f1969d5662
Copter: switch from NAV_ROI to DO_SET_ROI
2013-07-14 17:37:05 +09:00
ab1a7baf71
Copter: project stopping point for loiter command
2013-07-11 11:39:47 +09:00
022148ec0d
Copter: LAND only control horizontal position if we have GPS lock
2013-06-25 22:34:58 +09:00
993bccc60e
Copter: point nose at landing point if specified
2013-06-03 15:20:37 +09:00
9f59f2724f
Copter: bug fix for take-off when throttle is zero
...
Verify_takeoff was always returning false if throttle was zero. The
pilot should be able to move their throttle back to zero immediately
after initiating the mission
2013-06-03 14:18:56 +09:00
79bd8b4fd0
rtl resets yaw to same as when armed - unless user specifies otherwise
2013-06-02 11:29:27 +09:00
0460147a15
Copter: guided mode yaw fix
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Nose of copter now points at next guided point if it is more than 10m
away
2013-06-02 11:25:35 +09:00
429f900460
Copter: bug fix for RTL bearing
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Also smooth RTL's initial climb stage by projecting stopping point
2013-05-11 16:21:25 +09:00
ad656c7e8a
Copter: allow lat/lon to be specified for land
2013-05-10 22:37:15 +09:00
b3bca271d4
Copter: rename verify_must to verify_nav_command
...
Perhaps easier to understand if we use the "nav" and "conditional"
command labels
2013-05-10 12:06:29 +09:00
b65d714675
Copter: set yaw-mode in do_loiter mission command
2013-05-10 10:51:46 +09:00
1b52ee211a
Copter: bug fix for RTL yaw control
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Nose was only pointing home if your initial altitude was above the
RTL_ALT
2013-05-09 21:44:46 +09:00
1b2d8636ca
Copter: set wp to "fast" if they have no delay
2013-05-09 00:18:36 +09:00
105bd32a2e
Copter: fixed some uses of constrain_float() to be right type
2013-05-02 10:29:57 +10:00
25c576cad7
Copter: replaced constrain() with constrain_float()
2013-05-02 10:26:49 +10:00
a53e5f747b
Copter: add fourth yaw behaviour, look-at-home
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Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
2013-04-20 15:36:24 +09:00
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
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Also bug fix to check of how many time it has rotated during a loiter
turns mission command
2013-04-20 12:03:55 +09:00
d65d7d95e2
Copter: bug fix for take-off so it never descends
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If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
2013-04-18 22:30:24 +09:00
0fc9c8739e
Copter: add WP_YAW_BEHAVE parameter
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Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose. Almost nobody
ever knew about or used this parameter.
2013-04-18 15:30:18 +09:00
a7b32caf72
Copter: bug fix for loiter_time check
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loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
2013-04-15 23:57:22 +09:00
8c7a1597dc
Copter: remove debug comment from RTL
2013-04-14 18:28:13 +09:00
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
2013-04-14 13:27:37 +09:00
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
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RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
2013-04-14 10:39:23 +09:00
553f40a99c
Copter: bug fix to loiter delay
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change delay to seconds to allow delays longer than 65seconds
2013-04-14 10:38:30 +09:00
1516972eaa
Copter: add panorama to CIRCLE mode
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Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
2013-04-14 10:38:01 +09:00
58ed8cd544
Copter: replace set_next_WP with direct call to wp_nav
2013-04-14 10:37:55 +09:00
49828eba7d
Copter: integrate AC_WPNav
2013-04-14 10:37:48 +09:00
b280857025
Copter: use common angle wrap code
2013-03-29 13:14:31 +11:00
a1295c042b
Copter: fix init of wp_verify_byte so wp alt is always required
2013-03-17 16:37:30 +09:00
f9539384a1
Copter: rename failsafe to failsafe_radio
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Makes way for separation of failsafes for throttle, gps and gcs
2013-03-16 17:14:21 +09:00
5380973225
Copter: only start delay timer after reaching wp location and altitude
2013-03-06 12:50:41 +09:00
e0506bd622
Copter: inav circle initial implementation
2013-02-26 11:35:35 +09:00
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
2013-02-24 14:41:52 +09:00
574756908d
Copter: set wpinav controller targets in nav calls
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All navigation commands now properly set wpinav controller targets
except CIRCLE related commands.
