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5149 Commits

Author SHA1 Message Date
Randy Mackay
742cdf6b13 Copter: fix arming while armed bug 
If a mavlink command was sent to arm the vehicle while it was already armed, the in_arm_motors boolean was left as true meaning the vehicle could never be armed again using a mavlink message.  This resolves issue #5546.
 2017-01-11 21:38:22 +09:00
Randy Mackay
bdbb07a3b1 Copter: remove version from Copter.cpp 
Also added wiki page URL
 2017-01-11 08:46:43 +09:00
murata
e65887c393
Copter: Change sprintf method to secure snprintf method. 2017-01-09 16:05:56 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
Randy Mackay
2416e66103 Copter: 3.4.4 release notes 2017-01-06 14:53:46 +09:00
Randy Mackay
6b4acebd26 Copter: bigger buf when sending frame string to frsky telem 2017-01-05 13:45:53 +09:00
Luis Vale Gonçalves
b9e83755f3 Copter: Notify GCS that Flight mode change failed 
Copter: Notify GCS that Flight mode change has failed
 2017-01-05 02:16:32 +00:00
Randy Mackay
e32ddaa7fa Copter: reorder beacon and proximity declaration 
resolves compiler warning
 2017-01-04 19:58:53 +09:00
Peter Barker
a233024e05 Copter: fix compilation when fence andd proximity are disabled 
This adds AC_AVOID_ENABLED; avoidance must be disabled if either
of fence or proximity are disabled.

Parameter definitions have been reordered to avoid compiler warnings;
this make sthe numbering non-linear
 2017-01-03 10:44:03 +09:00
Peter Barker
d3e331e1f2 Copter: correct compilation when rally disabled 2017-01-03 10:24:56 +09:00
Peter Barker
cf4be25d61 Copter: correct compilation when camera disabled 2017-01-03 10:24:35 +09:00
Peter Barker
4ef927ebea Copter: correct compilation when AFS enabled (using make) 2017-01-03 10:23:50 +09:00
Peter Barker
8033e0c315 Copter: fix compilation when gripper disabled 2017-01-02 15:59:30 +09:00
Peter Barker
990d5fd0e5 Copter: fix compilation when logging disabled 2017-01-01 18:22:53 -08:00
Randy Mackay
d011783d76 Copter: fix FRAME_TYPE param description 2016-12-31 10:55:23 +09:00
Randy Mackay
e31d6d051d Copter: get_frame_mav_type switch fix 
This returns generic as the mavtype and avoids warnings of unreachable code
Thanks to muramura for suggesting this
 2016-12-31 10:55:23 +09:00
Randy Mackay
12d024e0c6 Copter: rename FRAME to FRAME_TYPE 
This unifies the plane and copter parameter names
 2016-12-31 10:55:23 +09:00
Randy Mackay
01bcf5e528 Copter: add arming checks for motor setup 2016-12-31 10:55:23 +09:00
Randy Mackay
217757fdc8 Copter: default FRAME_CLASS 2016-12-31 10:55:23 +09:00
Randy Mackay
0ac00dbfd6 Copter: add FRAME_CLASS parameter 2016-12-31 10:55:23 +09:00
Peter Barker
3551609a21 Copter: payload place requires 30% throttle reduction to release 2016-12-24 11:53:19 +09:00
Peter Barker
c191a44b27 Copter: payload place skips releasing states if gripper not valid 2016-12-24 11:50:01 +09:00
murata
f747716172 Copter: Changed if statements to switch statement. 
Copter: Correct the processing in Guided mode.

Copter: Insert white space.
 2016-12-24 11:24:35 +09:00
Randy Mackay
b845668f23 Copter: 3.4.4-rc1 release notes 2016-12-22 02:26:11 +09:00
Randy Mackay
dbbf6cae5c Copter: arming check ignores proximity if avoidance disabled 2016-12-20 19:48:09 +09:00
Randy Mackay
38478638de Copter: aux switch for enable/disable proximity based avoidance 2016-12-20 19:48:02 +09:00
Randy Mackay
5f0a4c2097 Copter: integrate non-GPS avoidance into althold 2016-12-20 19:48:00 +09:00
Randy Mackay
377a747065 Copter: minor format fix for fall through for payload-place 2016-12-19 17:01:19 +09:00
Randy Mackay
2371b05696 Copter: init avoid-adsb and prec-loiter enabled from switch positions 
Without this there could be a mismatch between the switch position and whether the feature is enabled/disabled
 2016-12-19 17:01:16 +09:00
Randy Mackay
2365036e5c Copter: move #if within case statement in switches.cpp 
This removes some compile warnings when features are disabled
 2016-12-19 17:01:12 +09:00
Randy Mackay
70feff487e Copter: format fixes to switches.cpp 
No functional change
 2016-12-19 17:01:09 +09:00
Randy Mackay
a43229de0f Copter: fix z-axis accel parameter description 2016-12-19 17:01:06 +09:00
priseborough
38ad778ff1 make.inc: Add EKF3 and remove EKF1 library from make.inc files 2016-12-19 08:07:10 +11:00
Andrew Tridgell
c3b9dbf5c8 ArduCopter: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Randy Mackay
c846cc249d Copter: fix heli pos-hold run-up-complete issue 2016-12-15 19:00:21 +09:00
Randy Mackay
a2474667a8 Copter: minor formatting fix 
no functional change
