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424 Commits

Author SHA1 Message Date
Randy Mackay f0f87a2f0c Copter: add throw_nextmode 
vehicle switches to mode specified in THROW_NEXTMODE parameter after the
throw is completed.
 2016-08-02 20:25:52 +09:00
Randy Mackay 64ac18da6c Copter: move throw state into structure 
This makes it easier to add more state which is required for the follow throw_nextmode change
 2016-08-02 20:25:52 +09:00
Randy Mackay 1161417d7f Copter: add GUIDED_NOGPS flight mode 
This mode is a cut down version of Guided mode that only accepts attitude commands.
This mode does not require a GPS lock
 2016-08-02 18:25:59 +09:00
Randy Mackay d50987f976 Copter: avoidance_adsb implements copter avoidance using ADSB 2016-07-25 20:24:37 +09:00
Randy Mackay b61ae1a4a1 Copter: log EKF yaw reset event 2016-06-24 18:12:30 +09:00
Randy Mackay 390d06a400 Copter: add and use FLIP_COMPLETE mode reason 
No need to use the original reason we entered flip mode as the reason we are exiting flip.  Instead we can use a new reason called FLIP_COMPLETE
 2016-05-25 16:15:34 +09:00
Randy Mackay e18bf3af56 Copter: remove unused definitions 2016-05-21 10:36:53 +09:00
Randy Mackay 7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay e0bf08abe0 Copter: fixes to guided mode target check is within fence 
guided altitude targets are converted to alt-above-home
remove unnecessary fence_status local variable from guided_set_destination methods
log failures to set guided target under a new failure code: ERROR_CODE_DEST_OUTSIDE_FENCE (5)
rename pv_get_home_destination_distance_mc to pv_distance_to_home_cm
 2016-05-21 09:56:12 +09:00
Jonathan Challinger 747344a8ba Copter: add disarm on land detect option to PILOT_THR_BHV 2016-05-13 11:57:48 +09:00
Randy Mackay cfb2a6b2f9 Copter: update brake-timeout to work with master 
We added mode-change reasons since PR was submitted
 2016-05-13 11:42:25 +09:00
Andrew Tridgell 111eb2ccc1 Copter: use DataFlash::log_while_disarmed() 2016-05-09 12:05:52 +10:00
Randy Mackay 2eb0484142 Copter: rename Loiter states and swap order within select statement 2016-05-07 10:08:34 +09:00
Randy Mackay 9c12b64ba5 Copter: rename AltHold states and swap order within select statement 
No functional change
 2016-05-07 10:08:30 +09:00
Randy Mackay 3d31c3b936 Copter: log error if circle does not initialise correctly 2016-04-30 10:33:01 +09:00
Randy Mackay 43d14defd4 Copter: RTL handles terrain data failure 2016-04-30 10:33:01 +09:00
Randy Mackay 47658fe964 Copter: add terrain failsafe 2016-04-30 10:33:01 +09:00
Randy Mackay 2134e8bfb9 Copter: add terrain and navigation dataflash error codes 2016-04-30 10:33:01 +09:00
Andrew Tridgell f32b7684a0 Copter: removed unused startup log message 2016-04-21 17:05:17 +10:00
Jonathan Challinger 1356deab8b Copter: add control_mode_reason 2016-04-14 12:24:04 +09:00
Jonathan Challinger 6b5ba86f21 Copter: simplify GCS failsafe 2016-04-14 12:24:04 +09:00
Jonathan Challinger a0ce8af633 Copter: use enum type for control_mode 2016-04-14 12:24:04 +09:00
Andrew Tridgell 31000ac756 Copter: moved Log_Write_Rate() to common code 2016-03-25 12:13:59 +11:00
Lucas De Marchi e88ba38595 ArduCopter: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Randy Mackay a93a0d370a Copter: add throw mode to aux switches 2016-03-03 15:30:03 +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
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 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 89c147184f Copter: log guided mode targets 2016-01-12 18:04:59 +09:00
Gavin Mogensen 3918987507 Copter: aux switches for relays 2,3 and 4 2016-01-08 12:12:47 +09:00
Jonathan Challinger 0e85f55cfc Copter: remove OF_LOITER entirely 2015-12-31 14:27:22 +09:00
Robert Lefebvre 652283a570 Copter: Helicopters to force descent when motor is shut off 2015-12-07 14:51:39 +09:00
Randy Mackay 4eafd90864 Copter: remove old comment 2015-11-27 15:02:24 +09:00
Randy Mackay e6f8d812d3 Copter: adsb handling simply logs error to dataflash 2015-11-27 15:02:20 +09:00
José Roberto de Souza c581a702a0 ArduCopter: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
