Peter Barker
afa153fb6f
Copter: remove wrapper for get_avoidance_adjusted_climbrate
...
Only the modes are interested in this - there's no point having it on
the Copter object.
2020-08-22 08:31:25 +09:00
Randy Mackay
315d9da138
Copter: add ekf alt pre-arm and mode init checks
2020-08-20 12:41:40 +09:00
Michael du Breuil
376494027b
Copter: Support higher resolution percent based motor tests
2020-08-09 13:47:48 +10:00
Randy Mackay
925f76c048
Copter: integrate winch changes
...
includes the following changes
winch_update called at 50hz
removed ability to set winch rate from ch6 tuning
remove wheel encoder
call winch library to log at 10hz
fix winch param prefix
2020-08-07 21:55:07 +09:00
Peter Barker
d87986ecdd
Copter: move set_throttle_takeoff implementation into Mode
...
No callers except the mode objects, so move it.
2020-08-05 08:23:03 +09:00
Andy Piper
54c3d07547
Copter: make make/gimbal configurable on a per-board basis
2020-08-04 09:18:14 +10:00
Mirko Denecke
89d423556c
ArduCopter: update_trigger() is now called in AP_Camera update()
2020-07-15 08:37:28 +09:00
Randy Mackay
980c1f5020
Copter: update ekf terrain height stable setting
...
setting is true only when taking off or landing and horizontal speed is no more than 0.5m/s
2020-06-24 21:16:50 +09:00
Andy Piper
25dcc1a623
Copter: add support for individually tracking fft peaks and motor rpms with harmonic notches
...
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli
move harmonic notch update to AP_Vehicle
2020-06-21 19:09:35 +10:00
Iampete1
e797685771
Copter: add set guided mode angle for scripting
2020-06-19 10:09:35 +10:00
Andy Piper
8d2f2443a2
Copter: add air mode aux function
2020-06-16 20:30:26 +10:00
Peter Barker
0eb03ba7d5
Copter: make SuperSimple type-safe
2020-06-16 19:39:42 +10:00
Peter Barker
9b64ca040d
Copter: do not adjust trims while landed
...
Closes #1282
Also cancels autotrim if you change modes, disarm the vehicle or land
again.
2020-06-03 16:19:01 +10:00
Randy Mackay
680e417c2c
Copter: remove unnecessary includes
2020-04-24 18:18:05 +09:00
Randy Mackay
04c3f040a8
Copter: visual odometry moved to AP_Vehicle
2020-04-09 19:41:08 +09:00
Randy Mackay
e2469d29bc
Copter: implement start_takeoff and set_target_velocity_NED for use in scripting
2020-03-19 15:17:11 -07:00
Randy Mackay
a9630d67d1
Copter: implement set_target_location method
2020-03-03 10:06:38 -07:00
Randy Mackay
9a32b3bdd9
Copter: rename update_throttle_mix
...
was called update_throttle_thr_mix
also minor formatting fixes
2020-02-25 16:52:40 +09:00
Andrew Tridgell
dd5fafe30e
Copter: added rangefinder height interpolated using inertial alt
...
this smooths rangefinder heights and allows for good estimated for
precision landing even with loss of some rangefinder samples during landing
2020-02-25 09:10:30 +09:00
murata
94901edaf2
Copter: Match the column of element description
2020-02-19 09:44:57 +09:00
Peter Barker
1424945c14
ArduCopter: remove unused compass_init_location state
2020-02-18 10:35:49 +11:00
Peter Barker
18670d681e
Copter: let AP_Vehicle handle loop()
2020-02-06 14:41:06 +11:00
Peter Barker
9e8af48cce
ArduCopter: move some common init_ardupilot code up to AP_Vehicle
2020-01-28 11:34:51 +11:00
Peter Barker
debedd9d34
Copter: move setup method up to AP_Vehicle base class
2020-01-28 11:34:51 +11:00
Peter Barker
9466126fa8
Copter: let AP_Vehicle base class worry about scheduler delay callback
2020-01-21 11:37:28 +11:00
Andrew Tridgell
4445313661
Copter: fixed build warnings
2020-01-18 17:19:07 +11:00
Andrew Tridgell
1fae2009db
Copter: update for new SRV_Channels parameter conversion call
2020-01-14 14:23:11 +11:00
Tatsuya Yamaguchi
e01e924711
Copter: allow scripts to get modes
2020-01-14 11:16:29 +11:00
bnsgeyer
64f98622c0
Copter: fix tradheli RSC RC passthrough mode
...
Copter: heli get_pilot_desired_rotor_speed converts interlock input to desired rotor speed
2020-01-09 19:55:02 +09:00
Peter Barker
1ff07762de
Copter: remove report_compass method
...
This wasn't actually responsible for saving offsets any more.
The data spewed out was rather unlikely to be seen, and will be present
in logs anyway.
2020-01-04 10:46:51 +09:00
Peter Barker
2694560c38
Copter: generally unseen remove report_version
...
