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48,434 Commits 71 Branches 509 Tags 780 MiB
Commit Graph

6823 Commits

Author SHA1 Message Date
Randy Mackay c9d256b45b Copter: add GUID_TIMEOUT for guided mode vel, accel and angle control 2021-07-22 16:01:01 +10:00
Leonard Hall 24f57b1daa Copter: Guided: move to zero velocity after takeoff 2021-07-22 16:01:01 +10:00
Leonard Hall d4610974e2 Copter: Auto Yaw variable names and comments 2021-07-22 16:01:01 +10:00
Leonard Hall 945af08fd0 Copter: Guided Angle init Z controller on time out 2021-07-22 16:01:01 +10:00
Leonard Hall 9abbc11c30 Copter: additional yaw modes and fixes 2021-07-22 16:01:01 +10:00
Leonard Hall 2df7e9551a Copter: Guided: use default yaw mode for all gps based sub modes. 2021-07-22 16:01:01 +10:00
Leonard Hall d51ab7fcc9 Copter: Guided: stop aircraft if an invalid command is sent 2021-07-22 16:01:01 +10:00
Leonard Hall 03373c6962 Copter: Guided: make aircraft stop on accel time out 2021-07-22 16:01:01 +10:00
Leonard Hall 7defb6d3e6 Copter: Guided add terrain failsafe 2021-07-22 16:01:01 +10:00
Leonard Hall 9ce91211e2 Copter: Guided: support terrain following 2021-07-22 16:01:01 +10:00
Leonard Hall e6d248f41d Copter: Guided: fix waypoint track reporting 2021-07-22 16:01:01 +10:00
Leonard Hall 04611f4c98 Copter: Guided close gap between TARGET_LOCAL_NED and TARGET_GLOBAL_INT 2021-07-22 16:01:01 +10:00
Leonard Hall 1e3c4d06c2 Copter: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Leonard Hall 8a23df951d Copter: Guided: use common initialisation 2021-07-22 16:01:00 +10:00
Leonard Hall e71c8c6446 Copter: Guided prevent takeoff without takeoff command. 2021-07-22 16:01:00 +10:00
Randy Mackay 97f2ecd06e Copter: guided accepts terrain alt position targets 2021-07-22 16:01:00 +10:00
Leonard Hall e91bc234ea Copter: support for acceleration-based AttitudeControl 2021-07-22 16:01:00 +10:00
Leonard Hall 96a48668d5 Copter: Correct yaw expo range limit 2021-07-22 16:01:00 +10:00
Randy Mackay 008b17eb6e Copter: version to 4.1.0-beta5 2021-07-04 08:19:11 +10:00
Randy Mackay e0e7af1e76 Copter: 4.1.0-beta5 release notes 2021-07-04 08:19:11 +10:00
Andrew Tridgell 9818633c5c Copter: improve check of far_from_EKF_origin 
- increases the maximum distance from EKF origin to 250km horizontally
- adds arming check that the vehicle is within 250km of the EKF origin
- fixes a bug in the far-from-EKF-origin related to height (was 500m, now 50km)
 2021-07-04 08:19:11 +10:00
Hwurzburg 2be203cf8b ArduCopter: remove values metadata from log bitmask 2021-07-04 08:19:11 +10:00
Shiv e2ce88fcf2 Copter: added comments to include libraries in copter.h and attitude.cpp 
fixed typo in a comment and added more comments for included libraries in copter.h and fixed a comment in attitude.cpp
 2021-07-04 08:19:11 +10:00
Randy Mackay 4dee6d2e4b Copter: RNGFND_FILT param default increased from 0.25 to 0.5 2021-07-04 08:19:11 +10:00
Andrew Tridgell ae0a69fa85 Copter: update for new double precision position APIs 2021-07-04 08:19:11 +10:00
Andrew Tridgell b43c58f6c3 Copter: use cleaned up APIs 2021-07-04 08:19:11 +10:00
Leonard Hall 220662a905 Copter: Set Force Descend to true only when in the last phase of landing 2021-07-04 08:19:10 +10:00
Peter Barker a41e58c3f1 ArduCopter: tidy frame description strings 
Before: AP: Frame: TRI/
After: AP: Frame: TRI
 2021-07-04 08:19:10 +10:00
Randy Mackay 9a2f52215e Copter: add configurable rangefinder filter 2021-07-04 08:19:10 +10:00
Peter Barker 0667c6d4c2 ArduCopter: remove HIL support 2021-07-04 08:19:10 +10:00
Randy Mackay e9081dee22 Copter: 4.1.0-beta4 release notes 2021-07-04 08:19:10 +10:00
chobitsfan 14c32f556c Copter: fix build problem when log disabled 2021-06-09 09:34:13 +10:00
Andrew Tridgell 77e566c6ed Copter: don't set takeoff expected in throw mode 
especially bad for dropping off a bridge
 2021-06-02 11:13:16 +09:00
Andrew Tridgell 1371fd7e6f Copter: use new APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Andrew Tridgell acb70abe86 Copter: adjust yaw imbalance check to only check imax rather than i 
Existing code was causing way too many false-positives
 2021-06-01 15:23:33 +10:00
Peter Barker 214bc4c282 Copter: make terrain-height-stable-when-no-position value stick 
The set immediately above this return is completely ineffective without
a return statement.
