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7022 Commits

Author SHA1 Message Date
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
bnsgeyer b5d21a71ef Copter:Tradheli treat Sport mode as non-man throttle for landing swash 2019-11-06 16:36:35 +11:00
Peter Barker 201adb6818 Copter: correct Heli compilation when some modes are disabled 2019-11-06 16:36:35 +11:00
Peter Barker d1b402ab04 Copter: correct compilation with toymode enabled 2019-11-06 16:36:35 +11:00
Peter Barker 0ab9ddd600 Copter: correct compilation when fence disabled 2019-11-06 16:36:35 +11:00
Peter Barker 843e48c635 Copter: correct compilation when avoidance disabled 2019-11-06 16:36:35 +11:00
Peter Barker 94222d0195 Copter: correct compilation when rangefinder tilt correction disabled 2019-11-06 16:36:35 +11:00
Peter Barker 81f0141da5 Copter: correct compilation when AdvancedFailsafe is disabled 2019-11-06 16:36:35 +11:00
Peter Barker d652bd4455 Copter: correct compilation when optical flow is disabled 2019-11-06 16:36:35 +11:00
Peter Barker 38d3c2daa1 Copter: stop providing current location to mount 2019-11-05 19:55:45 +11:00
Peter Barker 976acb3a58 Copter: let GCS superclass specify compass and param float capabilitiy 2019-11-05 11:26:23 +11:00
Peter Barker e6c6189fe5 Copter: cope with change in namespace of LogEvent enum 
Also move Acro Trainer types into an enum class as the global defines
interfere with the Event names.

Also eliminate the Log_Write_Event wrappers.
 2019-11-05 08:19:26 +08:00
Randy Mackay 105b7d79e1 Copter: 4.0.0-rc2 release notes 2019-11-04 15:56:47 +09:00
Matt Lawrence f71ef4c7ab Copter: Refactor failsafes, add fs_options bitmask parameter 
- Radio failsafe, battery failsafe, GCS failsafe refactoring
- Add new FS_OPTIONS parameter
- Enhance GCS Failsafe abilities
 2019-11-03 07:07:34 +08:00
Andrew Tridgell 93671445d6 ArduCopter: moved AC_PID dependency to core 2019-11-02 16:31:04 +11:00
Randy Mackay 527e76a047 Copter: add pre-arm check that ToshibaCAN ESCs are present 2019-11-01 16:09:52 +08:00
Peter Barker 5ece75a09a Copter: AC_AutoTune writes events itself now 2019-11-01 14:47:52 +08:00
Leonard Hall e7f94fc810 Copter: limit ATC_MOT_MIX_MAX in case of a fly away 2019-10-31 12:23:48 +08:00
Peter Barker 7944692de6 Copter: Proximity uses rangefinder singleton 2019-10-31 11:58:15 +08:00
Peter Barker 2a312aa8f1 Copter: stop passing serial manager to proximity constructor 2019-10-31 11:58:15 +08:00
Andy Piper ac071df104 ArduCopter: add support for BLHeli telemetry-based updates to the harmonic notch 
refactor to include RPM for all copter types
 2019-10-31 11:18:40 +08:00
Randy Mackay f0084f743d Copter: fix PSC_ACCZ_FILT to _FLTE param conversion 2019-10-29 12:25:57 +08:00
Randy Mackay 1aabbae8bc Copter: update 4.0.0-rc1 release notes 2019-10-26 10:44:10 +09:00
Randy Mackay 42d8bcc44f Copter: 4.0.0-rc1 release notes 2019-10-26 10:44:08 +09:00
Peter Barker b6920e14c8 Copter: remove redundant SurfaceTracking enumeration namespacing 
Also rename State to Surface to be more specific about what is being
set/tracked.
 2019-10-26 08:08:22 +08:00
Randy Mackay 85f963b961 Copter: multicopter ATC_RAT_RLL/PIT_FILT copied to FLTD and FLTT 2019-10-25 12:28:00 +08:00
Michael du Breuil b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Peter Barker 9c57862ec6 Copter: use ahrs singleton to log ATT, POS and AHRS2 2019-10-24 13:15:46 +11:00
Randy Mackay 8724e2f160 Copter: minor comment change 2019-10-22 07:15:48 +08:00
Peter Barker f7ba79e493 Copter: canonicalize on STANDBY rather than STANDY_BY 2019-10-21 21:22:17 +08:00
Peter Barker 198c93e479 Copter: correct use of nanf 2019-10-18 13:52:07 +09:00
Randy Mackay 7b0da89708 Copter: add vibration check 2019-10-18 11:15:25 +09:00
Leonard Hall 50a098c359 Copter: Standby functions 2019-10-17 14:57:18 +09:00
Peter Barker 1968a4cfb1 Copter: correct compilation when SYSTEMID mode is disabled 2019-10-16 15:36:04 +11:00
Andrew Tridgell faa4f57e61 Copter: remove AP_ADSB from wscript 2019-10-16 13:13:24 +11:00
Randy Mackay 2cb3e446ab Copter: systemid mode formatting and name changes 2019-10-16 08:17:09 +09:00
Leonard Hall c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
Leonard Hall 91be844b66 Copter: Let modes stop Attitude Logging 2019-10-16 08:17:09 +09:00
Andy Piper 7fd22f63a9 ArduCopter: allow logging of both IMU and IMU_RAW 
allow logging of both IMU and IMU_RAW at the same time so that filtering and errors can be seen
 2019-10-15 10:10:32 +11:00
Randy Mackay 36327d56de Copter: reject reboot request from GCS if auto esc cal on next reboot 
this resolves an edge case in which the motors could spin up on the next reboot because the user didn't unplug the battery to reboot the flight controller
 2019-10-15 07:41:44 +09:00
Andy Piper 8ce7f02167 ArduCopter: add functions to update dynamic notch frequency. Periodically log the frequency. 
tradheli- make RPM sensor input to harmonic notch in hertz
 2019-10-10 20:26:02 +09:00
Peter Barker 9e5d5c023c Copter: move many members up to base class 2019-10-08 11:26:04 +11:00
Peter Barker 95f81297d9 Copter: become an AP_Vehicle 2019-10-08 11:26:04 +11:00
Peter Barker bfbb482919 Copter: remove bogus ARMING_CHECK_NONE 'bitmask value' 2019-10-08 10:31:07 +11:00
murata abb91fc33a Copter: Change external button specification to option 
Copter: Change the definition name from BUTTON to BUTTON_ENABLED.
 2019-10-08 08:09:19 +09:00
Randy Mackay ca92f0505e Copter: follow mode restores offsets to zero on exit 2019-10-07 08:30:45 +09:00
chobits 5a0fe4e322 Copter: do not speed up EKF failsafe if optflow works 2019-10-04 11:15:38 +09:00
Randy Mackay 6e27d49f24 Copter: add pre-arm check of PILOT_SPEED_UP param 2019-10-03 07:16:35 +09:00
Randy Mackay 9464a429f8 Copter: 3.6.11 release notes 2019-10-02 06:38:59 +09:00
Randy Mackay 9d5cbbe58f Copter: restore range finder updates to 20hz 2019-09-28 11:13:14 +09:00
Randy Mackay a5d0f55bdc Copter: upward surface tracking never closer than avoidance margin 2019-09-28 11:13:14 +09:00
Randy Mackay 1c4f47f882 Copter: add upward facing surface tracking 2019-09-28 11:13:14 +09:00
Randy Mackay 5d24d0e4dd Copter: surface tracking always includes ekf alt error when setting target rangefinder alt 2019-09-28 11:13:14 +09:00
Randy Mackay d5d7fbe761 Copter: rangefinder glitch detection moved to read_rangefinder 2019-09-28 11:13:14 +09:00
Randy Mackay 808efa4c79 Copter: surface tracking format fixes 2019-09-28 11:13:14 +09:00
Randy Mackay d41e7dcbee Copter: move surface tracking implementation to surface_tracking.cpp 2019-09-28 11:13:14 +09:00
Randy Mackay b54cf410ef Copter: increase read_rangefinder to 50hz 2019-09-28 11:13:14 +09:00
Peter Barker 4d6dc9b0a7 Copter: call periodic fence update function 2019-09-28 07:58:48 +09:00
Peter Barker e5fa8f622b Copter: initialise AC_Fence library 2019-09-28 07:58:48 +09:00
bnsgeyer aef04fd924 Copter: tradheli update conversion 2019-09-25 14:59:02 +09:00
Andrew Tridgell 328fff8585 Copter: fixed RC failsafe handling for no RC receiver 
this stops us using uninitialised values in modes like circle which
can operate either with or without RC input. If we didn't have a RC
receiver attached then they would use a maximum yaw rate (which
produces quite a spectacular result for a tuned up racing quad)
 2019-09-24 10:00:36 +10:00
Peter Barker a5f4a102d7 Copter: stop compiling in AP_Buffer 2019-09-24 09:36:33 +10:00
Randy Mackay 5a1a10b03f Copter: update 3.6.11-rc1 release notes 2019-09-23 13:39:34 +09:00
Randy Mackay 23e92d4fa5 Copter: 3.6.11-rc1 release notes 2019-09-23 13:39:30 +09:00
Andrew Tridgell c40e0ffb6b Copter: fixed EKF threshold for arming 
when EKF failsafe is disabled by setting threshold to zero we need to
disable this arming check
 2019-09-23 09:48:39 +09:00
Peter Barker 9b398e8765 Copter: remove stale enum entries for log message types 2019-09-18 15:02:57 +10:00
Peter Barker 0031deb175 Copter: correct abs vs fabsf usage in Attitude 2019-09-18 12:57:02 +10:00
Peter Barker a1ce8dafb0 Copter: wrap_180_cd no longer returns floats for integer arguments 2019-09-18 12:57:02 +10:00
Randy Mackay cba03da59a Copter: version to 4.0.0-dev 2019-09-17 11:39:47 +09:00
Randy Mackay bce5154b2d Copter: compassmot and motor_test set_soft_armed 2019-09-17 11:26:57 +09:00
Peter Barker 1b29cf14a6 Copter: remove get_advanced_failsafe override; singleton to be used 2019-09-17 09:13:43 +10:00
Peter Barker b4537bebd8 Copter: move control_mode_t into being Mode::Number enum class 
Fixes this compiler error:

In file included from ../../ArduCopter/sensors.cpp:1:
In file included from ../../ArduCopter/Copter.h:195:
../../ArduCopter/mode.h:1291:9: fatal error: declaration shadows a variable in the global namespace [-Wshadow]
        AUTO,           // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
        ^
../../ArduCopter/defines.h:38:5: note: previous declaration is here
    AUTO =          3,  // fully automatic waypoint control using mission commands
    ^
1 error generated.
 2019-09-13 13:12:08 +09:00
bnsgeyer 23d4473f88 Copter: tradheli-properly upgrade rsc parameters 2019-09-13 08:53:54 +09:00
Randy Mackay 1818360519 Copter: land mode inits auto yaw 2019-09-12 09:20:39 +09:00
Randy Mackay 8a20d37799 Copter: zigzag smoother stops on terrain failure 2019-09-11 19:41:35 +09:00
Randy Mackay 6ddaf81439 Copter: param conversion for INS_NOTCH_FREQ and BW 2019-09-11 18:41:05 +10:00
bnsgeyer f84dac85ea Copter: tradheli-dualheli swashplate type upgrade conversion fix 2019-09-10 15:02:34 +09:00
bnsgeyer a849aab4c7 Copter: tradheli-singleheli swashplate type upgrade conversion fix 2019-09-10 15:02:34 +09:00
Peter Barker e497b13b4a Copter: remove ineffective DEVO_TELEM_ENABLED 2019-09-04 17:47:33 +10:00
Peter Barker ab7b4616ff Copter: let GCS base class handle fence sys_status bits 2019-09-03 09:12:24 +10:00
Peter Hall e1b982c99c Copter: RC_Channel: remove fence 2019-09-02 11:03:27 +09:00
Peter Barker a9ffe902f0 Copter: mount uses AP_SerialManager singleton 2019-08-28 06:55:28 +10:00
Peter Barker 0ce3cd06b0 Copter: fix compilation when drift mode is disabled 2019-08-27 09:43:47 +10:00
Leonard Hall 8b7fe2ac12 Copter: Acro_Balance update 2019-08-23 10:59:29 +09:00
Peter Barker 87a1efeb45 Copter: add assertion that guided is enabled if guided-nogps is enabled 2019-08-22 17:47:45 +01:00
Peter Barker f8f5e7f5ae Copter: correct compilation when guided mode is disabled 2019-08-22 17:47:45 +01:00
Peter Barker 3c6b67349f Copter: correct build when AFS disabled 2019-08-22 10:49:43 +09:00
Peter Barker c0774e74e0 Copter: fix format-string compilation warning 
../../ArduCopter/mode_auto.cpp: In member function 'void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command&)':
../../ArduCopter/mode_auto.cpp:1372:84: warning: format '%u' expects argument of type 'unsigned int', but argument 4 has type 'long unsigned int' [-Wformat=]
     gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",nav_delay_time_max_ms/1000);
                                                                                    ^

