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6816 Commits

Author SHA1 Message Date
Hwurzburg e015956b6e Copter: move RETRACT_MOUNT option to common for all vehicles 2020-11-24 20:22:02 +11:00
Brent McLaughlin 04f817020f Copter: use glitch-protected range from rangefinder for precision landing 
use glitch protected result from rangefinder so precision landing avoids aggressive maneuvers due to large range spikes
 2020-11-24 13:00:41 +09:00
Gone4Dirt 434af4a4d4 Copter: Move AP_Generator to AP_Vehicle 2020-11-24 12:54:52 +11:00
Michael du Breuil f9b4e81702 Copter: Add ignore pilot yaw to guided, auto and RTL options 2020-11-19 07:22:54 +09:00
Michael du Breuil 5e2093b105 Copter: Allow the user to specify the GCS failsafe timeout 2020-11-17 09:24:07 +09:00
Andy Piper 304d05f918 Copter: allow OSD for TX-only screens 2020-11-11 18:13:11 +11:00
Randy Mackay 0f234583d6 Copter: poshold clears wind est when disarmed or landed 2020-11-10 08:56:36 +09:00
Randy Mackay ed7580e83c Copter: takeoff relaxes wpnav and pos control during spool up 2020-11-06 08:24:03 +09:00
Hwurzburg 83e1fe94d1 Copter: fix metadata in FS_GCS_ENABLE param 2020-11-06 08:23:31 +09:00
murata f18585c584 Copter: Matches the minimum value of failsafe_throttle_value to the operation 2020-11-03 10:42:29 +09:00
Paul Riseborough 379506b718 ArduCopter: Don't request EKF yaw reset unless innovations are large 
This prevents unwanted resets if GPS fails.
 2020-10-30 14:45:40 +09:00
Rishabh 6e19eac9aa ArduCopter: remove nomination of system ids 2020-10-27 17:15:04 +11:00
Randy Mackay 50d9dcce9b Copter: 4.0.5 release notes 2020-10-27 09:13:43 +09:00
Peter Barker 225de23950 Copter: cope with race conditioning popping points on SmartRTL return 
There is a race with the cleanup thread.  While thin, it only has to
happen once.  After this patch the race would have to happen... a lot.

Co-authored-by: jasclarke308 <jasclarke308@gmail.com>
 2020-10-24 08:59:26 +09:00
Randy Mackay 248d80eb37 Copter: integrate ahrs::get_variances change 
offset is no longer returned
 2020-10-21 08:58:45 +09:00
Randy Mackay ea7f850738 Copter: guide mode fix for takeoff in attitude control submode 
It was not possible to takeoff when thrust was provided instead of climb rate (which is used depends upon DEV_OPTIONS)
 2020-10-20 23:04:45 +09:00
Randy Mackay 7a90ed4bb5 Copter: auto allows arming casts param to uint32_t 2020-10-20 23:04:45 +09:00
Randy Mackay 9104b4800f Copter: correct GuidedOptions enum after peer review 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2020-10-20 23:04:45 +09:00
Randy Mackay 29fedff826 Copter: guided implementations moved to match declarations 
this should be a non-functional change
 2020-10-20 23:04:45 +09:00
Randy Mackay 5adf1d9596 Copter: guided mode angle controller sets auto-armed from run method 2020-10-20 23:04:45 +09:00
Randy Mackay c1c9d87efe Copter: move auto allows_arming in mode_auto.cpp 
this should be a non-functional change
 2020-10-20 23:04:45 +09:00
Randy Mackay ab42bbc43f Copter: guided mode velocity control can trigger takeoff 2020-10-20 23:04:45 +09:00
Randy Mackay eb3aca7acf Copter: add GUIDED_OPTIONS to allow arming from transmitter 2020-10-20 23:04:45 +09:00
Randy Mackay 3ebfe502d3 Copter: 4.0.5-rc2 release notes 2020-10-08 09:15:56 +09:00
Randy Mackay 49e1e8cc16 Copter: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay eeaf135cca AP_Arming: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay 1858fbe951 AP_Arming: correct proximity pre-arm check msg 2020-10-06 20:52:29 +11:00
Randy Mackay 5d31a443b6 Copter: update 4.0.5-rc1 release notes 2020-10-06 16:43:13 +09:00
Randy Mackay 8753d3cf8d Copter: 4.0.5-rc1 release notes 2020-10-06 16:43:10 +09:00
Randy Mackay e2d41a3e04 Copter: integrate parachute check_sink_rate 
also move set_is_flying into check parachute to increase it's update rate
 2020-10-06 16:14:59 +11:00
Andrew Tridgell dbf6f6f4b1 Copter: fixed parachute checks for sink rate 
ensure is_flying is set, setup sink rate at the right position, force
disarm if chute releases
 2020-10-06 16:14:59 +11:00
Peter Barker c86ee44264 Copter: correct compilation when AFS enabled 2020-10-06 11:25:09 +11:00
Peter Barker 4136397810 Copter: correct compilation when CIRCLE mode is disabled 2020-10-06 11:25:09 +11:00
Peter Barker af53f9ce64 Copter: correct compilation when AUTO/RTL are disabled 2020-10-06 11:25:09 +11:00
Peter Barker 56790625b8 Copter: stop passing unused inav into autorotate library 2020-10-01 21:13:20 +10:00
Randy Mackay 8b3cc0b255 Copter: fixup auto options 2020-10-01 08:48:06 +09:00
Michael du Breuil 50dfe3f197 Copter: Add AUTO_OPTIONS and support arming and throttle bypass 
This allows you to arm the copter without any extra GCS commands while
in auto, and can be done from both the GCS, or the RC Tx. This is useful
for creating a simpler workflow.