 2021-05-31 16:57:14 +09:00
Peter Barker 61f41803b9 ArduCopter: remove optical flow pointer from AP_AHRS 
Nothing was ever using it.
 2021-05-30 10:44:42 +10:00
Peter Barker b9c1633358 ArduCopter: remove pointless init_optflow wrapper 
Hiding a one-line call in a wrapper just adds size to the build
 2021-05-28 13:41:50 +09:00
Randy Mackay 9a363e9e15 Copter: call AC_PosControl::write_log in modes with only vertical control like AltHold 2021-05-26 18:58:31 +10:00
Leonard Hall 017b267fee Copter: Rename set_attitude_target_to_current_attitude 2021-05-26 16:03:05 +09:00
Leonard Hall dd0b303ec2 Copter: Fix Loiter attitude error during Pre-Takeoff 2021-05-26 16:03:05 +09:00
Leonard Hall 3b0a870504 Copter: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
Hwurzburg 6c06f72af3 ArduCopter: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Hwurzburg a658c4f623 Copter: correct ACRO_RP_EXPO constraint range 2021-05-25 09:06:32 +09:00
Leonard Hall e294991b08 Copter: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall caeaf7c047 Copter: Fix take off altitude 2021-05-24 20:13:37 +10:00
Leonard Hall 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Randy Mackay 1a4f67955d Copter: 4.1.0-beta3 release notes 2021-05-24 13:18:51 +09:00
Randy Mackay b8296af66a Copter: update 4.1.0-beta release notes 2021-05-20 09:00:39 +09:00
Randy Mackay f2c03a66b6 Copter: 4.1.0-beta2 release notes 2021-05-19 21:15:33 +09:00
Iampete1 c0cf814d3e Copter: disable hover throttle learn in standby mode 2021-05-18 15:59:52 +09:00
Leonard Hall d0b9f6ced6 Copter: minor format fix to rtl 2021-05-13 10:34:02 +09:00
Andy Piper ef18b9f943 ArduCopter: only call init_rc_out() once to avoid losing MOT information 2021-05-12 21:02:42 +10:00
murata 36f3fb316a Copter: Notify the fence breach at the notification level 2021-05-12 17:45:11 +09:00
Pierre Kancir 4368629fb6 Copter: rename RTLState to SubMode 2021-05-12 17:50:47 +10:00
Pierre Kancir 84d385654a Copter: rename SmartRTLState enum to Submode 2021-05-12 17:50:47 +10:00
Pierre Kancir f43e42f0b6 Copter: rename AutoMode enum to SubMode 2021-05-12 17:50:47 +10:00
Pierre Kancir 3fb73d7e93 Copter: move SmartRTLState to SmartRTL class 2021-05-12 17:50:47 +10:00
Pierre Kancir 07632dc7ed Copter: move AutoMode to Auto class 2021-05-12 17:50:47 +10:00
Pierre Kancir 0fe10c6c57 Copter: make SmartRTLState an enum class 2021-05-12 17:50:47 +10:00
Pierre Kancir c4cc3659fc Copter: make RTLState an enum class 2021-05-12 17:50:47 +10:00
Pierre Kancir 4987e54247 Copter: make AutoMode an enum class 2021-05-12 17:50:47 +10:00
Leonard Hall a780759221 Copter: minor format fixes 2021-05-12 17:16:00 +10:00
Andy Piper e19bf8149b Copter: generalise ESC telemetry to allow harmonic notch handling with other ESCs 2021-05-12 17:01:11 +10:00
Pierre Kancir e0d181a793 Copter: use MAVLink POSITION_TARGET_TYPEMASK 2021-05-11 09:53:50 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 2261f94361 ArduCopter: Mark motors un-healthy if any motors are not producing thrust 2021-05-06 16:27:27 +10:00
murata 6d8d35f272 Copter: Change the direct value to the definition name 2021-05-04 19:40:14 -04:00
Iampete1 0545c3941b Copter: mode circle: trigger param value change 2021-05-04 10:41:39 +10:00
