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229 Commits

Author SHA1 Message Date
Iampete1 ad1bf0b59e Copter: `ModeAuto::do_guided` use `in_guided_mode` method 2024-11-26 08:44:31 +09:00
Tatsuya Yamaguchi 63663303de Copter: Keep FIXED mode when WP_YAW_BEHAVIOR is NONE 2024-10-08 08:16:25 +09:00
Nick Exton 03db86427a Copter: Handle DO_MOUNT_CONTROL yaw angle as body frame 
And only accept if the mode is MAV_MOUNT_MODE_MAVLINK_TARGETING. This matches the handlers in AP_Mount.
 2024-10-08 08:05:27 +09:00
Randy Mackay 14447c6e2d Copter: add comment to loc_from_cmd 2024-10-06 13:56:08 +11:00
Randy Mackay 5ca7daf915 Copter: payload place uses desired alt instead of actual 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Randy Mackay 0bcff6cec0 Copter: support set_posvelaccel_offset in auto 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2024-10-04 09:25:56 +09:00
Randy Mackay df2ae532c2 Copter: auto integrates get-closest-point-on-edge dist 2024-10-04 09:25:56 +09:00
Randy Mackay 91926674e9 Copter: minor comment fix to auto mode 2024-10-04 09:25:56 +09:00
Peter Barker 9f1690ac20 ArduCopter: adjust for AP_Mission logging mission-item-starts 2024-10-01 10:19:29 +10:00
Peter Barker 6e760a2b94 Copter: mode_auto: remove more code based on defines 
Co-authored-by: murata <ma2maru@gmail.com>
 2024-09-24 09:26:31 +10:00
Randy Mackay a2845e4222 Copter: auto mode takeoff complete pos fix 2024-09-11 08:44:45 +09:00
Peter Barker 784760342d Copter: remove ENABLE/ENABLED/DISABLE/DISABLED defines 2024-09-06 11:53:09 +10:00
Peter Barker 46d37abcf7 Copter: avoid nullptr deref in config_error_loop 
we may enter the config_error_loop before we call Copter's methods which allocate the wpnav object.

We send mavlink messages in the config error loop, one of which calls this method - so we end up with a nullptr dereference.

We might be able to find a way to stop sending this message in the config error loop, but that's likely to take some time to do....
 2024-08-27 11:04:02 +10:00
Leonard Hall 16aa2ed4f8 Copter: Fix payload place bug 2024-08-08 18:16:12 +10:00
Peter Barker cbbb6881e2 Copter: use mavlink enumeration to clarify do_change_speed implementation 2024-08-07 17:50:03 +10:00
Andy Piper 823ffb6c9e Copter: use generic fence handling in missions 2024-07-24 08:24:06 +10:00
Andy Piper eaf001c52f Copter: disable fences for landing by suppressing in the fence check rather than using a state machine 2024-07-24 08:24:06 +10:00
Andy Piper 738586342c Copter: notify when fence breach has cleared 
output fence breach type
when switching mode without a fence action do not go into manual recovery
only recover if there is a fence action
implement auto-takeoff fence options
output user-friendly fence names
auto-enable fences on auto-takeoff
use fence enable_configured()
simplify message printing
 2024-07-24 08:24:06 +10:00
Peter Barker 5f9abc0406 Copter: add and use private ModeAuto::option_is_enabled method 2024-07-17 17:55:42 +10:00
Leonard Hall 8260648a66 Copter: Payload Place: Fix first run abort 2024-07-16 10:47:58 +10:00
Peter Barker f64fcb78d3 ArduCopter: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Iampete1 5b9848c5e1 Copter: support `DO_RETURN_PATH_START` 2024-04-30 08:03:39 +09:00
Iampete1 eadcf9b09e Copter: add `get_stopping_point` helper and pass stopping point to `jump_to_landing_sequence` 2024-04-02 11:11:59 +11:00
Leonard Hall bc6d965bbc Copter: Payload Place: Change PLDP_RNG_MIN to PLDP_RNG_MAX 2024-03-06 15:16:16 +11:00
Peter Barker f2a9f1516b ArduCopter: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
J.R. Bronkar c28c50babe ArduCopter: fractional Loiter Turn Support 
Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
 2024-01-22 20:27:20 -08:00
Peter Barker 7377b3f8f2 ArduCopter: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Randy Mackay 97ab37875e Copter: fix do-change-speed received during takeoff 2023-12-06 08:44:52 +09:00
Leonard Hall 60ceaec901 Copter: Fix AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED 2023-12-04 09:06:10 +09:00
Randy Mackay 48825c9cc6 Copter: minor format fixes 2023-11-28 07:46:33 +09:00
Peter Barker 2be4c0e3f5 Copter: correct defines around using payload place functionality 
we need support for the actual payload place flight behaviour as well as the navigation item support
 2023-10-31 11:34:03 +11:00
Peter Barker 6b439bb2f3 ArduCopter: allow payload place to be compiled out of code 2023-10-27 14:15:53 +11:00
Peter Barker bf59fbc6d9 Copter: payloadplace: avoid using auto_takeoff functionality 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>

