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73 Commits

Author SHA1 Message Date
Leonard Hall
7fe700b738 Copter: Fix Rate expo calculation 
This fixes a bug in the yaw rate expo and makes these changes consistent with roll and pitch rate expo.
 2020-05-06 15:09:22 +09:00
Randy Mackay
d41e7dcbee Copter: move surface tracking implementation to surface_tracking.cpp 2019-09-28 11:13:14 +09:00
Andrew Tridgell
328fff8585 Copter: fixed RC failsafe handling for no RC receiver 
this stops us using uninitialised values in modes like circle which
can operate either with or without RC input. If we didn't have a RC
receiver attached then they would use a maximum yaw rate (which
produces quite a spectacular result for a tuned up racing quad)
 2019-09-24 10:00:36 +10:00
Peter Barker
0031deb175 Copter: correct abs vs fabsf usage in Attitude 2019-09-18 12:57:02 +10:00
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
Peter Barker
c0e8d319c6 Copter: make surface tracking adjust_climb_rate take a float 
Its callers all pass in floats and we return a float, so stop going via
an int16_t
 2019-08-06 14:09:09 +09:00
Peter Barker
b0428f0fe8 Copter: make surface_tracking a class, various functions methods 2019-08-06 14:09:09 +09:00
Randy Mackay
01909cf4c8 Copter: zigzag mode gets terrain following support 2019-04-19 07:45:52 +09:00
Randy Mackay
89eb876faf Copter: move surface tracking variables into structure 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
Randy Mackay
a732dfed6d Copter: minor format fixes to get_pilot_desired_cilmb_rate 2019-04-19 07:45:52 +09:00
Peter Barker
8441542a52 Copter: remove climb_rate cache of inertial_nav.get_velocity_z 
There were only two users of it and dozens of places using
get_velocity_z
 2019-03-28 12:10:31 +11:00
Peter Barker
c1c71fec23 Copter: move Mode functions into mode.cpp from Attitude.cpp (NFC) 2019-03-27 14:02:31 +11:00
Peter Barker
34d9ce27af Copter: make get_pilot_desired_throttle a method on Mode 2019-03-26 20:57:15 +11:00
Michael du Breuil
7e1ed948f5 Copter: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Randy Mackay
b5d722245a Copter: minor comment fix 2018-09-10 13:50:31 +09:00
Peter Barker
4e3bbe9311 Copter: move sanity check for rangefinder alt to within protected func 
get_surface_tracking_climb_rate can do an additional check....
 2018-06-06 08:33:56 +09:00
Peter Barker
ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Peter Barker
8648db06b4 Copter: create autoyaw.cpp from all the bits of Copter::Mode::AutoYaw 2018-04-18 13:27:43 +09:00
Peter Barker
948b90ed97 Copter: rename roi_WP to just roi 
A Vector3f is not a waypoint.

This should really be "Point Of Interest" rather than "Region Of
Interest"
 2018-04-18 13:27:43 +09:00
Peter Barker
ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Leonard Hall
9544b1763b Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
Ebin
20995b909f Copter: Moved get_pilot_desired_lean_angles to mode.cpp 2018-03-14 09:33:39 +09:00
Andrew Tridgell
af4f0c29ba Copter: enable TMODE (ToyMode) support 
this is for the skyviper button based transmitter control
 2018-02-08 17:36:33 +11:00
Randy Mackay
8d6f8e4d9c Copter: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay
e85b1ac740 Copter: pass dt to avoidance calls 2018-01-16 12:13:48 +09:00
Peter Barker
7b637334f4 Copter: eliminate mode_has_manual_throttle 2017-12-06 10:09:58 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bd027e4fcb Copter: Move some common functions to AP_Math (NFC) 2017-12-05 08:54:49 +09:00
ChrisBird
caaeae3d0a Copter: Separate max ascent and descent speeds 
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN

New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN

Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).

Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF

Update a section in GUIDED mode but I don't think it is ever used but update just in case.

It will use the PILOT_SPEED_UP for ascending max velocity.  For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
 2017-11-09 09:03:54 +09:00
Peter Barker
1d70a337dd Copter: remove unused desired_climb_rate variable 2017-03-09 19:52:58 +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
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
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
Leonard Hall
0a6714f4ae Copter: rename variable ROLL_PITCH_YAW_INPUT_MAX 
No functional change
 2016-10-26 20:59:43 +09:00
Leonard Hall
2698f14d39 Copter: apply yaw expo to all modes 2016-10-26 20:59:33 +09:00
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
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
35864c6226 Copter: move check_ekf_reset to ekf_check.cpp 
No functional change
 2016-10-10 16:40:08 +09:00
Randy Mackay
f4fee69f29 Copter: add div-by-zero check to get_pilot_desired_throttle 
This divide by zero is only possible if there was a coding error in the setup of the throttle channel but added to make Covarity happy
 2016-08-08 12:14:02 +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
Randy Mackay
b61ae1a4a1 Copter: log EKF yaw reset event 2016-06-24 18:12:30 +09:00
Leonard Hall
7d54c268f6 Copter: consolidate input_euler_angle calls to use smoothing gain 
Previously we had _smooth and non-smooth methods in the attitude
controller but as part of the move to quaternions these have been replaced
by a single call which always takes a smoothing gain
 2016-06-24 17:17:17 +09:00
Leonard Hall
48eb4cf674 Copter: remove THR_MID 2016-06-18 11:55:49 +09:00
Leonard Hall
e9d8a28ec0 Copter: AP_Motor's throttle_hover replaces throttle_average 2016-06-18 11:55:49 +09:00
Randy Mackay
8171532dc5 Copter: allow rangefinder to be disabled from definition 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
7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00