 2016-12-14 13:22:24 +09:00
Randy Mackay
5f60961866 Copter: fix suppressing comment for case fall through 
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:22:04 +09:00
Randy Mackay
0ab0658849 Copter: 3.4.3. release notes get compass cal fix 2016-12-09 11:39:05 +09:00
Randy Mackay
3d3fb6e74b Copter: fix version in release notes 2016-12-09 08:32:12 +09:00
Randy Mackay
3c993a76e2 Copter: 3.4.3 release notes 2016-12-09 07:57:43 +09:00
Randy Mackay
c1d1ac5c6f Copter: pass HIL_GPS to gps driver 2016-12-08 15:52:26 +09:00
Pierre Kancir
5900653b7f Copter: Commands_logic fix comparing floating point with == 2016-12-06 09:31:21 -08:00
Pierre Kancir
8d4bad0742 Copter: Commands_logic fix implicit cast to double 2016-12-06 09:31:21 -08:00
Pierre Kancir
f2ea388a69 Copter: control_auto remove misplaced parenthesis 2016-12-05 10:59:45 -08:00
Pierre Kancir
3fc17a5ed5 Copter: avoid must be initialized after fence as it use it 2016-12-05 10:59:45 -08:00
Peter Barker
556eb88fe5 Copter: fix compile when precland is not selected 
Fixes #5327
 2016-12-05 20:03:00 +09:00
Michael du Breuil
8c077a357c Copter: add compass cal capability bit 2016-12-04 19:17:01 -08:00
Peter Barker
4aab4f72b6 Copter: move to releasing payload if we are landed 2016-12-02 13:25:34 +11:00
Peter Barker
289aba4350 Copter: support for NAV_CMD_PLACE 2016-12-02 12:52:53 +11:00
Randy Mackay
128b4562a5 Copter: 3.4.3-rc1 release notes 2016-12-01 19:40:21 +09:00
Randy Mackay
9426b0b366 Copter: set land_complete to false during auto takeoff 
This resolves an issue in very high powered copters that could fly a mission while "landed" which could lead to a crash during the final stage of RTL
 2016-12-01 12:10:32 +09:00
Randy Mackay
5135a11fbc Copter: protect against arming while already armed 
Previously it was possible to arm the vehicle (from the GCS) even thought the vehicle was already armed which would lead to the motors stopping for 2 seconds
 2016-12-01 10:24:53 +09:00
Randy Mackay
74c9c4aa9d Copter: add beacon data flash logging 
Added to Copter vehicle because currently only used by Copter
 2016-11-30 17:56:59 +09:00
Randy Mackay
f2a6a4f4f9 Copter: update beacon updates to 400hz 2016-11-30 17:56:58 +09:00
priseborough
7a6e30e7b5 Copter: remove call to EKF1 logging 2016-11-30 17:56:57 +09:00
priseborough
3847975844 Copter: give the AHRS access to the range beacon sensor 2016-11-30 17:56:56 +09:00
Randy Mackay
21c7ea1df7 Copter: integrate AP_Beacon 2016-11-30 17:56:55 +09:00
Randy Mackay
8ab5124489 Copter: add AP_Beacon to build 2016-11-30 17:56:54 +09:00
Peter Barker
7069730d5f Copter: do not reset LOG_BITMASK when no CardInserted 
This really just confuses everyone
 2016-11-29 15:14:09 -08:00
Peter Barker
f9802204df Copter: inform dataflash of vehicle arm state 2016-11-28 09:42:09 -08:00
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
Randy Mackay
115bc44d3f Copter: log proximity sensors closest object 2016-11-27 15:05:47 +09:00
Randy Mackay
7485de3498 Copter: add send_proximity to send distances to GCS 2016-11-27 15:05:46 +09:00
Randy Mackay
218c8b2d16 Copter: proximity pre-arm check displays closet object 2016-11-27 15:05:44 +09:00
murata
f7273d0e93 Copter: Change from printf statement to print, println statement. 2016-11-26 00:02:11 +00:00
Andrew Tridgell
2ed32a3ac0 Copter: added raw RFND logging 2016-11-21 10:30:12 +11:00
Peter Barker
e72f5a6240 ArduCopter: enable/disable precision loiter on a switch 
A switch MUST be assigned for precision loiter to be enabled
 2016-11-18 09:41:56 +09:00
Peter Barker
2fd6be8ccb ArduCopter: neaten reading of aux switches 2016-11-18 09:41:56 +09:00
Peter Barker
9e4628af58 Copter: precision loiter 2016-11-18 09:41:56 +09:00
Peter Barker
b9808662b8 Copter: remove dead code 2016-11-18 09:41:56 +09:00
Peter Barker
469f0f0bf0 Copter: remove incorrect comment from PRECISION_LANDING block 2016-11-18 09:41:56 +09:00
Randy Mackay
7f6ecfca3d Copter: 3.4.2 release notes 2016-11-16 09:37:21 +09:00
Francisco Ferreira
84436ff5ae Copter: sipport MAV_CMD_ACCELCAL_VEHICLE_POS 2016-11-15 11:42:54 -08:00
Andrew Tridgell
df3e434607 Copter: use handle_common_message() 2016-11-09 17:08:09 +11:00
Florent Martel
8761ecca6c Copter: move AP_Frsky_Telem for waf to ardupilotwaf 2016-11-08 07:42:39 +11:00
Randy Mackay
ae8aea482f Copter: 3.4.2-rc2 release notes 2016-11-07 13:37:13 +09:00
Randy Mackay
69fd0939d9 Copter: 3.4.2-rc1 release notes 2016-11-07 13:37:13 +09:00
Randy Mackay
b87ad8378b Copter: ACRO_Y_EXPO default to 0 
This value affects yaw in all flight modes.  Leonard is planning to change the name to make that more clear.