This also allows you to set the auto_armed flag internally, which
bypasses the need to raise the throttle stick for the copter to start a
takeoff.

This exposed a problem where we would start running the controllers
before the EKF was at all initialized, if you switched into auto to
early. This now has a check that prevents us from running the mission
state machine until after the origin has been set. This was a suggestion
from @rmackay9.

When combined these options allow you to have the vehicle on the ground,
disarmed in auto with a takeoff waypoint loaded, then just arm the
aircraft and watch it takeoff. This is a feature we've had on quadplanes
for quite awhile now, and it has proven to be very nice for operators.
 2020-10-01 08:46:29 +09:00
Peter Barker b03b3041e0 Copter: remove stale MAGNETOMETER config option from config files 
This isn't used in the code any more
 2020-09-29 11:17:08 +10:00
Andy Piper e22f7ed353 Copter: remove duplicate include 2020-09-24 08:22:16 -07:00
Patrick José Pereira ec153f59a2 ArduCopter: Use new AP_FWVersionDefine header 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-09-23 20:58:35 +10:00
Tatsuya Yamaguchi 813bc2e08a Copter: replace message indicating that initialisation has completed 2020-09-22 09:52:52 +10:00
Andy Piper b8f613c965 Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
Randy Mackay 5a0e8daf61 Copter: fix 4.0.4-rc1 release notes 
GPS-For-Yaw only works with F9 (not M9) GPSs
 2020-09-16 15:43:42 +09:00
Randy Mackay 2c14463368 Copter: 4.0.4 release notes 2020-09-16 13:56:37 +09:00
Randy Mackay 5b71726c73 Copter: poshold wind effect comp limited to 2/3rds of angle max 2020-09-16 08:19:17 +09:00
Randy Mackay ab54f8805a Copter: guided mode checks dest before changing submode 2020-09-15 08:36:39 +09:00
Randy Mackay 29a2be2d63 Copter: minor comment fix 2020-09-09 15:32:37 +09:00
Peter Barker dba3158446 Copter: correct mode change for GCS failsafe in SmartRTL mode 
In the case that you:
 - have previously done a successful SmartRTL flight
 - get a mid-air gcs failsafe and enter SmartRTL
 - recover from that gcs failsafe but remain in SmartRTL
 - get another mid-air failsafe

then without this patch you will enter LAND mode.

When determining our failsafe action, we were looking at whether we
should just continue landing.  To do that, we ask the current mode if we
are landing.  Problem is that SmartRTL was handing back the wrong answer
- it was handing back ModeRTL's answer rather than its own, and
ModeRTL's answer was "yes, I'm landing", as that's the last state that
step 1 in the above list leaves that mode in.

