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6294 Commits

Author SHA1 Message Date
Peter Barker
df83cb034e Copter: use ArmingMethod enumeration 2018-07-03 15:16:38 +10:00
Peter Barker
a1f29e92d1 Copter: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Peter Barker
c84b102c1c Copter: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Peter Barker
7785a962dc Copter: fix inconsistent setting of AP_Notify::flags.pre_arm_gps_check 2018-07-03 09:34:43 +10:00
Luis Vale Gonçalves
6194413829 Copter: clarify PILOT_THR_BHV param desc 2018-07-03 08:24:46 +09:00
Alexander Malishev
7bfeeb5877 Copter: fixed board name in release notes 2018-07-03 08:11:39 +09:00
Jacob Walser
64577bfbe1 Copter: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
Randy Mackay
4061ed03d9 Copter: 3.6.0-rc3 release notes 2018-07-02 18:34:35 +09:00
Peter Barker
f4be542169 Copter: autotune: raise priorities of autotune success and param saved 
Closes #8734
 2018-06-30 11:40:39 +09:00
Lucas De Marchi
1a45aa12f5 AP_Param: warn on last pass only about unknown parameters 
Do not warn about unknown parameters on the first pass, i.e. when
AP_Param:load_all() is called. This is because we may still not know
about dynamically loaded parameters. When we call the second (last)
time, we expect to already know all possible parameters, so print a
warning to both console and the debug terminal.
 2018-06-28 10:18:19 -07:00
Lucas De Marchi
7f0d5ddf21 AP_Param: stop panic()'ing on unknown parameters 
Our track record on keeping parameters up to date with master is not
great and panic()'ing when loading them apparently is not helping
because every and each vehicle has a different file.

On aerofc load_defaults_file() is used in the same way as
load_embedded_param_defaults() is in which the panic() behavior has been
previously removed.

This finishes the removal of the panic param and add warnings to the
debug console when reading the parameters (rather than when counting
them).
 2018-06-28 10:18:19 -07:00
Peter Barker
81b731b214 Copter: move copter-specific AP_Arming code into Copter subclass 2018-06-28 12:48:31 +10:00
Andrew Tridgell
20dea6df45 Copter: moved OSD to top level params 
this gives us plenty of param depth for a complex param tree
 2018-06-27 14:55:00 +10:00
Alexander Malishev
f63b3c044a Copter: added OSD support 2018-06-27 14:55:00 +10:00
Peter Barker
724f34c7e7 Copter: use MAV_SYS_STATUS_SENSOR_PROXIMITY for proximity sensor 
Copter: correct laser sensor health bits
 2018-06-26 10:25:28 +10:00
Peter Barker
a7a6cfa99f Copter: correct comment 2018-06-26 10:25:28 +10:00
Peter Barker
ff17c78c67 Copter: create Copter::Mode::_TakeOff subobject from takeoff_state 2018-06-26 09:11:21 +09:00
Peter Barker
7883582c65 Copter: move takeoff state into Mode class 2018-06-26 09:11:21 +09:00
Peter Barker
597e876953 Copter: clean up do_user_takeoff 2018-06-26 09:11:21 +09:00
Peter Barker
cff1969a29 Copter: make do_user_takeoff a member of Mode 2018-06-26 09:11:21 +09:00
Peter Barker
cb26ff64b3 Copter: current_mode_has_user_takeoff -> Mode::has_user_takeoff 2018-06-26 09:11:21 +09:00
Peter Barker
70d159cb38 Copter: raise EKF failure even if USB is connected 
This will let EKF go bad if your PixHawk is connected to your laptop.
This doesn't seem to be a problem for the other vehicles.

This also allows the EKF to go bad in-flight if you happen to have
connected (against AP's recommendations) your companion computer to your
flight controller via USB.  Since people do this, it is better to have
the checks than not.
 2018-06-26 10:07:55 +10:00
Pierre Kancir
2d5cbd2cf8 ArduCopter: report crosstrack_error 2018-06-26 08:42:14 +09:00
Peter Barker
291102360a Copter: use check_failed function 2018-06-23 15:33:19 +10:00
Andrew Tridgell
b43316d743 Copter: added ESC_TELEMETRY to mavlink streams 2018-06-21 10:48:02 +10:00
Peter Barker
ca8a1ae488 Copter: use magic force arm/disarm definitions 2018-06-20 11:43:38 +10:00
Peter Barker
fd9ce90b8e Copter: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
Peter Barker
4d6408857f Copter: return appropriate response to failed disarm 2018-06-20 11:43:38 +10:00
Peter Barker
485cafb343 Copter: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
murata
a970eacf49 Copter: Do not use the Delay method wrapper. 2018-06-16 09:40:47 +09:00
Peter Barker
078d90132c Copter: use AP_RTC 
Co-authored-by: patrickelectric@gmail.com

Copter: AP_GPS now sets the system time directly

Copter: use AP_RTC for mission delays

Copter: Remove ap_t bits counter (Patrick José Pereira)

Change bits in ap_t to bool and add a static assert
 2018-06-15 08:01:22 +10:00
Randy Mackay
2af8e673cc Copter: add cork-push to esc calibration 
Also remove unnecessary duplicate call to motors::set_throttle_passthrough_for_esc_calibration
 2018-06-13 13:20:08 +09:00
Randy Mackay
41767e0458 Copter: esc calibration fix 2018-06-13 13:20:08 +09:00
Peter Barker
955baa47c2 Copter: move handling of MAV_CMD_DO_GRIPPER up 2018-06-11 19:07:39 +01:00
apinxiko
e440583a7c Copter: Beeping when first reaching waypoint while in holding there 2018-06-11 16:45:48 +09:00
apinxiko
5df4b9f6fd Beeping when first reaching waypoint even while in holding there 2018-06-11 16:45:48 +09:00
chobits
75c2a2b02a Copter: check for fence breaches when disarmed 2018-06-11 11:41:10 +09:00
bnsgeyer
b4d2406062 Copter: Tradheli - fixes collective jump on rotor shutdown in althold and loiter 2018-06-11 08:39:27 +09:00
Randy Mackay
a97e37be9f Copter: 3.6.0-rc2 release notes 2018-06-06 12:02:40 +09:00
Peter Barker
4e3bbe9311 Copter: move sanity check for rangefinder alt to within protected func 
get_surface_tracking_climb_rate can do an additional check....
 2018-06-06 08:33:56 +09:00
Peter Barker
ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Pierre Kancir
b95fe2b8b1 Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-05 12:08:17 +09:00
Michael du Breuil
6c94811e00 Copter: Update to support new RC override conventions 2018-06-05 09:51:09 +10:00
Peter Barker
6d9a131a26 Copter: make VFR_HUD always return height above MSL 2018-06-05 09:38:20 +10:00
Michael du Breuil
749e0acd10 Copter: Remove software type param 2018-06-05 09:14:12 +10:00
Peter Barker
7015d42ab2 Copter: Location gets ahrs from singleton 2018-06-01 16:18:33 +01:00
Peter Barker
78d2c52a3f Copter: move try_send_message handling of EKF_STATUS_REPORT up 2018-06-01 16:12:45 +01:00
Peter Barker
e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
Peter Barker
4b4e66e2bd Copter: correct comment about mode change 2018-06-01 15:01:46 +09:00
Peter Barker
db60e93716 Copter: correct comment on deprecated switch option 2018-06-01 15:01:46 +09:00
Andrew Tridgell
b8d47f346e Copter: fixed interlock check on helis 
the motors check is always false when disarmed, so can't be used for
arming check
 2018-06-01 10:14:20 +09:00
Randy Mackay
25961b6d13 Copter: flip mode format fix 2018-05-31 15:21:50 +09:00
Randy Mackay
0ba105f649 Copter: minor format fix to guided 
no need to specify copter
non-functional change
 2018-05-31 15:21:42 +09:00
Peter Barker
c09ccf5b61 Copter: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker
7c98082389 Copter: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
Peter Barker
5f2221fe74 Copter: move handling of VFR_HUD into GCS_MAVLink_Copter 2018-05-29 13:00:40 +10:00
Andrew Tridgell
2425c65e74 Copter: implement 'air-mode' for copter 
this implements what betaflight calls 'air-mode'. This gives attitude
control when throttle is at zero, allowing for zero-throttle maneuvers,
plus keeping the copter level on the ground.

This was already implemented if an interlock switch was setup, but it
should also work with an arming switch. If using an arming switch then
throttle should not be considered zero as long as the arming switch
hasn't gone low.
 2018-05-29 10:27:14 +09:00
Andrew Tridgell
0d56526400 Copter: added de-bouncing of aux switches 
this prevents a crash with a switch such as arm/disarm getting a
single frame RC glitch
 2018-05-29 08:26:46 +09:00
apinxiko
a1fd1cb9b2 Copter: avoid keeping buzzing while in holding at waypoint 2018-05-25 14:02:13 +09:00
Randy Mackay
25475b65d9 Copter: proximity sensor reports laser unhealthy when no data 2018-05-24 12:46:38 +09:00
Peter Barker
81e9edd80a Copter: move sending of sim state up 2018-05-23 18:36:50 +10:00
Peter Barker
ec1539f9c8 Copter: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker
de7a8e20e2 Copter: eliminate MSG_LIMITS_STATUS 2018-05-22 09:05:14 +09:00
Pierre Kancir
aa8a90271e ArduCopter : HAL_RCINPUT_WITH_AP_RADIO definition 2018-05-22 08:35:01 +09:00
bnsgeyer
86440b20ba Copter: Tradheli - disables inverted flight option for single and dual heli frames 2018-05-22 08:35:03 +10:00
Peter Barker
50ca76b6bd Copter: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Peter Barker
7c8583d51d Copter: implement sending of position_target_global_int 2018-05-18 20:26:37 +10:00
Peter Barker
33582107b6 Copter: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker
1437eb008d Copter: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +10:00
Peter Barker
da1b2579c4 Copter: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker
e4a2b03488 Copter: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker
88883c7c7f Copter: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker
93f1815d50 Copter: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +10:00
Peter Barker
9dce133938 Copter: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker
0dc0e54767 Copter: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Michael du Breuil
296296ab6c Copter: Use named float wrapper 2018-05-17 00:59:45 +01:00
Michael du Breuil
1c6031e5e5 Copter: AP_Proximity is now a common library 2018-05-16 23:21:41 +01:00
Michael du Breuil
fe8e1b4274 Copter: Move MAVLink rangefinder up to parent 2018-05-16 23:21:41 +01:00
Michael du Breuil
033a8ec4d5 Copter: Send all distance sensors 2018-05-16 23:21:41 +01:00
Peter Barker
23a0e10d01 Copter: add sanity check for ModeFollow requiring AC_Avoid 
Copter: correct compilation when logging disabled