 2016-11-07 10:34:32 +09:00
Randy Mackay
93b88a68a0 Copter: only log proximity if sensor is enabled 2016-11-07 09:36:53 +09:00
floaledm
53fcbcb6c3 Copter: send ahrs groundspeed estimate instead of GPS groundspeed in VFR_HUD message 2016-11-07 09:14:28 +11:00
Peter Barker
236b8ab6b7 Copter: make EPM a subclass of AP_Gripper_Backend 2016-11-05 10:20:39 +09:00
Peter Barker
920868145c Copter: support for AP_Gripper 2016-11-05 10:20:33 +09:00
murata
1df8acf5cd Copter: remove intermediate variable from throw mode 2016-11-03 10:37:27 +09:00
Randy Mackay
bf0e7fb3a9 Copter: add compass health to arming check 2016-11-01 18:00:18 +09:00
Randy Mackay
63771707fb Copter: 3.4.1 release notes 2016-11-01 11:30:22 +09:00
Randy Mackay
594bca2ccf Copter: 3.4 release notes 2016-10-31 12:18:58 +09:00
floaledm
aa8cae82b0 Copter: redo of commit b24d850695 2016-10-30 11:46:39 -02:00
Peter Barker
d877a00825 Copter: call run rather than enable for sprayer 2016-10-29 15:02:54 +09:00
Peter Barker
d2b7749af3 Copter: AP_Stats flighttime 2016-10-29 14:53:25 +09:00
Peter Barker
1bb6350a67 Copter: periodically call stats update 2016-10-29 14:53:25 +09:00
Peter Barker
df07cb525a Copter: use AP_Stats to store statistics about vehicle 2016-10-29 14:53:25 +09:00
Randy Mackay
be15fe4100 Copter: version to 3.5-dev 2016-10-29 14:33:44 +09:00
murata
965a6a5719 Copter: To nullptr from NULL. 2016-10-28 10:53:31 -07:00
Andrew Tridgell
1b46a71596 Copter: also update sensor status before mavlink send 
this removes the 1 second lag in updates when using the one second
loop
 2016-10-28 10:05:40 +11:00
floaledm
34718b130a Copter: update sensor status error flags independently of sending a sys_status message 
Without this, there is no update to the sensor status flags in the Frsky
lib unless there's an active Mavlink connection configured to send
extended_status1
 2016-10-28 10:03:38 +11:00
Andrew Tridgell
e8b9c815fc Copter: updates for EKF API changes 2016-10-27 17:09:06 +11:00
priseborough
209e364190 Copter: Add body position offset to optical flow interface 2016-10-27 14:54:42 +11:00
Michael du Breuil
790ddeb04e Copter: Use the compass calibrator autoreboot behaviour 
(fixes a chance of not saving the second compass)
 2016-10-27 14:04:33 +11:00
Leonard Hall
0523570c5f Copter: reduce dead zone for roll, pitch and yaw input 2016-10-26 21:00:32 +09:00
Leonard Hall
53486a5725 Copter: increase Autotune test time out for large copters 2016-10-26 21:00:23 +09:00
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
Randy Mackay
bc0965bb08 Copter: 3.4-rc7 release notes 2016-10-25 19:34:58 +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
Francisco Ferreira
1e2e24eeac Copter: fix wrong range in Throw mode 
Fixes #5038
 2016-10-23 11:56:57 +09:00
Randy Mackay
1f160f2903 Copter: minor comment update 
No functional change
 2016-10-22 13:31:16 +09:00
Andrew Tridgell
9205416695 Copter: setup default safety mask based on motor mask 2016-10-21 11:53:59 +11:00
Randy Mackay
83b8208b8b Copter: fix PRX_ parameters duplicate underscore in param name 2016-10-19 17:24:43 +09:00
Andrew Tridgell
c01a7718c1 Copter: fixed startup order of setting mavlink system ID 2016-10-17 09:19:08 +11:00
Andrew Tridgell
57830784e2 Copter: use handle_rc_bind 2016-10-15 21:42:38 +11:00
Andrew Tridgell
5a9276a5c4 Copter: added SYSID_ENFORCE parameter 
allows enforcement of SYSID_MYGCS
 2016-10-15 17:14:19 +11:00
Randy Mackay
cb977bca6f Copter: 3.4-rc6 release notes 2016-10-15 12:27:04 +09:00
Randy Mackay
5894a54a16 Copter: althold uses current alt target if active 
Previously we always reset the altitude target to the current altitude but this causes a jump if the vehicle is already in an alt-hold flight mode but has an altitude error
 2016-10-15 11:29:10 +09:00
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
Randy Mackay
a124001b8b Copter: get_pilot_desired_throttle gets thr_mid argument default 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
0aab175051 Copter: move proximity to g2 2016-10-14 14:02:29 +09:00
Randy Mackay
fa36b563bc Copter: add advanced failsafe enable to APM_Config 
No functional change
 2016-10-14 14:00:59 +09:00
murata
f705bd0d83 Copter: reduce intermediate storage of arming_check results 2016-10-14 11:39:18 +09:00
Jonathan Challinger
7cb9ad6e2b Copter: descend normally from 35cm 2016-10-14 10:46:11 +09:00
Jonathan Challinger
f2ef8eec8c Copter: use velocity output from AC_PrecLand 2016-10-14 10:46:08 +09:00
Randy Mackay
ccc99c772f Copter: remove union from aux_con for switch state 2016-10-14 10:31:05 +09:00
murata
b23823a934 Copter: delete unused variable from aux switch structure 2016-10-14 10:30:41 +09:00
Andrew Tridgell
ebbcabcb5f Copter: fixed comment 2016-10-14 11:40:09 +11:00
Randy Mackay
89c660eab5 Copter: add pre-arm check for proximity sensor 2016-10-13 20:21:07 +09:00
Randy Mackay
1665f4d416 Copter: report altitude and position control of new modes in sys-status message 2016-10-13 20:21:07 +09:00
Randy Mackay
4afa49eebe Copter: report proximity health in system-status 2016-10-13 20:21:07 +09:00
Randy Mackay
a07ecfe2b3 Copter: log proximity sensor at 10hz 
This is current in the Copter vehicle code but we can move to the dataflash library when other vehicles start using this type of sensor.  Until then adding it to common will just increase the dependencies unnecessarily for other vehicles.