This won't generally be seen or useful to anyone
2020-01-04 10:46:51 +09:00
Peter Barker
326a569ea8
Copter: remove dangling read_control_switch method declaration
2020-01-02 10:13:35 +09:00
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
Tom Pittenger
7824b64ad6
Copter: rename dataflash to logger
2019-03-28 16:40:57 +11:00
Peter Barker
8441542a52
Copter: remove climb_rate cache of inertial_nav.get_velocity_z
...
There were only two users of it and dozens of places using
get_velocity_z
2019-03-28 12:10:31 +11:00
Peter Barker
c7e21d95ef
Copter: move Log_Write_Error into library
2019-03-27 12:36:40 +11:00
Peter Barker
34d9ce27af
Copter: make get_pilot_desired_throttle a method on Mode
2019-03-26 20:57:15 +11:00
Patrick José Pereira
33764d6c3b
Copter: Fix typo
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2019-03-26 15:39:23 +11:00
bnsgeyer
2fc942ac24
Copter: tradheli-convert swash parameters on firmware upgrade
2019-03-20 10:40:20 +10:00
Peter Barker
451f5f17ce
Copter: move devo telemetry handling to GCS
2019-03-19 14:39:14 +11:00
Peter Barker
e22b29bce4
Copter: FrSky support has moved to GCS
2019-03-19 14:39:14 +11:00
Peter Barker
85d9dd6f64
Copter: move sending of RPM message up
2019-03-16 10:33:01 +09:00
Peter Barker
f189860162
Copter: use enum class for ArmingMethod and ArmingRequired
2019-03-12 19:48:14 +11:00
Peter Barker
4f69eefd4a
Copter: remove unused includes
2019-03-05 13:19:29 +09:00
Michael du Breuil
cac4b91671
Copter: Allow scripting to run
2019-03-05 08:45:54 +11:00
IamPete1
ba3d1bc6c7
Copter: move E-stop state to SRV_Channel
2019-02-27 08:51:24 +09:00
Peter Barker
a48f461158
Copter: remove position-vector methods
...
Both were used in just one place
2019-02-26 14:09:21 +11:00
Peter Barker
4187243e5c
Copter: Rally no longer takes ahrs in constructor
2019-02-20 18:03:38 +11:00
Peter Barker
5ff80e06d1
Copter: move update_sensor_status_flags into GCS subclasses
2019-02-19 14:09:59 +11:00
Peter Barker
f759c7ac7e
Copter: GCS_MAVLink takes care of mavlink capabilities
2019-02-19 13:14:52 +11:00
Peter Barker
9bc23d3f28
Copter: move try_send_message of nav_controller_output up
2019-02-19 10:08:00 +11:00
Peter Barker
f64ad2f433
Copter: move visual odometry update function into AP_VisualOdom
2019-02-16 15:13:59 +11:00
Peter Barker
31f796f0c5
Copter: remove unused scaleLongDown member
2019-02-15 11:45:13 +09:00
Peter Barker
5ae52038fa
Copter: make setting of home boolean in preparation for sanity checks
2019-02-15 08:28:45 +11:00
Peter Barker
8de7f4a520
Copter: devo telemetry no long requires singleton classes to be passed in
2019-02-13 19:24:07 +00:00
Peter Barker
a0189d6060
Copter: AP_Frsky_Telem uses singletons
2019-02-12 17:53:23 +00:00
Peter Barker
587e02e92e
Copter: remove pv_ functions that duplicate Location functions
2019-02-06 11:02:50 +09:00
Peter Barker
7197cf9e5c
Copter: move sending of sys_status message up
2019-02-05 11:07:39 +11:00
Peter Barker
3521d98b52
Copter: move handling Write_Event into AP_Logger
2019-02-04 09:30:07 +09:00
Peter Barker
1412921561
Copter: move sending of fence_status message up
2019-01-31 13:44:29 +09:00
Peter Barker
5dc743f1ba
Copter: fence no longer takes reference to ahrs in constructor
2019-01-31 11:25:38 +09:00
Peter Barker
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
Peter Barker
845f015648
Copter: adjust for Location_Class and Location unification
2019-01-16 11:45:29 +11:00
Randy Mackay
50c5ad7076
Copter: TradHelis force spool up before takeoff
2019-01-15 11:41:44 +09:00
Peter Barker
f50418f72a
Copter: Terrain uses rally singleton
2019-01-09 10:14:16 +11:00
Michael du Breuil
ec8a82e8a0
Copter: Remove unneeded AP_Buffer include
2018-12-31 11:41:43 +09:00
Andrew Tridgell
89d54767b1
Copter: convert to use AC_AutoTune library
...
this maintains existing behaviour
2018-12-18 10:34:42 +09:00
Francisco Ferreira
a2fa63bcf7
Copter: fix Cygwin build
...