Copter: correct compilation when mount disabled
 2018-05-10 17:55:13 +09:00
Randy Mackay
6f138ddcfa Copter: ekf failsafe first enforces landing with no GPS 
thanks to khancyr for spotting this
 2018-05-10 08:59:37 +09:00
Leonard Hall
656892cd88 Copter: ekf failsafe disabled for acro and stabilize 
Also restructure to combine ekf_over_threshold and ekf_check_position_problem
 2018-05-10 08:59:37 +09:00
Peter Barker
ec6fb0c612 Copter: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker
e90ce4ced9 Copter: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker
dee40f3fe5 Copter: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker
b561e8b7e9 Copter: AP_RSSI is included in build for all vehicles 2018-05-08 12:33:32 +01:00
Peter Barker
6dd9f50f7c Copter: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
Peter Barker
75ad33ddcd Copter: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker
d7af5c0c44 Copter: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Peter Barker
dc61884303 Copter: remove rcmap member from AP_AdvancedFailsafe 2018-05-05 18:06:31 +09:00
Sarthak Bhagat
0bd21b0b3f Copter: SmartRTL add pilot yaw control 2018-04-30 13:15:44 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
c8d1dad493 Copter: document stream content 2018-04-27 19:54:00 +09:00
Randy Mackay
c85bae8d88 Copter: correct dodeca-hexa copter mav-type 2018-04-27 14:57:00 +09:00
Andrew Tridgell
963f86b7bf Copter: remove old pde file 
this was here for upgrading very old MissionPlanner versions. We can
remove it now
 2018-04-26 14:25:01 +10:00
Michael du Breuil
91a48a5040 Copter: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
night-ghost
51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Randy Mackay
2fff9561a7 Copter: 3.6.0-rc1 release notes 2018-04-21 09:22:42 +09:00
Pierre Kancir
3be6c0e26b ArduCopter : clean unused definitions 2018-04-20 15:26:47 +01:00
Peter Barker
4b5953734d Copter: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Peter Barker
04885b127c Copter: GPS now logs its own data 2018-04-18 13:50:55 +09:00
Peter Barker
8648db06b4 Copter: create autoyaw.cpp from all the bits of Copter::Mode::AutoYaw 2018-04-18 13:27:43 +09:00
Peter Barker
948b90ed97 Copter: rename roi_WP to just roi 
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
Peter Barker
ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Pierre Kancir
1f30ae3076 ArduCopter: fix float to double warning 2018-04-18 10:27:10 +09:00
Pierre Kancir
70805d61f2 ArduCopter: remove inertial_nav from precland constructor 2018-04-17 17:21:35 +09:00
Peter Barker
80549a479e Copter: move throw logging into ModeThrow 2018-04-17 17:16:52 +09:00
Peter Barker
c95ff96263 Copter: Baro does its own dataflash logging 2018-04-12 19:12:12 +01:00
Randy Mackay
a38507623d Copter: autotune minor comment fix 2018-04-12 20:51:37 +09:00
Randy Mackay
1b38a377ff Copter: autotune replace 1 with true 2018-04-12 20:51:37 +09:00
Leonard Hall
7204d46ccb Copter: Autotune - Fix low angle P issue 2018-04-12 20:51:37 +09:00
Peter Barker
d9ab8d6569 Copter: sprayer now uses ahrs singleton; stop passing reference 2018-04-12 14:23:33 +09:00
Michael du Breuil
d96919ed21 Copter: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Randy Mackay
2817cc61f3 Copter: add heliquad to frame-class param description 2018-04-11 19:35:06 +09:00
Randy Mackay
bf6e1993a1 Copter: resolve compiler warning re temp_calibration init order 2018-04-11 11:31:17 +09:00
Pierre Kancir
9e298b3b2f Copter: sprayer uses ahrs in constructor 2018-04-11 09:41:33 +09:00
Michael du Breuil
adb7ecef92 Copter: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Randy Mackay
13b8ad0e94 Copter: remove sport from pixhawk v2 builds 
this mode is almost never used
 2018-04-09 09:10:01 +09:00
Andrew Tridgell
9c040105d6 waf: split copter and heli builds 
this makes things less confusing for users
 2018-04-08 21:26:16 +10:00
Peter Barker
d219540554 Copter: correct compilation when AFS is enabled 2018-04-07 09:46:54 +09:00
Peter Barker
d0425c7b2f Copter: correct compilation when precland is disabled 
Closes #8098
 2018-04-07 09:44:43 +09:00
Andrew Tridgell
1ffe75957e Copter: fixed ESC calibration for DShot 2018-04-07 09:10:29 +10:00
Leonard Hall
5c1d895f82 Copter: autotune announce only while tuning 2018-04-06 14:48:28 +09:00
Leonard Hall
83fac326a4 Copter: autotune check for vel overshoot in angle P 
this change reduces the chance of over tuned angle P
 2018-04-06 14:48:28 +09:00
Peter Barker
975ad608eb Copter: honour defines for optional feature's log messages 2018-04-05 17:37:02 +09:00
Peter Barker
893b761533 Copter: correct terrain-alt logging 
Also change to using an out-of-band value upon no-terrain-alt-available
 2018-04-05 12:30:05 +09:00
Peter Barker
2d31a7b318 Copter: remove check for enabled in for Log_Write_Beacon 
The DataFlash library does this now
 2018-04-04 16:20:33 +09:00
Randy Mackay
59e4749fd0 Copter: integrate AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Randy Mackay
5f2f446199 Copter: add AC_Loiter to make build 2018-04-04 10:45:10 +09:00
Randy Mackay
acfc3a606a Copter: circle mode uses AC_Circle get_distance_to_target 2018-04-04 10:45:10 +09:00
Francisco Ferreira
8ff74f31e9
Copter: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker
0c8110ecb2 Copter: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
d58e2214d2 Copter: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker
cca4d5136e Copter: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker
c80714b820 Copter: factor out preflight calibration function 2018-04-02 23:25:05 +01:00
Peter Barker
ebebb3b107 Copter: use ahrs singleton for AP_Follow and SmartRTL 2018-04-02 17:16:02 +01:00
Randy Mackay
b3cb491bb1 Copter: minor format fix to mode_land 2018-03-31 14:19:13 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
d633ba8c46 Copter: Add option to disable RPM module 2018-03-30 09:36:48 +09:00
Ebin
914f3385a4 ArduCopter: Moved land control fn definitions to mode.cpp (NFC) 2018-03-29 16:54:54 +01:00
Ebin
1ff4019ddf ArduCopter: moved landing control fns from Copter to Mode 
land_run_horizontal_control(),land_run_vertical_control(),get_alt_above_ground() moved to Mode
 2018-03-29 16:50:00 +01:00
Randy Mackay
cbd2756467 Copter: loiter loses redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall
a3a1601837 Copter: althold remove redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall
8ff8364252 Copter: remove redundant takeoff_stop from flowhold 2018-03-29 08:26:42 +09:00
Peter Barker
ce0f0938ee Copter: make superclass handle command_ack packets 2018-03-28 09:28:23 +09:00
Michael du Breuil
291531e056 Copter: Support new battery failsafes 2018-03-27 22:12:21 +01:00
priseborough
4b00f399b4 Copter: Clarify definition for gps_glitching flag 2018-03-27 20:28:55 +09:00
Peter Barker
f8d5fe96d8 Copter: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Bruno Camba
7b50517232 Copter: Moved commands_logic to mode_auto 
Moved methods from commands_logic.cpp to
the mode_auto.cpp. Method order is
the same as declared in mode.h
 2018-03-23 10:07:12 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
580143d404 Copter: Add whitespaces to increase readability and consistency (NFC) 2018-03-23 09:34:11 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
58480435bb Copter: Add missing parameter units (NFC) 2018-03-23 09:34:11 +09:00
Peter Barker
41960704b0 Copter: move handling of visual odometry messages up 2018-03-23 09:28:07 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
4f0cf6d334 Copter: Parameter ACRO_THR_MID is only used in ACRO flight mode 2018-03-23 09:14:23 +09:00
Pierre Kancir
9c23aa5ec3 ArduCopter: fix FALLTHROUGH 2018-03-21 08:24:56 +09:00
apinxiko
032ad9a67b Copter: avoid hard stop in missions 2018-03-20 10:30:38 +09:00
kozinalexey
8b5f5a5fa0 Copter: fix camera relay trigger 
camera.update() for automatic shots always called from
void Copter::update_GPS(void), after gps read
copter specific bug
 2018-03-20 10:13:49 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
5f9879fae1 Copter: remove more parameters when ACRO is disabled 2018-03-20 08:13:06 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
d78c2a1015 Copter: Fix copy-paste error in toy_mode 2018-03-20 08:13:06 +09:00
night-ghost
a1797beb41 Copter: removed 1ms delay on startup 
handled by GCS library now, not needed here
 2018-03-20 10:08:20 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
8e143aa637 Copter: Do not switch into a disabled flight mode 2018-03-19 15:06:41 +00:00
Ebin
d8f56b3511 ArduCopter: changed signature for get_pilot_desired_lean_angles() 
Removes first two redundant input parameters, makes fn non static, makes fn const
 2018-03-19 17:51:39 +09:00
Peter Barker
edcfa7ffd4 Copter: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker
45f2312bfe Copter: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
52882d11fa Copter: AP_TempCalibration does not take reference to ins 2018-03-16 00:37:35 -07:00
Peter Barker
2749ee9060 Copter: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay
feecbe442f Copter: use multiply instead of divide in param conversion 2018-03-16 13:50:57 +09:00
Randy Mackay
d7ea8f073f Copter: run guided velocity control at main loop rate 2018-03-16 13:50:57 +09:00
Randy Mackay
4a74b1b5e5 Copter: replace NTUN with PSC logging 2018-03-16 13:50:57 +09:00
Randy Mackay
0392d2752d Copter: tuning rc-feel uses multiply instead of divide 2018-03-16 13:50:57 +09:00
Randy Mackay
1035645f5c Copter: poshold always resets loiter I term 2018-03-16 13:50:57 +09:00
Leonard Hall
a727305a59 Copter: integrate attitude control EKF inertial-frame-reset 2018-03-16 13:50:57 +09:00
Randy Mackay
f368ff6664 Copter: parameter conversion from RC_FEEL_RP to ATC_INPUT_TC 2018-03-16 13:50:57 +09:00
Leonard Hall
8ac653cabf Copter: AutoTune integrate renamed use_sqrt_controller 2018-03-16 13:50:57 +09:00
Randy Mackay
853d7ab573 Copter: remove setting of pos-con jerk 2018-03-16 13:50:57 +09:00
Leonard Hall
7511781a7e Copter: add accel target to NTUN log msg 
Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
 2018-03-16 13:50:57 +09:00
Leonard Hall
f9acc8a666 Copter: guided removes xy mode in calls to pos-con 
Also limit angle to hold altitude
 2018-03-16 13:50:57 +09:00
Randy Mackay
1a0be015f9 Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration 
Also fix accelerations/lean-angles for land and rtl-land
 2018-03-16 13:50:57 +09:00
Leonard Hall
93de23e7c4 Copter: get-pilot-desired-lean-angles accepts another angle-max 2018-03-16 13:50:57 +09:00
Leonard Hall
1540f98888 Copter: add angle inputs to Loiter 2018-03-16 13:50:57 +09:00
Leonard Hall
9544b1763b Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
Ebin
185f41d5bd Copter arm_checks(): PreArm in error msg changed to Arm 2018-03-16 09:49:54 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
7df1419579 Copter: add missing MAGNETOMETER and STATS_ENABLED build defines 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
115ed491c0 Copter: Obey RANGEFINDER_ENABLED, AUTOTUNE_ENABLED and AC_TERRAIN build macros 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
5b7116bbbd Copter: Fix else formating (NFC) 
git history on these lines is not important, this is a simple else
 2018-03-15 07:51:26 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
db90ee6841 Copter: Remove RTL_ parameters if RTL flight mode is disabled 2018-03-15 07:38:50 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
21c33b60db Copter: Remove DRIFT mode code if DRIFT mode is disabled. 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
ed36ec3c29 Copter: add option to disable THROW mode 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
b27c00dc5f Copter: add option to disable ACRO mode 2018-03-15 07:38:14 +09:00
Randy Mackay
20ac17cda8 Copter: remove adsb beacon nav-guided and visodom from min features 2018-03-14 20:41:47 +09:00
Ebin
b8a307cdd0 Copter: Changed log message IDs to enum 
Changes log message IDs to enum, removes values in LoggingParameters enum
and removes deprecated params in LogParameters.
 2018-03-14 09:33:39 +09:00
Randy Mackay
af207caa1f Copter: move get_pilot_desired_lean_angles higher in cpp 
this makes the definition in the .h and implementation in .cpp files appear in the same order
 2018-03-14 09:33:39 +09:00
Ebin
20995b909f Copter: Moved get_pilot_desired_lean_angles to mode.cpp 2018-03-14 09:33:39 +09:00
Andrew Tridgell