 2016-10-13 20:21:07 +09:00
Randy Mackay
bba7369e9a Copter: pass AP_Proximity to AC_Avoid 2016-10-13 20:21:07 +09:00
Randy Mackay
fcc2a1b378 Copter: integrate AP_Proximity into main vehicle 2016-10-13 20:21:07 +09:00
Randy Mackay
5f749a0597 Copter: add AP_Proximity to build 2016-10-13 20:21:07 +09:00
Andrew Tridgell
652b6b7564 Copter: deprecate RC_CHANNELS_RAW 2016-10-13 21:24:02 +11:00
Randy Mackay
26c3295042 Copter: ignore first ekf core switch 
The ekf core is initialised to -1 but after initialisation changes to zero.  Ignore this first change.
 2016-10-13 15:20:16 +09:00
murata
f3a035694a Copter: fix ekf check to always call mode_requires_gps 2016-10-12 10:16:55 +09:00
Michael du Breuil
ea45e5e6f1 Copter: Support GPS_RTCM_DATA 2016-10-11 11:00:36 +11:00
Randy Mackay
263f685683 Copter: ekf failsafe can trigger in LAND 
Thanks to John Ingersoll for the report and detailed fix
Resolves issue #4827
 2016-10-10 17:36:36 +09:00
Randy Mackay
d74ae535d1 Copter: log EKF lane switch 2016-10-10 16:40:08 +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
murata
f135ca5ae7 Copter: reduce repeated string constants 2016-10-10 12:17:12 +09:00
Randy Mackay
3b6e56d1a0 Copter: minor formatting fixes 
No functional change
 2016-10-10 12:11:14 +09:00
murata
61fa73f25d Copter: remove return after the Switch statement 2016-10-10 12:07:24 +09:00
Randy Mackay
337461c16c Copter: pre-arm check of GPS configuration 2016-10-10 10:52:54 +09:00
murata
57c61ace62 Copter: To remove a break after the return statement. 2016-10-08 13:55:18 -03:00
murata
7148cc6239 Copter: Return value is changed to Enum Value. 2016-10-05 08:25:15 -03:00
murata
60137e0f0b Copter: replace if statement with switch statement 2016-10-05 16:32:57 +09:00
Jonathan Challinger
a393bd26d7 Copter: add stick gesture to begin compass calibration 2016-10-05 16:29:02 +09:00
Lucas De Marchi
b24d850695 ArduCopter: Fix use of logical op instead of bitwise op 
../../ArduCopter/GCS_Mavlink.cpp: In member function 'void Copter::send_extended_status1(mavlink_channel_t)':
../../ArduCopter/GCS_Mavlink.cpp:281:37: error: suggest parentheses around operand of '!' or change '&' to '&&' or '!' to '~' [-Werror=parentheses]
     uint32_t sensors_error_flags = !control_sensors_health & control_sensors_enabled & control_sensors_present;
                                     ^
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

Thanks to Ralph Campbell <ralphcampbell1@gmail.com> for the bug report.
 2016-09-29 11:36:23 -03:00
Pierre Kancir
6f79a8c37c Arducopter: simply invalid cmd msg 2016-09-27 07:45:48 -07:00
Pierre Kancir
94e42e870e ArduCopter: uniformize verify_command 
Add better gcs message,
Add all handle message,
Reformate comments,

Fix do_roi comment
 2016-09-27 07:45:48 -07:00
Tom Pittenger
748beb094d Copter: log to dataflash statustext messages from my_gcs 2016-09-26 00:13:30 -07:00
Randy Mackay
7091daa1cf Copter: remove out of date comment regarding autotune 
no functional change
 2016-09-23 20:48:03 +09:00
Peter Barker
b81074d83a Copter: simplify auxsw duplicates check 2016-09-23 18:12:19 +09:00
floaledm
5910c94b65 Copter: change sensor health check to prevent false positive 2016-09-22 13:56:49 -05:00
John deVere
d89b82b69f Copter: fixed parameter description typos 2016-09-14 14:05:47 -07:00
Randy Mackay
9b8b45b218 Copter: 3.4-rc5 release notes 2016-09-14 13:04:39 +09:00
Randy Mackay
9b1b18b15b Copter: add sprayer to aux switch options 2016-09-13 17:34:15 +09:00
Randy Mackay
f37c17bd80 Copter: include spray in build by default 2016-09-13 15:16:13 +09:00
Randy Mackay
a8f0291711 Copter: parameter conversion only for matrix multicopters 
Single, Coax and Tri copter rate parameter conversions were incorrect
 2016-09-13 09:44:38 +09:00
Andrew Tridgell
d0dd10aeea Copter: added DEV_OPTIONS parameter 
this is for little used options to allow standard firmware builds to
enable those options for development purposes

First option is for MAVLink based ADSB avoidance
 2016-09-12 16:24:34 +10:00
Randy Mackay
f22f10460a Copter: 3.4-rc4 release notes 2016-09-06 11:18:07 +09:00
floaledm
85a3fda879 Copter: removed reliance on home_distance and home_bearing which are only in copter 2016-09-06 11:42:33 +10:00
Leonard Hall
1f2d17e8e7 Copter: increase chance that parachute will deploy 
Previously a single moment where the vehicle was within 30deg of the target could cause the parachute release counter to reset to zero.  This change makes the parachute release if it is spending at least half it's time with more than a 30degree angle error.
