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4543 Commits

Author SHA1 Message Date
Randy Mackay
1f37f5a0e7 Copter: remove tradheli swash, yaw and rsc servos 
These are all created within the AP_MotorsSingle class now except for servo_rsc which was unused
 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
0abea7af68 Copter: remove slow_start from stabilizing 2016-04-01 11:59:30 +09:00
Randy Mackay
1c98cd9d52 Copter: remove slow_start from althold 2016-04-01 11:59:30 +09:00
Randy Mackay
f6c26ad285 Copter: remove slow start from acro 2016-04-01 11:59:30 +09:00
Randy Mackay
3c3b74adc8 Copter: remove slow_start from takeoff 2016-04-01 11:59:30 +09:00
Randy Mackay
8180fad4b4 Copter: tradheli sends radio passthrough in 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
f0575de776 Copter: tradheli logs rotors speed in 0 to 1 range 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
Randy Mackay
7fc37e7801 Copter: set tradheli external gyro gain in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
be7ad2d83a Copter: loiter uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
02ac2d0e4e Copter: land uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
94b35d659e Copter: guided uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
4deb6fd39d Copter: flip uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
f91874afad Copter: drift uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
83ae78b38e Copter: circle uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
10f8e36f9b Copter: brake uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
965f3827b4 Copter: poshold uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
478b9af0f3 Copter: autotune uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
4f192d0bc7 Copter: auto uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
a927db3e6a Copter: rtl uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
d37f70f767 Copter: sport uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
f6a6b360a8 Copter: stabilize uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Leonard Hall
d2642065dd Copter: althold uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
668561ff0e Copter: acro uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Leonard Hall
6c40d6f774 Copter: remove single frame's servo objects 2016-04-01 11:59:30 +09:00
Leonard Hall
8d0a6765f1 Copter: removed unnecessary #define for motor declaration 2016-04-01 11:59:30 +09:00
Leonard Hall
44180e44df Copter: remove coax servo objects 
servos moved to AP_MotorsCoax class
 2016-04-01 11:59:30 +09:00
Leonard Hall
5dde87734c Copter: heli acro, stabilize use pilot throttle as float 2016-04-01 11:59:30 +09:00
Leonard Hall
07b311f6a8 Copter: brake sets desired spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
7366bc8a56 Copter: pos_hold uses 0 to 1 throttle and sets motor spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
80a11e4d3d Copter: autotune uses throttle in 0 to 1 range and sets motor spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
068fc7feac Copter: flip uses 0 to 1 throttle and sets motor spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
8a49745e96 Copter: sport uses throttle in 0 to 1 range and sets motor spool state 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
100fcf799e Copter: land sets desired spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
f71157c508 Copter: circle sets desired spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
cce426dcb8 Copter: rtl uses throttle in 0 to 1 range and sets motor spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
f8d03b58d1 Copter: loiter uses 0 to 1 throttle and sets motor spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
42f5de44d4 Copter: guided sets desired spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
f221d4d757 Copter: auto sets desired spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
70433d25e3 Copter: althold uses 0 to 1 throttle range and spool logic 
stabilizes even while landed
sets desired motor spool state
check for spool up before takeoff
 2016-04-01 11:59:30 +09:00
Leonard Hall
2180514dde Copter: acro uses 0 to 1 throttle and sets desired spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
f56ff4d564 Copter: stabilize uses 0 to 1 throttle and sets motor spool state 2016-04-01 11:59:30 +09:00
Leonard Hall
76a8de8a53 Copter: CTUN logs throttle_in, angle boost in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
7bcdc76655 Copter: get_pilot_desired_climb_rate accepts control_in as 0 to 1000 
Previously the input was expected to be throttle_min (i.e. 130) to 1000
 2016-04-01 11:59:30 +09:00
Leonard Hall
20debc962a Copter: update get_throttle_pre_takeoff for 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
37e6977813 Copter: update get_non_takeoff_throttle for 0 to 1 range 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
c3403a128c Copter: throttle passed to compass in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
a44f7f650b Copter: throttle sent to GCS uses 0 to 1 range 
This is probably not correct because we should be sending the throttle as a 0 to 1 number using the full possible output range.  This uses the reduced range passed in when the copter is being stabilized (i.e. between throttle-min and throttle-max)
 2016-04-01 11:59:30 +09:00
Leonard Hall
f8d7b677d4 Copter: update_thr_average 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
Leonard Hall
e132ea34d9 Copter: g.rc_3.control_in range 0 to 1000 
Previously the range was throttle_min (normally 130) to 1000 but we can remove this awkward range and use 0 to 1000 now that the attitude controller and motor library inputs are in the 0 to 1 range.