This patch simply hands back the correct answer for, "am I landing"
 2020-09-08 09:05:03 +09:00
Peter Barker 397b95154c Copter: remove superfluous RETURN_TARGET_ALTTYPE_ from enum class names 
Just repeats what's in the required prefix for the enum class
 2020-09-08 10:01:59 +10:00
Randy Mackay 2398b5dec4 Copter: guided consumes set-pos-target-local-ned Z-axis as offset from origin 2020-09-01 10:27:18 +10:00
Randy Mackay afa810041b Copter: 4.0.4-rc4 release notes 2020-08-28 09:37:59 +09:00
Iampete1 c265a38344 Copter: add gripper release FS_Option 2020-08-26 17:58:24 +09:00
Peter Barker afa153fb6f Copter: remove wrapper for get_avoidance_adjusted_climbrate 
Only the modes are interested in this - there's no point having it on
the Copter object.
 2020-08-22 08:31:25 +09:00
Randy Mackay 315d9da138 Copter: add ekf alt pre-arm and mode init checks 2020-08-20 12:41:40 +09:00
Siddharth Purohit 9b9954aa46 Copter: move to using CANManager library 2020-08-19 17:31:09 +10:00
Peter Barker 38122eb35e ArduCopter: use an enumeration for the AP_Avoidance recovery action 2020-08-19 11:38:19 +10:00
Hwurzburg 8484e8271f Copter: fix init of RC option 52 2020-08-18 18:55:29 +10:00
Hwurzburg 08e89b0b96 Copter: Add RC option for ACRO mode in Copter 2020-08-18 12:22:46 +09:00
Peter Barker 76e5ae9b41 Copter: move mavlink set-position defines into mavlink library 2020-08-11 09:52:52 +09:00
Randy Mackay 9e06b78fda Copter: minor formatting fix 2020-08-10 09:34:28 +09:00
Josh Welsh de9e9b90e5 Copter: Tradheli servo_test fix 2020-08-10 09:16:44 +09:00
Peter Barker 66e0afedb2 Copter: correct motor test order parameter description 2020-08-10 09:18:05 +10:00
Michael du Breuil 376494027b Copter: Support higher resolution percent based motor tests 2020-08-09 13:47:48 +10:00
Randy Mackay 48d27e1016 Copter: fixup winch comment 2020-08-07 21:55:07 +09:00
Randy Mackay 09bf76d9a4 RC_Channel: correct winch switch comment 2020-08-07 21:55:07 +09:00
Randy Mackay a2224f066a Copter: winch enabled with hal-minimize-features 2020-08-07 21:55:07 +09:00
Randy Mackay 54b714a24e Copter: implement send_winch_status 2020-08-07 21:55:07 +09:00
Randy Mackay f607ff28b3 Copter: integrate winch arming checks 2020-08-07 21:55:07 +09:00
Randy Mackay 925f76c048 Copter: integrate winch changes 
includes the following changes
winch_update called at 50hz
removed ability to set winch rate from ch6 tuning
remove wheel encoder
call winch library to log at 10hz
fix winch param prefix
 2020-08-07 21:55:07 +09:00
Randy Mackay 6ea3c2a091 Copter: compile fix for winch 2020-08-07 21:55:07 +09:00
Peter Barker d87986ecdd Copter: move set_throttle_takeoff implementation into Mode 
No callers except the mode objects, so move it.
 2020-08-05 08:23:03 +09:00
Mark Whitehorn 8325de0845 Copter: default RC_OPTIONS to 0 for tradheli 2020-08-04 10:26:45 +10:00
Andy Piper 54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 5fad6ddddb Copter: fix typos in PL dataflash logs field description text 2020-08-04 08:14:29 +09:00
Dr.-Ing. Amilcar do Carmo Lucas be963bbdf9 Copter: fix units and multipliers in PL dataflash logs message 2020-08-04 08:14:29 +09:00
Randy Mackay 30c8d7bf40 Copter: dev option so set-attitude-target thrust field used as thrust 2020-08-01 08:32:23 +09:00
Randy Mackay 3c9a16d8a7 Copter: 4.0.4-rc3 release notes 2020-07-30 09:40:46 +09:00
Peter Barker 73526c0256 Copter: pass reason through in set_mode AP_Vehicle override 
Other vehicles seem to do this correctly.
 2020-07-28 09:10:38 +09:00
Peter Barker ac6cf1132c Copter: add documentation for DU16 message 2020-07-24 09:37:28 +09:00
Leonard Hall de8439dc3a Copter: crash check reqs 15deg lean and under 10m/s 
pair programmed with rmackay9@yahoo.com
 2020-07-20 12:49:53 +09:00
Michael du Breuil 08f8a41ecb Copter: Support DO_LAND_START as an adhoc MAVLink command 2020-07-17 09:15:05 +09:00
Mirko Denecke 89d423556c ArduCopter: update_trigger() is now called in AP_Camera update() 2020-07-15 08:37:28 +09:00
Andy Piper 12c9578a66 Copter: add in additional acro options 
Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit
 2020-07-14 15:54:24 +09:00
murata a783763f5a Copter: Crash origin to crash message 
Copter: Crash origin to crash message
 2020-07-11 08:35:29 +09:00
murata c9990cdecc Copter: Change Need 3D Fix message. 2020-07-11 08:33:55 +09:00
Michael du Breuil c971fe0ca4 Copter: Support MAV_CMD_DO_REPOSITION on COMMAND_INT 2020-07-07 10:34:19 +10:00
Peter Barker b64a34fc38 Copter: add GENERATOR_STATUS to STREAM3 2020-07-03 08:21:42 +09:00
Peter Barker a679cd9b92 Copter: add support for AP_Generator 2020-07-03 08:21:42 +09:00
Randy Mackay dfbb357aaf Copter: minor formatting fix 2020-06-24 21:26:30 +09:00
Randy Mackay 0f6e2b6960 Copter: fix GUID message scaling for pos and velocity 2020-06-24 21:26:30 +09:00
Randy Mackay ac21becb6a Copter: simplified update of ekf terrain height stable setting 2020-06-24 21:16:50 +09:00
Randy Mackay 980c1f5020 Copter: update ekf terrain height stable setting 
setting is true only when taking off or landing and horizontal speed is no more than 0.5m/s
 2020-06-24 21:16:50 +09:00
Andy Piper 25dcc1a623 Copter: add support for individually tracking fft peaks and motor rpms with harmonic notches 
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli
move harmonic notch update to AP_Vehicle
 2020-06-21 19:09:35 +10:00
Iampete1 e797685771 Copter: add set guided mode angle for scripting 2020-06-19 10:09:35 +10:00
Andy Piper 8d2f2443a2 Copter: add air mode aux function 2020-06-16 20:30:26 +10:00
Peter Barker 0eb03ba7d5 Copter: make SuperSimple type-safe 2020-06-16 19:39:42 +10:00
Randy Mackay d35643a372 Copter: 4.0.4-rc2 release notes 2020-06-16 14:17:12 +09:00
Peter Barker a629e91f30 ArduCopter: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
Andrew Tridgell 2cd5519d5d Copter: rename 2D rotation functions 
drop the rotate prefix
 2020-06-04 09:49:52 +10:00
Tatsuya Yamaguchi cde7ae246e Copter: add ZIGZ_AUTO_ENABLE parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 78fd5fac04 Copter: allow to resume in ZigZag Auto 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi cee7e94ebc Copter: add zigzag_line_num parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 7bc528097d Copter: support zigzag auto feature 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 60fb275501 Copter: rename zigzag_auto_pump to zigzag_sprayer 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 63002111eb Copter: add ZIGZAG_WP_DELAY parameter 2020-06-03 15:21:21 +09:00
murata 923237ffd3 Copter: Enumerate A and B points of ZigZag 2020-06-03 15:21:21 +09:00
Peter Barker 9b64ca040d Copter: do not adjust trims while landed 
Closes #1282