Randy Mackay e20038a453 Copter: support SET_ATTITUDE_TARGET in guided mode 2015-10-09 12:15:38 +09:00
Randy Mackay 0da38ba2bf Copter: add Precision Landing log message 2015-08-31 18:00:30 +09:00
Gustavo Jose de Sousa 4d4b856735 ArduCopter: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00
Randy Mackay 764fa36716 Copter: log ERR when compass, baro unhealthy 2015-07-12 22:11:35 +09:00
Randy Mackay cfe046c9d1 Copter: log EKF height reset 2015-07-06 12:11:54 +09:00
Robert Lefebvre 01ae84dda6 Copter: Create Loiter state machine. 2015-06-29 13:49:55 +09:00
Randy Mackay 2b35fbc81f Copter: remove redundant ToRad definition 2015-06-27 19:20:50 +09:00
Robert Lefebvre a642c88e34 Copter: AltHold state machine 2015-06-22 13:23:53 +09:00
Robert Lefebvre ee6508d5a7 Copter: Event Log rotor speed going below critical 2015-06-19 15:10:54 +09:00
Robert Lefebvre 62079226ff Copter: add Heli Dataflash message 2015-06-19 15:10:52 +09:00
Robert Lefebvre c6281c772d Copter: add rotor_runup_complete Event Logging 2015-06-19 15:10:48 +09:00
Leonard Hall b336ab4de7 Copter: Autotune remove logging of BAD_GAINS event 
This should never happen so no need to log
 2015-06-18 23:06:48 +09:00
Randy Mackay e3183babde Copter: remove unused GPS failsafe definitions 2015-06-10 12:06:10 +09:00
Randy Mackay aa05325b54 Copter: add althold as ekf failsafe action 2015-06-10 12:06:08 +09:00
Andrew Tridgell 1792710f41 Copter: added a bit in LOG_BITMASK for PID logging 2015-05-27 15:09:47 +10:00
Andrew Tridgell 14a90ea001 Copter: removed NOINLINE define 2015-05-21 09:35:51 +10:00
Randy Mackay 09a98b89b7 Copter: add RTL to front of RTLState enum values 
This removes the confusing Land enum value which also appears in the
flight mode enum
 2015-05-19 13:55:50 +09:00
Randy Mackay 8d05eaae16 Copter: add aux switch for Brake flight mode 2015-05-17 14:44:35 +09:00
Randy Mackay 7acdcd8905 Copter: rename stop to brake 2015-05-17 14:44:34 +09:00
Randy Mackay 41077be4ad Copter: parachute failure message if landed 2015-05-12 22:03:58 +09:00
Andrew Tridgell 6dc3cff000 Copter: added LOG_BITMASK 1<<19 for logging raw accel/gyro data 
useful for checking vibration handling
 2015-05-07 12:09:00 +10:00
Randy Mackay 0812e16008 Copter: explicitly define flight modes enum 
Thanks to Luis Vale for spotting this
 2015-05-02 13:24:33 +09:00
Robert Lefebvre 41a6cc64ff Copter: Log Emergency Stop and Motor Interlock status 2015-05-01 14:30:43 +09:00
Robert Lefebvre d8a0952b5a Copter: Explicitly define aux_switch enum. 2015-05-01 14:30:42 +09:00
Robert Lefebvre da2854403e Copter: Explicitly define tuning_func enum value 2015-05-01 14:30:42 +09:00
Robert Lefebvre fab8604f16 Copter: Change Auto Yaw #define table into Enum. 2015-05-01 14:30:39 +09:00
Robert Lefebvre 32b4e70cb7 Copter: Deprecate Aux Switch Multi-Mode 2015-05-01 14:30:38 +09:00
Robert Lefebvre 22a7fba289 Copter: Change autopilot modes into Enum 2015-05-01 14:30:37 +09:00
Robert Lefebvre 39d23519b1 Copter: Change CH6_Tuning #defines into Enum 2015-05-01 14:30:36 +09:00
Robert Lefebvre 2010410c44 Copter: Add numbers to Aux Switch Enum comments 2015-05-01 14:30:28 +09:00
Robert Lefebvre 7349827eb1 Copter: Add Aux Switch E-Stop Function 2015-05-01 14:30:26 +09:00
Robert Lefebvre e4c5915330 Copter: initial creation of motor_interlock 2015-05-01 14:30:21 +09:00
Jonathan Challinger 73d961cebc Copter: mavlink initiated takeoff in alt-hold modes 
adds PILOT_TKOFF_ALT for target altitude above home in cm for pilot initiated takeoff
 2015-05-01 12:56:18 +09:00
Andrew Chapman 4311cd4e7a Copter: add logging for CH6 parameter tuning 
Logs CH6 tuning values to a new PTUN log struct, specific to
APM::Copter at this point
 2015-04-28 14:14:01 +09:00
Andrew Tridgell cb2427ef9e Copter: removed special cases for DCM gain changes on arm/disarm 
copter no longer uses DCM, so it doesn't need these special cases
 2015-04-28 14:07:39 +10:00
Robert Lefebvre 1aa696bc10 Copter: Implement Stop Mode 2015-04-26 16:11:47 +09:00
Randy Mackay dfb720bab6 Copter: rename FULL_IMU logging to IMU_FAST 
This naming is consistent with the earlier ATTITUDE_FAST option and
clarifies that it's the rate that's increased rather than the content.