 2016-09-06 09:43:31 +09:00
Michael du Breuil
bec4bfa2ba Copter: Return RESULT_FAILED for GET_CMD_HOME if home is unset 2016-09-03 16:54:16 +09:00
Randy Mackay
4832ba4bf0 Copter: call attitude control parameter check 2016-09-02 09:27:17 +09:00
Randy Mackay
42cca17df4 Copter: update 3.4-rc3 release notes 2016-09-01 11:45:46 +09:00
Randy Mackay
f6f3718e80 Copter: 3.4-rc3 release notes 2016-08-31 15:01:23 +09:00
Randy Mackay
a8a31b1c24 Copter: fix health reporting to GCS for optical flow and precision landing 
Includes slight restructuring to logic for other sensors but these should not have any functional effect
 2016-08-31 13:59:16 +09:00
Randy Mackay
cba480d02b Copter: add auto calibration to ESC_CAL parameter description 
No functional change
 2016-08-31 11:53:53 +09:00
Randy Mackay
e17c8ac851 Copter: remove non-working reset-to-armed-yaw 
Arguably we should make this work, but until that happens we should not present the option on the auxiliary switches
 2016-08-29 16:34:24 +09:00
Randy Mackay
eded2dee23 Copter: TELEM_DELAY parameter range to 30sec 
No functional change
 2016-08-29 15:29:05 +09:00
Andrew Tridgell
d186e1c648 Copter: improve the reliability of ESC calibration with OneShot ESCs 
run at higher rate and make sure we're always giving output
 2016-08-29 15:52:21 +10:00
khancyr
733786830d Copter: config.h fix typo 2016-08-26 14:28:35 +09:00
khancyr
1a1c749501 Copter: fix typo in parameters.cpp 2016-08-26 14:28:35 +09:00
Andrew Tridgell
f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
Grant Morphett
28552d5cc9 Copter: Supports COMMAND_INT in the code so added it to capabilites. 2016-08-25 12:56:32 +10:00
Andrew Tridgell
ea7e62df17 Copter: use a constant string for frsky_telemetry init 2016-08-25 11:00:31 +10:00
floaledm
893614897e Copter: moved MAV_TYPE to Copter.h 2016-08-25 10:16:20 +10:00
Andrew Tridgell
96de005591 Copter: moved MAV_TYPE define to defines.h 2016-08-25 10:16:20 +10:00
Andrew Tridgell
a14ff8ac77 Copter: fixes for Frsky_Telem API changes 2016-08-25 10:16:20 +10:00
Andrew Tridgell
0bcc9c4cb0 Copter: fix for AP_FrSky_Telem API change 2016-08-25 10:16:19 +10:00
floaledm
baa3357b21 Copter: changed init for SPort passthrough protocol compatibility 2016-08-25 10:16:18 +10:00
floaledm
157db51b9d Copter: make control_sensor vars available outside of send_extended_status1 2016-08-25 10:16:18 +10:00
floaledm
c0bd21d9f2 Copter: compatibility with revised AP_Frsky_Telem class 2016-08-25 10:16:18 +10:00
floaledm
f73fa1fc80 Copter: removed frsky_telemetry_send scheduled task 2016-08-25 10:16:17 +10:00
murata
97613ef961 Copter: By multiple bit synthetic, can this method once access. 2016-08-24 11:30:23 -03:00
Gustavo Jose de Sousa
b8e518a533 waf: use ap_library tool 
That way we avoid recompiling source files that don't depend on vehicles.
Change notes:
- UTILITY_SOURCE_EXTS: moved to ap_library
- Task generators indexes: ap_library handles that now and in a better way
- Use of AP_STLIB_FEATURES: it doesn't make sense anymore, since the stlib
  taskgen has empty source list
- Flags and defines: passed down to ap_library through AP_LIBRARIES_OBJECTS_KW
- Set use='mavlink' in AP_LIBRARIES_OBJECTS_KW instead of calls to
  bld.ap_stlib().
 2016-08-24 10:46:23 -03:00
Tom Pittenger
e9d34c07d2 Copter: reduce scheduler max-time for avoid-adsb from 400 to 100 2016-08-17 22:38:54 -07:00
Tom Pittenger
5c1d49b985 Copter: add new avoidance recovery modes 2016-08-17 22:38:54 -07:00
Tom Pittenger
a1bf791529 Copter: do not report collision warning when action is COLLISION_ACTION_NONE: 2016-08-17 22:38:54 -07:00
Tom Pittenger
06b64000e1 Copter: move mavlink msg handling into library 2016-08-16 16:33:36 -07:00
Tom Pittenger
d04a5d58fd Copter: decode correct ADSB packet 2016-08-16 16:33:36 -07:00
Peter Barker
f67d247a46 Copter: factor pre-arm checks, continue testing after a failure 
The functional change here is that we continue to run later checks
when a check fails.

The user-visible effect of that is that your GCS will tell you about
all pre-arm failures, not just the first.

This makes things work a little more like Plane, in preparation for
using AP_Arming.