Also cancels autotrim if you change modes, disarm the vehicle or land
again.
 2020-06-03 16:19:01 +10:00
Randy Mackay d2b94bd45d Copter: verify_circle removes redundant setting of circle center 
the circle center is already set in circle_movetoedge_start
 2020-06-03 10:08:52 +09:00
Andrew Tridgell e673bd8909 Copter: implement disarm on land based on MIS_OPTIONS 
only continue with mission if MIS_OPTIONS bit is set
 2020-06-02 09:12:22 +09:00
mmk0102 c0d7739929 Copter: move check for duplicate auxswitch options up 2020-06-02 09:43:31 +10:00
Randy Mackay baa33d99a9 Copter: version to 4.1.0-dev 2020-06-01 12:58:12 +09:00
Randy Mackay ce17844a72 Copter: release notes update for 4.0.4-rc1 2020-06-01 12:55:39 +09:00
Randy Mackay fb2ac2db93 Copter: release notes for 4.0.4-rc1 2020-06-01 12:55:37 +09:00
Andy Piper 3515dc9322 Copter: make sure AP_Vehicle::fast_loop() gets called 2020-05-24 07:43:34 +10:00
Gone4Dirt 9269ee50ed Copter: Allow manual autorotations without enabling arot flight mode 2020-05-20 21:56:09 -04:00
Iampete1 13d6a887fd Copter: align GCS PID with logged 2020-05-19 09:04:16 +10:00
murata 520782d7f2 Copter: Correction of spelling errors (NFC) 2020-05-18 13:26:11 +10:00
Randy Mackay 64360f263c Copter: land detector allows larger lean angle request in land mode 2020-05-14 08:24:29 +09:00
chobits 8ce27afba0 Copter: fix mode and fence gps check fail message 2020-05-11 10:41:06 +09:00
Tatsuya Yamaguchi 875fa36018 Copter: remove an unnecessary condition 2020-05-05 11:03:38 +10:00
Tatsuya Yamaguchi 9c3a0b863f Copter: use check_failed function for ESTOP arming check 2020-05-05 11:03:38 +10:00
Randy Mackay 944939fde3 Copter: remove unused heli definitions 2020-05-02 11:32:09 +09:00
Randy Mackay e889f6091e Copter: fix Throw param desc 2020-05-02 11:32:06 +09:00
Dr.-Ing. Amilcar do Carmo Lucas d1eb03df30 Copter: Report MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL and MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL as healthy if the flight mode says so. 
Brings it up to the Sub and Plane status
 2020-05-01 08:14:11 +09:00
Peter Barker ba5bbcdea7 ArduCopter: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Andrew Tridgell 265b9a42fb ArduCopter: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Randy Mackay d9ecf51457 Copter: auto mode loiter-turns accepts pilot yaw input 2020-04-27 09:39:46 +09:00
murata e1df6933f0 Copter: Set the minimum value to zero. 2020-04-27 08:57:49 +09:00
Randy Mackay 77ff169757 Copter: minor comment fix 2020-04-24 18:18:05 +09:00
Randy Mackay 680e417c2c Copter: remove unnecessary includes 2020-04-24 18:18:05 +09:00
Randy Mackay 6c48a9c305 Copter: use AHRS::get_primary_core_index instead of EKF2 equivalent 2020-04-24 18:18:05 +09:00
Randy Mackay ddaa5dee86 Copter: use static assert to simplify use of EKF_CHECK_ITERATIONS_MAX 2020-04-24 09:43:23 +10:00
Paul Riseborough 8ce97af40e ArduCopter: Preserve original check criteria 2020-04-24 09:43:23 +10:00
Paul Riseborough 36031c01a9 ArduCopter: rework ekf check to use separate yaw reset request 
ArduCopter: Request lane or yaw reset switch sooner