 2015-04-20 13:49:04 +09:00
Peter Barker 5a45de5e00 Copter: IMU full-rate logging LOG_BITMASK flag 2015-04-20 13:48:58 +09:00
Jaime Machuca 3c00b0a0a8 Copter: ch7/ch8 for lost copter sound 2015-04-13 17:44:39 +09:00
Randy Mackay 11576a0f1e Copter: fix bitmask for use with SET_POSITION_TARGET 
Thanks to vooon for spotting this
 2015-04-11 11:57:41 +09:00
Randy Mackay 74b98b89d0 Copter: remove dcm check 2015-03-27 00:04:37 -07:00
Randy Mackay 522ef8f91f Copter: rename MOT df msg to MOTB 
This will slightly reduce confusion with the MOT message from AC3.1.5
that eventually became RCOUT
 2015-03-18 21:25:45 +09:00
Randy Mackay b679fd0be0 Copter: log RATE with ATT 2015-03-18 21:25:42 +09:00
Randy Mackay e6c3f4f97b Copter: move aux switch enum to defines.h 2015-03-17 21:18:49 +09:00
Robert Lefebvre 97cd3614eb Copter: Change Aux Switch function list to enum. 2015-03-17 21:18:46 +09:00
Robert Lefebvre a5af151a91 Copter: Initial expansion of Aux Switch to Ch7-12 2015-03-17 21:18:41 +09:00
Randy Mackay fbfc94cf69 Copter: remove GPS glitch and failsafe 
The EKF failsafe now captures all failures that could lead to a bad
position including GPS glitches and a bad compass meaning we do not need
this protection in the main flight code.
 2015-03-13 16:40:46 +09:00
Randy Mackay 0476558049 Copter: remove USE_EKF from ch7/ch8 switch 2015-03-13 16:40:20 +09:00
Leonard Hall c78480e14f Copter: rename loiter_pos to pos_xy 
Also renamed throttle_rate to vel_z, throttle_accel to accel_z
 2015-03-06 14:02:17 +09:00
Leonard Hall e232867661 Copter: move LOITER_RATE to 2-axis PI controller 
Also rename LOITER_RATE to VEL_XY for parameters, definitions, variables
 2015-03-06 14:02:15 +09:00
Leonard Hall 1ec5eedd23 Copter: ch6 tuning of yaw rate filter 2015-03-06 14:02:13 +09:00
Leonard Hall 8ba195a3a2 Copter: add Mot and Rate dataflash logging 2015-03-06 14:02:07 +09:00
Leonard Hall 3e8563dd8b Copter: ch6 tuning definition for yaw min headroom 2015-03-03 15:48:17 +09:00
Andrew Tridgell 74ef1b8d2f Copter: removed HomeState from defines.h 
now in AP_Common.h
 2015-02-21 10:14:32 +11:00
Randy Mackay e081b9d1c7 Copter: home is set becomes three state 2015-02-12 15:00:50 +09:00
Randy Mackay 34503de18e Copter: integrate SerialManager 
Remove serial0, serial1 baud and protocol parameters
Pass serial_manager to GCS, GPS, mount, FrSky_telem objects during init
call SerialManager init_console on startup
use SerialManager's set_block_writes_all
 2015-01-29 14:05:14 +11:00
Robert Lefebvre 4b86a4aeec Arducopter: Change mode logging to use common-vehicle DataFlash library. 2015-01-21 14:37:20 +09:00
Robert Lefebvre 422970a1b1 Arducopter: Change compass logging to use common-vehicle DataFlash library. 2015-01-21 14:37:16 +09:00
Robert Lefebvre 1b152cf2bf ArduCopter: Change Current logging to use common-vehicle logging in DataFlash library. 2015-01-21 14:37:04 +09:00
Robert Lefebvre c9d5b6aa7f Arducopter: Change Attitude logging to use common-vehicle logging in DataFlash library. 2015-01-21 14:36:59 +09:00
Randy Mackay 80f59694d0 Copter: remove deprecated Guided-Spline 
Guided-Spline has been replaced by Guided-PosVel
 2015-01-07 14:03:50 +09:00
Jonathan Challinger bc29008233 Copter: add guided_posvel 2015-01-07 14:02:21 +09:00
Robert Lefebvre e10e020062 Copter: Add Landing Gear functionality to main code 2015-01-07 11:58:16 +09:00