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5431 Commits

Author SHA1 Message Date
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
Andrew Tridgell 9261e1cbde Copter: enable F412 toymode button setup 
different button mapping for new controller
 2018-02-08 17:36:33 +11:00
Andrew Tridgell daf35f7a30 Copter: pass loop rate to perf_info 2018-02-08 17:36:33 +11:00
Andrew Tridgell 5a210a697e Copter: fixed flowhold build 2018-02-08 17:36:33 +11:00
Andrew Tridgell af4f0c29ba Copter: enable TMODE (ToyMode) support 
this is for the skyviper button based transmitter control
 2018-02-08 17:36:33 +11:00
Andrew Tridgell f442b91ea5 Copter: added FLOWHOLD flight mode 
This flight mode allows for position hold with optical flow without
needing a rangefinder for height. It can estimate its height from the
flow data and IMU
 2018-02-08 17:36:33 +11:00
Andrew Tridgell a26d19b57c Copter: fill in flight mode in AP_Notify flags 
needed for AP_Radio
 2018-02-08 17:36:33 +11:00
Andrew Tridgell ce0bcf1adc Copter: disable toy_mode by default 2018-02-08 17:36:33 +11:00
Andrew Tridgell 15166eff2e Copter: enable temperature calibration library 2018-02-08 17:36:33 +11:00
Andrew Tridgell 1f76f69d80 Copter: implement per-motor compass compensation 2018-02-08 17:36:33 +11:00
Andrew Tridgell 662afdc2fd Copter: fixed build warning 
double precision promotion
 2018-02-07 20:33:45 +11:00
Michael du Breuil 69da4041ac Copter: Move logging battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Tatsuya Yamaguchi 6698660fd6 Copter: fix Battery FailSafe action with auto mode 2018-02-05 15:13:25 +09:00
Peter Barker ab7a9c9073 Copter: use zero_throttle_and_relax_ac in poshold, drift and autotune 2018-02-02 14:59:16 +09:00
murata c13d6580ae Copter: delete \n from the log using gcs().send_text 2018-02-02 09:38:39 +09:00
Randy Mackay 5a1c3cf5f4 Copter: firmware text to ArduCopter 2018-01-31 12:13:57 +09:00
Randy Mackay 0f6762bbd2 Copter: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Randy Mackay a3e9f72b0b Copter: fix default flight mode channel 2018-01-27 16:20:32 +09:00
Andrew Tridgell 89674482a7 Copter: added FLTMODE_CH parameter 
this allows for the flight mode to be on any RC channel, or no channel
at all to disable RC flight modes
 2018-01-27 12:01:35 +09:00
Peter Barker a97301c0f2 Copter: do not allow arming in RTL 2018-01-25 09:53:51 +09:00
Pierre Kancir 10e6fe43dd Copter: Add a switch option to enable/disable RC_Override 2018-01-24 21:37:41 +09:00
Pierre Kancir cfc69214e6 Copter: add LAND_ALT_LOW parameter 2018-01-24 21:14:35 +09:00
Randy Mackay 60c3ae1ec2 Copter: fix spelling in drift mode variable name 
non-functional change
 2018-01-24 17:13:15 +09:00
Randy Mackay f8c1d08316 Copter: 3.5.5-rc1 release note update 2018-01-24 12:09:43 +09:00
Randy Mackay 929dd04f2a Copter: 3.5.5-rc1 release notes 2018-01-24 12:09:39 +09:00
Randy Mackay eefa629039 Copter: remove setting accel_z PID controller's dt 
This is handled from within the pos controller
this commit can be merged with Copter: move pos-control pids to pos-control library
 2018-01-23 12:00:43 +09:00
Randy Mackay 8d6f8e4d9c Copter: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay 6546ccbb3f Copter: velocity pi moved to position control library 2018-01-23 12:00:43 +09:00
Dylan Herman 20fe5bb98f Copter: add SmartRTL failsafe action 
Adds SmartRTL or RTL and SmartRTL or Land failsafe options for batt, throttle, and GCS failsafes
 2018-01-22 10:54:28 +09:00
Peter Barker 996115c0d3 Copter: eliminate MAIN_LOOP_SECONDS macro 2018-01-20 15:35:58 +11:00
Michael du Breuil 0ddcb0a6fb Copter: Support AP_BattMonitor_Params 2018-01-17 22:21:55 +00:00
Alexey Bulatov 8accfb97f6 ArduCopter: Check for nullptr for motors class pointer 
Because of added initialisation of UAVCAN send_heartbeat function
starts before motors initialisation. So we need check is object created.
 2018-01-17 07:24:17 -08:00
Dylan Herman c772e2d3fd Copter: sets SmartRTL home after AHRS home is set 
Now calls AP_SmartRTL::set_home when arming. In addition, it calls it whenever
the ahrs home is set to the current location, whether by GCS or in-flight

