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545 Commits

Author SHA1 Message Date
Randy Mackay 3e7fb66a77 Copter: precision landing does not use terrain database 
precision landing was always only using the range finder, there was no use of the provided alt unless the rangefinder was good
 2019-12-17 20:02:01 +09:00
Randy Mackay f768e80458 Copter: remove unused prev_control_mode_reason 2019-12-12 09:13:24 +09:00
Peter Barker 544eb5f179 Copter: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Peter Barker 62869b5be8 Copter: vehicle parent class now instantiates AHRS 2019-12-02 09:16:22 +11:00
Gone4Dirt 180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Randy Mackay adc1d60ea5 Copter: CTUN logging fix for SAlt 
sonar altitude was not being logged in modes that don't use surface tracking including Auto
SAlt scaling was also incorrect
 2019-11-12 09:10:21 +08:00
Peter Barker 201adb6818 Copter: correct Heli compilation when some modes are disabled 2019-11-06 16:36:35 +11:00
Peter Barker 38d3c2daa1 Copter: stop providing current location to mount 2019-11-05 19:55:45 +11:00
Peter Barker e6c6189fe5 Copter: cope with change in namespace of LogEvent enum 
Also move Acro Trainer types into an enum class as the global defines
interfere with the Event names.

Also eliminate the Log_Write_Event wrappers.
 2019-11-05 08:19:26 +08:00
Matt Lawrence f71ef4c7ab Copter: Refactor failsafes, add fs_options bitmask parameter 
- Radio failsafe, battery failsafe, GCS failsafe refactoring
- Add new FS_OPTIONS parameter
- Enhance GCS Failsafe abilities
 2019-11-03 07:07:34 +08:00
Peter Barker b6920e14c8 Copter: remove redundant SurfaceTracking enumeration namespacing 
Also rename State to Surface to be more specific about what is being
set/tracked.
 2019-10-26 08:08:22 +08:00
Michael du Breuil b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Randy Mackay 7b0da89708 Copter: add vibration check 2019-10-18 11:15:25 +09:00
Leonard Hall 50a098c359 Copter: Standby functions 2019-10-17 14:57:18 +09:00
Leonard Hall c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
Randy Mackay 36327d56de Copter: reject reboot request from GCS if auto esc cal on next reboot 
this resolves an edge case in which the motors could spin up on the next reboot because the user didn't unplug the battery to reboot the flight controller
 2019-10-15 07:41:44 +09:00
Andy Piper 8ce7f02167 ArduCopter: add functions to update dynamic notch frequency. Periodically log the frequency. 
tradheli- make RPM sensor input to harmonic notch in hertz
 2019-10-10 20:26:02 +09:00
Peter Barker 9e5d5c023c Copter: move many members up to base class 2019-10-08 11:26:04 +11:00
Peter Barker 95f81297d9 Copter: become an AP_Vehicle 2019-10-08 11:26:04 +11:00
murata abb91fc33a Copter: Change external button specification to option 
Copter: Change the definition name from BUTTON to BUTTON_ENABLED.
 2019-10-08 08:09:19 +09:00
Randy Mackay 1c4f47f882 Copter: add upward facing surface tracking 2019-09-28 11:13:14 +09:00
Randy Mackay d5d7fbe761 Copter: rangefinder glitch detection moved to read_rangefinder 2019-09-28 11:13:14 +09:00
Randy Mackay 808efa4c79 Copter: surface tracking format fixes 2019-09-28 11:13:14 +09:00
Peter Barker b4537bebd8 Copter: move control_mode_t into being Mode::Number enum class 
Fixes this compiler error:

In file included from ../../ArduCopter/sensors.cpp:1:
In file included from ../../ArduCopter/Copter.h:195:
../../ArduCopter/mode.h:1291:9: fatal error: declaration shadows a variable in the global namespace [-Wshadow]
        AUTO,           // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
        ^
../../ArduCopter/defines.h:38:5: note: previous declaration is here
    AUTO =          3,  // fully automatic waypoint control using mission commands
    ^
1 error generated.
 2019-09-13 13:12:08 +09:00
Randy Mackay 709c874d8b Copter: integrate AP_OAPathPlanner 2019-08-17 09:42:43 +09:00
Peter Barker 4fa83ed40d Copter: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Peter Barker c0e8d319c6 Copter: make surface tracking adjust_climb_rate take a float 
Its callers all pass in floats and we return a float, so stop going via
an int16_t
 2019-08-06 14:09:09 +09:00
Peter Barker b0428f0fe8 Copter: make surface_tracking a class, various functions methods 2019-08-06 14:09:09 +09:00
Peter Barker 97bb846310 Copter: RangeFinder uses AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Peter Barker 9412075b9c Copter: avoidance no longer takes ahrs in constructor 2019-07-16 09:29:48 +10:00
Peter Barker e977fce3ad Copter: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +10:00
Peter Barker 05925b57ad Copter: mark position_ok methods as const 2019-07-09 09:26:45 +10:00
Peter Barker eb82126758 Copter: ServoRelayEvents uses Relay singleton 2019-07-03 23:59:24 -07:00
Peter Barker cf45108efb Copter: set Heli frame default at compile-time 2019-07-04 10:05:01 +09:00
Peter Barker bb3d2a0b37 Copter: pass GCS_MAVLink object rather than channel number in motortest 2019-07-02 10:04:56 +10:00
Peter Barker f3c1791341 Copter: stop passing gcs chan into method which wants an object 2019-06-25 09:45:54 +10:00
Michael du Breuil df37a3d603 Copter: Remove wrapper around MAVLink send heartbeat 2019-06-18 13:59:52 +01:00
Peter Barker 676d75c391 Copter: correct namespacing of Copter modes 
This makes us look like Rover and Plane in terms of namespacing for the
Mode classes, and removes a wart where we #include mode.h in the middle
of the Mode class.

This was done mechanically for the most part.

I've had to remove the convenience reference for ap as part of this.
 2019-06-11 09:18:22 +09:00
Peter Barker 9f6b48b743 Copter: remove unneeded initialisation 2019-06-03 16:48:38 +09:00
Peter Barker 6dce39cbe1 Copter: use AP_Arming methods to arm and disarm vehicle 
Really just changing the namespace of init_arm_motors
 2019-05-30 07:37:30 +09:00
Peter Barker 3ef84d2b96 Copter: stop passing references to AC_Avoid constructor 2019-05-22 07:48:02 -06:00
Randy Mackay 01909cf4c8 Copter: zigzag mode gets terrain following support 2019-04-19 07:45:52 +09:00
Randy Mackay 89eb876faf Copter: move surface tracking variables into structure 2019-04-19 07:45:52 +09:00
Randy Mackay 33a57361bd Copter: reduce args passed to get_surface_tracking_climb_rate 
The same arguments are always passed in
 2019-04-19 07:45:52 +09:00
Pierre Kancir 4f29d2e5a6 Copter: factorize esc calibration setup 2019-04-09 08:44:46 +09:00
Randy Mackay a5bdd12bfa Copter: replace TUNE_LOW/HIGH params with TUNE_MIN/MAX 
change from uint16 to floats to ease setup
also add check that no function assigned to rc6
 2019-04-08 15:24:00 +09:00
bnsgeyer d949c80d54 Copter: tradheli replaces rotor_runup_complete with spool state 2019-04-08 09:42:21 +09:00
Michael du Breuil d1246f5868 Copter: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Michael du Breuil 0e8c3dc485 Copter: include FWversion 2019-04-05 20:12:53 +11:00
Peter Barker 2040580ce7 Copter: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00