This is with a mini-pix build.
 2019-08-21 18:48:45 +09:00
Tom Pittenger 0983a04d52 Copter: NAV_Delay variable timers to be all unsigned and labeled as _ms 2019-08-19 15:24:06 -07:00
Peter Barker 4b870d752f Copter: fix toy-mode build 
handle_message changed signature a few months ago but this is protected
by pragmas such that it is only ubild on SkyViper
 2019-08-19 14:36:16 +10:00
Peter Barker b9a387ed9e Copter: stop updating sensor status flags 
These are updated as required in the gcs library itself.
 2019-08-17 17:45:03 +10:00
Randy Mackay 709c874d8b Copter: integrate AP_OAPathPlanner 2019-08-17 09:42:43 +09:00
Peter Barker 48a1b2f436 Copter: avoid allocate a GCS_MAVLINK per mavlink channel 2019-08-14 18:25:43 +10:00
Randy Mackay a3bde4f054 Copter: pre-arm check for ToshibaCAN ESC pwm range 2019-08-14 13:29:14 +09:00
Peter Barker 4fa83ed40d Copter: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Randy Mackay 41f538e039 Copter: simplify DEVO_TELEM_ENABLED definition 2019-08-09 23:07:06 +09:00
Peter Barker c0e8d319c6 Copter: make surface tracking adjust_climb_rate take a float 
Its callers all pass in floats and we return a float, so stop going via
an int16_t
 2019-08-06 14:09:09 +09:00
Peter Barker b0428f0fe8 Copter: make surface_tracking a class, various functions methods 2019-08-06 14:09:09 +09:00
Bill Geyer c8b547a8e4 Copter: tradheli-remove snprintf statements 2019-08-06 08:24:59 +09:00
bnsgeyer 5eb5277f4c Copter: tradheli-converts swashplate to H3-120 on upgrade based on old params 2019-08-06 08:24:59 +09:00
Peter Barker 6f4167b85b Copter: pass format string through to check_failed 2019-08-05 14:18:05 +10:00
hoangthien94 6d8a1bbe81 Copter: bypass compass healthy check when ext nav data is available for heading 2019-08-03 08:44:11 +09:00
Peter Barker 18de327e7f Copter: tighten type on mavlink_coordinate_frame_to_location_alt_frame 2019-08-01 17:45:30 +10:00
Peter Barker 5538800ad0 Copter: use MAV_FRAME_GLOBAL instead of MAV_FRAME_GLOBAL_INT in send_position_target 2019-07-30 10:55:21 +10:00
liang e422f2b2fd Copter: mode_auto: retract the landing gear automatically 2019-07-30 09:46:18 +09:00
Michael du Breuil 599a1af5c1 Copter: Convert ARMING_CHECK 2019-07-30 10:42:16 +10:00
Michael du Breuil ed2ae707f4 Copter: Add keydump feature 2019-07-30 10:42:16 +10:00
Randy Mackay 8e095d4a81 Copter: avoid terrain failsafe from a single out-of-range rangefinder reading 2019-07-29 16:01:52 +09:00
Randy Mackay 67ff96d8de Copter: 3.6.10 release notes 2019-07-29 12:34:26 +09:00
Leonard Hall f128e93ec5 Copter: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall 157f786adf Global: rename desired to target in PID info 2019-07-25 17:38:15 +09:00
Randy Mackay eed19a9262 Copter: 3.6.10-rc2 release notes 2019-07-22 18:19:41 +09:00
Randy Mackay eb433508f1 Copter: esc cal startup check moved outside rc output init 
this ensures we don't accidentally enter esc calibration during motor test
 2019-07-22 14:53:36 +09:00
Leonard Hall c56acb49d6 Copter: Add missing Loiter initialisation lines. 
This command is missing to define the desired acceleration that loiter will initalise to.
loiter_nav->clear_pilot_desired_acceleration();
 2019-07-20 16:40:51 +09:00
misswhile 15a326bade Copter: fixed can't enter esc calibration by RC. 2019-07-18 16:54:16 +09:00
Leonard Hall 0e34d8b1ff Copter: PosHold fix for low brake_rate 2019-07-18 11:13:51 +09:00
Randy Mackay b7a748df88 Copter: auto's wp_start accepts terrain alts 2019-07-18 09:01:09 +09:00
Pierre Kancir c330b87592 ArduCopter: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Michael du Breuil e0d7b71e95 Copter: Reduce dependency on inertial nav 2019-07-16 12:11:42 +09:00
Peter Barker 97bb846310 Copter: RangeFinder uses AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Peter Barker 9412075b9c Copter: avoidance no longer takes ahrs in constructor 2019-07-16 09:29:48 +10:00
Peter Barker 4b51239920 Copter: move mission reset aux switch option to RC_Channel 2019-07-16 09:24:18 +10:00
Michael du Breuil b07d65c1f3 Copter: Refactor battery current monitoring 2019-07-14 00:28:00 -07:00
Peter Barker eb9e65fd28 Copter: add GUIDED_NOGPS to failsafe checks 2019-07-10 16:55:23 +09:00
Peter Barker 567ba799f1 Copter: rewrite gcs-failsafe check for clarity 2019-07-10 16:55:23 +09:00
Peter Barker 6435a867f5 Copter: split RC_CHANNELS messages onto separate ap_message ids 2019-07-09 13:08:45 +10:00
Peter Barker 332e878bae Copter: correct nullptr dereference in sensor-config error loop 2019-07-09 10:01:23 +10:00
Peter Barker e977fce3ad Copter: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +10:00
Peter Barker 05925b57ad Copter: mark position_ok methods as const 2019-07-09 09:26:45 +10:00
Randy Mackay 4d19d65047 Copter: 3.6.10-rc1 release notes 2019-07-08 14:26:43 +09:00
Peter Barker cd2ec1f57f Copter: remove set_default_dead_zone statement with no effect 
This is immediately undone in the unconditional code below the #if
 2019-07-08 09:26:02 +09:00
Peter Barker ebbd2b971b Copter: correct compilation under toymode 2019-07-08 09:55:46 +10:00
Peter Barker 40a3bf94f4 Copter: EKF logging moved into EKF from logger 2019-07-06 19:05:51 +10:00
Peter Barker eb82126758 Copter: ServoRelayEvents uses Relay singleton 2019-07-03 23:59:24 -07:00
Peter Barker bf6f10e448 Copter: Arming: ensure frame class is appropriate for build FRAME_CONFIG 2019-07-04 10:05:01 +09:00
Peter Barker cf45108efb Copter: set Heli frame default at compile-time 2019-07-04 10:05:01 +09:00
Peter Barker bb3d2a0b37 Copter: pass GCS_MAVLink object rather than channel number in motortest 2019-07-02 10:04:56 +10:00
Peter Barker 478c62b5ac Copter: stop setting beacon in AHRS 2019-07-01 07:20:58 +09:00
Peter Barker fab17ba3bf Copter: add sanity check when fetching GCS_MAVLink instance 2019-06-27 07:54:45 +10:00
Michael du Breuil 242096b65e Copter: Send a heartbeat on mode change 2019-06-26 12:58:18 -07:00
hoangthien94 b741639002 GCS_Copter: Fixed precland condition to set SENSOR_VISION_POSITION flag 2019-06-25 09:42:45 +08:00
Peter Barker b0beca7b01 Copter: allow GCS MAVLink base class to handle out-of-time for sending messages 2019-06-25 10:29:40 +10:00
Peter Barker db2aff56c0 Copter: remove pointless protocol parameter to setup_uart 2019-06-25 09:47:08 +10:00
Peter Barker 5278919463 Copter: stop pointlessly passing serial manager around 2019-06-25 09:47:08 +10:00
Peter Barker f3c1791341 Copter: stop passing gcs chan into method which wants an object 2019-06-25 09:45:54 +10:00
Jaaaky 5ce185e4ac ArduCopter: convert to unix style end-of-line 2019-06-19 16:39:09 +09:00
Michael du Breuil df37a3d603 Copter: Remove wrapper around MAVLink send heartbeat 2019-06-18 13:59:52 +01:00
Michael du Breuil c612291a47 Copter: Enable scripting parameters 2019-06-18 00:06:32 -07:00
Peter Barker 9ac9b9ce00 Copter: set os_sw_version to date fw was compiled 
Also avoids non-trivial-designator compilation error
 2019-06-18 10:54:01 +10:00
Peter Barker e3da6d69d5 Copter: mode_auto: don't set takeoff dest from bad current location 2019-06-18 09:07:56 +09:00
Michael du Breuil bd904f890f Copter: Update for AFS interface 2019-06-18 10:02:05 +10:00
Rishabh 00f6dc9b05 Copter: brake moved in from AC_WPNav 2019-06-13 09:02:46 +09:00
Andrew Tridgell 7c44ad04b6 Copter: check for EKF lane switch to avoid EKF failsafe 
this fixes an issue with mismatch between the EKF lane switch
threshold and the copter EKF failsafe threshold
 2019-06-12 09:52:20 +10:00
SergeyBokhantsev 300ee173ce Copter: fix user aux functions 2019-06-11 10:28:15 +09:00
Peter Barker 676d75c391 Copter: correct namespacing of Copter modes 
This makes us look like Rover and Plane in terms of namespacing for the
Mode classes, and removes a wart where we #include mode.h in the middle
of the Mode class.

This was done mechanically for the most part.

I've had to remove the convenience reference for ap as part of this.
 2019-06-11 09:18:22 +09:00
Andrew Tridgell 01a0d3897e Copter: fixed HAL_MINIMIZE_FEATURES build 2019-06-06 12:19:13 +10:00
Peter Barker 5985579383 Copter: stop setting AC_Avoid in AC_WPNav; it uses singleton now 2019-06-06 11:47:22 +10:00
Peter Barker 33daef2f33 Copter: merge ArduCopter.cpp and Copter.cpp 2019-06-04 10:41:26 +09:00
Bill Geyer 4492727878 Copter: tradheli-comments added to new Heli Acro code 2019-06-04 09:57:13 +09:00
ChristopherOlson e13ff6c398 Copter: Parameters TradHeli Acro - add description for setting of virtual flybar 2019-06-04 09:57:13 +09:00
ChristopherOlson 8d43e828cf Copter: TradHeli - minor code format fix 2019-06-04 09:57:13 +09:00
Bill Geyer 0c64cdc565 Copter: TradHeli - add virtual flybar to heli acro flight mode 2019-06-04 09:57:13 +09:00
1iggy2 3c4bac7c97 Copter: added I frame for octa 2019-06-04 09:49:44 +09:00
Peter Barker 3e098df65a Copter: move common proximity pre-arm checks up 
It will not be possible to arm if a proximity sensor has been configured
but is not working after this patch.

The can't-arm-when-within-60cm-of-something check can still be disabled
with the PARAMETER arming check bit.
 2019-06-04 08:45:34 +09:00
Peter Barker 9f6b48b743 Copter: remove unneeded initialisation 2019-06-03 16:48:38 +09:00
Peter Barker fa150bc982 Copter: remove loop-initialisation of output 
Use brace initialisation instead.  This is the only loop in here which
loops over the max number of compasses vs the number of compasses.
 2019-06-03 12:54:17 +09:00
bnsgeyer 4120e29614 AP_Motors: Tradheli-complete conversion of throttle curve params to percent 
add conversion for throttle curve params for upgrade
 2019-06-03 07:53:01 +09:00
ChristopherOlson 9d03b44cf7 Copter:Heli - governor set_rpm call independent of frame type 2019-06-03 07:53:01 +09:00
ChristopherOlson 2f7d198196 Copter:Logging TradHeli - add governor output and throttle logging for heli governor 2019-06-03 07:53:01 +09:00
ChristopherOlson 8312dcae5d Copter:Scheduler - increase update rate for rpm to 40Hz for helicopter governor 2019-06-03 07:53:01 +09:00
Peter Barker 112b153268 Copter: move Arming functions into AP_Arming file 2019-05-30 16:02:10 +09:00
Peter Barker 6dce39cbe1 Copter: use AP_Arming methods to arm and disarm vehicle 
Really just changing the namespace of init_arm_motors
 2019-05-30 07:37:30 +09:00
Peter Barker 17060d5d66 Copter: stop changing frame to home when home not set 2019-05-29 09:04:37 +09:00
Peter Barker 08a18d6a0a Copter: avoid working with uninitialised home location 2019-05-29 09:04:37 +09:00
Peter Barker d34c4b01f4 Copter: build return path in run() rather than init() 
This avoids attempting to build a return path if we don't currently have
a home or origin
 2019-05-29 09:04:37 +09:00
Peter Barker 7ad4d95426 Copter: do not permit RTL unless home is set 
Rover has a similar check for entering RTL