Copter: merge
 2018-01-17 11:04:46 +09:00
Randy Mackay e85b1ac740 Copter: pass dt to avoidance calls 2018-01-16 12:13:48 +09:00
Leonard Hall 48d0ad26a6 Copter: mode_land sends dt to sqrt controller 2018-01-16 12:13:48 +09:00
Randy Mackay b47d575f65 Copter: minor spelling fix 
non-functional change
 2018-01-12 16:51:25 +09:00
Peter Barker 6bcdab55d0 Copter: rename sys_status methods from geofence_ to sys_status_ 2018-01-09 17:15:19 +00:00
Peter Barker 077b062701 Copter: change pre-arm checks to allow interlock to be enabled 
With this change we will continue to tell the user their interlock is
enabled, but we will not fail the pre-arm checks.

This will mean that the blinking-LED indicators will show the vehicle as
armable (flashing green / flashing blue), even if the interlock would
prevent arming.

This has the advantage that you don't need your vehicle in the
"dangerous" state to work out whether arming will work when you attempt
to arm it.

Note that we repeat the interlock switch check in the arming checks, and
it WILL fail if the interlock switch is enabled.
 2018-01-09 08:13:06 +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 8d658e1dbc Copter: correct misleading comment in mode_throw 2018-01-08 12:02:49 +00:00
Peter Barker cb129fbdaf Copter: remove argument to check() 
Also, check() was check_fence()
 2017-12-28 15:38:37 +00:00
Peter Barker d1201e4776 Copter: tidy zero_throttle_and_relax (NFC) 2017-12-27 12:09:06 +00:00
Peter Barker 71ad1b5815 Copter: use zero_throttle_and_relax_ac function 2017-12-27 12:09:06 +00:00
Peter Barker 41dc8554c0 Copter: pull out a zero_throttle_and_relax function 2017-12-27 12:09:06 +00:00
Peter Barker 4c7491a05b Copter: mode_auto's landing_gear_deploy method defers to mode_rtl 
Since we defer our rtl_run behaviour to the RTL flightmode, it should
also specify the landing gear behaviour
 2017-12-27 12:08:15 +00:00
Peter Barker d9235d3d41 Copter: make landing_gear_should_be_deployed a base-class method 2017-12-27 12:08:15 +00:00
Peter Barker dda38d65eb Copter: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Matt 5d6c979f70 COPTER: Fix MOUNT_CONTROL yaw in missions 
If a the mount instances (gimbal) does not support yaw/pan control, the
copter needs to yaw in response to a DO_MOUNT_CONTROL command in
missions.  Checking if the mount has pan control, and if not, yawing the
copter was missing from the mission commands logic. As such, a
MOUNT_CONTROL command would control pitch but not yaw/pan.  This patch
impliments checking for pan control, and initiating copter yaw as
required.
 2017-12-23 10:57:31 +09:00
Matt c0f0e3eca3 COPTER: Fix MOUNT_CONTROL yaw in guided 
If the mount instance does not support yaw/pan, the copter needs to yaw in
response to MSG_MOUNT_CONTROL and MAV_COMMAND_DO_MOUNT_CONTROL commands from
a GCS or co-computer. There was no checking for mount pan in the GCS_Mavlink
logic.  As such, no yaw takes place when a mount control command calls for it.
This patch impliments copter yaw control for both MSG_MOUNT_CONTROL and
MAV_COMMAND_DO_MOUNT_CONTROL in copter GCS_Mavlink.
 2017-12-23 10:57:31 +09:00
Peter Barker 4dcb5aa3de Copter: stop setting home distance in fence 2017-12-15 01:42:49 +00:00