Commit Graph

23 Commits

Author SHA1 Message Date
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
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 62a4867cd4 Copter: use avoidance adjusted climb rate in all modes 2017-01-18 09:35:47 +09:00
Andrew Tridgell 0f6d0c5ba9 Copter: combined tri, single, coax and multicopter into a single build
this allows copter to be just 2 builds, one for heli, and one for
everything else
2017-01-12 17:39:37 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Randy Mackay 5894a54a16 Copter: althold uses current alt target if active
Previously we always reset the altitude target to the current altitude but this causes a jump if the vehicle is already in an alt-hold flight mode but has an altitude error
2016-10-15 11:29:10 +09:00
Randy Mackay 88da5bd453 Copter: sport mode restructured to match althold and feedback from mid-stick
This modifies sport mode to be structured like althold and loiter flight modes so that ongoing maintenance of the modes is hopefully easier.
Also changes throttle feedback to occur from mid-stick
2016-08-05 12:40:37 +09:00
Randy Mackay 53f0216269 Copter: sport - fix call to relax_alt_hold_controller 2016-08-05 12:40:37 +09:00
mirkix e3934fac80 ArduCopter: Delete (wrong) filename out of header 2016-07-25 17:13:41 -03:00
Leonard Hall e9d8a28ec0 Copter: AP_Motor's throttle_hover replaces throttle_average 2016-06-18 11:55:49 +09:00
Randy Mackay 949d5f7109 Copter: add rangefinder_alt_ok
Reduces some duplicate code,no functional change.
2016-05-21 10:36:53 +09:00
Randy Mackay 7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
skyscraper 6f200fa923 ArduCopter: Fix up after refactoring RC_Channel class
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
2016-05-10 16:21:16 +10:00
Randy Mackay d37f70f767 Copter: sport uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Leonard Hall 8a49745e96 Copter: sport uses throttle in 0 to 1 range and sets motor spool state 2016-04-01 11:59:30 +09:00
Jonathan Challinger dfab21171b Copter: call renamed functions in AC_AttitudeControl 2015-12-09 19:58:37 +09:00
Jonathan Challinger 9d8b0f3d58 Copter: call renamed functions in AC_AttitudeControl 2015-12-09 19:58:30 +09:00
bugobliterator 945bdee452 Copter: PILOT_VELZ_MAX and PILOT_ACCEL_Z take effect immediately 2015-11-18 22:12:41 +09:00
Leonard Hall 411e75b917 Copter: feed forward only used for AltHold, Loiter, PosHold
land modes use non-feedforward alt hold
2015-10-28 20:21:54 +09:00
Randy Mackay 82ad454864 Copter: log sonar_alt even when disabled 2015-06-17 12:46:55 +10:00
Randy Mackay 362a43c126 Copter: explicitly set alt_target_from_climb_rate parameter 2015-06-05 15:11:30 +09:00
Andrew Tridgell 278883c521 Copter: finished conversion to .cpp files
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2015-05-30 15:21:19 +09:00
Andrew Tridgell 356ece3402 Copter: rename .pde files to .cpp files 2015-05-30 15:21:15 +09:00