Without this, if you do not have any rally points then we end up
attempting to manipulate an invalid location.
 2019-05-29 09:04:37 +09:00
Randy Mackay f93a9c37d3 Copter: 3.6.9 release notes 2019-05-27 14:09:22 +09:00
Peter Barker 3ef84d2b96 Copter: stop passing references to AC_Avoid constructor 2019-05-22 07:48:02 -06:00
Peter Barker 3c436b30f0 Copter: have takeoff.start() handle clearing i terms and setting land-complete 2019-05-15 18:24:26 +10:00
Andrew Tridgell f55d9140e2 Copter: rename to EXPECT_DELAY_MS() 2019-05-15 15:33:48 +10:00
Andrew Tridgell bc2f5fa33b ArduCopter: use EXPECT_DELAY() macro 2019-05-15 15:33:48 +10:00
Tom Pittenger 3f359886cd Copter: move heartbeat sending to gcs instead of by vehicles 2019-05-14 10:54:45 -06:00
Andrew Tridgell f46207499a Copter: prevent reset on compassmot due to watchdog 2019-05-11 05:56:34 +10:00
Randy Mackay 791b6effdd Copter: fix wp distance and bearing reporting during LOITER_TURNS 2019-05-07 13:54:31 +09:00
Peter Hall 3fe63d5bc0 Copter: only save autotune gains if disarmed in autotue 2019-05-07 09:23:50 +10:00
Randy Mackay 73973c77d7 Copter: 3.6.9-rc2 release notes 2019-04-30 13:03:02 +09:00
Randy Mackay 0472c7e6dd Copter: 3.6.9-rc1 release notes 2019-04-30 12:34:34 +09:00
Andrew Tridgell 55dca5cda9 Copter: added in sink rate for parachute check 2019-04-30 10:04:58 +10:00
Peter Barker 37c07e1d89 Copter: use enum class for roll/pitch mode 
This adds some type-safety and helps distinguish between the many
defines which are used within PosHold mode

Saves about 210 bytes of flash
 2019-04-30 08:36:59 +09:00
Peter Barker 462d87e5d0 Copter: remove unused PosHoldModeState enumeration 2019-04-30 08:36:59 +09:00
Peter Barker e28c6b9dc6 Copter: remove redundant poshold_ prefix on PosHold methods 2019-04-30 08:36:59 +09:00
Peter Barker f57a9f11cc Copter: move poshold state variables into mode object 
This was simply moving the members from the poshold struct into the
class then mechanically removing poshold. from in front of the member
access.
 2019-04-30 08:36:59 +09:00
Peter Barker 9f9531a790 Copter: AP_Arming: correct overriding of arm_checks method 
This makes the arbitrary decision that arming checks always report
failures to the GCS.

Fixes:

In file included from ../../ArduCopter/events.cpp:1:
In file included from ../../ArduCopter/Copter.h:91:
../../ArduCopter/AP_Arming.h:33:69: fatal error: non-virtual member function marked 'override' hides virtual member function
    bool arm_checks(bool display_failure, AP_Arming::Method method) override;
                                                                    ^
../../libraries/AP_Arming/AP_Arming.h:64:18: note: hidden overloaded virtual function 'AP_Arming::arm_checks' declared here: different number of parameters (1 vs 2)
    virtual bool arm_checks(AP_Arming::Method method);
                 ^
1 error generated.
 2019-04-30 09:29:59 +10:00
Randy Mackay 4fa52bb0de Copter: 3.6.8-release notes 2019-04-26 13:25:00 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 402b1cba3f Copter: replace 4 divisions with multiplications 2019-04-24 08:52:41 -07:00
Andrew Tridgell 3abe8fed89 Copter: updated release notes for 3.6.8 2019-04-24 17:15:44 +10:00
Pierre Kancir d5d81f3a1c ArduCopter: set AUTO_YAW_HOLD when user control yaw during nogps land 2019-04-23 09:35:02 +09:00
Pierre Kancir c2811ea144 ArduCopter: respect yaw orientation on LAND 2019-04-23 09:35:02 +09:00
Peter Barker 5d996a289a Copter: move responsibility for logging into library 2019-04-23 10:06:17 +10:00
Peter Barker 7207035c34 Copter: do no compass stick gesture detection while armed 2019-04-23 10:06:17 +10:00
Randy Mackay 8a5141f751 Copter: mode autoyaw lower in mode.h 
make ordering of some declarations consistent across child classes
 2019-04-20 10:04:33 +09:00
Peter Barker 7945c1fdfd Copter: mode class unfriends everyone, make relevant methods public 2019-04-20 10:04:33 +09:00
Randy Mackay b7d0e4ec10 Copter: remove surface tracking shim functions 2019-04-19 07:45:52 +09:00
Randy Mackay 01909cf4c8 Copter: zigzag mode gets terrain following support 2019-04-19 07:45:52 +09:00
Randy Mackay 89eb876faf Copter: move surface tracking variables into structure 2019-04-19 07:45:52 +09:00
Randy Mackay 33a57361bd Copter: reduce args passed to get_surface_tracking_climb_rate 
The same arguments are always passed in
 2019-04-19 07:45:52 +09:00
Randy Mackay a732dfed6d Copter: minor format fixes to get_pilot_desired_cilmb_rate 2019-04-19 07:45:52 +09:00
Michael du Breuil 465d6b4dc7 Copter: Remove rangefinder distance prearm check 2019-04-16 11:00:32 +09:00
Arjun Vinod f1de62f0d3 Copter: added left out copter flight modes as auxiliary switch options 2019-04-16 10:57:17 +09:00
Pierre Kancir caf925eda5 Copter: factorize arm or land check 2019-04-16 10:17:47 +09:00
Peter Barker 07b8473a20 Copter: move setting of compass sys_status bits up 2019-04-16 09:48:23 +10:00
Randy Mackay 403195d9d4 Copter: fix auto-disarm check 
Copters go to SHUT_DOWN when estop is engaged
 2019-04-15 15:34:14 +09:00
Peter Barker 46a6f45e4a Copter: adjust for desired spool state and spool state renames 2019-04-14 12:18:03 +09:00
Randy Mackay 2c682c7001 Copter: add missing AccelZ to GCS_PID_MASK param description 2019-04-13 13:33:52 +09:00
Randy Mackay 571d933b3f Copter: fix send_pid_tuning 
the rate roll PID was being overwritten when PID logging was enabled
 2019-04-13 13:33:52 +09:00
Peter Barker 3e51d8c7d7 Copter: RangeFinder now handles RFND logging 2019-04-09 22:17:58 +10:00
Michael du Breuil 8290bd4e67 Copter: check all EKF cores for health on arming 2019-04-09 10:53:25 +10:00
Peter Barker 5db75b313d Copter: use floats for roll/pitch 
Otherwise we're taking floats, making them int32 and then making them
floats again when calling the attitude controller
 2019-04-09 09:21:12 +09:00
Pierre Kancir 4f29d2e5a6 Copter: factorize esc calibration setup 2019-04-09 08:44:46 +09:00
Pierre Kancir 54380bd144 Copter: change always true condition to a timer 2019-04-09 08:44:46 +09:00
Peter Barker 41a20504b2 Copter: use RSSI singleton for logging 2019-04-09 09:33:13 +10:00
Peter Barker e5b25824eb Copter: remove unused takeoff_trigger_dz parameter 2019-04-09 08:15:39 +10:00
Peter Barker ef334fe3c7 Copter: remove hanging method declaration 2019-04-09 08:15:39 +10:00
Pierre Kancir 43dcf066c1 ArduCopter: move check_latlng to Location 2019-04-08 12:56:01 -07:00
Randy Mackay a5bdd12bfa Copter: replace TUNE_LOW/HIGH params with TUNE_MIN/MAX 
change from uint16 to floats to ease setup
also add check that no function assigned to rc6
 2019-04-08 15:24:00 +09:00
Peter Barker 85be2b0c8b Copter: clean up flip state enumerations 
... including a redundant definition of the states...
 2019-04-08 14:24:19 +09:00
Randy Mackay 69626ba855 Copter: rename FXY logging to FHXY 
this keeps the log messages appearing directly below the related FHLD when looking in the MP log viewer
 2019-04-08 11:26:59 +09:00
Leonard Hall df3e73f161 Copter: spool fixes for acro stabilize and throw 2019-04-08 09:42:21 +09:00
Randy Mackay d626ea66f1 Copter: poshold loses stray set-desired-spool-state 
spool state is all handled higher up in the poshold state switch statement
 2019-04-08 09:42:21 +09:00
Randy Mackay 29d05dfeac Copter: loiter mode gets roll and pitch from loiter_nav 
both wp_nav and loiter_nav's get_roll() and get_pitch() simply get their values from the same underlying position controller
 2019-04-08 09:42:21 +09:00
bnsgeyer 94738c3f86 Copter: change make_safe_shut_down to make_safe_spool_down 2019-04-08 09:42:21 +09:00
bnsgeyer f96da56ad6 Copter: Allow safe shutdown before disarming 2019-04-08 09:42:21 +09:00
bnsgeyer 7ff3a49a10 Copter:tradheli-spool logic fix for acro and stabilize 2019-04-08 09:42:21 +09:00
Leonard Hall 593925567b Copter: formatting fixes 2019-04-08 09:42:21 +09:00
Randy Mackay a6bfafefb0 Copter: move loiter and wpnav init out of make_safe_shut_down 
resolves autotest RTLSpeed test failure
 2019-04-08 09:42:21 +09:00
Leonard Hall 38cc5a817f Copter: consolidate mode state decisions 
bnsgeyer and rmackay9 contributed to these changes

