c2cdb00f85
Copter: constrain throttle before setting deadband
2021-03-17 09:10:08 +09:00
ad82e01270
ArduCopter: Add missing const in member functions
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
42b4fd6e0a
Copter: change heli integrator management and add hover coll learning
2020-12-21 23:33:48 -05:00
afa153fb6f
Copter: remove wrapper for get_avoidance_adjusted_climbrate
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Only the modes are interested in this - there's no point having it on
the Copter object.
2020-08-22 08:31:25 +09:00
d87986ecdd
Copter: move set_throttle_takeoff implementation into Mode
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No callers except the mode objects, so move it.
2020-08-05 08:23:03 +09:00
1a4e96b4ba
Copter: Fix Rate expo calculation
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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
4c1816a983
Copter: port betaflight in-flight fft analysis to arducopter and expose as a log message
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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
d41e7dcbee
Copter: move surface tracking implementation to surface_tracking.cpp
2019-09-28 11:13:14 +09:00
328fff8585
Copter: fixed RC failsafe handling for no RC receiver
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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
0031deb175
Copter: correct abs vs fabsf usage in Attitude
2019-09-18 12:57:02 +10:00
b4537bebd8
Copter: move control_mode_t into being Mode::Number enum class
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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
c0e8d319c6
Copter: make surface tracking adjust_climb_rate take a float
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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
b0428f0fe8
Copter: make surface_tracking a class, various functions methods
2019-08-06 14:09:09 +09:00
01909cf4c8
Copter: zigzag mode gets terrain following support
2019-04-19 07:45:52 +09:00
89eb876faf
Copter: move surface tracking variables into structure
2019-04-19 07:45:52 +09:00
33a57361bd
Copter: reduce args passed to get_surface_tracking_climb_rate
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The same arguments are always passed in
2019-04-19 07:45:52 +09:00
a732dfed6d
Copter: minor format fixes to get_pilot_desired_cilmb_rate
2019-04-19 07:45:52 +09:00
8441542a52
Copter: remove climb_rate cache of inertial_nav.get_velocity_z
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There were only two users of it and dozens of places using
get_velocity_z
2019-03-28 12:10:31 +11:00
c1c71fec23
Copter: move Mode functions into mode.cpp from Attitude.cpp (NFC)
2019-03-27 14:02:31 +11:00
34d9ce27af
Copter: make get_pilot_desired_throttle a method on Mode
2019-03-26 20:57:15 +11:00
7e1ed948f5
Copter: Cope with AC_PosControl renaming
2018-09-20 15:15:45 -07:00
b5d722245a
Copter: minor comment fix
2018-09-10 13:50:31 +09:00
4e3bbe9311
Copter: move sanity check for rangefinder alt to within protected func
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get_surface_tracking_climb_rate can do an additional check....
2018-06-06 08:33:56 +09:00
ab68e4fe8b
Copter: log quiet-nan for rangefinder-desired-alt when not using it
2018-06-06 08:33:56 +09:00
8648db06b4
Copter: create autoyaw.cpp from all the bits of Copter::Mode::AutoYaw
2018-04-18 13:27:43 +09:00
948b90ed97
Copter: rename roi_WP to just roi
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A Vector3f is not a waypoint.
This should really be "Point Of Interest" rather than "Region Of
Interest"
2018-04-18 13:27:43 +09:00
ba8b3e2415
Copter: create an AutoYaw helper object to hold auto-yaw state
2018-04-18 13:27:43 +09:00
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
2018-03-16 13:50:57 +09:00
20995b909f
Copter: Moved get_pilot_desired_lean_angles to mode.cpp
2018-03-14 09:33:39 +09:00
af4f0c29ba
Copter: enable TMODE (ToyMode) support
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this is for the skyviper button based transmitter control
2018-02-08 17:36:33 +11:00
8d6f8e4d9c
Copter: move pos-control pids to pos-control library
2018-01-23 12:00:43 +09:00
e85b1ac740
Copter: pass dt to avoidance calls
2018-01-16 12:13:48 +09:00
7b637334f4
Copter: eliminate mode_has_manual_throttle
2017-12-06 10:09:58 +09:00
bd027e4fcb
Copter: Move some common functions to AP_Math (NFC)
2017-12-05 08:54:49 +09:00
caaeae3d0a
Copter: Separate max ascent and descent speeds
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Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN
New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN
Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).
Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF
Update a section in GUIDED mode but I don't think it is ever used but update just in case.
It will use the PILOT_SPEED_UP for ascending max velocity. For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
2017-11-09 09:03:54 +09:00
1d70a337dd
Copter: remove unused desired_climb_rate variable
2017-03-09 19:52:58 +11:00
cb1f7ba4bb
Copter: remove setting position control's altitude max
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AC_Avoid now takes responsibility for enforcing the alt limit and accesses inertial nav's limit directly
2017-01-18 09:35:47 +09:00
b15d341850
Copter: add avoidance adjusted climb rate
2017-01-18 09:35:47 +09:00
0f6d0c5ba9
Copter: combined tri, single, coax and multicopter into a single build
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this allows copter to be just 2 builds, one for heli, and one for
everything else
2017-01-12 17:39:37 +11:00
bcea3ac8d4
Copter: handle rangefinder glitches in alt tracking
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this handles glitches from the rangefinder when tracking the
ground. It requires 3 readings in a row to settle on a new target
altitude
thanks to discussions with Leonard and Randy
2016-11-28 17:36:01 +11:00
0a6714f4ae
Copter: rename variable ROLL_PITCH_YAW_INPUT_MAX
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No functional change
2016-10-26 20:59:43 +09:00
2698f14d39
Copter: apply yaw expo to all modes
2016-10-26 20:59:33 +09:00
152edf7189
Global: remove mode line from headers
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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
fec24437f2
Copter: load accel throttle I term from attitude controller input
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Previously we loaded up the I term from the pilot's input but a more reliable method is to get what was passed into the attitude controller. In particular the addition of the acro-thr-mid parameter means the pilot's input must be interpreted differently for different flight modes.
2016-10-15 11:27:53 +09:00
5c47f3f9e5
Copter: add acro throttle and yaw expo and smoother manual pilot throttle
2016-10-15 11:27:53 +09:00
35864c6226
Copter: move check_ekf_reset to ekf_check.cpp
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No functional change
2016-10-10 16:40:08 +09:00
f4fee69f29
Copter: add div-by-zero check to get_pilot_desired_throttle
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This divide by zero is only possible if there was a coding error in the setup of the throttle channel but added to make Covarity happy
2016-08-08 12:14:02 +09:00
c3d71f733c
Copter: remove get_takeoff_trigger_throttle
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get_pilot_desired_climbrate can be used instead.
2016-08-05 12:40:37 +09:00
d1e257d5b6
Copter: remove unused get_throttle_pre_takeoff
2016-08-05 12:40:37 +09:00
b61ae1a4a1
Copter: log EKF yaw reset event
2016-06-24 18:12:30 +09:00
Ryan Birmingham
Patrick José Pereira
bnsgeyer
Peter Barker
Leonard Hall
Andy Piper
Randy Mackay
Andrew Tridgell
Michael du Breuil
Ebin
Dr.-Ing. Amilcar Do Carmo Lucas
ChrisBird
Mathieu OTHACEHE