Static initialization doesn't have an exact order, we can't rely on it
2018-12-13 09:28:44 +09:00
Peter Barker
75fb9780f7
Copter: rename send_extended_status1 to send_sys_status
2018-12-10 12:52:41 +09:00
murata
b252eae404
Copter: Flip mode is an option.
...
Copter: Flip mode is an option.
2018-11-26 09:29:47 +09:00
Peter Barker
d49431488e
Copter: remove pointless wrappers around RC_Channels functions
2018-11-23 10:56:17 +11:00
Peter Barker
ee5339f931
Copter: remove pointless wrappers around gcs functions
2018-11-23 10:56:17 +11:00
Peter Barker
33ca577653
Copter: OpticalFlow takes care of its own logging
2018-11-13 10:40:23 +11:00
Peter Barker
ee456e8870
Copter: do not pass ahrs to opticalflow constructor
2018-11-13 10:40:23 +11:00
Andrew Tridgell
2f79932611
Copter: auto-convert landing gear PWM parameters
2018-11-10 21:24:19 +11:00
Peter Barker
73940df48e
Copter: move mission into mode_auto
2018-11-09 13:35:40 +09:00
Peter Barker
bf1c82ffe1
Copter: don't pass ahrs to terrain constructor
2018-11-08 20:59:45 +11:00
Peter Barker
f598cff99c
Copter: stop passing ahrs to Mission constructor
2018-11-08 10:01:16 +09:00
Peter Barker
1d322046b0
Copter: tidy up send_pid_tuning
2018-11-06 08:19:15 +09:00
Peter Barker
859f4828a1
Copter: move handling of gimbal messages up
...
Copter: move handling of mav_cmd_do_mount_control up
Copter: move handling of deprecated mount messages up
Copter: move handling of command_do_set_roi up
Copter: move handling of command_do_set_roi up
Copter: mount no longer takes ahrs in constructor
2018-10-30 17:19:14 +11:00
Leonard Hall
54a59f581f
Copter: add motor thrust lost check
2018-10-16 00:44:50 +09:00
Peter Barker
26ca75efae
Copter: make libraries get EKF control limits themselves
2018-10-09 10:47:38 +11:00
CAO MUQING
71beab7502
Copter: create and update Zigzag flight mode
2018-10-05 10:05:45 +09:00
Peter Barker
a30cdf6806
Copter: eliminate failsafe.rc_override_active
...
Use RC_Channels::has_active_overrides() instead
2018-09-05 11:54:32 +10:00
Peter Barker
ec6c59faa3
Copter: move handling of disable-gcs-rc-overrides-channel-option up
2018-09-05 11:54:32 +10:00
SergeyBokhantsev
af6303c82b
Copter: User parameters implementation
2018-08-31 08:42:03 +09:00
Randy Mackay
920300899e
Copter: rename gcs_check_input to gcs_update
...
this makes the names consistent with Rover and Plane
2018-08-24 15:30:50 +09:00
Peter Barker
09d8a33aaf
Copter: stop passing ahrs to PrecLand constructor
2018-08-17 21:14:57 +09:00
Alexander Malishev
f5c540a127
Copter: publish navigation info to OSD
2018-08-16 10:26:34 +10:00
Randy Mackay
346e9e36db
Copter: remove compass accumulate
2018-08-06 11:05:34 +10:00
Peter Barker
e7e56dde7a
Copter: move handling of RC switches into RC_Channel
2018-08-01 12:11:30 +09:00
Peter Barker
22f7f29045
Copter: move all of waypoint-takeoff into Mode namespace
2018-07-27 13:08:27 +10:00
SergeyBokhantsev
ea3de59107
Copter: implement user auxswitch functions
2018-07-26 20:27:49 +09:00
Peter Barker
f06637d48e
Copter: update servorelayevents @50Hz rather than 3Hz
...
One of the functions we allow for is toggling the servo at a set
frequency. 3Hz - the old rate - doesn't allow for precise triggering of
the servo. This patch increases that rate to 50Hz - somewhat better.
2018-07-20 09:42:58 +09:00
Michael du Breuil
3755b2ac0f
Copter: Remove unused ADC include
2018-07-17 09:29:50 +10:00
Peter Barker
c2f9b857a4
Copter: remove unused baro_climbrate variable
2018-07-04 21:08:47 +01:00
Peter Barker
df83cb034e
Copter: use ArmingMethod enumeration
2018-07-03 15:16:38 +10:00
Peter Barker
a1f29e92d1
Copter: use singletons in AP_Arming
2018-07-03 13:44:11 +10:00
Andrew Tridgell
20dea6df45
Copter: moved OSD to top level params
...
this gives us plenty of param depth for a complex param tree
2018-06-27 14:55:00 +10:00
Alexander Malishev
f63b3c044a
Copter: added OSD support
2018-06-27 14:55:00 +10:00
Peter Barker
7883582c65
Copter: move takeoff state into Mode class
2018-06-26 09:11:21 +09:00