Commit Graph

20 Commits

Author SHA1 Message Date
Randy Mackay 55ffee25b1 Copter: remove unnecessary control_mode_t casts
Thanks @OXINARF
2016-04-14 12:24:04 +09:00
Jonathan Challinger 8f41215569 Copter: fix warning 2016-04-14 12:24:04 +09:00
Jonathan Challinger 2a36c32cf3 Copter: add prev_control_mode and prev_control_reason 2016-04-14 12:24:04 +09:00
Jonathan Challinger 8ded496f8b Copter: log mode change reason 2016-04-14 12:24:04 +09:00
Jonathan Challinger 1356deab8b Copter: add control_mode_reason 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
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 24cfbeebd0 Copter: add throw_exit 2016-03-03 12:18:25 +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 9e0cd7a5cf Copter: allow arming in Drift and Sport modes 2016-01-14 10:13:45 +09:00
Jonathan Challinger 0e85f55cfc Copter: remove OF_LOITER entirely 2015-12-31 14:27:22 +09:00
Robert Lefebvre 5cc4f41d85 Copter: Helicopter: to use new Stab_Col and Acro_Col functions. 2015-11-12 19:37:23 +09:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf()
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
Lucas De Marchi a964ac38ec Replace use of print_P() with print() 2015-10-30 14:35:21 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Andrew Tridgell 49ee4b7965 Copter: tell motors library when to use acro gyro gain 2015-09-25 12:30:34 +10:00
Andrew Tridgell ebddc05ead Copter: enable tail pass thru in acro for EXTGYRO tails
this allows acro mode to function as full passthru
2015-06-26 12:45:40 +09:00
Randy Mackay ce1031a5bd Copter: remove AP_AHRS_NAVEKF_AVAILABLE checks
Copter requires an EKF
2015-06-10 12:18:38 +09:00
Andrew Tridgell 278883c521 Copter: finished conversion to .cpp files
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2015-05-30 15:21:19 +09:00
Andrew Tridgell 356ece3402 Copter: rename .pde files to .cpp files 2015-05-30 15:21:15 +09:00