially bad for dropping off a bridge
 2021-06-02 11:13:16 +09:00
Andrew Tridgell
1371fd7e6f Copter: use new APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Andrew Tridgell
acb70abe86 Copter: adjust yaw imbalance check to only check imax rather than i 
Existing code was causing way too many false-positives
 2021-06-01 15:23:33 +10:00
Peter Barker
214bc4c282 Copter: make terrain-height-stable-when-no-position value stick 
The set immediately above this return is completely ineffective without
a return statement.
 2021-05-31 16:57:14 +09:00
Peter Barker
61f41803b9 ArduCopter: remove optical flow pointer from AP_AHRS 
Nothing was ever using it.
 2021-05-30 10:44:42 +10:00
Peter Barker
b9c1633358 ArduCopter: remove pointless init_optflow wrapper 
Hiding a one-line call in a wrapper just adds size to the build
 2021-05-28 13:41:50 +09:00
Randy Mackay
9a363e9e15 Copter: call AC_PosControl::write_log in modes with only vertical control like AltHold 2021-05-26 18:58:31 +10:00
Leonard Hall
017b267fee Copter: Rename set_attitude_target_to_current_attitude 2021-05-26 16:03:05 +09:00
Leonard Hall
dd0b303ec2 Copter: Fix Loiter attitude error during Pre-Takeoff 2021-05-26 16:03:05 +09:00
Leonard Hall
3b0a870504 Copter: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
Hwurzburg
6c06f72af3 ArduCopter: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Hwurzburg
a658c4f623 Copter: correct ACRO_RP_EXPO constraint range 2021-05-25 09:06:32 +09:00
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
Randy Mackay
1a4f67955d Copter: 4.1.0-beta3 release notes 2021-05-24 13:18:51 +09:00
Randy Mackay
b8296af66a Copter: update 4.1.0-beta release notes 2021-05-20 09:00:39 +09:00
Randy Mackay
f2c03a66b6 Copter: 4.1.0-beta2 release notes 2021-05-19 21:15:33 +09:00
Iampete1
c0cf814d3e Copter: disable hover throttle learn in standby mode 2021-05-18 15:59:52 +09:00
Leonard Hall
d0b9f6ced6 Copter: minor format fix to rtl 2021-05-13 10:34:02 +09:00
Andy Piper
ef18b9f943 ArduCopter: only call init_rc_out() once to avoid losing MOT information 2021-05-12 21:02:42 +10:00
murata
36f3fb316a Copter: Notify the fence breach at the notification level 2021-05-12 17:45:11 +09:00
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
Leonard Hall
a780759221 Copter: minor format fixes 2021-05-12 17:16:00 +10:00
Andy Piper
e19bf8149b Copter: generalise ESC telemetry to allow harmonic notch handling with other ESCs 2021-05-12 17:01:11 +10:00
Pierre Kancir
e0d181a793 Copter: use MAVLink POSITION_TARGET_TYPEMASK 2021-05-11 09:53:50 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
2261f94361 ArduCopter: Mark motors un-healthy if any motors are not producing thrust 2021-05-06 16:27:27 +10:00
murata
6d8d35f272 Copter: Change the direct value to the definition name 2021-05-04 19:40:14 -04:00
Iampete1
0545c3941b Copter: mode circle: trigger param value change 2021-05-04 10:41:39 +10:00
Randy Mackay
67e15f8d07 Copter: autotune entry checks moved to init 2021-05-03 20:23:27 -04:00
chobits
7b60ace18b Copter: fix takeoff drift if vehicle is not in origin 2021-05-03 20:10:39 -04:00
Josh Henderson
a5b984640e ArduCopter: Privatize AP_IntertialSensor Logging 2021-04-29 19:19:12 +10:00
Peter Barker
cc90eddc82 ArduCopter: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Leonard Hall
726074be91 Copter: Support Thrust Vector based navigation 2021-04-27 17:13:55 +09:00
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
Randy Mackay
7cf4195f86 Copter: 4.1.0-beta1 release notes 2021-04-14 20:16:31 +09:00
Peter Barker
6727a6588f ArduCopter: tidy setting of sensor status flags 2021-04-14 18:03:27 +10:00
Peter Barker
ff072c5215 Copter: stop sending POSITION_TARGET_LOCAL_NED in guided-angle mode 
The values we were sending through were not relevant
 2021-04-14 16:12:57 +09:00
Peter Barker
5df8dd8c50 Copter: move guided submode enumeration into ModeGuided 2021-04-14 16:12:57 +09:00
Peter Barker
fa9ac072ec Copter: remove unused AP_IRLock include 
This header is included as required by the AC_PrecLand library - it is
now responsible for actually instantiating the AP_IRLock instance if
required, so Copter doesn't need to know anything about AP_IRLock.
