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456 Commits

Author SHA1 Message Date
Andrew Tridgell 0f6d0c5ba9 Copter: combined tri, single, coax and multicopter into a single build 
this allows copter to be just 2 builds, one for heli, and one for
everything else
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 5a87ae3f01 Copter: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Francisco Ferreira 11b635df12
Copter: correct limit status to fence status 2017-01-12 02:00:51 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 712fbfe84b Copter: Update descriptions of stream rate parameters 2017-01-12 01:47:12 +00:00
Randy Mackay 20ca021cab Copter: pass distance-sensor messages to AP_Proximity 2017-01-11 21:48:23 +09:00
Randy Mackay 0ac00dbfd6 Copter: add FRAME_CLASS parameter 2016-12-31 10:55:23 +09:00
Randy Mackay c1d1ac5c6f Copter: pass HIL_GPS to gps driver 2016-12-08 15:52:26 +09:00
Randy Mackay 7485de3498 Copter: add send_proximity to send distances to GCS 2016-11-27 15:05:46 +09:00
Peter Barker 469f0f0bf0 Copter: remove incorrect comment from PRECISION_LANDING block 2016-11-18 09:41:56 +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
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
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
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
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 0aab175051 Copter: move proximity to g2 2016-10-14 14:02:29 +09:00
Andrew Tridgell ebbcabcb5f Copter: fixed comment 2016-10-14 11:40:09 +11:00
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
Andrew Tridgell 652b6b7564 Copter: deprecate RC_CHANNELS_RAW 2016-10-13 21:24:02 +11:00
Michael du Breuil ea45e5e6f1 Copter: Support GPS_RTCM_DATA 2016-10-11 11:00:36 +11:00
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
Tom Pittenger 748beb094d Copter: log to dataflash statustext messages from my_gcs 2016-09-26 00:13:30 -07:00
floaledm 5910c94b65 Copter: change sensor health check to prevent false positive 2016-09-22 13:56:49 -05:00
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
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 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
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
floaledm 157db51b9d Copter: make control_sensor vars available outside of send_extended_status1 2016-08-25 10:16:18 +10:00
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
Tom Pittenger dbdd86ad46 Copter: set SYS_STATUS and HB_Flag Guided bits when in AVOID_ADSB 2016-08-12 14:46:44 -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
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 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
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
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
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 e943a48eba Copter: added PLAY_TUNE message 2016-07-22 15:00:17 +10:00
Allan Matthew 860773260f Copter: support GPS_INPUT mavlink message 2016-07-12 15:34:51 +09:00
Randy Mackay 52d81f630f Copter: pass polygon fence mavlink messages to fence 2016-06-25 15:55:55 +09:00
Tom Pittenger 66d4caeeb0 Copter: add ADSB_streamrate 2016-06-19 11:24:33 -07:00
Tom Pittenger b433250da5 Copter: sanity check gps latlng 2016-06-01 17:38:50 -07:00
Peter Barker e977d85e0c Copter: move telemetry_delayed up into base class 2016-05-31 08:46:09 +10:00
Peter Barker 3cf174c343 Copter: move adjust_rate_for_stream up 2016-05-29 19:38:49 +10:00
Peter Barker bb19c57615 Copter: subclass GCS_MAVLink in place of defining its functions for it 2016-05-29 16:21:21 +10:00
Andrew Tridgell a922b98ac0 Copter: use send_heartbeat wrapper 2016-05-21 15:25:18 +10:00
Andrew Tridgell 31866c66d8 Copter: always build with MAVLink2 headers 2016-05-21 15:25:15 +10:00
Andrew Tridgell b85f129cc5 ArduCopter: handle SETUP_SIGNING message 2016-05-21 15:25:12 +10:00
Randy Mackay 7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay 028946ae9e Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE 2016-05-21 10:36:53 +09:00
Saloni Jain bc22419286 Copter : Modified set_guided_destination() to reject requests for guided waypoints outside the fence. 2016-05-21 09:56:12 +09:00
Don Gagne 97d361333d ArduCopter: SET_SENSORS_OFFSETS support for third compass 2016-05-19 18:51:17 -03:00
Andrew Tridgell e4948544e7 Copter: cleanup unnecessarily complex gcs[] usage 2016-05-17 08:27:35 +10:00
Randy Mackay 0a2336a5a8 Copter: update solo-buttons to work with master 
Change was due to addition of reason codes since PR was first submitted
 2016-05-13 11:42:25 +09:00
Jonathan Challinger 67cd2bae08 Copter: implement SOLO_BTN commands 2016-05-13 11:42:25 +09:00
skyscraper 4980c8bc94 ArduCopter: RC_Channel refactor 
More fixing up of RC_Channel change direct access to data members
to access via member functions.