62522a4e1d Copter: fixed docs for Follow mode number 2018-03-13 07:53:16 +09:00
Peter Barker
d88bd52a53 Copter: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker
9f05556801 Copter: delete correct assignment operator 2018-03-08 21:20:05 -08:00
Peter Barker
9bffeb4117 Copter: use AHRS singleton in GCS_MAVLink 2018-03-07 12:34:39 +00:00
Peter Barker
bc4f021516 Copter: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
35a4748c06 Copter: follow mode renames and comment improvements 2018-03-06 09:50:16 +09:00
Peter Barker
af56826107 Copter: follow mode fixups 
add follow to FLTMODEx param descriptions
remove follow's set_velocity method
10hz logging of desired velocity in follow mode
follow mode uses pos error P gain
add send-debug-via-mavlink option
don't enter follow if follow lib is disabled
follow debug slowed to 1hz
disable follow on min-features builds
 2018-03-05 15:08:08 +09:00
Randy Mackay
6ee101ca98 Copter: rename chase to follow 2018-03-05 15:08:08 +09:00
Randy Mackay
053983eb70 Copter: integrate AP_Follow into chase mode 2018-03-05 15:08:08 +09:00
Peter Barker
199455dc56 Copter: add chase mode 2018-03-05 15:08:08 +09:00
Randy Mackay
0840f0e8ae Copter: add AP_Follow to build 2018-03-05 15:08:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bc86ca0e3c Copter: simplify Log_Write_Proximity 2018-03-03 17:13:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
b0f22833f6 Copter: Add GRIPPER_ENABLED macro to user config file 2018-03-03 17:13:24 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
c1246c59e0 Copter: disable scheduler tasks for optional features 2018-03-03 17:10:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
bbd1aa1cab Copter: Improve interoperation of AC_AVOID_ENABLED and BEACON_ENABLED 2018-03-03 17:10:26 +00:00
Pierre Kancir
50c3ed1460 Copter : allow rc_override input at start 
found by chobitsfan
 2018-03-02 16:23:11 +00:00
Andrew Tridgell
cf00bd99ea Copter: enanle RC override by default 2018-03-02 12:52:50 +11:00
Andrew Tridgell
30572692c4 Copter: added ALLOW_ARM_NO_COMPASS 
for skyviper-f412
 2018-03-02 12:52:50 +11:00
night-ghost
adcc309f15 Copter: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
murata
c0954b557e Copter: move BCN param desc within define 
non-functional change to make the formatting consistent
 2018-02-28 13:17:40 +09:00
Peter Barker
398d0d1f37 Copter: do not allow toy mode on Helicopters 2018-02-27 14:22:32 +09:00
Peter Barker
b8e1f03599 Copter: add define for disabling beacon 2018-02-27 07:43:13 +09:00
Peter Barker
0e68ce2ad8 Copter: correct #error prerequisites 2018-02-27 07:43:13 +09:00
Peter Barker
5b355214fd Copter: add option to disable CIRCLE flight mode 
Saves about 2.4kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
e4898e1d60 Copter: add option to disable GUIDED_NOGPS flight mode 
Saves about 6.3kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
86b162e32f Copter: add option to disable BRAKE flight mode 2018-02-27 07:43:13 +09:00
Peter Barker
a7fe242e31 Copter: add option to disable RTL flight mode 2018-02-27 07:43:13 +09:00
Peter Barker
b8c432b1a1 Copter: add option to disable GUIDED flight mode 
Saves about 6kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
0ddeb56a05 Copter: add option to disable DRIFT flight mode 
Saves about 1kB of space
 2018-02-27 07:43:13 +09:00
Peter Barker
e5056f8d40 Copter: add option to disable SPORT flight mode 
Saves about 1,500 bytes
 2018-02-27 07:43:13 +09:00
Peter Barker
7154f4dea4 Copter: add option to disable LOITER mode 2018-02-27 07:43:13 +09:00
Peter Barker
9b440d6b25 Copter: add option to disable SmartRTL mode 
Saves 5.5k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker
3a61b86e65 Copter: add option to disable POSHOLD mode 
Saves about 4k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker
b9ad2bc8db Copter: add option to disable AUTO mode 
Saves ~12k of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
eb9bbddcb7 Copter: add in_guided_mode mode callback 2018-02-27 07:43:13 +09:00
Peter Barker
e66034f183 Copter: allow fence to be disabled while AFS is enabled 2018-02-27 07:43:13 +09:00
Peter Barker
bb9af3b79d Copter: autotune: correct compilation when logging disabled 2018-02-27 07:43:13 +09:00
Peter Barker
9cffa13f7b Copter: correct mav result for compass motor calibration on heli 2018-02-24 00:27:41 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
b24e5c3991 Copter: Obey MOUNT == DISABLED 2018-02-22 20:58:51 +10:00
Peter Barker
846506230d Copter: remove pointless initialisations 
Also reduce storage size of gps primary
 2018-02-22 17:51:35 +10:00
Peter Barker
1a68979050 Copter: correct nullptr check for circle nav allocation 2018-02-22 16:14:50 +10:00
Peter Barker
dc5ef168fd Copter: toymode: correct compilation with fence is disabled 2018-02-22 10:26:37 +10:00
Peter Barker
25665c5dd9 Copter: correct definition of unused variable when precision landing disabled 2018-02-22 10:26:37 +10:00
Peter Barker
06da2f50ce Copter: correct compilation when logging is disabled 2018-02-22 10:25:39 +10:00
Andrew Tridgell
8d49e1ac18 Copter: re-added reason to mode change log msg 
this was lost in the mode restructuring
 2018-02-22 09:07:59 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
def098bd8a Copter: obey ADSB_ENABLED == DISABLED 2018-02-21 22:11:34 +09:00
Randy Mackay
f0534a35d1 Copter: format change for includes 
non-functional change
 2018-02-21 21:56:01 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
137de0fea5 Copter: conditionaly include more header files 
this should help catch missing macros
 2018-02-21 21:55:59 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
381bae1a4a Copter: add missing defines to config.h 2018-02-21 21:55:33 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
002494c048 Copter: Obey CAMERA == DISABLED 2018-02-21 17:03:28 +10:00
murata
6f20c6a97b Copter: Set the loop rate of G_dt as a variable. 2018-02-20 10:51:20 +11:00
Andrew Tridgell
348a757cc6 Copter: re-enable FLOWHOLD mode on skyviper 2018-02-14 18:27:00 +11:00
Andrew Tridgell
00ec3efb48 Copter: initialise G_Dt to 1.0/400 2018-02-13 17:15:05 +11:00
Peter Barker
730adc3f7c Copter: eliminate perf_update scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell
f06fdf330e Copter: use get_last_loop_time_s() for G_Dt 2018-02-13 17:15:05 +11:00
Andrew Tridgell
e0de4bccdf Copter: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker
de56ae56e1 Copter: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker
bfc373aeff Copter: move logging of PM messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker
375911cd7c Copter: move PERF: statustext sending into AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker
80a3d63264 Copter: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker
7f69c5d26d Copter: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker
bf6a2b8bb5 Copter: tell PerfInfo the configured loop rate 2018-02-13 17:15:05 +11:00
Randy Mackay
9eda7f4e31 Copter: global-pos-int uses system time 2018-02-13 08:52:48 +09:00
Peter Barker
e6ece4cf3d Copter: correct use of parent class constructors (heli) 2018-02-13 08:22:30 +09:00
Randy Mackay
0ca653c8dd Copter: disable winch, gripper, sprayer on v2 build 2018-02-12 13:50:55 +09:00
Andrew Tridgell
7938bd08bb Copter: make flowhold mode conditional 
reduces build size on px4-v2 by 4k
 2018-02-12 13:34:47 +09:00
murata
296ee7315b Copter: minor formatting fixes 2018-02-12 12:17:05 +09:00
murata
c31c2a4cf1 Copter: optionalize the winch 2018-02-12 12:16:57 +09:00
Peter Barker
40d74584ac Copter: remove shims used in scheduler 2018-02-12 11:19:34 +09:00
Peter Barker
8f8917369c Copter: correct use of parent class constructors 2018-02-09 13:41:12 +11:00
Peter Barker
5e55784707 Copter: remove unneeded and unwanted virtual keywords 2018-02-09 09:11:04 +09:00
Randy Mackay
4319e37f0c Copter: non-functional FlowHold changes 
class declaration moved to alphabetical position in mode.h
parameter descriptions include FlowHow at beginning to help distinguished from optical flow parameters
resolved compiler warnings
 2018-02-09 10:56:32 +11:00
Andrew Tridgell
763aee6b48 Copter: fixed units on flowhold brate rate 2018-02-08 17:36:33 +11:00
Andrew Tridgell
0ed75052f8 Copter: enable parameters inside mode objects 
this adds FHLD_* parameters for FlowHold mode. It is a large patch as
it needs to disentagle the mode class to enable it to be used in
Parameters.h
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
9261e1cbde Copter: enable F412 toymode button setup 
different button mapping for new controller
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
daf35f7a30 Copter: pass loop rate to perf_info 2018-02-08 17:36:33 +11:00
Andrew Tridgell
5a210a697e Copter: fixed flowhold build 2018-02-08 17:36:33 +11:00
Andrew Tridgell
af4f0c29ba Copter: enable TMODE (ToyMode) support 
this is for the skyviper button based transmitter control
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
f442b91ea5 Copter: added FLOWHOLD flight mode 
This flight mode allows for position hold with optical flow without
needing a rangefinder for height. It can estimate its height from the
flow data and IMU
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
a26d19b57c Copter: fill in flight mode in AP_Notify flags 
needed for AP_Radio
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
ce0bcf1adc Copter: disable toy_mode by default 2018-02-08 17:36:33 +11:00
Andrew Tridgell
15166eff2e Copter: enable temperature calibration library 2018-02-08 17:36:33 +11:00
Andrew Tridgell
1f76f69d80 Copter: implement per-motor compass compensation 2018-02-08 17:36:33 +11:00
Andrew Tridgell
662afdc2fd Copter: fixed build warning 
double precision promotion
 2018-02-07 20:33:45 +11:00
Michael du Breuil
69da4041ac Copter: Move logging battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Tatsuya Yamaguchi
6698660fd6 Copter: fix Battery FailSafe action with auto mode 2018-02-05 15:13:25 +09:00
Peter Barker
ab7a9c9073 Copter: use zero_throttle_and_relax_ac in poshold, drift and autotune 2018-02-02 14:59:16 +09:00
murata
c13d6580ae Copter: delete \n from the log using gcs().send_text 2018-02-02 09:38:39 +09:00
Randy Mackay
5a1c3cf5f4 Copter: firmware text to ArduCopter 2018-01-31 12:13:57 +09:00
Randy Mackay
0f6762bbd2 Copter: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Randy Mackay
a3e9f72b0b Copter: fix default flight mode channel 2018-01-27 16:20:32 +09:00
Andrew Tridgell
89674482a7 Copter: added FLTMODE_CH parameter 
this allows for the flight mode to be on any RC channel, or no channel
at all to disable RC flight modes
 2018-01-27 12:01:35 +09:00
Peter Barker
a97301c0f2 Copter: do not allow arming in RTL 2018-01-25 09:53:51 +09:00
Pierre Kancir
10e6fe43dd Copter: Add a switch option to enable/disable RC_Override 2018-01-24 21:37:41 +09:00
Pierre Kancir
cfc69214e6 Copter: add LAND_ALT_LOW parameter 2018-01-24 21:14:35 +09:00
Randy Mackay
60c3ae1ec2 Copter: fix spelling in drift mode variable name 
non-functional change
 2018-01-24 17:13:15 +09:00
Randy Mackay
f8c1d08316 Copter: 3.5.5-rc1 release note update 2018-01-24 12:09:43 +09:00
Randy Mackay
929dd04f2a Copter: 3.5.5-rc1 release notes 2018-01-24 12:09:39 +09:00
Randy Mackay
eefa629039 Copter: remove setting accel_z PID controller's dt 
This is handled from within the pos controller
this commit can be merged with Copter: move pos-control pids to pos-control library
 2018-01-23 12:00:43 +09:00
Randy Mackay
8d6f8e4d9c Copter: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay
6546ccbb3f Copter: velocity pi moved to position control library 2018-01-23 12:00:43 +09:00
Dylan Herman
20fe5bb98f Copter: add SmartRTL failsafe action 
Adds SmartRTL or RTL and SmartRTL or Land failsafe options for batt, throttle, and GCS failsafes
 2018-01-22 10:54:28 +09:00
Peter Barker
996115c0d3 Copter: eliminate MAIN_LOOP_SECONDS macro 2018-01-20 15:35:58 +11:00
Michael du Breuil
0ddcb0a6fb Copter: Support AP_BattMonitor_Params 2018-01-17 22:21:55 +00:00
Alexey Bulatov
8accfb97f6 ArduCopter: Check for nullptr for motors class pointer 
Because of added initialisation of UAVCAN send_heartbeat function
starts before motors initialisation. So we need check is object created.
 2018-01-17 07:24:17 -08:00
Dylan Herman
c772e2d3fd Copter: sets SmartRTL home after AHRS home is set 
Now calls AP_SmartRTL::set_home when arming. In addition, it calls it whenever
the ahrs home is set to the current location, whether by GCS or in-flight