 2016-08-16 11:37:18 -03:00
murata
ec4c17e630 Copter: Delete a comparison that does not become a true forever. 2016-08-16 21:04:25 +09:00
Andrew Tridgell
06154fc4ab Copter: use rangefinder to prevent auto-disarm in the air 
only consider the vehicle to be landed if either no rangefinder or
rangefinder shows an altitude below 2m
 2016-08-16 15:14:10 +10:00
Andrew Tridgell
e4564de837 Copter: fixed heli criterion for unsetting land_complete 
in order to honor H_LAND_COL_MIN we need to check if we have reached
the throttle lower limit
 2016-08-16 11:30:37 +10:00
Andrew Tridgell
a67b9372fd Copter: check that climb rate is low in landing detector 
this fixes an issue where a vehicle may still be descending rapidly
and trigger the landing detector. See the log for Robs heli.
 2016-08-16 11:29:15 +10:00
Andrew Tridgell
3041a75798 Copter: limit attitude on landing using WP_NAVALT_MIN 2016-08-16 11:26:56 +10:00
Andrew Tridgell
89c10a2db9 Copter: rename WP_TKOFF_NAV_ALT to WP_NAVALT_MIN 
this is in preparation for using the same parameter for landing as
well
 2016-08-16 11:26:56 +10:00
Tom Pittenger
dbdd86ad46 Copter: set SYS_STATUS and HB_Flag Guided bits when in AVOID_ADSB 2016-08-12 14:46:44 -07:00
Tom Pittenger
4cd66d54d1 Copter: fixed adsb pre-arm error text. "Arm" and "PreArm" were swapped 2016-08-12 12:56:44 -07:00
Jonathan Challinger
0051ecb288 Copter: fix LAND_SPEED_HIGH 2016-08-11 19:17:17 -07:00
Peter Barker
4371223738 Copter: add dataflash as a bit for the mavlink SYS_STATUS message 2016-08-11 17:48:44 -03:00
Andrew Tridgell
ba7d0d6cd8 Copter: changed startup order 
this allows BoardConfig to report errors in a way that allows for
BRD_TYPE to be changed by the user
 2016-08-10 19:54:01 +10:00
murata
4eee3b1317 Copter: fix underflow in scheduler 
If fast_loop method executed time is over MAIN_LOOP_MICROS,
scheduler.run method set value is  0.
 2016-08-09 22:54:27 -03:00
Randy Mackay
0ed5665193 Copter: change parameter order of guided_set_angle 
I thought it might be slightly better to put the optional parameters at the end
No functional change
 2016-08-10 10:03:54 +09:00
Allan Matthew
6dd4e1a2aa Copter: accept yaw rate commands in Guided atttude controller 2016-08-10 10:03:37 +09:00
Randy Mackay
9842840346 Copter: GND_EFFECT_COMP parameter to enable ground effect compensation 2016-08-09 13:31:36 +09:00
Peter Barker
68630a86fe Copter: fix logging after log download 
Downloading a log causes DataFlash to stop logging.

Restart logging when we are not downloading and start_logging is called.
 2016-08-09 09:06:14 +09:00
Randy Mackay
728e8f8f56 Copter: land_state uses enum 
This resolves a Covarity warning related to initialisation (that was not really a problem) but it is better form anyway
 2016-08-08 13:31:29 +09:00
Randy Mackay
575795fa84 Copter: CTUN logging checks return value of height_above_terrain 
This resolves a Covarity warning but it was actually safe before
No functional change
 2016-08-08 13:31:27 +09:00
Randy Mackay
542677f1d5 Copter: land vertical control uses current_loc.alt instead of get_alt_cm 
This resolves a warning from Covarity that we were not checking the return
value of Location_Class::get_alt_cm.  It was not actually a problem.
No functional change
 2016-08-08 13:30:53 +09:00
Randy Mackay
3be76743bf Copter: precland checks get_alt_cm return value 
This makes it easier for Covarity to recognise that we don't have an error by checking the return value of get_alt_cm
No functional change
 2016-08-08 13:30:19 +09:00
Randy Mackay
83c3659acc Copter: report version print fix 
Found by Covarity
 2016-08-08 12:15:14 +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
8bb536b366 Copter: 3.4-rc2 release notes 2016-08-08 11:24:43 +09:00
Leonard Hall
3349e24492 Copter: fix autotune unit conversions for step sizes 2016-08-08 11:24:42 +09:00
Randy Mackay
5255f55cc3 Copter: add comments to RTL's compute return target 2016-08-06 14:01:39 +09:00
Randy Mackay
68d3655195 Copter: fix rtl's use of rally point alt 
Thanks to OXINARF for spotting this
 2016-08-06 14:01:38 +09:00
Randy Mackay
57977e2d76 Copter: ensure RTL to rally point does not breach the altitude fence 
Previously we added the rally-point altitude to the calculated return altitude on the final line of this function meaning the fence's altitude check was not performed on the final value.  This change adds the rally-point altitude as the first step so it is included before the fence altitude check.
This change also converts the return alt to an alt-above-home so that it can correctly be compared to the fence (previously a terrain-altitude might have been compared to an alt-above home)
 2016-08-06 14:01:31 +09:00
Francisco Ferreira
43ad1f372d Copter: change function from computing return altitude to computing return target 
Also fix altitude for rally points
 2016-08-06 13:50:53 +09:00
Francisco Ferreira
e732cda577 Copter: when calculating RTL return alt use rtl_path directly 
At the same time, fix bug: check return point for terrain and not origin twice
 2016-08-06 13:50:50 +09:00
Randy Mackay
5b5385715e Copter: manual modes set_land_complete to false 2016-08-05 13:36:39 +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
ac4f36a992 Copter: remove LAND_REQUIRE_MIN_THROTTLE_TO_DISARM feature 
This definition has been false for over a year and we have not heard of any users wanting to delay the disarming until the pilot's throttle goes to zero.  Removing this feature removes a small bit of complexity from the code.