 2016-05-10 16:21:16 +10:00
Leandro Pereira f23bd7e09d GCS_MAVLink: Use a single stream_trigger() implementation 
This has no side effects, but since all implementations were basically
the same, move the implementation to GCS_Common and the only part that
adjusts the rate based on which which stream to each individual
GCS_MAVLINK implementation.
 2016-05-07 23:49:35 -03:00
Andrew Tridgell 874fae931f Copter: fix for changed API 2016-05-07 18:27:22 +10:00
Lucas De Marchi 352e103f1a ArduCopter: use separate header for version macro 
Having the version macro in the config.h and consequently in the main
vehicle header means that whenever the version changes we need to
compiler the whole vehicle again. This would not be so bad if we weren't
also appending the git hash in the version. In this case, whenever we
commit to the repository we would need to recompile everything.

Move to a separate header that is include only by its users. Then
instead of compiling everything we will compile just a few files.
 2016-05-06 13:11:28 -03:00
Allan Matthew 7960e3bb8f Copter: pass DISTANCE_SENSOR messages to rangefinders 
This allows the MAVLink range finder driver to intercept distance measurements
 2016-05-04 12:10:58 +09:00
Michael du Breuil e7974702d4 Copter: Ignore POSITION_TARGET_GLOBAL_INT 2016-05-01 07:38:24 +10:00
Michael Oborne 5848d8a5e6 ArduCopter: support MAVLINK_MSG_ID_MISSION_ITEM_INT 2016-05-01 07:13:46 +10:00
Randy Mackay 47658fe964 Copter: add terrain failsafe 2016-04-30 10:33:01 +09:00
Niti Rohilla 867360c350 ArduCopter : Updated handle_guided_request() to report error. 2016-04-29 12:39:28 -03:00
Randy Mackay 699816400e Copter: ack DO_MOUNT_CONTROL messages 2016-04-22 21:30:49 +09:00
Lucas De Marchi a310d3735e ArduCopter: fix handling of SET_HOME_POSITION 
Location.altitude is stored in cm.
 2016-04-18 13:07:45 +10:00
Jonathan Challinger 1356deab8b Copter: add control_mode_reason 2016-04-14 12:24:04 +09:00
Jonathan Challinger a0ce8af633 Copter: use enum type for control_mode 2016-04-14 12:24:04 +09:00
Randy Mackay 1f20a5ef69 Copter: access angle and rate PIDs through attitude controller 2016-04-01 11:59:30 +09:00
Leonard Hall a44f7f650b Copter: throttle sent to GCS uses 0 to 1 range 
This is probably not correct because we should be sending the throttle as a 0 to 1 number using the full possible output range.  This uses the reduced range passed in when the copter is being stabilized (i.e. between throttle-min and throttle-max)
 2016-04-01 11:59:30 +09:00
Nitay Megides f77eed8f95 Copter: add break after prec landing case clause 
(And fixed indentation)
 2016-03-21 09:34:55 +09:00
Tom Pittenger 6568402b28 Copter: convert to using static send_statustext 
- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
 2016-02-24 09:18:06 +11:00
Jonathan Challinger e09e9a313e Copter: interpret MAV_FRAME_GLOBAL_RELATIVE_ALT as MAV_FRAME_GLOBAL_RELATIVE_ALT_INT 2016-02-06 09:36:51 +09:00
Jonathan Challinger 0b8162aa0d Copter: add support for COMMAND_INT DO_SET_ROI 2016-02-06 09:36:41 +09:00
Randy Mackay a77dd59dc6 Copter: single and coax copters become mav_type quadrotor 2016-01-30 17:15:28 +09:00
Andrew Tridgell 5be21cc178 ArduCopter: log a picture if AP_Camera::control() returns true 2016-01-29 10:01:51 +11:00
Randy Mackay 27ed9e1561 Copter: allow mount to be disabled 2016-01-23 10:35:48 +09:00
Jonathan Challinger 22c3397657 Copter: make AP_Mount calls required by AP_Mount_SoloGimbal 2016-01-23 10:35:42 +09:00
Jonathan Challinger 5f610fdcba Copter: support SET_POSITION_TARGET with WGS84 altitudes 2016-01-23 10:29:04 +09:00
Derek Ma 3751dbef91 ArduCopter: include precision landing sensor in mavlink system status 
Set MAV_SYS_STATUS_SENSOR_VISION_POSITION bit in onboard_control_sensors_present, onboard_control_sensors_enabled and onboard_control_sensors_health based on the status of precision landing sensor.