Copter: merge
 2018-01-17 11:04:46 +09:00
Randy Mackay
e85b1ac740 Copter: pass dt to avoidance calls 2018-01-16 12:13:48 +09:00
Leonard Hall
48d0ad26a6 Copter: mode_land sends dt to sqrt controller 2018-01-16 12:13:48 +09:00
Randy Mackay
b47d575f65 Copter: minor spelling fix 
non-functional change
 2018-01-12 16:51:25 +09:00
Peter Barker
6bcdab55d0 Copter: rename sys_status methods from geofence_ to sys_status_ 2018-01-09 17:15:19 +00:00
Peter Barker
077b062701 Copter: change pre-arm checks to allow interlock to be enabled 
With this change we will continue to tell the user their interlock is
enabled, but we will not fail the pre-arm checks.

This will mean that the blinking-LED indicators will show the vehicle as
armable (flashing green / flashing blue), even if the interlock would
prevent arming.

This has the advantage that you don't need your vehicle in the
"dangerous" state to work out whether arming will work when you attempt
to arm it.

Note that we repeat the interlock switch check in the arming checks, and
it WILL fail if the interlock switch is enabled.
 2018-01-09 08:13:06 +09:00
Peter Barker
114628afe4 Copter: use zero_throttle_and_relax_ac in stab, guided, acro and auto 2018-01-08 12:02:49 +00:00
Peter Barker
8d658e1dbc Copter: correct misleading comment in mode_throw 2018-01-08 12:02:49 +00:00
Peter Barker
cb129fbdaf Copter: remove argument to check() 
Also, check() was check_fence()
 2017-12-28 15:38:37 +00:00
Peter Barker
d1201e4776 Copter: tidy zero_throttle_and_relax (NFC) 2017-12-27 12:09:06 +00:00
Peter Barker
71ad1b5815 Copter: use zero_throttle_and_relax_ac function 2017-12-27 12:09:06 +00:00
Peter Barker
41dc8554c0 Copter: pull out a zero_throttle_and_relax function 2017-12-27 12:09:06 +00:00
Peter Barker
4c7491a05b Copter: mode_auto's landing_gear_deploy method defers to mode_rtl 
Since we defer our rtl_run behaviour to the RTL flightmode, it should
also specify the landing gear behaviour
 2017-12-27 12:08:15 +00:00
Peter Barker
d9235d3d41 Copter: make landing_gear_should_be_deployed a base-class method 2017-12-27 12:08:15 +00:00
Peter Barker
dda38d65eb Copter: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Matt
5d6c979f70 COPTER: Fix MOUNT_CONTROL yaw in missions 
If a the mount instances (gimbal) does not support yaw/pan control, the
copter needs to yaw in response to a DO_MOUNT_CONTROL command in
missions.  Checking if the mount has pan control, and if not, yawing the
copter was missing from the mission commands logic. As such, a
MOUNT_CONTROL command would control pitch but not yaw/pan.  This patch
impliments checking for pan control, and initiating copter yaw as
required.
 2017-12-23 10:57:31 +09:00
Matt
c0f0e3eca3 COPTER: Fix MOUNT_CONTROL yaw in guided 
If the mount instance does not support yaw/pan, the copter needs to yaw in
response to MSG_MOUNT_CONTROL and MAV_COMMAND_DO_MOUNT_CONTROL commands from
a GCS or co-computer. There was no checking for mount pan in the GCS_Mavlink
logic.  As such, no yaw takes place when a mount control command calls for it.
This patch impliments copter yaw control for both MSG_MOUNT_CONTROL and
MAV_COMMAND_DO_MOUNT_CONTROL in copter GCS_Mavlink.
 2017-12-23 10:57:31 +09:00
Peter Barker
4dcb5aa3de Copter: stop setting home distance in fence 2017-12-15 01:42:49 +00:00
Peter Barker
bf5f51a616 Copter: factor out takeoff_trigger from althold, sport and loiter 2017-12-14 23:45:54 +00:00
Randy Mackay
2c0df87585 Copter: Copter.h method reordering 2017-12-15 08:26:45 +09:00
Peter Barker
6c82f7671d Copter: move all commands logic into AUTO flightmode 2017-12-14 14:08:01 +09:00
Andrew Tridgell
8ab0ac8a16 Copter: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Peter Barker
7222380598 Copter: populate system status bits for fence 2017-12-13 10:04:50 +09:00
Peter Barker
377466ddda Copter: fence no longer requires AP_InertialNav 2017-12-13 10:04:50 +09:00
Peter Barker
d09b0696db Copter: correct checking of heli mode change 
init() may have changed all sorts of things about the
vehicle - wp navigation, position controllers, attitude controllers...