 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
cb5d3238cb Copter: poshold provides throttle feedback from mid-stick when landed 2016-08-05 12:40:37 +09:00
Randy Mackay
6d9d3c1458 Copter: autotune provides throttle feedback from mid-stick when landed 2016-08-05 12:40:37 +09:00
Randy Mackay
88da5bd453 Copter: sport mode restructured to match althold and feedback from mid-stick 
This modifies sport mode to be structured like althold and loiter flight modes so that ongoing maintenance of the modes is hopefully easier.
Also changes throttle feedback to occur from mid-stick
 2016-08-05 12:40:37 +09:00
Randy Mackay
53f0216269 Copter: sport - fix call to relax_alt_hold_controller 2016-08-05 12:40:37 +09:00
Randy Mackay
5061b29031 Copter: poshold - fix call to relax_alt_hold_controller 2016-08-05 12:40:37 +09:00
Randy Mackay
aa4661835e Copter: brake - fix call to relax_alt_hold_controller 2016-08-05 12:40:37 +09:00
Leonard Hall
5b277f4fb5 Copter: autotune - fix call to relax_alt_hold_controllers 2016-08-05 12:40:37 +09:00
Leonard Hall
205bac91a1 Copter: loiter spin-up to throttle min (and remove a state) 2016-08-05 12:40:37 +09:00
Leonard Hall
d9deab9e8e Copter: AltHold pilot feedback only spins up to min throttle 2016-08-05 12:40:37 +09:00
Leonard Hall
22422bd7b3 Copter: autotune bug fix to autotune_updating_p_up_d_down 
This resolves an issue in which the D term could be reduced far lower than
it should have been.
 2016-08-04 21:46:30 +09:00
Jonathan Challinger
80f3541933 Copter: add configurable arming delay 2016-08-04 15:19:22 +09:00
Jonathan Challinger
4a6cc75ebb Copter: whitespace change 2016-08-04 15:17:38 +09:00
Randy Mackay
595aea236a Copter: consolidate throw mode state into structure 2016-08-02 20:25:52 +09:00
Randy Mackay
381397c7bd Copter: set throw mode stage on init 2016-08-02 20:25:52 +09:00
Randy Mackay
807e930251 Copter: throw uses motor spooling instead of interlock 2016-08-02 20:25:52 +09:00
Randy Mackay
f4f13bbe6b Copter: add throw mode logging 2016-08-02 20:25:52 +09:00
Randy Mackay
8c5c8eec44 Copter: minor throw mode comment fix 
No functional change
 2016-08-02 20:25:52 +09:00
Randy Mackay
8e58ea9277 Copter: add throw mode defines for required speed 
No functional change
 2016-08-02 20:25:52 +09:00
chambana
25940c8e0f Copter: add THROW_TYPE and allow dropping vehicle to trigger motors 2016-08-02 20:25:52 +09:00
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
40db19549e Copter: allow taking off in Guided mode's attitude control sub mode 2016-08-02 18:26:05 +09:00
Randy Mackay
4e92f08bf1 Copter: only accept attitude targets in Guided mode 2016-08-02 18:26:04 +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
Gustavo Jose de Sousa
f2dec971e7 waf: add "ap_" prefix to keywords "libraries" and "vehicle" 
As an effort to keep things specific to ardupilot API in the build system
consistent and easy way to identify.
 2016-08-01 22:04:16 -03:00
Jonathan Challinger
2c41459fe9 Copter: loosen accelerometer consistency check in z-axis 2016-07-29 14:08:14 +09:00
murata
b1f204e2a6 Copter: use constrain_float for target_roll assignment 2016-07-29 13:35:27 +09:00
Lucas De Marchi
c0b49f6aeb ArduCopter: Remove i2c lockup count 
This was returned only for a single bus and on all supported platforms
this is hardcoded to 0.
 2016-07-28 18:03:09 -03:00
mirkix
e3934fac80 ArduCopter: Delete (wrong) filename out of header 2016-07-25 17:13:41 -03:00
Randy Mackay
49674abb21 Copter: guided mode's velocity controller stops before fence 2016-07-25 20:24:37 +09:00
Randy Mackay
7a6e0a981b Copter: simplify guided mode's velocity controller's accel limit calcs 2016-07-25 20:24:37 +09:00
Randy Mackay
dc52f3b2df Copter: guided mode applies acceleration limits to velocity controller 2016-07-25 20:24:37 +09:00
Randy Mackay
866487608e Copter: rename guided mode's posvel controller target variables 
We will re-use these targets for the guided velocity controller
 2016-07-25 20:24:37 +09:00
Randy Mackay
6118bf1b14 Copter: remove adsb sensor library based avoidance 
adsb based avoidance has been moved to AP_Avoidance library
 2016-07-25 20:24:37 +09:00
Randy Mackay
d50987f976 Copter: avoidance_adsb implements copter avoidance using ADSB 2016-07-25 20:24:37 +09:00
Randy Mackay
df55704875 Copter: pre-arm check includes adsb failsafe 2016-07-25 20:24:37 +09:00
Randy Mackay
68899ed921 Copter: add adsb to failsafe structure and report in heartbeat to GCS 2016-07-25 20:24:37 +09:00
Randy Mackay
f4db4bdb08 Copter: GCS_MAVLink passes packets to AP_Avoidance 
This allows treating GLOBAL_POSITION_INT packets from other vehicles in the same way as ADSB packets
 2016-07-25 20:24:37 +09:00
Randy Mackay
61844b3062 Copter: add AP_Avoidance to build 2016-07-25 20:24:37 +09:00