Randy Mackay 67e15f8d07 Copter: autotune entry checks moved to init 2021-05-03 20:23:27 -04:00
chobits 7b60ace18b Copter: fix takeoff drift if vehicle is not in origin 2021-05-03 20:10:39 -04:00
Josh Henderson a5b984640e ArduCopter: Privatize AP_IntertialSensor Logging 2021-04-29 19:19:12 +10:00
Peter Barker cc90eddc82 ArduCopter: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Leonard Hall 726074be91 Copter: Support Thrust Vector based navigation 2021-04-27 17:13:55 +09:00
Tatsuya Yamaguchi c42681f4f2 Copter: add exit() method to Mode class 2021-04-26 09:56:34 +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
Randy Mackay 7cf4195f86 Copter: 4.1.0-beta1 release notes 2021-04-14 20:16:31 +09:00
Peter Barker 6727a6588f ArduCopter: tidy setting of sensor status flags 2021-04-14 18:03:27 +10:00
Peter Barker ff072c5215 Copter: stop sending POSITION_TARGET_LOCAL_NED in guided-angle mode 
The values we were sending through were not relevant
 2021-04-14 16:12:57 +09:00
Peter Barker 5df8dd8c50 Copter: move guided submode enumeration into ModeGuided 2021-04-14 16:12:57 +09:00
Peter Barker fa9ac072ec Copter: remove unused AP_IRLock include 
This header is included as required by the AC_PrecLand library - it is
now responsible for actually instantiating the AP_IRLock instance if
required, so Copter doesn't need to know anything about AP_IRLock.
 2021-04-14 12:01:12 +10:00
Andrew Tridgell 5a869174e5 Copter: use handle_landing_target() for precland 
allows for jitter correction
 2021-04-13 17:30:19 +10:00
Peter Barker 65b1868863 Copter: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Randy Mackay 6a98ad5a29 Copter: loiter-turns fix 2021-04-12 08:30:19 +09:00
Peter Barker c2411698b9 Copter: point to SITL parameter metadata 2021-04-10 11:28:22 +10:00
Peter Barker 09a9bd73a4 ArduCopter: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
chobits 28fbc73fb6 Copter: fix build error when landinggear disabled 2021-04-06 17:04:34 +09:00
TunaLobster 1bda79dd72 ArduCopter: loosen motion based landing detection when WoW is present 2021-04-06 08:46:07 +09:00
TunaLobster 444b33b059 ArduCopter: add WoW to Copter landing check 2021-04-06 08:46:07 +09:00
Peter Barker e7a9e0acb4 Copter: move brake state into a structure 2021-04-06 07:53:23 +09:00
Randy Mackay 941cf6b293 Copter: integrate AC_WPNav::get_yaw_rate_cds rename 2021-04-03 12:07:59 +09:00
Randy Mackay 94d4e5912b Copter: add comments to smartRTL 2021-04-03 12:07:59 +09:00
Randy Mackay 96267553cf Copter: auto detects mission changes 2021-04-03 12:07:59 +09:00
Randy Mackay 238d102a56 Copter: auto's wp_start skips submode change on terrain failsafe 2021-04-03 12:07:59 +09:00
Leonard Hall d981de1ff4 Copter: position control PID logging 2021-04-03 12:07:59 +09:00
Leonard Hall a29e2d8920 Copter: fix references to position error 2021-04-03 12:07:59 +09:00
Randy Mackay 7c14f4de0d Copter: rtl passes speed to wpnav::init 2021-04-03 12:07:59 +09:00
Randy Mackay 9d91b6c3be Copter: smart-rtl fix for final point altitude 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
Randy Mackay 204c839ae0 Copter: mode_smart_rtl uses peek_point 2021-04-03 12:07:59 +09:00
Peter Barker ce9800e597 ArduCopter: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00