Do the heli check before doing any of that so we don't change state and
then fail to change mode
 2017-12-13 08:49:01 +09:00
Randy Mackay
7504237fbb Copter: rename flight_mode.cpp to mode.cpp 2017-12-12 20:39:48 +09:00
Randy Mackay
99bafb0df1 Copter: rename heli_control_xx to mode_xx_heli 2017-12-12 10:39:26 +09:00
Randy Mackay
2d23e1f7c7 Copter: rename flightmode_ objects to mode_ 2017-12-12 10:39:26 +09:00
Randy Mackay
c3fbf2671c Copter: rename control_xx.cpp files to mode_xx.cpp 2017-12-12 10:39:26 +09:00
Randy Mackay
06fbe8f3a7 Copter: rename FlightMode class to Mode 
also remove unused print_FlightMode method
 2017-12-12 10:39:26 +09:00
Randy Mackay
6e9de7e609 Copter: flight_mode formatting changes 
non-functional change
 2017-12-12 10:39:26 +09:00
Randy Mackay
2e71a641c3 Copter: FlightMode allow_arming format changes 
non-functional change
 2017-12-12 10:39:26 +09:00
Randy Mackay
0ac708b5a0 Copter: remove ability to disable PosHold flight mode 
This flight mode is stable and regularly used so it is unlikely that we ever want to disable it
 2017-12-12 10:39:26 +09:00
Randy Mackay
7494eb2e77 Copter: alphabetise flight mode header file 2017-12-12 10:39:26 +09:00
Randy Mackay
a90979ec8e Copter: remove FlightMode_Avoid_ADSB.h file 2017-12-12 10:39:26 +09:00
Randy Mackay
8870897847 Copter: FlightMode objects use lower case 2017-12-12 10:39:26 +09:00
Randy Mackay
20d7216179 Copter: remove comments 
non-functional change
 2017-12-12 10:39:26 +09:00
Randy Mackay
ac8c2b3f03 Copter: resolve compiler warning from flight-mode declaration 2017-12-12 10:39:26 +09:00
Peter Barker
5d33cf08e1 Copter: eliminate calc_home_distance_and_bearing 
Calling update_simple_mode_bearing calls get-heading
rather than the other way around

This will have the advantage of not calculating home bearing
when we stop calling update_simple_mode_bearing unnecesarily
 2017-12-09 16:26:09 +09:00
khancyr
b44ba29a05 AC_Avoidance: replace AP_InertialNav by AHRS 2017-12-08 11:27:37 +09:00
Peter Barker
103e2cc711 Copter: calculate wp bearing and distance on demand 
Move responsibility for calculating wp bearing/distance
into the FlightMode object doing the navigation

Calculating these variables was being done at 50Hz where they
were used at 10Hz max.
 2017-12-07 07:43:08 +09:00
Peter Barker
4ae2be55aa Copter: fix up autotune namespacing 
This moves static variables into the autotune flightmode object.

It also adjusts namespacing on everything to take advantage of
having everything encapsulated in the AutoTune object
 2017-12-07 07:35:37 +09:00
Peter Barker
7b637334f4 Copter: eliminate mode_has_manual_throttle 2017-12-06 10:09:58 +09:00
Peter Barker
4fd61ed6dc Copter: make exit_mode take FlightMode objects as arguments 2017-12-06 10:09:58 +09:00
Peter Barker
adf4140b9b Copter: fix heli-flags compilation issue 2017-12-06 08:24:24 +09:00
Peter Barker
477ae8f7be Copter: pass heli_flags into flightmode constructor 2017-12-06 08:24:24 +09:00
Peter Barker
83d0a71e10 Copter: FlightMode - simplify flight mode initialization 2017-12-06 08:24:24 +09:00
Peter Barker
0ca5605b8d Copter: FlightMode: remove virtual from many methods 2017-12-06 08:24:24 +09:00
Peter Barker
ef1489e87a Copter: eliminate mode_requires_gps 2017-12-06 08:24:24 +09:00
Peter Barker
a4859e13c1 Copter: eliminate mode_allows_arming 2017-12-06 08:24:24 +09:00
Peter Barker
9c60c1de58 Copter: FlightMode - convert SMARTRTL flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
b0e34bd307 Copter: FlightMode - convert GUIDED_NOGPS flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
cf423ce681 Copter: FlightMode - convert THROW flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
1de99c737e Copter: remove unimplemented heli desired_yaw_rate 2017-12-06 08:24:24 +09:00
Peter Barker
37c706c24e Copter: FlightMode - convert AVOID_ADSB flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
51cd143012 Copter: FlightMode - convert BRAKE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
cafce01357 Copter: FlightMode - convert POSHOLD flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
67063d6b1e Copter: FlightMode - convert AUTOTUNE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
018c70d224 Copter: FlightMode - convert FLIP flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
5e3e831152 Copter: FlightMode - convert SPORT flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
6a38664ff4 Copter: FlightMode - convert DRIFT flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
682f3c0e7e Copter: FlightMode - convert RTL flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
3b1ca99b95 Copter: FlightMode - convert LAND flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
2db09ba0f7 Copter: FlightMode - convert GUIDED flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
f2495b2d08 Copter: FlightMode - convert LOITER flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
871ba5630f Copter: FlightMode - convert CIRCLE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
e2b70c3a0a Copter: FlightMode - convert AUTO flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
a95a35c134 Copter: FlightMode - convert STABILIZE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
79c06974b7 Copter: FlightMode - convert ALT_HOLD flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
d74f0c72da Copter: FlightMode - convert ACRO flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
527a536b78 Copter: FlightMode - remove function parameters 
Use current control_mode in place of parameters

Once conversion is complete these functions will disappear
 2017-12-06 08:24:24 +09:00
Peter Barker
99a22a263d Copter: a FlightMode base class 2017-12-06 08:24:24 +09:00
Peter Barker
e0233f1dc4 Copter: create a takeoff_state_t type 2017-12-06 08:24:24 +09:00
Peter Barker
b828fa4ffc Copter: Create an ap_t type 2017-12-06 08:24:24 +09:00
Sharvashish Das
395a4ad4ce Copter: add z-axis obj avoidance to guided vel control 
added code to adjust z velocity using avoidance
 2017-12-05 15:58:00 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
2235b22510 Copter: Also report distance and bearing to target in Guided_PosVel mode 2017-12-05 09:17:15 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
ce3197e0ac Copter: use the return code of the guided_set_destination_posvel() function calls 2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
c7a2fcdc37 Copter: Also use fence in Guided_PosVel mode 2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bd027e4fcb Copter: Move some common functions to AP_Math (NFC) 2017-12-05 08:54:49 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
928bc19cee Copter: Use DEGX100 define instead of hardcoded value (NFC) 2017-12-05 08:54:49 +09:00
khancyr
015d71bacd ArduCopter: remove useless .gitignore from directory 2017-12-04 07:52:25 +09:00
Peter Barker
398d07a68a Copter: tighten return types of mavlink functions and variables 2017-12-01 17:01:10 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
9773365237 Copter: NFC spell in comments 2017-11-27 23:13:34 +09:00
Randy Mackay
8d2db3218c Copter: minor comment fix to code handling SET_POSITION_TARGET msgs 2017-11-27 14:24:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bde1aaa2f6 Copter: Rename variable to correct the meaning (NFC) 2017-11-27 14:17:21 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
8678d13e7b Copter: Update the result of a MavLink message, this is a NFC 
The result variable is not used, but at least it gets documented :)
 2017-11-27 14:17:21 +09:00
Andrew Tridgell
ef0144751e Copter: allow THROW_NEXTMODE=LOITER 2017-11-27 14:14:06 +09:00
Andrew Tridgell
311d7c11e4 Copter: added LOITER option in THROW_NEXTMODE 2017-11-27 14:14:06 +09:00
Randy Mackay
020e0bfd40 Copter: fix disable ESC calibration for brushed motors 2017-11-27 13:31:21 +09:00
Andrew Tridgell
650a0e06bd Copter: disable ESC calibration for brushed motors 2017-11-27 12:28:40 +09:00
Andrew Tridgell
a644cff921 Copter: support testing multiple motors with motortest 
this matches the quadplane behaviour, allowing a sequence of motors to
be tested
 2017-11-27 10:15:31 +09:00
Randy Mackay
8845b6d5b5 Copter: rename control_safe_rtl.cpp to control_smart_rtl.cpp 
non-functional change
 2017-11-23 20:05:01 +09:00
Randy Mackay
58e5b7f458 Copter: 3.5.4 release notes 2017-11-23 12:17:50 +09:00
Peter Barker
dc99a29dfc ArduCopter: support for units on fields 2017-11-23 10:40:30 +11:00
Randy Mackay
9a03ba1bfb Copter: move barometer_accumulate to sensors.cpp 
non-functional change
 2017-11-22 17:13:14 +09:00
Andrew Tridgell
23b20307af Copter: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Randy Mackay
c5141ad87e Copter: 3.5.4-rc2 release notes 2017-11-17 13:39:20 +09:00
Peter Barker
04c9e966e0 Copter: use AP::PerfInfo library 2017-11-16 15:31:53 +00:00
Peter Barker
5c2f68e8f5 Copter+AP_Scheduler: move perf_info.cpp into Scheduler 2017-11-16 15:31:53 +00:00
Peter Barker
d959e4b42b Copter: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Randy Mackay
8d6d09169f Copter: rtl uses labs for alt comparison 2017-11-16 09:59:25 +09:00
murata
acfcd9980d Copter: Modify method name in method header. 2017-11-16 09:26:26 +09:00
Peter Barker
8f48b3187e Copter: use gps singleton for GCS function 2017-11-15 13:43:03 +00:00
ChrisBird
1f1bb61bfa Copter: Add PreArm - PID Parameter check 
This addresses the enhancement requested in: https://github.com/ArduPilot/ardupilot/issues/2424