make_safe_shut_down waits for spool down before disarming
remove use of attitude_control::set_throttle_out_unstabilized to consolidate logic between multicopters and tradhelis
 2019-04-08 09:42:21 +09:00
bnsgeyer d949c80d54 Copter: tradheli replaces rotor_runup_complete with spool state 2019-04-08 09:42:21 +09:00
Peter Barker 3b33f4ca4d Copter: add floating-point-constant designators 2019-04-05 23:04:17 -07:00
Michael du Breuil d1246f5868 Copter: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Pierre Kancir 4cec958269 ArduCopter: move location_update to Location and rename to offset_bearing 2019-04-06 09:10:28 +11:00
Pierre Kancir 5987966ac6 ArduCopter: move get_bearing_cd to Location and rename to get_bearing_to 2019-04-06 09:10:28 +11:00
Michael du Breuil 0e8c3dc485 Copter: include FWversion 2019-04-05 20:12:53 +11:00
Patrick José Pereira 86633e45ff Copter: Use new RC_Channel AUX_FUNC 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-03 09:53:58 -07:00
Peter Barker fad769f3bf Copter: add param conversion from MAG_ENABLE to COMPASS_ENABLED 2019-04-02 10:24:49 +11:00
Peter Barker 2040580ce7 Copter: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
bnsgeyer 3869507839 Copter: Tradheli- removes suppression of hover_trim_roll on auto takeoff 2019-03-29 13:13:55 +11:00
Rajat Singhal 49554bf8d9 Copter: Add function for sending POSITION_TARGET_LOCAL_NED message 2019-03-29 09:11:14 +11:00
Tom Pittenger 7824b64ad6 Copter: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker 86bd531b24 Copter: use convenience manual_override method 2019-03-27 22:33:47 -07:00
Randy Mackay 7c09084f02 Copter: add Loiter and Follow to aux switch 2019-03-28 13:54:22 +09:00
Peter Barker 8441542a52 Copter: remove climb_rate cache of inertial_nav.get_velocity_z 
There were only two users of it and dozens of places using
get_velocity_z
 2019-03-28 12:10:31 +11:00
Peter Barker 6bac6cd725 Copter: remove redundant compass arming checks 
These are already part of prearm checks in the parent class, which must also pass for us to arm
 2019-03-28 11:28:44 +11:00
ChristopherOlson e56c970eb0 Copter:AP_ARMING - remove collective position prearm check for heli 2019-03-28 10:40:54 +11:00
Peter Barker e9398e73ff Copter: tidy get_pilot_desired_throttle 2019-03-27 18:03:56 +11:00
Peter Barker c1c71fec23 Copter: move Mode functions into mode.cpp from Attitude.cpp (NFC) 2019-03-27 14:02:31 +11:00
Peter Barker 7e01d1ef50 Copter: correct compilation for ERROR_SUBSYSTEM_FLIGHT_MODE changing names 2019-03-27 13:23:12 +11:00
Peter Barker c7e21d95ef Copter: move Log_Write_Error into library 2019-03-27 12:36:40 +11:00
Peter Barker 7a1648059b Copter: stop passing dataflash into handle_radio_status 2019-03-27 10:38:39 +11:00
Peter Barker 335c1769ee Copter: do not allow change to Drift if in non-manual-throttle mode 
drift acts just like stabilise or acro in terms of pilot throttle when
pilot input is maxed.
 2019-03-26 20:57:15 +11:00
Peter Barker d95160b33c Copter: move check for high-throttle on mode change up 2019-03-26 20:57:15 +11:00
Peter Barker 34d9ce27af Copter: make get_pilot_desired_throttle a method on Mode 2019-03-26 20:57:15 +11:00
Patrick José Pereira 33764d6c3b Copter: Fix typo 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-03-26 15:39:23 +11:00
Peter Barker 9a2d5ac5a6 Copter: move various sensor status flag updates up 2019-03-26 11:03:21 +11:00
bnsgeyer 2ec470aaee Copter:tradheli - added swash params to convert on upgrade 2019-03-20 10:40:20 +10:00
bnsgeyer 2fc942ac24 Copter: tradheli-convert swash parameters on firmware upgrade 2019-03-20 10:40:20 +10:00
Peter Barker f4a21d446f Copter: move command-long DO_SET_HOME up 2019-03-19 19:56:13 +11:00
Peter Barker 451f5f17ce Copter: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker 4f70bdd046 Copter: GCS can report simple/supersimple input modes 2019-03-19 14:39:14 +11:00
Peter Barker a5c18ff8f5 Copter: move vehicle_initialised to be on GCS not GCS_MAVLink 2019-03-19 14:39:14 +11:00
Peter Barker e22b29bce4 Copter: FrSky support has moved to GCS 2019-03-19 14:39:14 +11:00
Peter Barker 3e0ec99100 Copter: fill Notify flag for flying 2019-03-19 14:39:14 +11:00
Peter Barker 227f6499d3 Copter: mark vtol_state and landed_state methods as override 2019-03-19 10:32:50 +11:00
Peter Barker 366051c39f Copter: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Peter Barker 85d9dd6f64 Copter: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Randy Mackay 467e8481fb Copter: minor formatting fix to ekf failsafe check 2019-03-15 15:44:01 +09:00
chobits 6bee4216c0 Copter: speed up EKF failsafe by checking if velocity innovations > 2x FS_EKF_THRESH 2019-03-15 15:36:13 +09:00
Bill Geyer c40312d0f9 Copter: fix to acro trainer leveling mode 2019-03-15 15:26:24 +09:00
Randy Mackay e57ec068f0 Copter: remove duplicate guided limit-init-time-and-pos 
this is called from nav_guided_start()
 2019-03-15 14:51:35 +09:00
Randy Mackay 8d66c5f547 Copter: move do_payload_place handler 
commands are placed in numerical order
 2019-03-15 14:51:35 +09:00
Peter Barker 6d87b9316f ArduCopter: compass init never fails 2019-03-13 13:06:50 +11:00
Peter Barker f189860162 Copter: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker 281dbfcef8 Copter: support send_extended_sys_state 2019-03-12 09:16:13 +09:00
Peter Barker 7b6fef16aa Copter: remove redundant PreArm: in check_failed calls 2019-03-08 08:57:53 +09:00
Peter Barker cc8912255e Copter: move checking of fence up 2019-03-08 08:57:27 +09:00
Randy Mackay ead3682e4c Copter: correct ACRO_YAW_P param description 
this parameter applies to all flight modes
 2019-03-06 14:42:59 +09:00
Randy Mackay 938868cc03 Copter: 3.6.7 release notes 2019-03-06 14:24:25 +09:00
Peter Barker cac87b8e0b Copter: use attitude and position controller prearm checks 2019-03-06 10:36:32 +09:00
Peter Barker 4f69eefd4a Copter: remove unused includes 2019-03-05 13:19:29 +09:00
Peter Barker eed73749f9 Copter: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Michael du Breuil cac4b91671 Copter: Allow scripting to run 2019-03-05 08:45:54 +11:00
Peter Barker 7c05364612 Copter: reindent mode init functions (NFC) 2019-03-01 13:43:20 +09:00
Peter Barker fab2d59a1c Copter: move check for position up 2019-03-01 13:43:20 +09:00
Peter Barker e744df585c Copter: avoid int32_t<->float conversions 2019-03-01 12:09:58 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas f1e43979ab ArduCopter: NFC small renames and comment improvements 2019-03-01 09:15:24 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 08124faab4 Copter: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Randy Mackay a90f94d5a7 Copter: 3.6.7-rc1 release notes 2019-02-28 09:15:44 +09:00
Randy Mackay 384bca9482 Copter: stop at waypoint depending upon next command 2019-02-27 13:30:40 +09:00
Randy Mackay a903c91c40 Copter: remove unused auto_spline_start declaration 2019-02-27 13:30:40 +09:00
IamPete1 ba3d1bc6c7 Copter: move E-stop state to SRV_Channel 2019-02-27 08:51:24 +09:00
Peter Barker 2c814e9de2 Copter: get_alt_above_ground to get_alt_above_ground_cm 2019-02-26 19:31:41 +09:00
Andrew Tridgell ef3306d408 Copter: fixed crash on mavlink send before pos_control is allocated 2019-02-26 16:18:26 +11:00
Peter Barker a48f461158 Copter: remove position-vector methods 
Both were used in just one place
 2019-02-26 14:09:21 +11:00
Arjun Vinod d02d897928 Copter: make LOITER_TIME send "Reached command" message to GCS 2019-02-26 10:19:37 +09:00
Arjun Vinod 8044d98382 Copter: do an early-return if the time hasn't been reached 2019-02-26 10:14:56 +09:00
murata 8644f4d76e Copter: Disable option code 
Copter: Revert change