ArduCopter: rework ekf check to use separate yaw reset request

ArduCopter: Rework EKF failsafe

During flight operations it is the deviation in position of the vehicle that matters during most scenarios.
t patch ensures that an EKF fail-safe will be triggered when the position inconsistency exceeds check limits in addition to either a bad mag or velocity innovation.
This will stop velocity noise triggering an early fail-safe when electromagnetic interference is present.
 2020-04-24 09:43:23 +10:00
Randy Mackay dcbbd047b4 Copter: simplify guided mode takeoff using rangefinder 2020-04-23 15:01:46 +09:00
Tatsuya Yamaguchi 29dcbd1398 Copter: use rangefinder to takeoff altitude in guided mode 2020-04-23 15:01:46 +09:00
Randy Mackay c4b5d47e1f Copter: white space fixes 2020-04-23 13:17:11 +09:00
Randy Mackay b32c5a840b Copter: do not send ahrs3 mavlink message 2020-04-22 14:11:17 +09:00
Randy Mackay f3989cae4c Copter: remove unused Ch6 EKF tuning options 2020-04-22 10:34:18 +09:00
Rishabh 1edf1d265c Copter: Set correct yaw for circle in Mode Auto 2020-04-21 20:12:38 +09:00
Andrew Tridgell 4c2cf2139e Copter: fixed use of timestamps in autorotate 
fixes wrap handling
 2020-04-20 07:10:21 +10:00
Andrew Tridgell ffd601aca4 Copter: fixed build warnings in autorotate 
unused code, and incorrect use of abs()
 2020-04-20 07:10:21 +10:00
Randy Mackay c0ac4bb51c Copter: loiter-turn obeys wpnav-rfnd-use 2020-04-16 17:30:29 +09:00
Randy Mackay 71cbedb178 Copter: support circle with terrain altitude 2020-04-16 17:30:29 +09:00
Peter Barker bf79c49c23 ArduCopter: remove comment for already-removed in-delay-callback function 
These are now attached to completely unrelated functions, which is
pretty bad.
 2020-04-16 15:11:35 +09:00
murata 04b0a8a62a Copter: Add expected value to message 2020-04-14 10:09:05 +09:00
murata 2822fa68fc Copter: Adding flight mode to flight mode unchangeable messages 2020-04-14 09:53:17 +09:00
Randy Mackay 04c3f040a8 Copter: visual odometry moved to AP_Vehicle 2020-04-09 19:41:08 +09:00
Randy Mackay 05a37db07c Copter: remove call to visual_odom.update 2020-04-09 19:41:08 +09:00
Leonard Hall c29aa4077d Copter: Acro expo typo fix 2020-04-08 08:58:47 +09:00
murata f70ab73a1f Copter: Change arming messages 2020-04-08 08:55:17 +09:00
Michael du Breuil 132fe82ad2 Copter: Report what channel is used for rudder arming 2020-04-07 14:01:12 -07:00
Rishabh 7c4b195488 Copter:Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Peter Barker 2670192c41 Copter: add D16, D32, DFLT and DU32 LogMessage documentation 2020-04-07 10:41:22 +10:00
Rishabh 62ec6540ec Copter: Added logger documentation 2020-04-07 09:09:45 +10:00
Rishabh 3b077ec612 Copter: Added FlowHold logger documentation 2020-04-07 08:05:10 +09:00
Rishabh 41590916d5 Copter: Added Throw Mode logger documentation 2020-04-07 08:05:10 +09:00
Rishabh 4995a9b274 Copter: Added Toy Mode logger documentation 2020-04-07 08:05:10 +09:00
Andrew Tridgell 1222aa2c43 Copter: make EKF mag variance check use max 
this makes it consistent with logged value
 2020-04-06 17:30:29 +10:00
Leonard Hall 1a4e96b4ba 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.
 2020-04-06 09:41:39 +09:00
Tatsuya Yamaguchi 735498e160 Copter: move zigzag exit into mode_zigzag.cpp 2020-03-26 14:56:40 +09:00
Peter Barker c9f810e924 Copter: add missing ABst to CTUN logmessage documentation 2020-03-22 18:35:14 +11:00
Henry Wurzburg 408b2b1e8d ArduCopter: fix typos in logger message meta-data 2020-03-22 10:04:53 +11:00
Peter Barker 1fbace608d Copter: add CTUN log information 2020-03-21 09:34:43 +11:00
Randy Mackay e2469d29bc Copter: implement start_takeoff and set_target_velocity_NED for use in scripting 2020-03-19 15:17:11 -07:00
Randy Mackay db2229f684 Copter: ModeGuided::do_user_takeoff_start arg rename 
this makes it more consistent with the method it is overriding
 2020-03-19 15:17:11 -07:00
Andrew Tridgell 375c08f39c Copter: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Randy Mackay 90883624bc Copter: fix use of wp-navmin-alt 2020-03-11 10:39:18 +09:00
Peter Barker 3802ca217e ArduCopter: move AP_PARM_KEY_DUMP function up to AP_Vehicle base class 
Common to all vehicles now, including Tracker
 2020-03-10 11:00:14 +11:00
Randy Mackay a9630d67d1 Copter: implement set_target_location method 2020-03-03 10:06:38 -07:00
Peter Barker 9f87962cf4 Copter: correct toymode compilation for recent compass changes 2020-03-03 21:56:33 +09:00
Peter Barker 136d0cce0b Copter: rewrite_get_alt_above_ground_cm for clarity 