2013-02-24 14:41:36 +09:00
00bc28adcc
Copter: take-off code cleanup
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remove redundant setting of loiter target.
explicitely set throttle mode to THROTTLE_AUTO
2013-02-24 14:41:32 +09:00
37d3e1d7e4
Copter: add zero slope checks to wpinav
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also added RTL fix to set wpinav target explicitly
2013-02-24 14:41:25 +09:00
fcf102b2cf
Copter: inertial nav waypoint controller
...
#define added to allow compile time selection of traditional or inav
based loiter and wp controllers
2013-02-24 14:41:09 +09:00
9d34ead486
Copter: fix up some casting issues for wp_distance
2013-02-01 22:42:50 +09:00
6f5050a8b9
Copter: minor casting fixup for wp_distance
2013-01-27 11:27:43 +09:00
d2767b911c
AP_Math: switch get_distance_cm to return uint32_t
...
Includes changes required on ArduCopter and ArduPlane side as well
2013-01-26 17:04:12 +09:00
fd02cfe706
Copter: added set_nav_mode to control initialisation of nav controllers
...
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
2013-01-25 15:16:29 +09:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
ccaa7a52ef
Copter: RTL bug fix to initial step is always a climb and not a descent
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Also bug fix to hold yaw on take-off
2013-01-15 12:17:52 +09:00
76f032160c
Copter: relax altitude check in verify_takeoff
...
Previously we checked if the alt > target_alt but because there is
little to no overshoot with the new accel based alt controller this
check was failing for some users.
2013-01-14 13:34:06 +09:00
c447b4b79b
ArduCopter: move setting of land's yaw mode to the do_land function
2013-01-13 20:01:06 +11:00
68b62abd38
ArduCopter with the new Camera and Relay classes for APM1 and APM2.
...
All changes by Sandro Benigno
2013-01-02 09:55:37 +11:00
e77b54c7dc
ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete.
2013-01-02 09:24:31 +11:00
d3cbf733ba
ArduCopter: ensure RTL performs a land if a failsafe has been triggered
2013-01-02 09:19:39 +11:00
1b5ff6aac6
ArduCopter: restore initial climb to RTL
2013-01-02 09:19:17 +11:00
d8e3d5c10c
ArduCopter: allow RTL's yaw mode to be overridden with a #define in APM_Config.h
2013-01-02 09:12:40 +11:00
ddc578fd18
ArduCopter: restore YAW to default AUTO_YAW mode instead of YAW_LOOK_AT_NEXT_WP mode
2013-01-02 09:12:17 +11:00
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
d31efebd44
ArduCopter: rename throttle failsafe parameters.
...
Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).
2012-12-10 23:38:43 +09:00
f522ef078e
ArduCopter: remove unused functions do_target_yaw, do_loiter_at_location, get_altitude_error and clear_new_altitude
2012-12-10 17:30:50 +09:00
56ceb230cb
ArduCopter: add YAW_OVR_BEHAVE to allow control of when autopilot takes back control of yaw after pilot overrides it during a mission
2012-12-09 18:04:31 +09:00
9a05d3bd36
ArduCopter: add comments at the top of many navigation functions
2012-12-09 15:50:50 +09:00
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
...
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
cca9f9dbce
ArduCopter: do_set_servo fix to resolve -1 being assigned to uint8_t
2012-12-07 12:58:44 +09:00
3a90fc77f9
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
d74cf54b5d
ArduCopter: allow triggering of camera from a mission
2012-12-06 23:48:30 +09:00
d3de77f74c
ArduCopter: fix do_set_servo so that it works again
2012-12-06 20:18:33 +09:00
75401756f2
ArduCopter: maintain loiter control even below 1m while landing
2012-12-06 12:40:53 +09:00
a5bb54e36e
ArduCopter: RTL clean-up and slightly improved landing sensor
...
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00
a94826f182
ArduCopter: add set_throttle_mode to better control initialisation of variables
2012-12-06 10:31:04 +09:00
3cbef57c64
ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy
...
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
2012-12-06 10:30:49 +09:00
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
d2a5928c06
Ap state updates
2012-11-09 22:15:15 -08:00
406a5dc328
ACM: save another 20 bytes
2012-10-22 18:59:51 +11:00
a0752dc7dc
ACM Acceleration management
...
removed unused waypoint_radius var
removed slow_wp
updated speed management system to maintain a constant acceleration or deceleration of 1m/s
changed version to 2.8.1a
2012-10-21 14:32:39 -07:00
3c9ba94f42
ArduCopter: bug fix to ROI when no camera mount is specific
2012-10-08 12:31:10 +09:00
5d3ddf1fc9
ArduCopter: bug fix for ROI not working if user did not have a camera mount
...