Andrew Tridgell
387da40fc5 ArduCopter: adjust for 16 channels in SERVO_OUTPUT_RAW 2016-07-25 10:06:02 +10:00
Tom Pittenger
07a838937e Copter: handle ADSB-Out packets 2016-07-22 13:38:37 -07:00
Andrew Tridgell
cb5ca713a9 Copter: added AP_Button support 2016-07-22 15:01:20 +10:00
Andrew Tridgell
e943a48eba Copter: added PLAY_TUNE message 2016-07-22 15:00:17 +10:00
Francisco Ferreira
90a4b36263 Copter: remove pre-arm check for rally points 2016-07-22 09:00:23 +09:00
Francisco Ferreira
25fefe77b7 Copter: add AP_Rally_Copter 
override default is_valid method so we can check if rally point is inside the fence, if it isn't we ignore it
 2016-07-22 09:00:18 +09:00
Tom Pittenger
d136737c87 Copter: add ADSB-out support for copter 2016-07-20 22:46:54 -07:00
Randy Mackay
8681911a0b Copter: small fix to precision land descent rate 2016-07-12 18:40:25 +09:00
Jonathan Challinger
a4827aff53 Copter: slow down precision landing descent based on position error 2016-07-12 18:40:25 +09:00
Jonathan Challinger
e22220ab62 Copter: refactor landing to reduce duplication, use vertical vel ff 2016-07-12 18:40:25 +09:00
Jonathan Challinger
e311139a21 Copter: use terrain alt for precland if rangefinder is unavailable 2016-07-12 18:40:25 +09:00
Jonathan Challinger
0f4367744f Copter: update precland at 400hz, log at 25hz 2016-07-12 18:40:25 +09:00
Allan Matthew
860773260f Copter: support GPS_INPUT mavlink message 2016-07-12 15:34:51 +09:00
Andrew Tridgell
3a8ed06267 Copter: added TKOFF_NAV_ALT parameter 
this adds TKOFF_NAV_ALT which controls the altitude above takeoff that
navigation can begin. It is meant for unstable vehicles such as helis
to prevent blade strike during initial takeoff.

This also adds a new parameter class ParametersG2 which can hold 64
parameters. This is to avoid running out of parameters in the first
256 block
 2016-07-07 14:21:47 +09:00
Randy Mackay
877a144dea Copter: pre-arm check that rally points are within fence 2016-07-04 18:25:03 +09:00
Randy Mackay
2647bed484 Copter: guided mode uses modified check_destination_within_fence 2016-07-04 18:25:03 +09:00
Jonathan Challinger
91a5b26725 Copter: use simplified precland interface 2016-07-04 16:57:06 +09:00
Derek Ma
7fddf20f0b Copter: enable precision landing in auto mode 2016-07-04 16:57:06 +09:00
Randy Mackay
543d5701e7 Copter: remove unused log_write_startup 2016-07-04 11:17:16 +09:00
Randy Mackay
5d5a85c38e Copter: log rally points on startup 2016-07-04 11:17:14 +09:00
Andrew Tridgell
6737bc21b9 Copter: fixed typo 2016-07-01 15:34:48 +10:00
Andrew Tridgell
b5ccd458d3 Copter: added 10Hz logging of controller RMS values 
as discussed with Leonard
 2016-06-29 14:43:44 +10:00
Randy Mackay
7edb6e76f0 Copter: set terrain capabilities only if terrain code is compiled in 
Thanks to OXINARF for finding this
 2016-06-27 17:11:06 +09:00
Randy Mackay
52d81f630f Copter: pass polygon fence mavlink messages to fence 2016-06-25 15:55:55 +09:00
Randy Mackay
b61ae1a4a1 Copter: log EKF yaw reset event 2016-06-24 18:12:30 +09:00
Leonard Hall
07cadc7ddd Copter: rename limit_angle_to_rate_request to use_input_shaping 2016-06-24 17:17:18 +09:00
Leonard Hall
3b7658c502 Copter: land and crash detector use thrust angle error 
The thrust angle error is the difference between our desired thrust vector
and the actual thrust vector

Also some changes to use definitions in place of constants in the checks
 2016-06-24 17:17:18 +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
75c4367cfc Copter: Change fabs to fabsf 2016-06-24 15:03:14 +09:00
Peter Barker
043b1d321d Copter: remove paths for documenation for non-multi frame 
Our current documentation system only emits one XML document (apm.pdef.xml)
for ArduCopter.

Since there is a conflict between parameters in the MOT_ namespace in Copter,
we only emit the documentation for the first parameter defining the MOT_ namespace.

This patch removes the documentation lines for frame types other than multicopter, meaning the documentation will reflect mutlictopter usage - the most common case.

These lines will need to be reinstated when we change the way we produce the xml documentation.
 2016-06-24 09:55:28 +09:00
Peter Barker
7742503ef3 Copter: include AC_AttitudeControl parameter documentation 2016-06-24 09:55:26 +09:00
Daniel Ricketts
87be8daf0e Copter: integrate AC_Avoidance library 2016-06-22 11:38:15 +09:00
Daniel Ricketts
5022a45495 Copter: add AC_Avoidance to build 2016-06-22 11:38:15 +09:00
Tom Pittenger
66d4caeeb0 Copter: add ADSB_streamrate 2016-06-19 11:24:33 -07:00
Leonard Hall
9864750336 Copter: rename CTUN desired_velocity to target_velocity 
No functional change
 2016-06-18 11:55:49 +09:00
Randy Mackay
a614a17b3a Copter: log hover throttle in CTUN message 2016-06-18 11:55:49 +09:00