Copter: Change mistakes
 2019-02-26 10:00:00 +09:00
Peter Barker 693873fd04 Copter: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Peter Barker 8e1b48ef1e Copter: use height-above-ground for landing gear deployment 2019-02-26 08:21:32 +09:00
Peter Barker 66416a5289 Copter: make toymode parameter descriptions consistent 
Also correct "home button" -> "left (Mode button)"
 2019-02-22 11:36:28 +09:00
Peter Barker 4187243e5c Copter: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Peter Barker c622645ff1 Copter: move update_sensor_flags to GCS_Copter.cpp 2019-02-20 11:57:00 +11:00
Peter Barker 5ff80e06d1 Copter: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker 039aa3f3b3 Copter: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 2019-02-19 14:09:59 +11:00
Peter Barker f759c7ac7e Copter: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker 9bc23d3f28 Copter: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Peter Barker f64ad2f433 Copter: move visual odometry update function into AP_VisualOdom 2019-02-16 15:13:59 +11:00
Randy Mackay 6b0456e3ac Copter: 3.6.6 release notes 2019-02-16 08:47:18 +09:00
Peter Barker 0dce6172f2 Copter: use visual odometry singleton 2019-02-15 16:56:13 +11:00
Peter Barker 31f796f0c5 Copter: remove unused scaleLongDown member 2019-02-15 11:45:13 +09:00
Peter Barker 13db459f49 Copter: remove redundant home-setting sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker 5ae52038fa Copter: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker 8de7f4a520 Copter: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Peter Barker 228d7b676d Copter: move responsibility for parachute deployment up 2019-02-13 09:25:27 +09:00
Peter Barker 270fa2dfb9 Copter: move handling of command-int MAV_CMD_DO_SET_HOME up 2019-02-13 09:42:26 +11:00
Peter Barker a0189d6060 Copter: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Peter Barker 5f152378fd Copter: dataflash always emits rally points at startup 2019-02-12 11:48:55 +11:00
Peter Barker 3765bae5e0 Copter: remove checking for coordinate frames 
This is very much NFC.  This change uncovers previous dead code in the
case that we are not ignoring yaw.
 2019-02-12 09:07:50 +09:00
Peter Barker 243cf690da Copter: use altitude frame mapping function 2019-02-12 09:07:50 +09:00
Tom Pittenger b8ee535fb4 Copter: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Randy Mackay 1725c8f178 Copter: 3.6.6-rc2 release notes 2019-02-09 14:53:26 +09:00
Peter Barker 47a0796684 Copter: move handling of fence point handling up 2019-02-08 11:47:59 +09:00
Peter Barker 727d42be1c Copter: move handling of MAV_CMD_DO_SET_FENCE_ENABLED up 
This has the effect of losing the statustext messages.  We should not be
sending statustext messages for things that complete successfully, and
this data is available in the fence_status mavlink message (and in
SYS_STATUS too)
 2019-02-08 11:47:59 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 937e05bb2a Copter: small precision landing improvements 2019-02-07 10:54:58 +09:00
Peter Barker f0ea4af514 Copter: rename get_velocity_xy to get_speed_xy 2019-02-07 09:03:17 +09:00
Randy Mackay ee6fd5ad8d Copter: Guided_NoGPS does not require GPS 2019-02-06 12:28:08 +09:00
Peter Barker 587e02e92e Copter: remove pv_ functions that duplicate Location functions 2019-02-06 11:02:50 +09:00
Andrew Tridgell 3f58461839 Copter: allow override of default frame type 2019-02-06 11:17:35 +11:00
Andrew Tridgell 36180faab5 Copter: added 3 more FRAME_TYPE values 2019-02-06 11:17:35 +11:00
Dr.-Ing. Amilcar do Carmo Lucas c31e24edcc Copter: Add OSD_ENABLED macro to APM_Config.h 2019-02-05 13:19:56 +09:00
Peter Barker 609b4f87c5 Copter: move handling of RC_CHANNELS_OVERRIDE up 2019-02-05 13:59:21 +11:00
Peter Barker 7197cf9e5c Copter: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Peter Barker f4f40f749b Copter: Flip: fix FIXME by moving state into mode class 2019-02-04 11:07:28 +09:00
Peter Barker 3521d98b52 Copter: move handling Write_Event into AP_Logger 2019-02-04 09:30:07 +09:00
Randy Mackay ba7b354326 Copter: 3.6.6-rc1 release notes 2019-02-02 14:30:13 +09:00
Randy Mackay 42c7f5ceb4 Copter: integrate WPNAV::set_speed_z split to set_speed_up and set_speed_down 2019-01-31 19:34:32 +09:00
Randy Mackay 717fb4d823 Copter: integrate AC_WPNav::get_speed rename to get_default_speed 2019-01-31 19:34:32 +09:00
Peter Barker 3d088f526d Copter: AC_Fence is included for all vehicles 2019-01-31 13:44:29 +09:00
Peter Barker 1412921561 Copter: move sending of fence_status message up 2019-01-31 13:44:29 +09:00
Peter Barker 5dc743f1ba Copter: fence no longer takes reference to ahrs in constructor 2019-01-31 11:25:38 +09:00
Peter Barker eccd62eeaf Copter: remove rally argument from Write_Rally - use singleton 2019-01-31 09:51:25 +09:00
bnsgeyer 62ffd273aa Copter: Tradheli-default RC8_OPTION to motor interlock 2019-01-28 09:44:56 +09:00
bnsgeyer 07d9e8c224 Copter: Tradheli-removed hard coding of motor interlock to channel 8 2019-01-28 09:44:56 +09:00
bnsgeyer c6e9a72ad9 Copter: Tradheli-fixes hover roll trim ramp time 2019-01-26 11:45:04 +09:00
chobitsfan 7f6b7dab2f Copter: support fence actions SmartRTL and Brake 2019-01-25 15:43:18 +09:00
Randy Mackay d29b4344df Copter: 3.6.5 release notes 2019-01-24 10:29:37 +09:00
Randy Mackay 1334437df4 Copter: 3.6.5-rc3 release notes 2019-01-21 10:08:40 +09:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Francisco Ferreira bf8c02b8ea
Copter: add KDECAN to included libraries 2019-01-18 00:57:32 +00:00
Peter Barker f896f6538b Copter: log_terrain_data no longer takes a DataFlash argument 2019-01-18 11:17:40 +11:00
Peter Barker 09dd750df8 Copter: Log_Write_SIMSTATE no longer takes dataflash pointer 2019-01-18 11:16:54 +11:00
Peter Barker d3f5f0d7b0 Copter: remove PX4 FWVersion info 2019-01-16 11:47:55 +11:00
Peter Barker 845f015648 Copter: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker f48d757bd4 Copter: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Randy Mackay 50c5ad7076 Copter: TradHelis force spool up before takeoff 2019-01-15 11:41:44 +09:00
bnsgeyer ca565675f2 Copter: Tradheli gets support for spool logic 2019-01-15 11:41:44 +09:00
bnsgeyer 12f4d8518e Copter: Tradheli moves init_targets_on_arming flag to motors 2019-01-15 11:41:44 +09:00
Leonard Hall 2ddb3f6697 Copter: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Randy Mackay 011cb89499 Copter: 3.6.5-rc2 release notes 2019-01-15 10:23:35 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 00d9cc2e09 Copter: Only use the 6 LSBs, avoids a cpp warning 2019-01-11 20:55:17 +09:00
Randy Mackay 0db8a48453 Copter: 3.6.5-rc1 release notes 2019-01-11 12:32:04 +09:00
Pierre Kancir 8c5d9d38a6 Copter: fix snprintf size warning 2019-01-10 20:00:29 +09:00
Peter Barker 48155e72eb Copter: correct use of incorrect name for type 2019-01-09 17:21:00 +11:00
Peter Barker f50418f72a Copter: Terrain uses rally singleton 2019-01-09 10:14:16 +11:00
Randy Mackay f24c7719ca Copter: remove unused error code and add comments 2019-01-08 19:42:32 +09:00
Michael du Breuil 6bb84bfcc5 Copter: Remove unneeded GCS rally override 2019-01-08 10:39:50 +11:00
Michael du Breuil fc2ea009fb Copter: Reset all storage when format version is incorrect 2019-01-08 10:35:37 +11:00
murata 36995424f3 Copter: Delete NuttX version processing 2019-01-08 10:06:20 +11:00
Peter Barker bba3546279 Copter: do not permit copying of a Mode 2019-01-03 13:35:33 +09:00
Michael du Breuil ec8a82e8a0 Copter: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Andrew Tridgell cc4db3e458 Copter: implement get_wp() for follow 
this allows the GCS to plot the position target
 2018-12-31 09:53:20 +09:00
Randy Mackay a409567b44 Copter: 3.6.4 release notes 2018-12-27 13:56:08 +09:00
murata 77389d9a91 Copter: remove dup return from arming prox check 2018-12-26 13:19:52 +09:00
Randy Mackay a8bcd50fdd Copter: minor format fix 2018-12-24 11:50:04 +09:00
Andrew Tridgell b897551e0b Copter: log PIDs at full rate during AUTOTUNE twitch 2018-12-22 15:10:23 +11:00
Andrew Tridgell 088442880e build: removed makefile build system 2018-12-22 11:06:59 +11:00
Andrew Tridgell 7783a7ea58 Copter: use AHRS_View for RATE logging 2018-12-21 22:17:52 +11:00
IamPete1 21b6a2a878 Copter: Add value to paramiter discription 2018-12-21 11:19:18 +09:00
Peter Barker 41cd906641 Copter: beep on mode change/change failure for aux switch changes 2018-12-21 09:36:28 +09:00
Randy Mackay 01d5ce33b2 Copter: 3.6.4-rc1 release notes 2018-12-20 19:58:27 +09:00
Peter Barker 8626c9573a Copter: split SIMSTATE, AHRS2 and AHRS3 onto their own ap_message ids 2018-12-19 13:19:23 +11:00
Peter Barker 56ec2691ae Copter: split DISTANCE_SENSOR onto its own ap_message id 2018-12-19 07:24:37 +11:00
Peter Barker bfc82fb1d8 Copter: try_send_message caller checks telemetry_delayed 2018-12-18 14:25:56 +11:00
Peter Barker f8a05564e8 Copter: split SYS_STATUS and POWER_STATUS onto separate ap_messages 2018-12-18 14:05:20 +11:00
Andrew Tridgell 89d54767b1 Copter: convert to use AC_AutoTune library 
this maintains existing behaviour
 2018-12-18 10:34:42 +09:00
Peter Barker 0e6efd6de0 Copter: move accept_packet to GCS_MAVLink base class 2018-12-14 12:44:31 +11:00
Peter Barker 901e428d53 Copter: DataFlash uses AP_Mission singleton 2018-12-13 14:45:30 +09:00
Peter Barker 8ac5ee02ea Copter: GCS_MAVLink now uses Mission singleton 2018-12-13 10:52:52 +09:00
Randy Mackay 7a6e212da9 Copter: follow return wp_distance and wp_bearing 2018-12-13 09:30:19 +09:00
Randy Mackay 4b6db7c0dd Copter: remove follow mode debug 2018-12-13 09:30:19 +09:00
Francisco Ferreira a2fa63bcf7 Copter: fix Cygwin build 
Static initialization doesn't have an exact order, we can't rely on it
 2018-12-13 09:28:44 +09:00
Peter Barker ca2a49c1c6 Copter: split MSG_SCALED_PRESSURE into three separate messages 2018-12-12 21:36:01 +11:00
Peter Barker 4ffd38f6bb Copter: GCS_MAVLink uses dataflash singleton 2018-12-11 08:43:47 +09:00
Peter Barker ff89000e96 Copter: split MSG_RAW_IMU1 into per-IMU ap_messages 2018-12-10 12:52:41 +09:00
Peter Barker 3d8588a636 Copter: send both SYS_STATUS or POWER_STATUS or neither 2018-12-10 12:52:41 +09:00
Peter Barker 75fb9780f7 Copter: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
Peter Barker 05f2e51b4d Copter: adjust for new update entry points into GCS 2018-12-10 12:52:41 +09:00
Peter Barker ef3654e343 Copter: update GCS at main loop rate 
Reducing message intervals doesn't work as well otherwise
 2018-12-10 12:52:41 +09:00
Peter Barker 924b278120 Copter: add parameter stream to list-of-all-streams 2018-12-10 12:52:41 +09:00
Randy Mackay 550be0bfb1 Copter: tradheli default table made static 2018-12-06 12:23:41 +09:00
Randy Mackay 00b909255c Copter: tradheli uses set_defaults_from_table 2018-12-06 12:23:41 +09:00
Randy Mackay f5208b1664 Copter: minor format fix 2018-12-05 20:12:34 +09:00
Randy Mackay 24c79acdc4 Copter: 3.6.3 release notes 2018-12-05 10:11:20 +09:00
Peter Barker 41ead10d22 Copter: rename MSG_EXTENDED_STATUS2 to MSG_MEMINFO 2018-12-04 18:01:38 +11:00
Peter Barker 7e76871b9e Copter: rename MSG_RAW_IMU2 and MSG_RAW_IMU3 to reflect what they send 2018-12-04 17:45:32 +11:00
Randy Mackay a083d98b96 Copter: 3.6.3-rc1 release notes 2018-12-01 13:59:37 +09:00
ChristopherOlson 2e98de3292 Copter:Parameters-TradHeli - set defaults for PSC and LOIT controllers 2018-11-27 08:48:41 +09:00
murata b252eae404 Copter: Flip mode is an option. 
Copter: Flip mode is an option.
 2018-11-26 09:29:47 +09:00
Randy Mackay 2c9ba1d954 Copter: 3.6.2 release notes 2018-11-24 09:04:51 +09:00
Peter Barker f9487c3d83 Copter: remove ancient, misleading Arduino comment 2018-11-23 10:56:17 +11:00
Peter Barker d49431488e Copter: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker ee5339f931 Copter: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Randy Mackay eb7b87b70d Copter: 3.6.2-rc4 release notes 2018-11-22 09:19:27 +09:00
Randy Mackay 655fe660ed Copter: remove reset of alt target in manual throttle mode 
the target was being set to zero only for logging purposes
 2018-11-21 21:41:58 +09:00
Randy Mackay 99525410ee Copter: 3.6.2-rc3 release notes 2018-11-19 13:22:46 +09:00
Randy Mackay 6cacc738b3 Copter: 3.6.2-rc2 release notes 2018-11-15 10:58:07 +09:00
Randy Mackay 6b0b3f987b Copter: 3.6.2-rc1 release notes 2018-11-15 10:58:04 +09:00
Pierre Kancir c50eed5e9a Copter: log and notify when manual land repositionning is active 2018-11-13 10:14:54 +09:00
Peter Barker 33ca577653 Copter: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker ee456e8870 Copter: do not pass ahrs to opticalflow constructor 2018-11-13 10:40:23 +11:00
Peter Barker 33d40500ac Copter: move sending of optical flow status up to base class 2018-11-13 10:40:23 +11:00
Randy Mackay f8773e0bdc Copter: enable ground effect compensation by default 2018-11-12 13:43:42 +09:00
Randy Mackay d6dca1f6a1 Copter: landing gear deployment height calc uses lidar status 2018-11-10 21:24:19 +11:00
Andrew Tridgell 2f79932611 Copter: auto-convert landing gear PWM parameters 2018-11-10 21:24:19 +11:00
Andrew Tridgell 144e1945c6 Copter: support height based landing gear 2018-11-10 21:24:19 +11:00
Peter Barker 176ee507a2 Copter: make mavlink rangefinder health bit depend just on data available 
This means the sensor is healthy even if it is out of range.

