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522 Commits

Author SHA1 Message Date
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
Peter Barker cff1969a29 Copter: make do_user_takeoff a member of Mode 2018-06-26 09:11:21 +09:00
Peter Barker cb26ff64b3 Copter: current_mode_has_user_takeoff -> Mode::has_user_takeoff 2018-06-26 09:11:21 +09:00
Peter Barker 70d159cb38 Copter: raise EKF failure even if USB is connected 
This will let EKF go bad if your PixHawk is connected to your laptop.
This doesn't seem to be a problem for the other vehicles.

This also allows the EKF to go bad in-flight if you happen to have
connected (against AP's recommendations) your companion computer to your
flight controller via USB.  Since people do this, it is better to have
the checks than not.
 2018-06-26 10:07:55 +10:00
Peter Barker fd9ce90b8e Copter: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
murata a970eacf49 Copter: Do not use the Delay method wrapper. 2018-06-16 09:40:47 +09:00
Peter Barker 078d90132c Copter: use AP_RTC 
Co-authored-by: patrickelectric@gmail.com

Copter: AP_GPS now sets the system time directly

Copter: use AP_RTC for mission delays

Copter: Remove ap_t bits counter (Patrick José Pereira)

Change bits in ap_t to bool and add a static assert
 2018-06-15 08:01:22 +10:00
Peter Barker ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Peter Barker e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
Peter Barker 5f2221fe74 Copter: move handling of VFR_HUD into GCS_MAVLink_Copter 2018-05-29 13:00:40 +10:00
Andrew Tridgell 2425c65e74 Copter: implement 'air-mode' for copter 
this implements what betaflight calls 'air-mode'. This gives attitude
control when throttle is at zero, allowing for zero-throttle maneuvers,
plus keeping the copter level on the ground.

This was already implemented if an interlock switch was setup, but it
should also work with an arming switch. If using an arming switch then
throttle should not be considered zero as long as the arming switch
hasn't gone low.
 2018-05-29 10:27:14 +09:00
Andrew Tridgell 0d56526400 Copter: added de-bouncing of aux switches 
this prevents a crash with a switch such as arm/disarm getting a
single frame RC glitch
 2018-05-29 08:26:46 +09:00
Peter Barker 81e9edd80a Copter: move sending of sim state up 2018-05-23 18:36:50 +10:00
Peter Barker 33582107b6 Copter: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker da1b2579c4 Copter: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker 9dce133938 Copter: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker 0dc0e54767 Copter: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Leonard Hall 656892cd88 Copter: ekf failsafe disabled for acro and stabilize 
Also restructure to combine ekf_over_threshold and ekf_check_position_problem
 2018-05-10 08:59:37 +09:00
Peter Barker dee40f3fe5 Copter: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker 6dd9f50f7c Copter: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
night-ghost 51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Peter Barker ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Pierre Kancir 70805d61f2 ArduCopter: remove inertial_nav from precland constructor 2018-04-17 17:21:35 +09:00
Peter Barker 80549a479e Copter: move throw logging into ModeThrow 2018-04-17 17:16:52 +09:00
Peter Barker c95ff96263 Copter: Baro does its own dataflash logging 2018-04-12 19:12:12 +01:00
Peter Barker d9ab8d6569 Copter: sprayer now uses ahrs singleton; stop passing reference 2018-04-12 14:23:33 +09:00
Pierre Kancir 9e298b3b2f Copter: sprayer uses ahrs in constructor 2018-04-11 09:41:33 +09:00
Randy Mackay 59e4749fd0 Copter: integrate AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Peter Barker 0c8110ecb2 Copter: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker d58e2214d2 Copter: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker cca4d5136e Copter: move common calibration functions up 2018-04-02 23:25:05 +01:00
Dr.-Ing. Amilcar do Carmo Lucas d633ba8c46 Copter: Add option to disable RPM module 2018-03-30 09:36:48 +09:00
Ebin 1ff4019ddf ArduCopter: moved landing control fns from Copter to Mode 
land_run_horizontal_control(),land_run_vertical_control(),get_alt_above_ground() moved to Mode
 2018-03-29 16:50:00 +01:00
Michael du Breuil 291531e056 Copter: Support new battery failsafes 2018-03-27 22:12:21 +01:00
priseborough 4b00f399b4 Copter: Clarify definition for gps_glitching flag 2018-03-27 20:28:55 +09:00
Peter Barker 45f2312bfe Copter: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker 2749ee9060 Copter: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay 4a74b1b5e5 Copter: replace NTUN with PSC logging 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
Dr.-Ing. Amilcar Do Carmo Lucas ed36ec3c29 Copter: add option to disable THROW mode 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas b27c00dc5f Copter: add option to disable ACRO mode 2018-03-15 07:38:14 +09:00
Randy Mackay af207caa1f Copter: move get_pilot_desired_lean_angles higher in cpp 
this makes the definition in the .h and implementation in .cpp files appear in the same order
 2018-03-14 09:33:39 +09:00
Ebin 20995b909f Copter: Moved get_pilot_desired_lean_angles to mode.cpp 2018-03-14 09:33:39 +09:00
Peter Barker d88bd52a53 Copter: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker bc4f021516 Copter: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
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
Randy Mackay 6ee101ca98 Copter: rename chase to follow 2018-03-05 15:08:08 +09:00
Randy Mackay 053983eb70 Copter: integrate AP_Follow into chase mode 2018-03-05 15:08:08 +09:00
Peter Barker 199455dc56 Copter: add chase mode 2018-03-05 15:08:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bc86ca0e3c Copter: simplify Log_Write_Proximity 2018-03-03 17:13:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas bbd1aa1cab Copter: Improve interoperation of AC_AVOID_ENABLED and BEACON_ENABLED 2018-03-03 17:10:26 +00:00
Peter Barker b8e1f03599 Copter: add define for disabling beacon 2018-02-27 07:43:13 +09:00
Peter Barker 5b355214fd Copter: add option to disable CIRCLE flight mode 
Saves about 2.4kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker e4898e1d60 Copter: add option to disable GUIDED_NOGPS flight mode 
Saves about 6.3kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker 86b162e32f Copter: add option to disable BRAKE flight mode 2018-02-27 07:43:13 +09:00
Peter Barker a7fe242e31 Copter: add option to disable RTL flight mode 2018-02-27 07:43:13 +09:00