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4417 Commits

Author SHA1 Message Date
Paul Riseborough 1aade494fc AP_State: enable use of motor interlock during throw mode 2016-03-03 12:18:18 +09:00
Paul Riseborough a7b69366a1 Copter: Add flight mode for throw launch 
The is commit adds a new flight mode called 'Throw' to Copter that enables the copter to be thrown into the air to start motors. This mode can only be netered when the copters EKF has a valid position estimate and goes through the following states

Throw_Disarmed - The copter is disarmed and motors are off.
Throw_Detecting - The copter is armed, but motors will not spin unless THROW_MOT_START has been set to 1. The copter is waiting to detect the throw. A throw with an upwards velocity of at least 50cm/s is required to trigger the detector.
Throw_Uprighting - The throw has been detected and the copter is being uprighted with 50% throttle to maximise control authority. This state transitions when the copter is within 30 degrees of level.
Throw_HgtStabilise - The copter is kept level and height is stabilised about the target height which is 3m above the height at which the throw release was detected. This state transitions when the height is no more than 0.5m below the demanded height.
Throw_PosHold - The horizontal motion is arrested and the copter is kept at a constant position and height.
 2016-03-03 12:18:13 +09:00
Randy Mackay e428abde42 Copter: enable precision landing by default 2016-02-29 19:17:20 +09:00
dgrat 5148e41c1a AP_Math: Cleaned macro definitions 
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
 2016-02-27 02:51:33 -03:00
Randy Mackay 077999d2aa Copter: 3.3.3 release notes 2016-02-24 11:03:25 +09:00
Tom Pittenger 6568402b28 Copter: convert to using static send_statustext 
- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
 2016-02-24 09:18:06 +11:00
Tom Pittenger 09dd2a1b3d Copter: use set_dataflash() for static logging 2016-02-24 09:18:05 +11:00
Lucas De Marchi 09e7cbe005 ArduCopter: remove unused CMAKE define 
This is a leftover from previos cmake build system.
 2016-02-19 19:15:39 -02:00
Peter Barker 44c63b8873 Copter: move use of defines after config.h and defines.h 2016-02-19 12:34:23 -02:00
Leonard Hall 8e790d3f91 Copter: autotune adjustment for large copters 2016-02-18 20:49:12 +09:00
Jonathan Challinger e09e9a313e Copter: interpret MAV_FRAME_GLOBAL_RELATIVE_ALT as MAV_FRAME_GLOBAL_RELATIVE_ALT_INT 2016-02-06 09:36:51 +09:00
Jonathan Challinger 0b8162aa0d Copter: add support for COMMAND_INT DO_SET_ROI 2016-02-06 09:36:41 +09:00
Randy Mackay a1b0a53e17 Copter: remove AP_Limits from comments 2016-02-04 09:55:07 +09:00
Randy Mackay a77dd59dc6 Copter: single and coax copters become mav_type quadrotor 2016-01-30 17:15:28 +09:00
Andrew Tridgell 5be21cc178 ArduCopter: log a picture if AP_Camera::control() returns true 2016-01-29 10:01:51 +11:00
Andrew Tridgell 4efb9bd785 ArduCopter: update for changed AP_Camera API 2016-01-29 09:19:43 +11:00
Dario Lindo Andres 90bf13279b ArduCopter: Added precise camera trigger logging 
Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
APMrover2.
added support for TRIGGER MSG
corrected according to defines.h
 2016-01-29 09:19:43 +11:00
Randy Mackay 5e24443a0a Copter: 3.3.3-rc2 release notes 2016-01-28 14:19:33 +09:00
Randy Mackay 27ed9e1561 Copter: allow mount to be disabled 2016-01-23 10:35:48 +09:00
Jonathan Challinger 22c3397657 Copter: make AP_Mount calls required by AP_Mount_SoloGimbal 2016-01-23 10:35:42 +09:00
Jonathan Challinger 5f610fdcba Copter: support SET_POSITION_TARGET with WGS84 altitudes 2016-01-23 10:29:04 +09:00
Jonathan Challinger 82322144ee Copter: remove unnecessary header file 2016-01-23 09:42:08 +09:00
Gustavo Jose de Sousa c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa e9d3dc9e72 waf: vehicles and antennatracker: use methods from bld 
Instead of from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa cf432e8b3e waf: ardupilotwaf: rename vehicle_stlib to ap_stlib 
That function is not only for vehicles.
 2016-01-22 20:10:28 -02:00
Gustavo Jose de Sousa a35c0d48b0 waf: ardupilotwaf: rename program to ap_program 
Make the rename so that there is no name clashes when defining it as a taskgen
method.
 2016-01-22 20:10:28 -02:00
Lucas De Marchi 7f04e0106e waf: change binary names 
APMrover2 -> ardurover
AntennaTracker -> antennatracker
ArduCopter -> arducopter
ArduPlane -> arduplane
 2016-01-18 16:56:08 -02:00
Gustavo Jose de Sousa 17e5d99509 waf: allow partial builds with new mavlink as submodule 
The task generator for the mavlink headers is given a name 'mavlink' and is
added as a dependency to all local static libraries, because all of them use
sources that include mavlink headers. It would be nice to have a good way to
detect sources that use mavlink headers or to declare list of libraries that
use the headers, so that the dependency could be added automatically.

