Randy Mackay
0b4e926215
Copter: fix ModeGuided::set_destination_posvel
2021-08-26 11:25:54 +09:00
bnsgeyer
ca007ee6f6
Copter: Allow Tradheli to spoolup in guided or auto mode
2021-08-23 12:26:00 +09:00
Randy Mackay
8d0dd08312
Copter: minor format fix to guided mode
2021-08-13 12:04:36 +09:00
Leonard Hall
666c8214b6
Copter: support Control: Refactor to use Jerk
2021-08-11 17:07:29 +09:00
Leonard Hall
5c7b05f345
Copter: Guided: Add terrain following initialization.
2021-08-05 08:15:52 +09:00
Josh Henderson
6dce2e89c5
ArduCopter: guided auto_yaw_angle_rate timeout
2021-07-31 08:32:45 +09:00
Randy Mackay
d39581f996
Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN
2021-07-21 16:03:44 +09:00
Leonard Hall
6d6ab89a72
Copter: Guided and Loiter mode returns Crosstrack error
2021-07-21 15:40:41 +09:00
Josh Henderson
2ba6ae6196
ArduCopter: mark get_wp() const
2021-07-13 08:05:25 +09:00
Randy Mackay
7dcc5dd7ac
Copter: add TERRAIN_MARGIN parameter
2021-07-10 20:25:05 +09:00
Randy Mackay
50d0592962
Copter: add GUID_TIMEOUT for guided mode vel, accel and angle control
2021-07-10 20:25:05 +09:00
Leonard Hall
1aa3ef9b67
Copter: Guided: move to zero velocity after takeoff
2021-07-10 20:25:05 +09:00
Leonard Hall
0f9fcb8c2e
Copter: Guided Angle init Z controller on time out
2021-07-10 20:25:05 +09:00
Leonard Hall
feae762e64
Copter: additional yaw modes and fixes
2021-07-10 20:25:05 +09:00
Leonard Hall
58b0853012
Copter: Guided: use default yaw mode for all gps based sub modes.
2021-07-10 20:25:05 +09:00
Leonard Hall
991cc19f85
Copter: Guided: make aircraft stop on accel time out
2021-07-10 20:25:05 +09:00
Leonard Hall
0132b30d27
Copter: Guided add terrain failsafe
2021-07-10 20:25:05 +09:00
Leonard Hall
8631c3c68f
Copter: Guided: support terrain following
2021-07-10 20:25:05 +09:00
Leonard Hall
92099d83ca
Copter: Guided: fix waypoint track reporting
2021-07-10 20:25:05 +09:00
Leonard Hall
a1ad194abd
Copter: seperate kinimatic shaping from pid limit setting
2021-07-10 20:25:05 +09:00
Leonard Hall
80e856af20
Copter: Guided: use common initialisation
2021-07-10 20:25:05 +09:00
Leonard Hall
dfbd757f82
Copter: Guided prevent takeoff without takeoff command.
2021-07-10 20:25:05 +09:00
Randy Mackay
ba1951a372
Copter: guided accepts terrain alt position targets
2021-07-10 20:25:05 +09:00
Leonard Hall
635d13a106
Copter: support for acceleration-based AttitudeControl
2021-07-10 20:25:05 +09:00
Andrew Tridgell
bada2670a6
Copter: update for new double precision position APIs
2021-06-24 21:34:30 +10:00
Andrew Tridgell
d89388c4cc
Copter: use cleaned up APIs
2021-06-24 20:28:45 +10:00
Leonard Hall
e294991b08
Copter: Fix before squash
2021-05-24 20:13:37 +10:00
Leonard Hall
4bae8f03a4
Copter: Use PosControl fixes
2021-05-24 20:13:37 +10:00
Leonard Hall
726074be91
Copter: Support Thrust Vector based navigation
2021-04-27 17:13:55 +09:00
Randy Mackay
5fcd2de4fa
Copter: attitude target thrust-as-thrust bit moved from DEV_OPTIONS to GUID_OPTIONS
2021-04-20 09:56:38 +10:00
Peter Barker
5df8dd8c50
Copter: move guided submode enumeration into ModeGuided
2021-04-14 16:12:57 +09:00
Leonard Hall
a29e2d8920
Copter: fix references to position error
2021-04-03 12:07:59 +09:00
Leonard Hall
328c0655e3
Copter: support for SCurves and position controller changes
...
wp_start provides next_dest_loc
send next_destination to wp_nav instead of setting fast_waypoint
fixup zigzag for S-curve changes
fixup guided
auto spline fixes
smart rtl rename of next_point to dest_NED
loc_from_cmd accepts default location
auto mode stops before starting land command
auto do_next_wp accepts default location
rename do_next_wp to set_next_wp
also rename get_spline_from_cmd argument
also improve failure to set next waypoint due to missing terrain data
also fixup comment in set_next_wp
also auto stops when moving from straight to spline segments
also auto mode spline fix
also auto mode calls AC_WPNav::set_spline_destination_next
Copter: AutoYaw provides rate from WPNav
2021-04-03 12:07:59 +09:00
Peter Barker
d387ad9921
Copter: have allows_arming take a AP_Arming::Method rather than bool from_gcs
...