 2016-01-14 09:36:24 +09:00
Jonathan Challinger cc1f27ad95 Copter: add DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE option 2016-01-12 19:49:17 +09:00
Jonathan Challinger 0e85f55cfc Copter: remove OF_LOITER entirely 2015-12-31 14:27:22 +09:00
bugobliterator 9a976963aa Copter: support AP_AccelCal 2015-12-29 10:46:34 -08:00
Jonathan Challinger 709fcf37cc Copter: call renamed functions in AC_AttitudeControl 2015-12-09 19:58:49 +09:00
Robert Lefebvre 9848d05a9d Copter: Always send RPM data when sensor is enabled 2015-12-08 08:25:18 +11:00
DonLakeFlyer c8cc83505b Copter: return success or failure of get home position 2015-12-07 12:33:15 +09:00
Peter Barker 826912c3e4 Copter: DataFlash-over-MAVLink support 2015-12-03 13:21:51 +11:00
Randy Mackay 19f5c8f209 Copter: remove debug comments 2015-11-27 16:17:00 +09:00
Luis Vale Gonçalves 3199829d45 Copter: revisions to text strings sent to GCS 2015-11-27 16:16:58 +09:00
Randy Mackay 4ef53427f2 Copter: allow ADSB to be disabled 2015-11-27 15:02:17 +09:00
Tom Pittenger 34d6d985e9 Copter: Add support for ADS-B 2015-11-27 15:02:15 +09:00
Caio Marcelo de Oliveira Filho c7acc46d09 Copter: use millis/micros/panic functions 2015-11-20 12:26:31 +09:00
Randy Mackay 731c44d053 Copter: allow terrain to be excluded from build 2015-11-14 12:38:47 +09:00
Jonathan Challinger 05e533e6fc Copter: don't accept disarm commands in stabilize and acro unless also landed 2015-11-07 11:07:14 +09:00
lvale 549695181c Copter: revised and uniformization of severity messages 2015-11-05 12:20:49 +09:00
Lucas De Marchi e0639ac029 ArduCopter: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:15 +11:00
Lucas De Marchi 3e889b005f ArduCopter: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char 
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
 2015-10-30 14:35:30 +09:00
Lucas De Marchi 89fc4f4b62 Replace use of send_text_P() with send_text() 2015-10-30 14:35:17 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi 84da1f5039 Rename gcs_send_text_P to gcs_send_text 2015-10-30 14:35:07 +09:00
Lucas De Marchi 84d5fb006f Remove use of Util::{v,}snprintf_P() 
These are now the same function as Util::snprintf().
 2015-10-30 14:35:05 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

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

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Jonathan Challinger da3961e4a6 Copter: support MAV_CMD_DO_SEND_BANNER 2015-10-26 16:28:57 +09:00
vooon f3cbbef418 Copter: fix guided attitude type_mask check 2015-10-10 22:04:51 +09:00
Randy Mackay e20038a453 Copter: support SET_ATTITUDE_TARGET in guided mode 2015-10-09 12:15:38 +09:00
Randy Mackay 1dcf58bc20 Copter: support set-home-position message 2015-10-03 12:51:32 +09:00
Randy Mackay 330961b524 Copter: send home position when home is set or get-home msg received 2015-10-03 12:50:45 +09:00
Andrew Tridgell 38bae40ca0 Copter: use ahrs.send_ekf_status_report() 2015-09-29 10:59:24 +10:00
Randy Mackay f3d4b20a80 Copter: calibrate gyros during accel calibration 2015-09-21 17:06:37 +09:00
Randy Mackay 01c0b20930 Copter: calibrate gyros depending on INS GYR_CAL parameter 2015-09-21 17:06:34 +09:00
KiwiHC16 004c5b8416 Copter: mission_start always restarts mission 2015-09-16 17:17:20 +09:00
squilter 30ed2508d6 Copter: Support do_digicam_x via command_long 2015-09-16 13:06:49 +09:00
Daniel Nugent 3a7036fd67 Copter: pass LANDING_TARGET message to precland lib 2015-09-11 20:56:10 +09:00