This is a partial revert of commit 724f34c7e7 (diff-577a72d2550199fabbdfd77fa5890368R408)
 2018-11-10 12:20:27 +09:00
Randy Mackay 0d4ab51f15 Copter: 3.6.1 release notes 2018-11-10 10:20:54 +09:00
Peter Barker 73940df48e Copter: move mission into mode_auto 2018-11-09 13:35:40 +09:00
Andrew Tridgell 637dc718df Copter: moved LANDING_GEAR to common RC_Channel 2018-11-09 14:35:14 +11:00
Peter Barker bf1c82ffe1 Copter: don't pass ahrs to terrain constructor 2018-11-08 20:59:45 +11:00
Peter Barker f598cff99c Copter: stop passing ahrs to Mission constructor 2018-11-08 10:01:16 +09:00
Peter Barker b0494c1491 Copter: add override keyword where required 2018-11-08 11:30:12 +11:00
murata 0dacfc0d9c Copter: Add patch number to VERSION notation 2018-11-08 09:11:07 +09:00
murata 7a3f84566a Copter: Delete the last newline of the message. 2018-11-07 11:59:58 +09:00
Randy Mackay e0d94ceaf2 Copter: 3.6.1-rc1 release notes 2018-11-06 13:53:40 +09:00
Peter Barker 72440e2af3 Copter: allow VFR_HUD.alt to be relative-alt if DEV_OPTIONS has bit 2 set 2018-11-06 11:26:38 +09:00
Michael du Breuil f7245e7797 Copter: Remove old parameter conversion that conflicts with newer code 2018-11-06 10:18:39 +09:00
Michael du Breuil 5740ea55e8 Copter: Fix battery failsafe param conversion 2018-11-06 10:18:39 +09:00
Peter Barker 1d322046b0 Copter: tidy up send_pid_tuning 2018-11-06 08:19:15 +09:00
Peter Barker 7c86ce4d81 Copter: change default streamrate for ADSB from 5 to 0 
No other stream has a default streamrate in Copter.