This API predates us having the arming methods being passed around.
This makes the calls look like Plane
2021-03-30 09:00:26 +09:00
Josh Henderson
f65c4df358
ArduCopter: make Location(Vector3f) require ALTFRAME
2021-03-30 08:56:35 +09:00
Tatsuya Yamaguchi
ed8384b45a
Copter: add option to disable LANDING_GEAR
2021-03-17 10:41:11 +09:00
chobits
b7c937592e
Copter: send mission_item_reached in guided
2021-03-09 10:04:24 +09:00
James O'Shannessy
d055d7a581
ArduCopter: Cleanup - removes autoenabling of fence with AC_Fence parameter
2021-03-05 14:52:46 +11:00
James O'Shannessy
a88f2721a8
ArduCopter: Use auto enable and auto disable from AC_Fence
2021-03-05 14:52:46 +11:00
James O'Shannessy
f228adfa75
ArduCopter: Improve auto-enable/disable of fence
2021-03-05 14:52:46 +11:00
Mathias Bos
b3b7f2d3d2
Copter: Remove yaw rate wrapping in guided mode.
2021-03-03 08:09:08 +09:00
Rishabh
bd37eab3af
Copter: Support 3D Simple Avoidance
2021-02-01 14:34:13 +09:00
Tatsuya Yamaguchi
eab913646e
Copter: fix ignore pilot yaw option for guided
2021-01-07 20:40:34 +09:00
Michael du Breuil
f9b4e81702
Copter: Add ignore pilot yaw to guided, auto and RTL options
2020-11-19 07:22:54 +09:00
Randy Mackay
ea7f850738
Copter: guide mode fix for takeoff in attitude control submode
...
It was not possible to takeoff when thrust was provided instead of climb rate (which is used depends upon DEV_OPTIONS)
2020-10-20 23:04:45 +09:00
Randy Mackay
9104b4800f
Copter: correct GuidedOptions enum after peer review
...
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
2020-10-20 23:04:45 +09:00
Randy Mackay
29fedff826
Copter: guided implementations moved to match declarations
...
this should be a non-functional change
2020-10-20 23:04:45 +09:00
Randy Mackay
5adf1d9596
Copter: guided mode angle controller sets auto-armed from run method
2020-10-20 23:04:45 +09:00
Randy Mackay
ab42bbc43f
Copter: guided mode velocity control can trigger takeoff
2020-10-20 23:04:45 +09:00
Randy Mackay
eb3aca7acf
Copter: add GUIDED_OPTIONS to allow arming from transmitter
2020-10-20 23:04:45 +09:00
Randy Mackay
ab54f8805a
Copter: guided mode checks dest before changing submode
2020-09-15 08:36:39 +09:00
Randy Mackay
30c8d7bf40
Copter: dev option so set-attitude-target thrust field used as thrust
2020-08-01 08:32:23 +09:00
Randy Mackay
dcbbd047b4
Copter: simplify guided mode takeoff using rangefinder
2020-04-23 15:01:46 +09:00
Tatsuya Yamaguchi
29dcbd1398
Copter: use rangefinder to takeoff altitude in guided mode
2020-04-23 15:01:46 +09:00
Randy Mackay
db2229f684
Copter: ModeGuided::do_user_takeoff_start arg rename
...
this makes it more consistent with the method it is overriding
2020-03-19 15:17:11 -07:00
Randy Mackay
8d99f204b0
Copter: integrate landing gear option and make edge based
...
also guided mode now retracts landing gear after takeoff
previously landing gear deployment was "level based" meaning the pilot could not override the gear's position
2020-02-26 08:01:00 +09:00
Sachchit Vekaria
f6125b26e8
Copter: Allowing Terrain Following in Guided Mode
...
Uses frame type of MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT message to decide the value of terrain_alt boolean.