It checks various PID values to check if they are zero, if they are and the corresponding rate forward feed is zero then it flags it as PreArm failure.
It has been added to the parameter check, so can be overridden if required.
 2017-11-15 21:58:24 +09:00
André Kjellstrup
e7a1ceca4c Copter: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
ChrisBird
caaeae3d0a Copter: Separate max ascent and descent speeds 
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
Peter Barker
3846da5e23 Copter: remove redundant terrain checks 
Now taken care of by continuous prearm checks
 2017-11-08 19:08:16 +09:00
Peter Barker
d537461934 Copter: remove redundant battery checks 
Now taken care of by continuous prearm checks
 2017-11-08 19:08:14 +09:00
Peter Barker
b3b1680e11 Copter: remove redundant fence checks 
Now checked as part of continuous prearm
 2017-11-08 19:08:12 +09:00
Peter Barker
04af1cb331 Copter: remove redundant baro checks 
Now checked as part of continuous prearm checks
 2017-11-08 19:08:10 +09:00
Peter Barker
b5c907312c Copter: remove redundant gps checks 
Now tested as part of continuous pre-arm checks
 2017-11-08 19:08:08 +09:00
Peter Barker
d563a9dd5d Copter: remove redundant INS checks 
Now checked by continuous prearm checks
 2017-11-08 19:08:06 +09:00
Peter Barker
d3b73f8557 Copter: correct notification of pre-arm-gps-check failure 2017-11-08 19:08:03 +09:00
Peter Barker
818faa92d4 Copter: rc calibration checks are called by AP_Arming 2017-11-08 19:07:59 +09:00
Peter Barker
9b52c9b670 Copter: prearm logging checks are called in parent class 2017-11-08 19:07:55 +09:00
Peter Barker
49dd5f4f80 Copter: prearm board voltage checks are called in parent class 2017-11-08 19:07:53 +09:00
Peter Barker
b8802ec5c2 Copter: prearm gps checks are called in parent class 2017-11-08 19:07:51 +09:00
Peter Barker
7c0869fa19 Copter: prearm ins checks are called in parent class 2017-11-08 19:07:49 +09:00
Peter Barker
cb8fa41cb1 Copter: prearm compass checks are called in parent class 2017-11-08 19:07:46 +09:00
Peter Barker
30c1a040d7 Copter: prearm baro checks are called in parent class 2017-11-08 19:07:44 +09:00
Peter Barker
c129445ff6 Copter: call common prearm checks 2017-11-08 19:07:42 +09:00
Peter Barker
7b3e111f85 Copter: continuously run pre-arm checks 
Stop "latching" the prearm checks, so if the checks start to fail
the craft becomes non-armable.
 2017-11-08 19:02:44 +09:00
Randy Mackay
ef05281dc2 Copter: 3.5.4-rc1 release notes 2017-11-08 12:21:46 +09:00
Peter Barker
ef00978662 Copter: add missing disarm-on-land parameter to rtl_land_run 
Always disarm
 2017-11-06 22:58:16 +00:00
Peter Barker
5b793252ed Copter: stop disarming as part of running rtl as mission item 
Fixed #6324

Note that the land-as-mission-item code is duplicated from the
rtl-as-mode code but omits the disarm part, so doesn't suffer from the
same bug.
 2017-11-06 19:07:28 +00:00
bnsgeyer
6d0cfc13a2 Copter: heli: Update swashplate behavior 
change swashplate behavior on ground in Acro, Stabilize, and AltHold
flight modes. See discussion here:

https://discuss.ardupilot.org/t/tradheli-swashplate-behavior-while-on-the-ground-and-potential-fix-to-issue-5396/22463/18
 2017-10-28 12:31:06 +11:00
Peter Barker
c7216a2740 Copter: call ins periodic function 2017-10-27 16:33:45 +11:00
Randy Mackay
842eed5426 Copter: accept do-winch commands with max rate 2017-10-27 09:20:38 +09:00
Randy Mackay
47bbf49aa6 Copter: fix tuning knob rate control of winch 2017-10-27 09:20:38 +09:00
Randy Mackay
787954fa37 Copter: integrate winch library 
fixes after peer review:
rename winch-disable to winch-relaxed
add DO_WINCH to do-verify
winch release-length accepts rate
 2017-10-27 09:20:38 +09:00
Randy Mackay
2c511b4269 Copter: add AP_Winch and AP_WheelEncoder to build 2017-10-27 09:20:38 +09:00
ChristopherOlson
51c8c1adb2 Copter: TradHeli update comment 
be consistent with dynamic flight speed definition
 2017-10-26 17:15:40 +11:00
ChristopherOlson
572c609cd6 Copter: Trad Heli-change default accel_z_p to 0.30 
prevents collective cycling in altitude controlled modes
 2017-10-26 17:15:40 +11:00
Andrew Tridgell
0d0f1d264b Copter: fixed order of motor setup 2017-10-22 15:52:50 +11:00
Andrew Tridgell
c4b0d7bc35 Copter: removed calls to motors->enable() 2017-10-22 15:52:50 +11:00
Andrew Tridgell
f49ab44f25 Copter: support simple accel calibration 2017-10-10 10:57:38 +11:00
Andrew Tridgell
e2f710523e Copter: added inverted flight to switch docs 2017-10-03 10:16:41 +11:00
Andrew Tridgell
951ed95eb9 Copter: support inverted flight CH7 option 2017-10-03 10:16:41 +11:00
Andrew Tridgell
18f04abfe8 Copter: added HELI_QUAD 2017-10-03 10:16:41 +11:00
Michael du Breuil
516709fc72 Copter: Check GPS health 2017-09-27 19:29:32 +01:00
Lucas De Marchi
beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6781a44046 global: use static method to construct AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8f304ed809 ArduCopter: add static create method for AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6d009cdf6e global: use static method to construct AP_ADSB 2017-09-26 03:01:21 +01:00
Lucas De Marchi
1263e20a0d ArduCopter: use static method to construct AC_InputManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e21e02cfdb ArduCopter: use static method to construct AC_PrecLand 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cf6ea9642e global: use static method to construct AP_Terrain 2017-09-26 03:01:21 +01:00
Lucas De Marchi
70d8a08626 ArduCopter: use static method to construct AP_LandingGear 2017-09-26 03:01:21 +01:00
Lucas De Marchi
31db77e47b global: use static method to construct AP_Parachute 2017-09-26 03:01:21 +01:00
Lucas De Marchi
57bbb2e1d9 ArduCopter: use static method to construct AC_Sprayer 2017-09-26 03:01:21 +01:00
Lucas De Marchi
eadd650d78 global: use static method to construct AP_RSSI 2017-09-26 03:01:21 +01:00
Lucas De Marchi
4f42facefc global: use static method to construct AC_Avoid 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b4f5256a9e ArduCopter: add static create method to AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c6eb48009b global: use static method to construct AC_Fence 2017-09-26 03:01:21 +01:00
Lucas De Marchi
18aa88b329 global: use static method to construct AP_Mount 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c3647f0185 global: use static method to construct AP_Camera 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cc53e7bc4b global: use static method to construct AP_ServoRelayEvents 2017-09-26 03:01:21 +01:00
Lucas De Marchi
13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9ce6019138 global: use static method to construct AP_Frsky_Telem 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi
a74e700006 global: use static method to construct RCMapper 2017-09-26 03:01:21 +01:00
Lucas De Marchi
72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi
10529feae6 ArduCopter: use static method to construct AP_Arming_Copter 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de5e044b02 global: use static method to construct AP_RPM 2017-09-26 03:01:21 +01:00
Lucas De Marchi
40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi
f5c2ffffb9 global: remove DataFlash from AP_Mount::init() 2017-09-26 03:01:21 +01:00
Lucas De Marchi
53c82b4aaf global: use static method to construct DataFlash_Class 2017-09-26 03:01:21 +01:00
Lucas De Marchi
62ac0ab8aa global: use static method to construct AP_Notify 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi
87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi
91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Lucas De Marchi
d213ccbbfc ArduCopter: protect version.h from inclusion and use ap_version.h 2017-09-23 21:37:45 -07:00
Lucas De Marchi
4ef5186733 ArduCopter: do not include version.h/ap_version.h 
The interface provided by each vehicle should be used to get the
version.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi
cd5b018d82 ArduCopter: move version to a static member 
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.

If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.

version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
 2017-09-23 21:37:45 -07:00
Randy Mackay
a9f257ddc6 Copter: 3.5.3 release notes 2017-09-21 11:13:02 +09:00
Andrew Tridgell
22bfec4d2a Copter: fixed motor runup check for heli 
for all auto-throttle modes we should not allow a mode change to the
mode if the motor runup is not complete.