Additionally, there's a minor change in syntax for the task generator: using
strings directly instead of lists.
 2016-01-15 07:28:48 +11:00
Randy Mackay d989cf29e2 Copter: cancelling no-gps-land switches to AltHold 
Previously it could switch to Loiter
 2016-01-14 15:22:02 +09:00
Randy Mackay dc2ec5db18 Copter: add Bitmask param description for PILOT_THR_BHV 2016-01-14 15:21:59 +09:00
Randy Mackay 2c5f9422d4 Copter: log event if pilot cancels land 
Also add definition for throttle value that cancels land
 2016-01-14 15:21:57 +09:00
Jonathan Challinger 8965185587 Copter: add "high throttle cancels landing" option 2016-01-14 15:21:54 +09:00
Randy Mackay 9e0cd7a5cf Copter: allow arming in Drift and Sport modes 2016-01-14 10:13:45 +09:00
Derek Ma 3751dbef91 ArduCopter: include precision landing sensor in mavlink system status 
Set MAV_SYS_STATUS_SENSOR_VISION_POSITION bit in onboard_control_sensors_present, onboard_control_sensors_enabled and onboard_control_sensors_health based on the status of precision landing sensor.
 2016-01-14 09:36:24 +09:00
Randy Mackay 97725c3187 Copter: add DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE to APM_Config.h 
This makes it easier for us to find the definition without searching through the code
 2016-01-12 19:51:43 +09:00
Jonathan Challinger cc1f27ad95 Copter: add DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE option 2016-01-12 19:49:17 +09:00
Jonathan Challinger 5cc969f01b Copter: simplify battery and radio failsafe logic 2016-01-12 18:23:01 +09:00
squilter 91187899fd Copter: initialize capabilities earlier 2016-01-12 18:13:15 +09:00
Randy Mackay 89c147184f Copter: log guided mode targets 2016-01-12 18:04:59 +09:00
Randy Mackay 6a67ad706c Copter: add Relays to aux switch parameter descriptions 
Also fix formatting of new options in switches.cpp
No functional change
 2016-01-08 12:13:37 +09:00
Gavin Mogensen 3918987507 Copter: aux switches for relays 2,3 and 4 2016-01-08 12:12:47 +09:00
Randy Mackay e216f814c5 Copter: add CAL_ALWAYS_REBOOT to APM_Config.h 2016-01-08 12:01:51 +09:00
Jonathan Challinger d916413a15 Copter: add CAL_ALWAYS_REBOOT option 2016-01-08 11:58:41 +09:00
Randy Mackay e16cccf218 Copter: RTL config formatting fix 
No functional change
 2016-01-07 17:29:54 +09:00
Randy Mackay 2927d6b2df Copter: add RTL_CONE_SLOPE param description values 2016-01-07 17:22:35 +09:00
Jonathan Challinger 3800c66f07 Copter: add RTL_CONE_SLOPE 2016-01-07 17:22:33 +09:00
Jonathan Challinger dcd16696a2 Copter: refactor RTL to compute full path on initialization 2016-01-07 17:22:31 +09:00
Randy Mackay 85b4288990 Copter: update 3.3.3-rc1 release notes 2016-01-07 14:30:06 +09:00
Robert Lefebvre bfa69ed543 Copter: 3.3.3-rc1 release notes 2016-01-07 14:30:03 +09:00
Randy Mackay 15e673f5ae Copter: fix precland parameter description prefix 
Thanks to Thomas Stone for finding this

No functional change
 2016-01-07 12:55:44 +09:00
Andrew Tridgell 907a680a3b Copter: always call load_all 
this ensures defaults file works on first start after erase
 2016-01-07 09:33:00 +11:00
Andrew Tridgell 74883ddaeb Copter: use set_range_in() for tuning channel 
this allows channel 6 to be used for something else for output
 2016-01-04 11:23:33 +09:00
Andrew Tridgell 5c94b61f49 Copter: support up to 14 input channels for all boards 2016-01-04 08:22:51 +11:00
Randy Mackay cfff57257e Copter: shorten precision landing param prefix 2015-12-31 15:30:39 +09:00
Randy Mackay 1155b1f557 Copter: remove precision landing PI controller 
This controller has been moved into the precision landing class
 2015-12-31 15:30:36 +09:00
Jonathan Challinger 0e85f55cfc Copter: remove OF_LOITER entirely 2015-12-31 14:27:22 +09:00
Tom Pittenger d969154391 Copter: incorporate AP_ADSB function rename 
- non-functional change
 2015-12-31 15:36:49 +11:00
Robert Lefebvre dc1846447e Copter: ensure Ch6 tuned value does not go out of range 2015-12-31 12:41:29 +09:00
Robert Lefebvre e2879b375d Copter: fix Ch6 Tuning when no RC Receiver on boot 2015-12-31 12:41:11 +09:00