This causes us small amounts of overhead as it marks all channels as
streaming.
 2018-11-05 14:57:55 +09:00
Michael du Breuil 0f636db159 Copter: Make capability init consistent 2018-11-05 14:04:36 +11:00
Peter Barker 7e581da1cf Copter: implement misson LOITER_TO_ALT 2018-10-30 17:50:46 +09:00
Peter Barker 859f4828a1 Copter: move handling of gimbal messages up 
Copter: move handling of mav_cmd_do_mount_control up

Copter: move handling of deprecated mount messages up

Copter: move handling of command_do_set_roi up

Copter: move handling of command_do_set_roi up

Copter: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Peter Barker a339d77f08 Copter: let AP_Mission handle common camera commands 2018-10-30 15:37:18 +11:00
Peter Barker f97281eb48 Copter: move servorelayevents mission handling into AP_Mission 2018-10-30 15:37:18 +11:00
Peter Barker 1eec264d6c Copter: mission library handles gripper 2018-10-30 15:37:18 +11:00
Randy Mackay e1ded6e0dc Copter: winch disabled by default 2018-10-30 13:25:22 +09:00
Randy Mackay e51d842ca5 Copter: fix flowhold param description 2018-10-30 11:05:47 +09:00
Peter Barker 7cfc020c3c Copter: AC_Avoid is built on all vehicles 2018-10-30 12:10:42 +11:00
Peter Barker 7017345fc9 Copter: let RC_Channel parent library do AC_Avoid stuff 2018-10-30 12:10:42 +11:00
Randy Mackay 9aa0e3b0ad Copter: 3.6.0 release notes 2018-10-27 11:43:10 +09:00
Randy Mackay ccee1e6e2e Copter: flowhold descending bug fix 2018-10-27 10:44:19 +09:00
Randy Mackay 69c00285bd Copter: fix flowhold logging format 2018-10-27 10:44:19 +09:00
Randy Mackay d7aa7fb63b Copter: flowhold formatting fixes 2018-10-27 10:44:19 +09:00
Randy Mackay 8fdd439827 Copter: land mode minor format fixes 2018-10-27 10:44:19 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas b74ae2d912 Copter: Obey and preserve DO_SET_ROI commands when executing LOITER_TURNS mission commands 2018-10-23 10:19:05 +09:00
Andrew Tridgell 1978a0cb94 ArduCopter: fixed build warnings 2018-10-17 12:54:22 +11:00
Peter Barker 332340135f Copter: leave AHRS to log and notify home changes 2018-10-16 10:55:13 +11:00
Peter Barker a90cfc7db7 Copter: clarify prearm failure messages 2018-10-16 10:31:10 +11:00
Peter Barker 7af119b497 Copter: factor out loc_from_cmd from three functions 2018-10-16 10:17:12 +11:00
Peter Barker 5f552a6ce3 Copter: stop shadowing members of Copter 
These references were taken to make the breaking out of Modes in Copter.

A lot of other code has already caused these sorts of things to go away,
but these particular ones seem reasonable to fix by pointing the users
at the copter object directly.
 2018-10-16 10:17:12 +11:00
Peter Barker 1a660cefae Copter: remove unused STREAM_RAW_CONTROLLER_msgs variable 2018-10-16 10:17:12 +11:00
Peter Barker e02a645354 Copter: use fabsf() instead of labs() 
wrap_180_cd returns a float

substracting a float from an int32 returns a float
 2018-10-16 10:17:12 +11:00
Leonard Hall d29a47d605 Copter: Add thrust check, counter reset and comments 2018-10-16 00:44:50 +09:00
Leonard Hall 1a3d181756 Copter: Fix feedback in crash check 2018-10-16 00:44:50 +09:00
Randy Mackay 0cf2850593 Copter: fix thrust_loss check angle check 
angle deviation corrected to 15deg and based on total lean angle instead of roll and pitch separately
fixed compile error on send_text
 2018-10-16 00:44:50 +09:00
Randy Mackay 7a43a21784 Copter: formatting fixes to thrust loss check 2018-10-16 00:44:50 +09:00
Leonard Hall 54a59f581f Copter: add motor thrust lost check 2018-10-16 00:44:50 +09:00
Sam Bristow 823d09b212 Copter: Fix confusing indentation 
Commit d94663d5 introducted a minor whitespace issue which made the
indentation of the nested if statements slightly confusing. We may as
well clean it up sooner rather than later :-)
 2018-10-15 16:32:15 +11:00
chobitsfan d94663d5af Copter: support changing vertical speed in DO_CHANGE_SPEED 2018-10-13 13:16:26 +09:00
Peter Barker c70c946651 Copter: correct mode_zigzag compilation for ekf scalar change 2018-10-08 19:23:57 -07:00
Peter Barker 26ca75efae Copter: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
Randy Mackay 9cd62e81b3 Copter: 3.6.0-rc12 release notes 2018-10-05 14:19:31 +09:00
Randy Mackay 042e7b473b Copter: minor comment fix to throw 2018-10-05 10:05:45 +09:00
Randy Mackay d3f7214bcf Copter: revamp zigzag mode 
more accurately stops on target
uses current z target when moving to edge
loses unnecessary auto_yaw.set_mode
ensure A and B are different
 2018-10-05 10:05:45 +09:00
CAO MUQING 71beab7502 Copter: create and update Zigzag flight mode 2018-10-05 10:05:45 +09:00
Raouf 46b669a056 Copter: send obstacle_distance messages to proximity lib 2018-10-02 10:37:13 +09:00
Randy Mackay 19e0fa5214 Copter: 3.6.0-rc11 release notes 2018-10-01 14:51:56 +09:00
Peter Barker ac0e126099 Copter: correct AFS terminate-via-land for Copter 
In the case we're terminating via land it's a good idea to continue to
constantly adjust our motor outputs for stabilization and the like....
 2018-10-01 11:23:46 +09:00
Randy Mackay 4fa0cc4bd3 Copter: pass update rate to precland init 2018-09-21 16:38:35 +09:00
Randy Mackay eef839703f Copter: remove unnecessary copter prefix from precland update 2018-09-21 16:38:35 +09:00
Michael du Breuil 7e1ed948f5 Copter: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Leonard Hall 1b5b46dab5 Copter: Missing Loiter Init on accel 2018-09-19 17:29:55 +09:00
Leonard Hall 17b61f72a3 Copter: Initialise desired acceleration before loiter init 2018-09-19 08:34:08 +09:00
Randy Mackay e78dab1d10 Copter: remove OSD comments 2018-09-15 14:34:20 +09:00
yaapu 5e46b97894 Copter: fix OSD wp_distance and wp_xtrack_error 
need conversion from centimeters to meters as expected by OSD code
 2018-09-15 14:11:57 +10:00