This moves the code to the set_mode() so it applies to all modes

fixes issue #6956
 2017-09-21 08:52:50 +10:00
Andrew Tridgell
8cf8f3a288 Copter: fixed collective input with H_SV_MAN=1 for heli 
when H_SV_MAN=1 we do direct pass-thru so the user can test swash
range. The problem is that it uses norm_input() for throttle, which
depends on RC3_TRIM. Nowhere else in heli or copter do we depend on
RC3_TRIM, so the user gets a misleading idea of behaviour when testing
their swash.
 2017-09-21 08:52:50 +10:00
Randy Mackay
a8a5c1d332 Copter: command-long DO_SET_HOME check first param is zero 
Also do not use current location just because lat,lon,alt are all zero
 2017-09-20 12:14:38 +09:00
Randy Mackay
d982cfed4a Copter: accept DO_SET_HOME within COMMAND_INT 2017-09-20 12:14:38 +09:00
Randy Mackay
70cf21a5ba Copter: accept more mav-frame types 
accept mav frames whether or not they have _INT appended
 2017-09-20 12:14:38 +09:00
Peter Barker
45d056fcf0 Copter: ekf position checks are done before we call failsafe_ekf_event 2017-09-19 12:44:43 +01:00
Peter Barker
d5caff3f1b Copter: do not enter ekf-failsafe based on position if pos not needed 2017-09-19 12:44:43 +01:00
Peter Barker
ff82f23cf6 Copter: factor out a ekf_check_position_problem method 2017-09-19 12:44:43 +01:00
Peter Barker
84a873a520 Copter: remove redundant check; we will never failsafe_ekf_event if disarmed 
See line 37
 2017-09-19 12:44:43 +01:00
Peter Barker
0afe1e7473 Copter: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +09:00
Randy Mackay
1b3cc9289b Copter: support SET_GPS_GLOBAL_ORIGIN 
also remove setting of origin from DO_SET_HOME command
initialise ekf_origin location when consuming SET_GPS_GLOBAL_ORIGIN
set_ekf_origin performs sanity check on location
 2017-09-19 10:30:15 +09:00
Randy Mackay
44a436642b Copter: complete rename to SmartRTL 
Also fix parameter description for CH7_OPT
 2017-09-15 08:58:14 +09:00
Michael du Breuil
ffc2aeee32 Copter: Support landing flight termination 2017-09-13 13:15:08 -07:00
Peter Barker
6b5fd5fbdd Copter: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Randy Mackay
b1d1b5122b Copter: 3.5.3-rc1 release notes 2017-09-12 16:43:15 +09:00
squilter
4b57a4a231 Copter: rename SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
squilter
7abb5b10fc Copter: build scripts changed from SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
Randy Mackay
ed0203e53c Copter: smooth safertl return journey using fast waypoints 2017-09-09 14:05:41 +09:00
Randy Mackay
6684e3de56 Copter: minor comment change for SafeRTL 2017-09-09 14:05:41 +09:00
Randy Mackay
8df042f00c Copter: complete addition of SafeRTL flight mode 2017-09-09 14:05:41 +09:00
Randy Mackay
218983d594 Copter: safe-rtl changes after peer review 2017-09-09 14:05:41 +09:00
squilter
ba0e08552f Copter: add SafeRTL flight mode 2017-09-09 14:05:41 +09:00
squilter
ec8c4b1744 Copter: add AP_SafeRTL to build 2017-09-09 14:05:41 +09:00
Peter Barker
3f67dfe4fe Copter: move handling of do_send_banner up 2017-08-30 15:54:47 +01:00
Peter Barker
3da70f19c1 Copter: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
e6ac68fd2a Copter: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
bb06db6389 Copter: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker
470e790117 Copter: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
squilter
00ace08b54 Copter: minor formatting fixes 2017-08-30 20:07:11 +09:00
Peter Barker
30fac9160e Copter: mavlink PERF messages also spit out average and standard deviation 2017-08-29 21:31:46 +01:00
Peter Barker
89e6e70235 Copter: remove MAIN_LOOP_RATE in favour of parameter value 2017-08-29 08:41:07 +09:00
Peter Barker
02a590024d Copter: base loop time remaining on variable loop rate 2017-08-26 09:33:45 +09:00
Peter Barker
0b6de644fb Copter: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Peter Barker
5103739ea3 Copter: remove unused CH6 defines 2017-08-24 19:48:17 +09:00
Lucas De Marchi
be402374ea ArduCopter: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Randy Mackay
34560fb1fb Copter: remove enabled check from optflow init 2017-08-23 11:19:14 +09:00
Randy Mackay
def17582c6 Copter: integrate simpler Log_Write_EKF 2017-08-23 11:19:14 +09:00
Peter Barker
b0c7766197 Copter: continuously reevaluate rc calibration checks 
Stop "latching" calibration checks - if an RC radio's calibration
changes after it passes once, these patches allow the rc calibraiton
checks to then fail.
 2017-08-21 09:05:31 +09:00
Peter Barker
19e409f7f4 Copter: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker
6db348bab3 Copter: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker
aa06fc499c Copter: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Michael du Breuil
5cfe4d5a8c Copter: Expose the AFS instance to MAVLink 2017-08-15 15:14:56 +01:00
Peter Barker
0a2177de58 Copter: move Copter RC checking code into library 2017-08-14 15:32:25 +09:00
Randy Mackay
14f6d3e03e Copter: 3.5.2 release notes 2017-08-14 12:12:01 +09:00
Peter Barker
c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker
fa2b500e93 Rover: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker
55af774e98 Copter: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker
56160a8bbd Copter: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker
ff81186951 Copter: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker
7ca146878d Copter: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker
da889bdff5 Copter: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Jani Hirvinen
bdbe26eb28 Copter: minor comment fix 
small edit on comments to kickoff autobuild
 2017-08-09 20:14:22 +09:00
Peter Barker
c36a20ab54 Copter: use new retry_deferred method 2017-08-05 23:14:31 +01:00
Randy Mackay
4368df7f11 Copter: 3.5.2-rc2 release notes 2017-08-05 16:46:42 +09:00
Randy Mackay
8dadbaa850 Copter: landing gear init on startup 2017-08-05 11:20:41 +09:00
Randy Mackay
c3fd354452 Copter: enable landing gear based on RC output 
previously it was enabled based on the transmitter's auxiliary switch
being setup
 2017-08-05 11:20:41 +09:00
Randy Mackay
5b8e7cfdf9 Copter: landinggear_update formatting change 
no functional change
 2017-08-05 11:20:41 +09:00
Peter Barker
db080ed60e Copter: stop sending MSG_SERVO_OUT messages 
This didn't ever result in a message being sent on Copter
 2017-08-03 14:34:33 +01:00
Peter Barker
7c37bb324b Copter: move try_send_message queued_param_send up 2017-08-03 14:34:33 +01:00
Peter Barker
431e3443bd Copter: move try_send_message send_hwstatus up 2017-08-03 14:33:37 +01:00
Peter Barker
3e5665735f Copter: move try_send_message mission handling up 2017-08-03 14:24:47 +01:00
Peter Barker
2a62b57e11 Copter: move try_send_message compass message handling up 2017-08-03 14:24:46 +01:00
Peter Barker
4b63443633 Copter: correct misleading comment 2017-08-03 14:24:46 +01:00
Peter Barker
31b33b2232 Copter: base SYS_STATUS load average on variable loop rate 2017-08-01 19:39:27 +01:00
squilter
f7a00b911e Copter: minor format fix for motors.cpp 2017-07-31 17:27:15 +09:00
Randy Mackay
167ced1279 Copter: battery arming checks call parent AP_Arming 2017-07-31 17:19:55 +09:00
Randy Mackay
9cbab6ed4b Copter 3.5.1 release notes 2017-07-31 11:49:12 +09:00
Peter Barker
f56c9bd96d Copter: move common mavlink camera handling up 2017-07-28 14:32:58 +01:00
Peter Barker
cdf9ebcb39 Copter: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Peter Barker
192310a68e Copter: move gps inject handling up to GCS_MAVLINK 2017-07-27 12:03:25 +01:00
Randy Mackay
f97e43919b Copter: add gps glitch notification and pre-arm check 2017-07-27 14:16:23 +09:00
Randy Mackay
52bf93dd80 Copter: 3.5.1-rc1 release notes 2017-07-27 12:25:22 +09:00
Peter Barker
f1ab50d4ea Copter: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00
khancyr
88aa1e447a Copter: adapt to new send_proximity API 2017-07-24 13:44:43 +01:00
khancyr
0710018a42 Copter: move proximity log to DataFlash (NFC) 2017-07-24 13:44:43 +01:00
khancyr
49755063ab Copter: move send_proximity to GCS common code (NFC) 2017-07-24 13:44:43 +01:00
khancyr
743d9ec65f Copter: report polygon fence breach 2017-07-21 09:47:00 +09:00
Peter Barker
89478d5a28 Copter: ensure logging is working as part of arming checks 2017-07-19 16:37:28 +01:00
Peter Barker
e45efeb829 Copter: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Peter Barker
cbde87b390 Copter: remove pointless pre_arm_gps_checks function 2017-07-19 16:34:57 +01:00
Peter Barker
baaad8df94 Copter: use common board_voltage_checks code 2017-07-19 16:34:57 +01:00
Peter Barker
a7bc111485 Copter: use common baro arming check function 2017-07-19 16:34:57 +01:00
Peter Barker
eb0edc9b5b Copter: remove MSG_STATUSTEXT entirely 2017-07-18 16:12:59 +01:00
Peter Barker
ad1c379445 Copter: move handling of PREFLIGHT_SET_SENSOR_OFFSETS up 2017-07-17 14:17:19 +01:00
Peter Barker
fe16691c6e Copter: move handling of MAG_CAL command longs up 2017-07-17 14:17:19 +01:00
Peter Barker
ecda9116ba Copter: move MAV_CMD_START_RX_PAIR handling to base class 2017-07-17 14:17:19 +01:00
Randy Mackay
73d994a834 Copter: update 3.5.0 release notes 2017-07-17 11:15:05 +09:00
Peter Barker
7042d3e9c9 Global: all vehicles get AP_Relay and AP_ServoRelayEvent libraries 2017-07-17 00:06:31 +01:00
Peter Barker
b14964eb1e Copter: move mavlink support for servo/relay up 2017-07-16 23:56:00 +01:00
Peter Barker