2020-02-17 14:42:42 +09:00
Bogdan Grigoruta
5183703243
Copter: move Mode::auto_takeoff_run to takeoff.cpp
2019-11-18 09:14:08 +09:00
Randy Mackay
de5945bea5
Copter: use const reference when retrieving wpnav destination
2019-11-12 08:50:05 +08:00
Randy Mackay
709c874d8b
Copter: integrate AP_OAPathPlanner
2019-08-17 09:42:43 +09:00
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
Dr.-Ing. Amilcar do Carmo Lucas
402b1cba3f
Copter: replace 4 divisions with multiplications
2019-04-24 08:52:41 -07:00
Pierre Kancir
caf925eda5
Copter: factorize arm or land check
2019-04-16 10:17:47 +09:00
Peter Barker
46a6f45e4a
Copter: adjust for desired spool state and spool state renames
2019-04-14 12:18:03 +09:00
bnsgeyer
94738c3f86
Copter: change make_safe_shut_down to make_safe_spool_down
2019-04-08 09:42:21 +09:00
Randy Mackay
a6bfafefb0
Copter: move loiter and wpnav init out of make_safe_shut_down
...
resolves autotest RTLSpeed test failure
2019-04-08 09:42:21 +09:00
Leonard Hall
38cc5a817f
Copter: consolidate mode state decisions
...
bnsgeyer and rmackay9 contributed to these changes
make_safe_shut_down waits for spool down before disarming
remove use of attitude_control::set_throttle_out_unstabilized to consolidate logic between multicopters and tradhelis
2019-04-08 09:42:21 +09:00
bnsgeyer
d949c80d54
Copter: tradheli replaces rotor_runup_complete with spool state
2019-04-08 09:42:21 +09:00
Peter Barker
c7e21d95ef
Copter: move Log_Write_Error into library
2019-03-27 12:36:40 +11:00
Peter Barker
366051c39f
Copter: use enum class for AltFrame enumeration
2019-03-19 10:31:18 +11:00
Peter Barker
281dbfcef8
Copter: support send_extended_sys_state
2019-03-12 09:16:13 +09:00
Peter Barker
7c05364612
Copter: reindent mode init functions (NFC)
2019-03-01 13:43:20 +09:00
Peter Barker
fab2d59a1c
Copter: move check for position up
2019-03-01 13:43:20 +09:00
murata
8644f4d76e
Copter: Disable option code
...
Copter: Revert change
Copter: Change mistakes
2019-02-26 10:00:00 +09:00
Randy Mackay
717fb4d823
Copter: integrate AC_WPNav::get_speed rename to get_default_speed
2019-01-31 19:34:32 +09:00
Peter Barker
845f015648
Copter: adjust for Location_Class and Location unification
2019-01-16 11:45:29 +11:00
Peter Barker
26ca75efae
Copter: make libraries get EKF control limits themselves
2018-10-09 10:47:38 +11:00
Michael du Breuil
7e1ed948f5
Copter: Cope with AC_PosControl renaming
2018-09-20 15:15:45 -07:00
Pierre Kancir
84ff9c6928
Copter: switch to pos control when takeoff finish
2018-07-31 10:40:57 +10:00
Peter Barker
22f7f29045
Copter: move all of waypoint-takeoff into Mode namespace
2018-07-27 13:08:27 +10:00
Peter Barker
11aeec6dd1
Copter: factor out auto_takeoff_run from auto and guided
...
This code was identical.
2018-07-27 13:08:27 +10:00
liang.tang
57598e5b9f
ArduCopter:mode_guided: yaw initialization already in pos_control_start()
2018-07-05 15:48:00 +01:00
Peter Barker
597e876953
Copter: clean up do_user_takeoff
2018-06-26 09:11:21 +09:00
Pierre Kancir
2d5cbd2cf8
ArduCopter: report crosstrack_error
2018-06-26 08:42:14 +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
7c8583d51d
Copter: implement sending of position_target_global_int
2018-05-18 20:26:37 +10:00
Peter Barker
ba8b3e2415
Copter: create an AutoYaw helper object to hold auto-yaw state
2018-04-18 13:27:43 +09:00
Randy Mackay
d7ea8f073f
Copter: run guided velocity control at main loop rate
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
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
Leonard Hall
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
2018-03-16 13:50:57 +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
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
Randy Mackay
8d6f8e4d9c
Copter: move pos-control pids to pos-control library
2018-01-23 12:00:43 +09:00
Randy Mackay
e85b1ac740
Copter: pass dt to avoidance calls
2018-01-16 12:13:48 +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
71ad1b5815
Copter: use zero_throttle_and_relax_ac function
2017-12-27 12:09:06 +00:00
Randy Mackay
c3fbf2671c
Copter: rename control_xx.cpp files to mode_xx.cpp
2017-12-12 10:39:26 +09:00