 2021-04-14 12:01:12 +10:00
Andrew Tridgell
5a869174e5 Copter: use handle_landing_target() for precland 
allows for jitter correction
 2021-04-13 17:30:19 +10:00
Peter Barker
65b1868863 Copter: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Randy Mackay
6a98ad5a29 Copter: loiter-turns fix 2021-04-12 08:30:19 +09:00
Peter Barker
c2411698b9 Copter: point to SITL parameter metadata 2021-04-10 11:28:22 +10:00
Peter Barker
09a9bd73a4 ArduCopter: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
chobits
28fbc73fb6 Copter: fix build error when landinggear disabled 2021-04-06 17:04:34 +09:00
TunaLobster
1bda79dd72 ArduCopter: loosen motion based landing detection when WoW is present 2021-04-06 08:46:07 +09:00
TunaLobster
444b33b059 ArduCopter: add WoW to Copter landing check 2021-04-06 08:46:07 +09:00
Peter Barker
e7a9e0acb4 Copter: move brake state into a structure 2021-04-06 07:53:23 +09:00
Randy Mackay
941cf6b293 Copter: integrate AC_WPNav::get_yaw_rate_cds rename 2021-04-03 12:07:59 +09:00
Randy Mackay
94d4e5912b Copter: add comments to smartRTL 2021-04-03 12:07:59 +09:00
Randy Mackay
96267553cf Copter: auto detects mission changes 2021-04-03 12:07:59 +09:00
Randy Mackay
238d102a56 Copter: auto's wp_start skips submode change on terrain failsafe 2021-04-03 12:07:59 +09:00
Leonard Hall
d981de1ff4 Copter: position control PID logging 2021-04-03 12:07:59 +09:00
Leonard Hall
a29e2d8920 Copter: fix references to position error 2021-04-03 12:07:59 +09:00
Randy Mackay
7c14f4de0d Copter: rtl passes speed to wpnav::init 2021-04-03 12:07:59 +09:00
Randy Mackay
9d91b6c3be Copter: smart-rtl fix for final point altitude 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
Randy Mackay
204c839ae0 Copter: mode_smart_rtl uses peek_point 2021-04-03 12:07:59 +09:00
Peter Barker
ce9800e597 ArduCopter: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Peter Barker
5edfed0083 Copter: factor out a mode-change-failed method 2021-03-30 19:58:05 +11:00
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
Josh Henderson
f65c4df358 ArduCopter: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Randy Mackay
8a5b5897f0 Copter: remove unused ADSB_ENABLED from Config.h 2021-03-26 16:22:46 +09:00
Randy Mackay
91fa40aea6 Copter: HAL_PROXIMITY_ENABLED replaces PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Peter Barker
45d484c0ba ArduCopter: remove Log_Write_Performance which is not called anywhere 2021-03-26 16:35:08 +11:00
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
murata
31b0682246 Copter: Move the variable definition 2021-03-25 08:55:17 +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
Peter Barker
dc793e916f Copter: move implementation of get_pilot_desired_yaw_rate into mode.cpp 2021-03-24 20:46:08 +11:00
Emre Saldiran
d5715292a3 Copter: implement set_target_posvel_NED method for use in scripting 2021-03-24 08:55:48 +09:00
murata
0fe65fd6d3 Copter: Added new settings for flight mode channel 2021-03-24 08:50:59 +09:00
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
0cce5699b2 Copter: change from control_mode to flightmode 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
Emre Saldiran
543c2bf55b Copter: change description of system id delay variable (NFC) 2021-03-23 20:09:38 +09:00
Randy Mackay
2d9c6867f4 Copter: accept MISSION_START commands when vehicle is disarmed 2021-03-23 10:12:08 +09:00
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
Rishabh
618282e996 Copter: Remove avoidance completly from poshold 2021-03-22 14:04:42 +09:00
Tatsuya Yamaguchi
941c5f8179 Copter: add EKF failsafe notify tones 2021-03-17 20:29:32 +09:00
Randy Mackay
ef33ed5e36 Copter: landing gear enabled on all boards 
Co-authored-by: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
 2021-03-17 10:41:11 +09:00
Tatsuya Yamaguchi
ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +09:00
Tatsuya Yamaguchi
52cd042d69 Copter: update filtered range finder altitude to AC_WPNav 2021-03-17 09:30:38 +09:00
Ryan Birmingham
c2cdb00f85 Copter: constrain throttle before setting deadband 2021-03-17 09:10:08 +09:00
Randy Mackay
e0a8baccfd Copter: pre-arm check of EKF pos and vel variances 2021-03-16 13:02:46 +09:00
Randy Mackay
49486b7cea Copter: ekf failsafe may trigger while disarmed but takes no action 2021-03-16 13:02:46 +09:00
Randy Mackay
5babe93201 Copter: ekf failsafe only triggers if it has ever passed 2021-03-16 13:02:46 +09:00
Randy Mackay
be29b23195 Copter: do-mount-control ignored if no mount 
Co-authored-by: srirajshukla <srirajshukla@gmail.com>
Co-authored-by: Yash Vadi <yvadi9274@yahoo.com>
 2021-03-16 10:07:16 +09:00
Peter Barker
211a7f85b5 ArduCopter: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Siddharth Purohit
da7d34224d Copter: do common gps arming checks first before moving on 2021-03-12 16:32:36 +09:00
Siddharth Purohit
0c42c56c36 Copter: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
Rishabh
e727d08266 Copter: Provide downward facing rangefinder readings to proximity lib 2021-03-09 11:02:26 +09:00
chobits
b7c937592e Copter: send mission_item_reached in guided 2021-03-09 10:04:24 +09:00
James O'Shannessy
d055d7a581 ArduCopter: Cleanup - removes autoenabling of fence with AC_Fence parameter 2021-03-05 14:52:46 +11:00
James O'Shannessy
f14e1c2799 ArduCopter: Ensure fence has opportunity to auto disable for landing 2021-03-05 14:52:46 +11:00
James O'Shannessy
8ab1cf869d ArduCopter: Remove fence_checks in AP_Arming because they are common across all vehicles now 2021-03-05 14:52:46 +11:00
James O'Shannessy
a88f2721a8 ArduCopter: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy
2a9affe517 ArduCopter: Remove unused fence floor enable function 2021-03-05 14:52:46 +11:00
James O'Shannessy
f228adfa75 ArduCopter: Improve auto-enable/disable of fence 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
Tom Pittenger
38fd43ac2c Copter: change SRx_ docs value 1 50 2021-03-03 18:17:22 +11:00
Mathias Bos
b3b7f2d3d2 Copter: Remove yaw rate wrapping in guided mode. 2021-03-03 08:09:08 +09:00
Randy Mackay
64289d436a Copter: reduce ANGLE_MAX default to 30deg 2021-03-03 08:03:39 +09:00
murata
17f285b68f Copter: Add Smart RTL or LAND to the fence action 2021-03-03 07:59:03 +09:00
Iampete1
2e9c11fbdf Copter: add FLIGHT_OPTIONS param and options bits to disable thrust loss and yaw imbalance warnings 2021-03-02 09:35:06 +09:00
Iampete1
447af29ef1 Copter: add yaw imbalance check 2021-03-02 09:35:06 +09:00
Hwurzburg
7d7a7a365d Copter: correct metadata for do_change_speed cmd 2021-02-24 16:06:41 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
bbb6bbedf4 Copter: 4.0.7 release notes 2021-02-23 08:03:21 +11:00
Rishabh
fdd39ca3a8 Copter: Check for height before turning on proximity simple avoidance 2021-02-16 20:08:00 +09:00
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
Randy Mackay
97c1445bce Copter: ensure send_position_target_global_int alt always absolute 2021-02-15 17:39:07 +11:00
Peter Barker
ea0efd3a1a Copter: correct documentation of use of DO_CHANGE_SPEED parameter 2021-02-15 15:44:17 +11:00
Andy Piper
85a8536243 Copter: All men dream, but not equally. 
Those who dream by night in the dusty recesses of their minds, wake in the day to find that it was vanity:
but the dreamers of the day are dangerous men, for they may act on their dreams with open eyes,
to make them possible.
 2021-02-12 08:35:35 +09:00
Gone4Dirt
1e1be590e2 Copter: Add ignore pilot yaw option bit 2021-02-09 19:39:17 +09:00
Iampete1
a572820dbc Copter: system: use config_error loop don't panic 2021-02-09 12:43:54 +09:00
Iampete1
d6fa4d97e3 Copter: add 6DoF support 2021-02-09 12:43:54 +09:00