3e3a8717c5 Copter: add common handling of mavlink command messages 2017-07-16 23:56:00 +01:00
Michael du Breuil
a81bfe644a Copter: Document max loop time as being in microseconds 2017-07-15 17:27:04 +09:00
Peter Barker
480a83fdef Copter: move rally-point handling up 2017-07-14 01:28:05 +01:00
Peter Barker
7bb28175d7 Copter: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +01:00
Peter Barker
016eeaa258 Copter: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
Randy Mackay
260412bf0f Copter: 3.5.0-rc11 release notes 2017-07-12 13:56:01 +09:00
Randy Mackay
c1433e0220 Copter: minor comment and formatting fixes 
no functional change
 2017-07-12 13:27:45 +09:00
Randy Mackay
ed65d55f5e Copter: guided stops rotating if no updates received for 3 seconds 2017-07-12 13:27:45 +09:00
Randy Mackay
2b98fd765d Copter: guided_set_destination accepts relative yaw 2017-07-12 13:27:45 +09:00
Randy Mackay
4c9e118ceb Copter: set_auto_yaw_look_at_heading takes bool for relative angle arg 
No functional change
 2017-07-12 13:27:45 +09:00
Randy Mackay
9b05f1d9c7 Copter: add auto-yaw-rate and replace guided_angle_state.use_yaw_rate 
We use the auto_yaw_mode in auto and guided modes to allow various yaw behaviours
This commit adds a new AUTO_YAW_RATE control to the mode and uses it within guided mode.
This new RATE control is not currently used within auto mode because there is no way (yet) for a mission command to specify a desired rate.
 2017-07-12 13:27:45 +09:00
kouseii
4dd7d9eaff Copter: guided mode supports heading and yaw-rate target 2017-07-12 13:27:45 +09:00
Peter Barker
8a1fc6a406 Copter: remove global static send_statustext_chan 2017-07-11 23:53:53 +01:00
Peter Barker
592729733e Copter: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker
a4d167affe Copter: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00
Peter Barker
3660236a0d Copter: move common mission handling up to GCS_MAVLINK 2017-07-11 23:45:16 +01:00
Peter Barker
358555446b Copter: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker
0ac045febe Copter: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
Andrew Tridgell
7473471f38 Copter: reverse IDs in g2 for TCAL and tx_type 
as discussed with Randy
 2017-07-10 17:07:57 +10:00
Tom Pittenger
25b014524a Copter: use send_text method on the GCS singleton 2017-07-09 19:03:26 -04:00
Peter Barker
f60389d4aa Copter: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker
037cd2e9c6 ArduCopter: use Notify singleton for sending statustext 2017-07-09 17:17:29 -04:00
Randy Mackay
a6fbae16bf Copter: 3.5.0-rc10 release notes 2017-07-08 10:51:23 +09:00
Randy Mackay
2e56e10d9c Copter: ekf check adds position variance check 
two of three of compass, velocity and position variances being high will trigger the ekf failsafe
 2017-07-08 08:39:43 +09:00
Peter Barker
d9b45cc202 Copter: create GCS subclass, use inheritted methods 2017-07-07 16:18:37 +01:00
Peter Barker
2d11544ea8 Copter: remove redundant arming check defines 2017-07-06 11:55:12 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
9994e9b773 Copter: improve stream descriptions (NFC) 2017-07-04 08:12:57 +09:00
Eugene Shamaev
24c390ade0 ArduCopter: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Randy Mackay
c75f30eb9b Copter: 3.5.0-rc9 release notes 2017-07-03 14:42:26 +09:00
Randy Mackay
41752eef8b Copter:default RC_FEEL to 50 2017-07-03 09:34:07 +09:00
Peter Barker
37abc1b02f Copter: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker
776d691c79 Copter: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Peter Barker
cfbde937c6 Copter: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Peter Barker
8b57405143 Copter: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker
45a55bfa5f Copter: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Leonard Hall
f29951c2bf Copter: fix autotune accel max not being used until reboot 
Once autotune completes successfully, the discovered acceleration maximums should be used if the pilot tests the tune
 2017-06-22 15:19:57 +09:00
Randy Mackay
356a405e2d Copter: autotune minor format fix 2017-06-22 15:18:04 +09:00
Leonard Hall
2888096a42 Copter: autotune keeps constant attitude while holding position 2017-06-22 15:18:04 +09:00
Randy Mackay
51c20637e5 Copter: fix compile error when logging disabled 
Also slightly re-order placement of functions
 2017-06-22 15:18:04 +09:00
Leonard Hall
7eab1239c7 Copter: attitude logging at 400hz 2017-06-22 15:18:04 +09:00
Michael du Breuil
f0cb234228 Copter: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Andrew Tridgell
9d7ed495da Copter: call set_likely_flying() 2017-06-20 09:44:44 +10:00
Peter Barker
4af3b31128 Copter: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up 2017-06-17 15:07:48 +01:00
Andrew Tridgell
ba21c1e67d Copter: set RC_SPEED default to 16kHz for brushed 2017-06-17 17:37:45 +10:00
Peter Barker
4163455d97 Copter: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker
cb41f09d2e Copter: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Randy Mackay
cb77c1acc9 Copter: 3.5.0-rc8 release notes 2017-06-15 13:48:44 +09:00
Peter Barker
019dd02569 Copter: simplify dataflash initialisation 2017-06-14 12:20:29 +01:00
Shingo Matsuura
0800c6be52 Copter: add beacon object to avoidance object 2017-06-14 16:07:32 +09:00
Randy Mackay
a5ea9420c0 Copter: landing gear position set less often 
This change means no pwm output is sent to the landing gear servos until the pilot has moved the switch
 2017-06-13 13:56:07 +09:00
Peter Barker
3ee56f5475 Copter: StartUnstartedLogging replaces logging_started/start_logging 2017-06-11 20:34:12 +01:00
Peter Barker
43a16b9327 Copter: simplify should_log (NFC) 2017-06-11 20:34:12 +01:00
Peter Barker
d36e8fa51e Copter: eliminate calls to manipulate _writes_enabled 2017-06-11 20:34:12 +01:00
Peter Barker
2bb22da599 Copter: simplify start_logging 2017-06-11 20:34:12 +01:00
Pierre Kancir
d5cc1e64ed GCS_Common: rename send_rangefinder to send_rangefinder_downward 2017-06-08 01:32:04 +01:00
Pierre Kancir
73038a0e09 ArduCopter: GCS_mavlink style correction 2017-06-08 01:31:52 +01:00
Pierre Kancir
ac0a300415 ArduCopter: correct msg send by proximity 2017-06-08 01:31:52 +01:00
Pierre Kancir
261eb387eb ArduCopter: change rangefinder msg for common one 2017-06-08 01:31:43 +01:00
Pierre Kancir
156863d10a ArduCopter: add DISTANCE_SENSOR support 2017-06-08 01:22:07 +01:00
Peter Barker
758414cfe5 Copter: allow mavlink messages to be exchanged on failed boot 2017-06-07 12:56:46 +01:00
Randy Mackay
cb76bd8f3d Copter: compass set-initial-location uses ahrs location 
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
 2017-06-07 13:01:38 +09:00
Randy Mackay
814cadac68 Copter: consolidate set_home functions 
added lock argument instead of having twice as many functions
no functional change
 2017-06-07 13:01:38 +09:00
Randy Mackay
ec491d3c6b Copter: init_compass get g.compass_enabled check 
No functional change
 2017-06-07 10:34:13 +09:00
Leonard Hall
8def1d257e Copter: pass battery resistance estimate to motors 2017-06-06 14:57:04 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
f8aa91681e Copter: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Randy Mackay
010dc103be Copter: increase RC input deadzones for roll pitch and yaw 
Copter-3.5 testing resulted in a significant number of users reporting various issues like poshold and autotune were not functioning because their RC inputs were straying out of the deadzones
 2017-06-01 10:10:57 +09:00
Leonard Hall
c61d0a7373 Copter: reduce RC_FEEL default to 25 2017-06-01 10:06:20 +09:00
murata
1a76c28655 Copter: add dodeca-hexa 2017-05-27 14:21:13 +09:00
Randy Mackay
70ed572476 Copter: minor formatting fix 
This is mostly just to trigger compilation of the latest beta
 2017-05-25 17:53:20 +09:00
Randy Mackay
5f0214dd41 Copter: update AC3.5.0-rc7 release notes 2017-05-25 13:29:35 +09:00
Randy Mackay
9002a635e2 Copter: 3.5.0-rc7 release notes 2017-05-25 13:29:33 +09:00
Paulo Neves
9c6a7c170f Copter: Add MAV_CMD_DO_SET_CAM_TRIGG_DIST support 2017-05-25 09:35:22 +09:00
Michael du Breuil
6ba53cf11c Copter: Ignore Landing message 2017-05-24 15:22:27 -07:00
Randy Mackay
a77f21da4a Copter: sport and acro trainer limits based on target attitude 
previously the trainer used the vehicle's actual attitude meaning that the target could get far past the limits if there was an attitude error
 2017-05-23 19:44:52 +09:00
Randy Mackay
a0c5ac1949 Copter: fix compassmot for oneshot ESCs 2017-05-23 13:11:46 +09:00
Andrew Tridgell
c459a25194 Copter: adjust autotune poshold 
only reset position on pitch or roll input

also increases the max angle error for twitching in autotune. When a
vehicle is not well tuned the limit can prevent twitching
 2017-05-23 09:41:11 +09:00
Randy Mackay
010665f915 Copter: fix esc calibration for one-shot 
the cork and push need to be done from the vehicle level
 2017-05-23 07:57:17 +09:00
Randy Mackay
b4d7d4f43f Copter: resolve compiler warnings in autotune GCS messages 2017-05-22 12:34:06 +09:00
Peter Barker
d5afd01ef2 Copter: remove duplicate autotune rotation warning 2017-05-18 16:28:00 +09:00
Randy Mackay
ca8ae06bba Copter: minor format fix to landing-gear update function 2017-05-18 12:26:19 +09:00
Peter Barker
34eae9d9cb Copter: AutoTune: include axis being tuned in output 2017-05-18 09:36:00 +09:00
Peter Barker
0bc17645fb Copter: AutoTune: add gcs messages detailing wait-for-level state 2017-05-18 09:36:00 +09:00