the methods being called to a lot more than we need or want them to.

In particular, they mix both horizontal and vertical control, but also may or may not run based on various aircraft conditions.

Simplify by simply calling position controller.
 2023-10-27 14:15:53 +11:00
Peter Barker a820612fc9 Copter: payloadplace: fold methods back into caller 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>

these methods don't really add much, and prohibit future refactoring
 2023-10-27 14:15:53 +11:00
Peter Barker e2157d8b9f Copter: remove un-needed PayloadPlace::run_should_run 
make this look like the other handling, especially in terms of what we do if we shouldn't be running
 2023-10-27 14:15:53 +11:00
Peter Barker 5820a9bc2f Copter: encapsulate PayLoadPlace state and methods into existing struct 
... and make it a class
 2023-10-27 14:15:53 +11:00
Peter Barker cc799d3d7e Copter: encapsulate auto takeoff into an ojbect 
similar to the encapsulation of "user takeoff" into an object
 2023-10-18 13:47:11 +11:00
Peter Barker 521d21765e ArduCopter: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 201e276f00 ArduCopter: avoid use of MINIMIZE_FEATURES define in Copter directory 2023-08-08 10:35:19 +10:00
Peter Barker 078debb893 ArduCopter: use enum class for mount type 2023-05-25 09:54:43 +10:00
Peter Barker f33e5e7847 ArduCopter: allow Copter to emit MISSION_STATE_PAUSED when paused in auto 2023-04-21 09:49:55 +10:00
tzarjakob 97b7e8d1d0 ArduCopter: configuration of Precision Landing for custom build server 2023-03-27 09:04:07 +11:00
CharlieBurge 62119d5bbe Copter: remove check on pause state 2023-03-09 18:13:38 +00:00
CharlieBurge 659ba8324b Copter: report success if already paused or resumed 2023-03-09 18:13:38 +00:00
Peter Barker ade654b251 Copter: use AP_WINCH_ENABLED in place of WINCH_ENABLED 2023-03-03 20:59:06 +11:00
rishabsingh3003 7a8f8f7907 Copter: Obey loiter_ccw flag for loiter turns 2023-02-15 19:14:43 +11:00
Leonard Hall dbe6a1e319 Copter: Payload Place enhancements 2022-12-31 12:29:31 +09:00
Leonard Hall d8f95208ad Copter: Auto: return bool in wp_start 2022-12-24 16:03:39 +09:00
Leonard Hall 13df33b87c Copter: Use wp_start() in do_nav_wp() 2022-12-24 16:03:39 +09:00
Gone4Dirt 66a4ba6256 Copter: add yaw weathevaneing mode 2022-12-14 16:08:20 -05:00