 2016-04-01 11:59:30 +09:00
Leonard Hall
a00a9601a4 Copter: AP_MotorsCoax now uses 4 servos 2016-04-01 11:59:30 +09:00
Leonard Hall
a0409e4f9e TradHeli: dynamic flight check uses throttle in 0 to 1 range 2016-04-01 11:59:30 +09:00
Andrew Tridgell
f19922fec5 Copter: added LAND_SPEED_HIGH parameter 
this is the descent rate for the first part of a landing. Separating
this from WPNAV_SPEED_DN allows for independent tuning of fast fwd
flight from landings
 2016-03-30 15:54:20 +11:00
Gustavo Jose de Sousa
6074385873 ArduCopter: waf: build all frame types 2016-03-26 15:43:08 -03:00
Gustavo Jose de Sousa
9bec8e5133 ArduCopter: waf: add missing library AC_InputManager 
That is used by heli.
 2016-03-26 15:43:08 -03:00
Gustavo Jose de Sousa
a4c099feaa waf: create program groups for main products 
Currently we need to build a different binary for each type of copter frame.
This is a preparation for setting all those binaries to a group called
"copter". We create the groups for the rest of the main products for
consistency.
 2016-03-26 15:43:08 -03:00
Andrew Tridgell
224c99af72 Copter: change code URL 2016-03-25 20:46:54 +11:00
Andrew Tridgell
31000ac756 Copter: moved Log_Write_Rate() to common code 2016-03-25 12:13:59 +11:00
Lucas De Marchi
34155c09e6 ArduCopter: Update path locations for parameters 
Thanks to Francisco Ferreira for noticing that.
 2016-03-23 17:50:38 -03:00
Randy Mackay
a8bea0af03 Copter: allow switching to throw without position estimate 
The vehicle arming check will still stop the user from arming in throw mode without a good position estimate.
 2016-03-22 16:21:58 +09:00
Nitay Megides
f77eed8f95 Copter: add break after prec landing case clause 
(And fixed indentation)
 2016-03-21 09:34:55 +09:00
Don Gagne
cae7ea0d13 Add @Volatile, @ReadOnly support 2016-03-17 10:58:05 +11:00
Lucas De Marchi
e88ba38595 ArduCopter: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Don Gagne
e9651dacfe Copter: update parameter description increments 2016-03-08 09:27:50 +09:00
Randy Mackay
2e669a35e7 Copter: deploy landing gear when parachute is released 2016-03-04 10:48:19 +09:00
Randy Mackay
0dffeec07f Copter: use ahrs.get_origin instead of ekf.getOriginLLH 
This ensures we get the origin from the active EKF
 2016-03-03 16:20:54 +09:00
Randy Mackay
a93a0d370a Copter: add throw mode to aux switches 2016-03-03 15:30:03 +09:00
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
Randy Mackay
959c0eccfd Copter: reject changing to throw mode while armed 2016-03-03 12:18:23 +09:00
Randy Mackay
20b6688e77 Copter: add throw to FLTMODE param descriptions 2016-03-03 12:18:20 +09:00
Paul Riseborough
1aade494fc AP_State: enable use of motor interlock during throw mode 2016-03-03 12:18:18 +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
Randy Mackay
e428abde42 Copter: enable precision landing by default 2016-02-29 19:17:20 +09:00
dgrat
5148e41c1a AP_Math: Cleaned macro definitions 
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
 2016-02-27 02:51:33 -03:00
Randy Mackay
077999d2aa Copter: 3.3.3 release notes 2016-02-24 11:03:25 +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
Tom Pittenger
09dd2a1b3d Copter: use set_dataflash() for static logging 2016-02-24 09:18:05 +11:00
Lucas De Marchi
09e7cbe005 ArduCopter: remove unused CMAKE define 
This is a leftover from previos cmake build system.