It's not entirely clear at a glance that we don't return an
uninitialised value off the stack here.
 2020-03-03 21:38:03 +09:00
Randy Mackay b2a298fa5f Copter: update vibration failsafe comments 2020-03-02 15:12:57 +09:00
Randy Mackay 255c5d4126 Copter: set-pos-target-global-int fails sooner if accel given 
same change for set-position-target-local-ned processing
 2020-03-02 14:26:33 +09:00
Randy Mackay b21ecda76f Copter: fix guided mode handling of terrain altitudes 2020-03-02 14:26:33 +09:00
Randy Mackay 10e367cacb Copter: 4.0.3 release notes 2020-02-29 09:40:23 +09:00
Randy Mackay 8d99f204b0 Copter: integrate landing gear option and make edge based 
also guided mode now retracts landing gear after takeoff
previously landing gear deployment was "level based" meaning the pilot could not override the gear's position
 2020-02-26 08:01:00 +09:00
Randy Mackay 7565e9d75d Copter: update_throttle_mix uses filtered accelerations 2020-02-25 16:52:40 +09:00
Randy Mackay 9a32b3bdd9 Copter: rename update_throttle_mix 
was called update_throttle_thr_mix
also minor formatting fixes
 2020-02-25 16:52:40 +09:00
Peter Barker ae2578e5c9 ArduCopter: move initialisation of serial and gcs to AP_Vehicle 2020-02-25 11:50:55 +11:00
Andrew Tridgell dd5fafe30e Copter: added rangefinder height interpolated using inertial alt 
this smooths rangefinder heights and allows for good estimated for
precision landing even with loss of some rangefinder samples during landing
 2020-02-25 09:10:30 +09:00
Peter Barker ce5f23810b ArduCopter: log disarm method 2020-02-22 12:16:29 +11:00
Andy Piper 4c1816a983 Copter: port betaflight in-flight fft analysis to arducopter and expose as a log message 
add harmonic notch tracking mode
call AP_GyroFFT::update_freq_hover() from update_throttle_hover()
move gyrofft configuration and control to AP_Vehicle
move fft logging to fft library
 2020-02-22 11:15:37 +11:00
Randy Mackay def108c0e0 Copter: version to 4.0.4-dev 2020-02-20 12:58:07 +09:00
Randy Mackay 283682fb89 Copter: 4.0.3-rc1 release notes 2020-02-20 12:56:15 +09:00
Tatsuya Yamaguchi 9f577a23c8 Copter: stop spray if changing a mode from ZigZag to other 2020-02-19 19:56:56 +09:00
Tatsuya Yamaguchi 19d2ffcde7 Copter: makes the pump on while moving to destination A or B 2020-02-19 19:56:56 +09:00
Tatsuya Yamaguchi 6b192de389 Copter: add ZIGZAG_AUTO_PUMP parameter 2020-02-19 19:56:56 +09:00
Siddharth Purohit defc1b5fcb ArduCopter: add arming message for compass not detected but assigned 2020-02-19 13:59:53 +09:00
Siddharth Purohit b5cf1ecfe1 Arducopter: Primary Compass is always serial# 0 2020-02-19 13:59:53 +09:00
Rishabh d4dcadcea0 Copter: Rename SYSID_SW_MREV to FORMAT_VERSION 2020-02-19 09:45:22 +09:00
murata 94901edaf2 Copter: Match the column of element description 2020-02-19 09:44:57 +09:00
Patrick José Pereira 7bfcec2fc1 Copter: log_Heli is only used with FRAME_CONFIG as HELI_FRAME 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-02-18 11:14:04 +11:00
Peter Barker 1424945c14 ArduCopter: remove unused compass_init_location state 2020-02-18 10:35:49 +11:00
Randy Mackay d04c86be1e Copter: minor format changes to GCS_MAVlink.cpp 2020-02-17 14:42:49 +09:00
Sachchit Vekaria f6125b26e8 Copter: Allowing Terrain Following in Guided Mode 
Uses frame type of MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT message to decide the value of terrain_alt boolean.
 2020-02-17 14:42:42 +09:00
Randy Mackay eca0d662f0 Copter: minor format fix to sensors.cpp 2020-02-17 14:30:18 +09:00
Randy Mackay 495c4ad6b6 Copter: remove unused ModeAuto::wp_start 
this version accepts an offset from the ekf origin which is not required.  All callers provide a Location
 2020-02-17 14:30:18 +09:00
Randy Mackay d244162587 Copter: zigzag supports arming, takeoff and landing 2020-02-13 07:37:29 +09:00
Randy Mackay 670ac124c0 Copter: 4.0.2 release notes 2020-02-11 12:35:54 +09:00
Peter Barker 18670d681e Copter: let AP_Vehicle handle loop() 2020-02-06 14:41:06 +11:00
Randy Mackay 2ab124223a Copter: version to 4.0.3-dev 2020-02-06 08:38:43 +09:00
Randy Mackay 8ff5bb624f Copter: update release notes for 4.0.2-rc4 2020-02-06 08:36:58 +09:00
Randy Mackay 19ad51913c Copter: 4.0.2-rc4 release notes 2020-02-06 08:36:55 +09:00
Randy Mackay c7f8c6155b Copter: avoid SITL failure when changing current_loc.alt frame 
This change avoids a SITL failure caused by an attempt to change current_loc.alt's frame when current_loc is 0,0,0
 2020-02-05 17:29:34 +09:00