Jonathan Challinger 93fc595d4d Copter: check if compass cal requires reboot 2015-12-31 12:32:57 +09:00
pepevalbe 3b3205304b Copter: added group parameter for AP_Notify library 2015-12-31 11:33:08 +09:00
Jonathan Challinger 5cd0ca851a Copter: check if accel cal requires reboot 2015-12-29 10:46:35 -08:00
bugobliterator 9a976963aa Copter: support AP_AccelCal 2015-12-29 10:46:34 -08:00
Lucas De Marchi e5e8bf3203 ArduCopter: don't link unused AP_Curve library 2015-12-28 10:23:23 -02:00
Randy Mackay 6ac48b4dac Copter: minor formatting fix 2015-12-28 14:01:12 +09:00
Jonathan Challinger 750cacc875 Copter: barometer ground effect compensation 2015-12-28 13:51:27 +09:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Andrew Tridgell 4dd8714880 Copter: changed to Hz based task table 2015-12-27 14:57:21 +09:00
Randy Mackay 1f3fa3e272 Copter: formatting fixes to arming checks 2015-12-24 14:11:38 +09:00
Jonathan Challinger 933ffb2b10 Copter: move prearm logic to arming_checks.cpp 2015-12-24 14:10:23 +09:00
Andrew Tridgell d14056fa1e Copter: fixed build warnings 2015-12-20 17:55:40 +11:00
Andre Kjellstrup eb0daee4b3 ArduCopter: Camera options for better camera control 
All on one because they would not pass autotest if split up.
 2015-12-18 18:16:11 +11:00
Jonathan Challinger cee706edd9 Copter: reflect renamed function in AP_AHRS 2015-12-18 18:08:37 +11:00
Julien BERAUD f897356fd9 Copter: Optflow constructor update 
AHRS passed as param
 2015-12-18 17:56:06 +11:00
Gustavo Jose de Sousa dc81a2410e waf: use single entry point for make wrappers 2015-12-10 10:40:34 +09:00
Jonathan Challinger 709fcf37cc Copter: call renamed functions in AC_AttitudeControl 2015-12-09 19:58:49 +09:00
Jonathan Challinger a0b36e0eff Copter: use renamed functions in AC_AttitudeControl 2015-12-09 19:58:47 +09:00
Jonathan Challinger 0fe0787265 Copter: call renamed AC_AttitudeControl functions 2015-12-09 19:58:43 +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
Jonathan Challinger b906767a45 Copter: change acro to use modified attitude_control functions 2015-12-09 19:58:28 +09:00
Robert Lefebvre 9848d05a9d Copter: Always send RPM data when sensor is enabled 2015-12-08 08:25:18 +11:00
Robert Lefebvre 652283a570 Copter: Helicopters to force descent when motor is shut off 2015-12-07 14:51:39 +09:00
DonLakeFlyer c8cc83505b Copter: return success or failure of get home position 2015-12-07 12:33:15 +09:00
Robert Lefebvre f55effa562 Copter: remove unnecessary frame ifdef 2015-12-04 14:18:00 +09:00
Lucas De Marchi 164b9f345c ArduCopter: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:45 +11:00
Peter Barker 826912c3e4 Copter: DataFlash-over-MAVLink support 2015-12-03 13:21:51 +11:00
Peter Barker f57d237181 Copter: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Gustavo Jose de Sousa 7837bbfd81 waf: add a make wrappers 2015-12-03 07:54:32 +11:00
Gustavo Jose de Sousa f27b8869a6 waf: add missing AP_ADSB library to ArduCopter 2015-12-03 07:54:32 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Randy Mackay d9baf334c4 Copter: remove unused definitions 2015-12-02 14:56:24 +09:00
Lucas De Marchi 83ff0476a8 ArduCopter: fix signed/unsigned comparison warning 
commands_logic.cpp: In member function 'bool
Copter::verify_within_distance()':
commands_logic.cpp:770:21: warning: comparison between signed and
unsigned integer expressions [-Wsign-compare]
     if (wp_distance < MAX(condition_value,0)) {
	                          ^
 2015-12-01 16:28:18 -02:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Randy Mackay d9a14d05f4 Copter: 3.3.2 release notes 2015-12-01 15:12:29 +09:00
Leonard Hall 6eca767db0 Copter: reduce autotune min D param default to 0.001 2015-11-30 11:21:54 +09:00
Randy Mackay 19f5c8f209 Copter: remove debug comments 2015-11-27 16:17:00 +09:00
Luis Vale Gonçalves 3199829d45 Copter: revisions to text strings sent to GCS 2015-11-27 16:16:58 +09:00
Andrew Tridgell f5d73a9d10 Copter: fixed deadzone for acro with extgyro and no flybar 2015-11-27 15:24:43 +09:00
Randy Mackay 06880e8b04 Copter: fix input_manager init order to resolve compiler warning 2015-11-27 15:18:17 +09:00