 2016-02-19 19:15:39 -02:00
Peter Barker
44c63b8873 Copter: move use of defines after config.h and defines.h 2016-02-19 12:34:23 -02:00
Leonard Hall
8e790d3f91 Copter: autotune adjustment for large copters 2016-02-18 20:49:12 +09:00
Jonathan Challinger
e09e9a313e Copter: interpret MAV_FRAME_GLOBAL_RELATIVE_ALT as MAV_FRAME_GLOBAL_RELATIVE_ALT_INT 2016-02-06 09:36:51 +09:00
Jonathan Challinger
0b8162aa0d Copter: add support for COMMAND_INT DO_SET_ROI 2016-02-06 09:36:41 +09:00
Randy Mackay
a1b0a53e17 Copter: remove AP_Limits from comments 2016-02-04 09:55:07 +09:00
Randy Mackay
a77dd59dc6 Copter: single and coax copters become mav_type quadrotor 2016-01-30 17:15:28 +09:00
Andrew Tridgell
5be21cc178 ArduCopter: log a picture if AP_Camera::control() returns true 2016-01-29 10:01:51 +11:00
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
Randy Mackay
5e24443a0a Copter: 3.3.3-rc2 release notes 2016-01-28 14:19:33 +09:00
Randy Mackay
27ed9e1561 Copter: allow mount to be disabled 2016-01-23 10:35:48 +09:00
Jonathan Challinger
22c3397657 Copter: make AP_Mount calls required by AP_Mount_SoloGimbal 2016-01-23 10:35:42 +09:00
Jonathan Challinger
5f610fdcba Copter: support SET_POSITION_TARGET with WGS84 altitudes 2016-01-23 10:29:04 +09:00
Jonathan Challinger
82322144ee Copter: remove unnecessary header file 2016-01-23 09:42:08 +09:00
Gustavo Jose de Sousa
c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
e9d3dc9e72 waf: vehicles and antennatracker: use methods from bld 
Instead of from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
cf432e8b3e waf: ardupilotwaf: rename vehicle_stlib to ap_stlib 
That function is not only for vehicles.
 2016-01-22 20:10:28 -02:00
Gustavo Jose de Sousa
a35c0d48b0 waf: ardupilotwaf: rename program to ap_program 
Make the rename so that there is no name clashes when defining it as a taskgen
method.
 2016-01-22 20:10:28 -02:00
Lucas De Marchi
7f04e0106e waf: change binary names 
APMrover2 -> ardurover
AntennaTracker -> antennatracker
ArduCopter -> arducopter
ArduPlane -> arduplane
 2016-01-18 16:56:08 -02:00
Gustavo Jose de Sousa
17e5d99509 waf: allow partial builds with new mavlink as submodule 
The task generator for the mavlink headers is given a name 'mavlink' and is
added as a dependency to all local static libraries, because all of them use
sources that include mavlink headers. It would be nice to have a good way to
detect sources that use mavlink headers or to declare list of libraries that
use the headers, so that the dependency could be added automatically.

Additionally, there's a minor change in syntax for the task generator: using
strings directly instead of lists.
 2016-01-15 07:28:48 +11:00
Randy Mackay
d989cf29e2 Copter: cancelling no-gps-land switches to AltHold 
Previously it could switch to Loiter
 2016-01-14 15:22:02 +09:00
Randy Mackay
dc2ec5db18 Copter: add Bitmask param description for PILOT_THR_BHV 2016-01-14 15:21:59 +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
Randy Mackay
9e0cd7a5cf Copter: allow arming in Drift and Sport modes 2016-01-14 10:13:45 +09:00
Derek Ma
3751dbef91 ArduCopter: include precision landing sensor in mavlink system status 
Set MAV_SYS_STATUS_SENSOR_VISION_POSITION bit in onboard_control_sensors_present, onboard_control_sensors_enabled and onboard_control_sensors_health based on the status of precision landing sensor.