Randy Mackay bd8bcd5ab1 Copter: correct current_loc to be alt-above-home 2020-02-05 14:18:00 +09:00
Matt Lawrence 66bf6d0a91 Copter: Fix circle radius pitch stick control 
Pitch stick up will reduce the radius, as in moving forward.  Pitch stick back will increase the radius, as in moving backwards.
 2020-02-04 09:11:03 +09:00
Randy Mackay 9a0e6f6488 Copter: 4.0.2-rc3 release notes 2020-02-01 17:10:56 +09:00
Randy Mackay be561d41d2 Copter: 4.0.2-rc1 release notes 2020-02-01 09:21:44 +09:00
Randy Mackay 74e3ca75a7 Copter: check_mot_pwm_params arming check returns true on success 2020-01-30 10:13:21 +09:00
ashvath aecc10fdc3 Copter: Pre-arm check for mot_pwm 2020-01-30 08:29:56 +09:00
Peter Barker 9e8af48cce ArduCopter: move some common init_ardupilot code up to AP_Vehicle 2020-01-28 11:34:51 +11:00
Peter Barker debedd9d34 Copter: move setup method up to AP_Vehicle base class 2020-01-28 11:34:51 +11:00
Peter Barker 45b2f24867 Copter: StorageManager layout is now done with a pragma 2020-01-28 11:34:51 +11:00
Randy Mackay 2f6d655ff0 Copter: version to 4.0.2-dev 2020-01-27 18:57:38 +09:00
Randy Mackay 7e9f079fc7 Copter: 4.0.1 release notes 2020-01-25 10:10:44 +09:00
Matt Lawrence b5a051ed69 Copter: Reverse circle radius stick input 
Change the circle mode radius control so that pitch stuck up (forward) reduces the radius. Pulling the pitch stick back (reverse), increases the radius.
 2020-01-22 11:16:51 +09:00
Matt Lawrence d1feb93152 Copter: Add GCS failsafe pre-arm check 2020-01-21 13:48:54 +09:00
Matt Lawrence c7de86a241 Copter: Update AP_Notify of GCS failsafe 2020-01-21 13:48:54 +09:00
Randy Mackay 6597d5c825 Copter: remove old ch7_opt and tune param desc 2020-01-21 13:06:56 +09:00
Peter Barker e3dd0d33e7 Copter: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker 45dc4cf25c Copter: EKF objects have moved into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Peter Barker 9466126fa8 Copter: let AP_Vehicle base class worry about scheduler delay callback 2020-01-21 11:37:28 +11:00
Randy Mackay e1274aea33 Copter: 4.0.1-rc3 release notes 2020-01-19 11:20:40 +09:00
Andrew Tridgell 4445313661 Copter: fixed build warnings 2020-01-18 17:19:07 +11:00
Andrew Tridgell 1350f6e338 Copter: use HAL_PARACHUTE_ENABLED and HAL_SPRAYER_ENABLED 2020-01-18 13:48:48 +11:00
Andrew Tridgell f4f62b2699 Copter: remove linkage of AP_Stats 2020-01-16 20:36:54 +11:00
Andrew Tridgell 47ea3274bb Copter: list BetaflightXReversed frame type 2020-01-16 19:13:13 +11:00
Peter Hall 61810d69aa Copter: set_likely_flying in vehicle 2020-01-14 22:34:37 -07:00
Peter Barker 1ffd697769 Copter: add missing fallthrough statements 2020-01-15 13:55:42 +11:00
Andrew Tridgell 1fae2009db Copter: update for new SRV_Channels parameter conversion call 2020-01-14 14:23:11 +11:00
Gone4Dirt daf1b57736 Copter: Changed autorotation fltmode to clarify for heli 2020-01-14 09:47:28 +09:00
Peter Barker e1b3bd2e42 ArduCopter: move logging of armed/disarm events into AP_Arming base class 2020-01-14 11:39:36 +11:00
Tatsuya Yamaguchi e01e924711 Copter: allow scripts to get modes 2020-01-14 11:16:29 +11:00
Peter Barker 0986ed0a81 Copter: set_range on motor interlock channel 2020-01-11 21:55:24 +11:00
Randy Mackay 17e726b967 Copter: 4.0.1-rc2 release notes 2020-01-10 16:35:26 +09:00
Randy Mackay 5a2386001b Copter: 4.0.1-rc1 release notes 2020-01-10 12:39:10 +09:00
bnsgeyer 64f98622c0 Copter: fix tradheli RSC RC passthrough mode 
Copter: heli get_pilot_desired_rotor_speed converts interlock input to desired rotor speed
 2020-01-09 19:55:02 +09:00
Peter Barker eb452478ac Copter: override do_aux_function_armdisarm method to set armed_with_switch 
As well as removing the code duplication, this only sets the flag if
arming was actually successful.  armed-with-switch is used when setting
various state, and it isn't entirely clear that we only use it when
armed.  This would seem to be a safer option.
 2020-01-08 18:36:02 +11:00
Peter Barker 0d04ef19fe ArduCopter: let RC_Channel indicate AUX_FUNC::ARMDISARM needs no initialisation 
All users set this.
 2020-01-08 18:36:02 +11:00
Matt Lawrence 809b170015 Copter: Circle mode pilot control of rate & radius 
RC pitch stick controls circle mode radius.  RC roll stick controls circle mode rate (speed) and direction.
 2020-01-07 09:30:33 +09:00
Peter Barker d5b1f1651e Copter: remove unneeded set_range calls on RC Aux channels 
This isn't an exhaustive list of channels used for auxillary input, so
that makes this wrong.