Changed verify_nav_roi command to attempt to point at the target if our camera mount type is not pan_tilt nor pan_tilt_roll
2012-09-10 02:03:32 +09:00
6791da4ee7
uncrustify ArduCopter/commands_logic.pde
2012-08-21 19:19:50 -07:00
7a6732fb4b
ArduCopter: removed unused icount variable from commands_logic.pde to reduce compiler warnings.
2012-08-18 16:04:23 +09:00
a72bf6ef57
ArduCopter: replaced abs with labs as required in a few places.
...
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
2012-08-16 17:51:09 +09:00
3ad08b7ffc
ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second.
2012-08-10 10:02:32 -07:00
d796814dfc
ACM : Commands Logic
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Altitude cleanup
2012-08-09 16:59:43 -07:00
fb26160d3b
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
f79b90725e
ArduCopter: Dan Gray's fix for Condition_Yaw
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command_yaw_dir is an unsigned byte but was being set to a -ve number leading to very incorrect yaw target heading for counter clockwise turns.
command_yaw_end (i.e. turn's end target) was not being set if turn was of type "relative"
2012-08-07 06:43:10 -07:00
8e5312a759
ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command
...
do_nav_roi and verify_nav_roi functions added to turn the copter and/or mount in response to a MAV_CMD_NAV_ROI way point
2012-07-25 11:02:54 +09:00
3a62608355
Arducopter: Added Slow_WP setting to regular wp navigation
2012-07-19 09:48:54 -07:00
71248fe114
Arducopter
...
increased landing authority
2012-07-18 22:57:10 -07:00
a88d69e40e
Arducopter:
...
Loiter unlimited can now travel to a WP and then loiter.
set_altitude for landing now set to 0
2012-07-18 22:57:10 -07:00
d8ff5dcfab
Arducopter: Fix circle_WP
2012-07-12 09:22:20 -07:00
a28070e0e0
Arducopter: Loiter unlimited fix
2012-07-12 08:52:49 -07:00
3048d2f9b4
Arducopter: WP_radius
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Switching to stored WP_radius in meters, just like Arduplane
2012-07-10 21:53:38 -07:00
19d8c405fd
Arducopter : Force home alt to 0
2012-07-10 21:53:37 -07:00
dfe0983e1e
Merge the changes from APM_Camera branch into ArduCopter
...
Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
2012-07-11 00:39:13 +02:00
b076b571eb
commands_logic: Removed some old unused code
2012-07-03 17:19:19 -07:00
d58ceb2b09
RTL: Commands.pde
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Removed do_approach function - now redundant
2012-07-01 13:40:11 -07:00
2450c25544
Arducopter: enabled RTL_altitude, renamed function to be more accurate
2012-07-01 13:40:11 -07:00
bc578172a5
moved detector to run until the throttle is low, then stop running.
2012-05-30 09:44:59 -07:00
f0456dc947
Missed a Semicolon
2012-05-30 09:36:16 -07:00
302c632205
Altered the ground detector logic to no continuously run when landed
2012-05-30 09:34:31 -07:00
4e4ff84cf1
Updates to CopterLEDS
...
Creation of Nav Blink Function.
2012-05-22 09:58:37 -04:00
07e53fad18
commands_logic.pde: Added write to constrained value to EEPROM.
2012-04-16 14:03:33 -05:00
3d024ba2dd
commands_logic: Allowed for an approach alt as low as 1m. Added a check to make sure we are currently above our target approach alt.
2012-04-16 10:11:50 -05:00
77d6f22864
ArduCopter, commands_logic: Updated logic to allow as low as 5m.
2012-04-15 19:50:05 -05:00
cddcdb8be3
commands_logic: Added check to make sure the do_approach method is not being used to land.
2012-04-15 16:57:49 -05:00
cfe3b58248
commands_logic: Added do_approach() to set the new target alt based on the user defined value.
2012-04-15 16:53:25 -05:00
33d4d52a6b
set Slow WP option for RTL in Auto mode
2012-02-19 13:12:23 -08:00
Randy Mackay
Dr Gareth Owen
Andrew Tridgell
James Bielman
Pat Hickey
Jason Short
uncrustify
Amilcar Lucas
Robert Lefebvre
Adam M Rivera