 2016-01-14 09:36:24 +09:00
Randy Mackay
97725c3187 Copter: add DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE to APM_Config.h 
This makes it easier for us to find the definition without searching through the code
 2016-01-12 19:51:43 +09:00
Jonathan Challinger
cc1f27ad95 Copter: add DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE option 2016-01-12 19:49:17 +09:00
Jonathan Challinger
5cc969f01b Copter: simplify battery and radio failsafe logic 2016-01-12 18:23:01 +09:00
squilter
91187899fd Copter: initialize capabilities earlier 2016-01-12 18:13:15 +09:00
Randy Mackay
89c147184f Copter: log guided mode targets 2016-01-12 18:04:59 +09:00
Randy Mackay
6a67ad706c Copter: add Relays to aux switch parameter descriptions 
Also fix formatting of new options in switches.cpp
No functional change
 2016-01-08 12:13:37 +09:00
Gavin Mogensen
3918987507 Copter: aux switches for relays 2,3 and 4 2016-01-08 12:12:47 +09:00
Randy Mackay
e216f814c5 Copter: add CAL_ALWAYS_REBOOT to APM_Config.h 2016-01-08 12:01:51 +09:00
Jonathan Challinger
d916413a15 Copter: add CAL_ALWAYS_REBOOT option 2016-01-08 11:58:41 +09:00
Randy Mackay
e16cccf218 Copter: RTL config formatting fix 
No functional change
 2016-01-07 17:29:54 +09:00
Randy Mackay
2927d6b2df Copter: add RTL_CONE_SLOPE param description values 2016-01-07 17:22:35 +09:00
Jonathan Challinger
3800c66f07 Copter: add RTL_CONE_SLOPE 2016-01-07 17:22:33 +09:00
Jonathan Challinger
dcd16696a2 Copter: refactor RTL to compute full path on initialization 2016-01-07 17:22:31 +09:00
Randy Mackay
85b4288990 Copter: update 3.3.3-rc1 release notes 2016-01-07 14:30:06 +09:00
Robert Lefebvre
bfa69ed543 Copter: 3.3.3-rc1 release notes 2016-01-07 14:30:03 +09:00
Randy Mackay
15e673f5ae Copter: fix precland parameter description prefix 
Thanks to Thomas Stone for finding this

No functional change
 2016-01-07 12:55:44 +09:00
Andrew Tridgell
907a680a3b Copter: always call load_all 
this ensures defaults file works on first start after erase
 2016-01-07 09:33:00 +11:00
Andrew Tridgell
74883ddaeb Copter: use set_range_in() for tuning channel 
this allows channel 6 to be used for something else for output
 2016-01-04 11:23:33 +09:00
Andrew Tridgell
5c94b61f49 Copter: support up to 14 input channels for all boards 2016-01-04 08:22:51 +11:00
Randy Mackay
cfff57257e Copter: shorten precision landing param prefix 2015-12-31 15:30:39 +09:00
Randy Mackay
1155b1f557 Copter: remove precision landing PI controller 
This controller has been moved into the precision landing class
 2015-12-31 15:30:36 +09:00
Jonathan Challinger
0e85f55cfc Copter: remove OF_LOITER entirely 2015-12-31 14:27:22 +09:00
Tom Pittenger
d969154391 Copter: incorporate AP_ADSB function rename 
- non-functional change
 2015-12-31 15:36:49 +11:00
Robert Lefebvre
dc1846447e Copter: ensure Ch6 tuned value does not go out of range 2015-12-31 12:41:29 +09:00
Robert Lefebvre
e2879b375d Copter: fix Ch6 Tuning when no RC Receiver on boot 2015-12-31 12:41:11 +09:00
Jonathan Challinger
93fc595d4d Copter: check if compass cal requires reboot 2015-12-31 12:32:57 +09:00
pepevalbe
3b3205304b Copter: added group parameter for AP_Notify library 2015-12-31 11:33:08 +09:00
Jonathan Challinger
5cd0ca851a Copter: check if accel cal requires reboot 2015-12-29 10:46:35 -08:00
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
Randy Mackay
6ac48b4dac Copter: minor formatting fix 2015-12-28 14:01:12 +09:00
Jonathan Challinger
750cacc875 Copter: barometer ground effect compensation 2015-12-28 13:51:27 +09:00
Lucas De Marchi
a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Andrew Tridgell
4dd8714880 Copter: changed to Hz based task table 2015-12-27 14:57:21 +09:00
Randy Mackay
1f3fa3e272 Copter: formatting fixes to arming checks 2015-12-24 14:11:38 +09:00
Jonathan Challinger
933ffb2b10 Copter: move prearm logic to arming_checks.cpp 2015-12-24 14:10:23 +09:00
Andrew Tridgell
d14056fa1e Copter: fixed build warnings 2015-12-20 17:55:40 +11:00
Andre Kjellstrup
eb0daee4b3 ArduCopter: Camera options for better camera control 
All on one because they would not pass autotest if split up.
 2015-12-18 18:16:11 +11:00
Jonathan Challinger
cee706edd9 Copter: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Julien BERAUD
f897356fd9 Copter: Optflow constructor update 
AHRS passed as param
 2015-12-18 17:56:06 +11:00