Randy Mackay 8efc02fe0c Copter: delay for 200ms instead of 50ms before reboot 2015-09-09 10:39:56 +09:00
Jonathan Challinger 1fbdf11eca Copter: set firmware_update flag instead of event 2015-09-09 10:39:55 +09:00
Randy Mackay dc4923a88d Copter: suppressing comment for switch case fall through 2015-09-06 16:01:33 +09:00
Randy Mackay 5e38adfae3 Copter: remove support for configure as command long 
Also protect mount calls with MOUNT definition
 2015-09-06 16:01:21 +09:00
squilter 8320c06700 Copter: Support do-mount-control via command-long 2015-09-06 16:01:16 +09:00
Andrew Tridgell fdb1cc38b0 Copter: removed redundent copter dereference 2015-09-03 16:59:24 +10:00
Siddharth Bharat Purohit 347d1f0a25 Copter: use handle message function for compass cal from compass library 2015-09-03 16:59:14 +10:00
Jonathan Challinger 1dc373fa20 Copter: correct compile errors after compass cal merge 2015-09-03 16:59:13 +10:00
Jonathan Challinger eec5c2a5eb Copter: send NACK if compass.start_calibration_all fails 2015-09-03 16:59:12 +10:00
Jonathan Challinger 2864d58474 Copter: refuse to start mag cal if armed 2015-09-03 16:59:12 +10:00
Jonathan Challinger 3739318d2f Copter: Hook up compass calibrator 2015-09-03 16:59:11 +10:00
Randy Mackay 4cdb5bf2bd Copter: sanity check do-set-home and do-set-ROI location 2015-08-27 15:16:04 +09:00
squilter 767b4da5b6 Copter: update send text severities 2015-08-25 14:05:25 +09:00
squilter a11227af84 Copter: define and send FIRMWARE_VERSION 2015-08-21 22:40:52 +09:00
Tom Pittenger 87d0b12c7c Copter: implement try send mission_item_reached 
clean up unreachable code
 2015-08-19 15:42:07 +10:00
squilter a42674b0b0 Copter: implement do_flighttermination 2015-08-12 14:17:44 -07:00
Andrew Tridgell 1fdf7ec83f Copter: added RPM sensor support 
send result via MAVLink
 2015-08-12 15:03:50 +10:00
Randy Mackay 7199b57fde Copter: check frame for SET_POSITION_TARGET_GLOBAL_INT in guided 2015-08-11 16:41:17 -07:00
Randy Mackay 580c0ad9de Copter: guided SET_POSITION_TARGET accepts frame 2015-08-11 16:41:11 -07:00
Randy Mackay 6765aedb5b Copter: init vehicle capabilities 2015-07-31 14:50:29 +09:00
squilter edf5ff1bbe Copter: add capability bitmask 2015-07-31 14:50:15 +09:00
Randy Mackay 7935bf70f1 Copter: rc_override active only on non-zero overrides 
Bug found by Kevin Hester
 2015-07-22 17:32:30 +09:00
Randy Mackay c62da52259 Copter: add gcs_send_mission_item_reached 2015-07-19 12:14:12 +09:00
Randy Mackay af8b9e703c Copter: fix compiler warning from pid_tuning_send call 2015-07-02 14:22:53 +09:00
Peter Barker 12bce49cd1 Copter: use common mission logging code 2015-06-30 16:23:35 +10:00
Andrew Tridgell 58b1702552 Copter: fixed pde paths 2015-06-16 09:59:39 +10:00
Randy Mackay 40ed2f7f53 Copter: send vibration in STREAM_EXTRA3 2015-06-12 21:36:45 +09:00
Eugene Shamaev a3ddc49a70 Copter: added DSM bind support 2015-06-10 17:19:10 +10:00
Randy Mackay ce1031a5bd Copter: remove AP_AHRS_NAVEKF_AVAILABLE checks 
Copter requires an EKF
 2015-06-10 12:18:38 +09:00
Randy Mackay 7613964ecb Copter: fix bug in which do-parachute command could start motor test 
bug found by Coverity
 2015-06-08 14:46:19 +09:00
Andrew Tridgell 278883c521 Copter: finished conversion to .cpp files 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-05-30 15:21:19 +09:00
Andrew Tridgell 356ece3402 Copter: rename .pde files to .cpp files 2015-05-30 15:21:15 +09:00