RC_Channel goes off the raw get_radio_in values, so setting these is a
pointless and potentially confusing state change.

Also, Plane and Rover don't do this - so things are more consistent
after this.
 2020-01-07 08:41:36 +09:00
murata a31f881232 Copter: Change the version patch number 2020-01-06 09:29:21 +09:00
Peter Barker 1ff07762de Copter: remove report_compass method 
This wasn't actually responsible for saving offsets any more.

The data spewed out was rather unlikely to be seen, and will be present
in logs anyway.
 2020-01-04 10:46:51 +09:00
Peter Barker 2694560c38 Copter: generally unseen remove report_version 
This won't generally be seen or useful to anyone
 2020-01-04 10:46:51 +09:00
Peter Barker 326a569ea8 Copter: remove dangling read_control_switch method declaration 2020-01-02 10:13:35 +09:00
Andrew Tridgell 630bd7062c Copter: removed init_vehicle from separate vehicles 
use common call from AP_BoardConfig
 2019-12-30 13:02:04 +11:00
Andy Piper 93abfdb905 Copter: create generic vehicle management and move runcam to it 2019-12-30 13:02:04 +11:00
Randy Mackay f0848551d9 Copter: version to 4.0.1-dev 2019-12-29 12:52:27 +09:00
Randy Mackay ac8e402158 Copter: 4.0.0 release notes 2019-12-29 12:51:39 +09:00
Randy Mackay 5d70af3f76 Copter: 4.0.0-rc6 release notes 2019-12-28 11:32:18 +09:00
Peter Barker a56ab9136e Copter: let GCS base class handle proximity and rangefinder messages 2019-12-24 12:08:54 +11:00
Peter Barker 72e6446204 Copter: make requires_terrain a callback on the flightmode 
This will prompt new modes to consider whether failsafe should be active
for terrain.
 2019-12-24 09:46:19 +09:00
Randy Mackay 5e13fc1e0f Copter: 4.0.0-rc5 release notes 2019-12-23 22:52:04 +09:00
Randy Mackay f56a426193 Copter: gcs failsafe disabled by default 2019-12-23 14:35:15 +09:00
Randy Mackay 4f7be08442 Copter: 4.0.0-rc4 release notes 2019-12-20 09:29:30 +09:00
Andrew Tridgell d9a255afc3 Copter: fixed range check for RC channel 2019-12-20 10:55:14 +11:00
Randy Mackay 842a9b78a9 Copter: remove out-of-date comment from terrain failsafe check 2019-12-17 20:02:01 +09:00
Randy Mackay 3e7fb66a77 Copter: precision landing does not use terrain database 
precision landing was always only using the range finder, there was no use of the provided alt unless the rangefinder was good
 2019-12-17 20:02:01 +09:00
Randy Mackay ea22e888c7 Copter: improve RTL terrain following 
RTL_ALT_TYPE replaces TERRAIN_FOLLOW param
return path built using rangefinder or terrain database
pre-arm checks for RTL_ALT_TYPE parameter
pre-arm checks of terrain data only run if RTL might use it
 2019-12-17 20:02:01 +09:00
Randy Mackay 39a6b104dd Copter: move RTLState to ModeRTL 2019-12-17 20:02:01 +09:00
Randy Mackay 0a1b96e02d Copter: zigzag uses renamed AC_WPNav::rangefinder_used_and_healthy 2019-12-17 20:02:01 +09:00
Randy Mackay e8a3f6d6a1 Copter: 4.0.0-rc3 release notes update 2019-12-17 12:51:40 +09:00
Randy Mackay 111dfc130b Copter: 4.0.0-rc3 release notes 2019-12-17 12:51:34 +09:00
bnsgeyer 74d81e6d50 Copter: Change STAB_COL params to percent 2019-12-14 09:00:31 +09:00
Randy Mackay 98ea8e0627 Copter: 3.6.12 release notes 2019-12-13 15:25:19 +09:00
Randy Mackay b482d147df Copter: always store previous control mode 
also minor spacing fixup
 2019-12-12 09:13:24 +09:00
Randy Mackay f768e80458 Copter: remove unused prev_control_mode_reason 2019-12-12 09:13:24 +09:00
Peter Barker 10bbcf98be Copter: tidy land_run_vertical_control for precision-landing case 2019-12-11 08:18:49 +09:00
Peter Barker 544eb5f179 Copter: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Peter Barker a567e8bc94 Copter: use https:// scheme for ardupilot URLs 2019-12-10 07:53:46 +11:00
Randy Mackay 46f237e78e Copter: 3.6.12-rc1 release notes 2019-12-09 10:50:25 +09:00
Peter Barker d63788a09f Copter: move setting of GPS SYS_STATUS bits up to base class 2019-12-05 13:02:19 +11:00
Leonard Hall 7d062e3767 Copter: System ID mode: Add tuning option parameter discription 2019-12-05 09:21:00 +08:00
Randy Mackay 54582814aa Copter: use SID_AXIS to hide other SystemID mode params 2019-12-03 14:53:55 +08:00
Randy Mackay 36fdad4e61 Copter: scripting init sends failure message 2019-12-03 12:48:32 +08:00
Randy Mackay 2c3beb0f91 Copter: add mandatory gps checks 2019-12-03 08:06:39 +08:00
Peter Barker 2296448027 Copter: make private enum class for LAND mode's state 2019-12-03 07:38:22 +08:00
Peter Barker a58813c828 Copter: precland: don't use altitude from bad location 2019-12-02 16:13:49 +08:00
Peter Barker 62869b5be8 Copter: vehicle parent class now instantiates AHRS 2019-12-02 09:16:22 +11:00
Gone4Dirt 180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Peter Barker 46832e9dee Copter: rename system_status as it won't be called from base class 2019-11-27 14:27:53 +11:00
Marian Soban 278737fc8e Copter: LTM telemetry support 2019-11-26 12:14:13 +11:00
Randy Mackay 2cfdfb38e7 Copter: pre-arm check for Toshiba ESCs disabled with parameter flag 2019-11-26 11:56:33 +11:00
Peter Barker bd7dfd0aea ArduCopter: use enum-class for SRV_CHANNEL_LIMIT_TRIM and friends 2019-11-26 10:17:17 +11:00
Andrew Tridgell 68bb7a516b Copter: use HarmonicNotchDynamicMode enum class 2019-11-19 07:08:01 +08:00
Bogdan Grigoruta 5183703243 Copter: move Mode::auto_takeoff_run to takeoff.cpp 2019-11-18 09:14:08 +09:00
Randy Mackay 496989820e Copter: update proximity sensor at 200hz 2019-11-15 12:25:53 +08:00
Randy Mackay 610366e4bd Copter: init aux function cases in alphabetical order 2019-11-12 18:56:13 +11:00
Peter Barker 5d1261da73 Copter: rename parameter to avoid name conflict with lock 2019-11-12 16:33:12 +11:00
Henry Wurzburg 4a51de724d Copter: move support for ADSB Avoidance enable up to RC_Channel 2019-11-12 13:48:09 +11:00
Randy Mackay adc1d60ea5 Copter: CTUN logging fix for SAlt 
sonar altitude was not being logged in modes that don't use surface tracking including Auto
SAlt scaling was also incorrect
 2019-11-12 09:10:21 +08:00
Randy Mackay b16d0740c8 Copter: fix CTUN log msg TAlt scaling 2019-11-12 09:10:21 +08:00
Randy Mackay de5945bea5 Copter: use const reference when retrieving wpnav destination 2019-11-12 08:50:05 +08:00
Randy Mackay d0d07776ec Copter: auto stays in takeoff submode after reaching altitude 2019-11-12 08:50:05 +08:00
Peter Barker afdded2bff Copter: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Randy Mackay 5276e67cec Copter: minor format fix for takeoff.cpp 2019-11-11 17:19:28 +09:00
Leonard Hall ffd838d908 Copter: Delay release of I term until take off 2019-11-09 09:40:10 +08:00
Peter Barker dfc8349866 Copter: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00
Mark Whitehorn 6dd28f7d74 ArduCopter: change in_sensor_config_error to in_config_error 2019-11-08 10:14:34 +11:00