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205 Commits

Author SHA1 Message Date
Peter Barker f2a9f1516b ArduCopter: move gripper up to AP_Vehicle 
also make the singleton return a reference rather than a pointer
 2024-02-21 21:05:12 +11:00
J.R. Bronkar c28c50babe ArduCopter: fractional Loiter Turn Support 
Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
 2024-01-22 20:27:20 -08:00
Peter Barker 7377b3f8f2 ArduCopter: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Randy Mackay 97ab37875e Copter: fix do-change-speed received during takeoff 2023-12-06 08:44:52 +09:00
Leonard Hall 60ceaec901 Copter: Fix AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED 2023-12-04 09:06:10 +09:00
Randy Mackay 48825c9cc6 Copter: minor format fixes 2023-11-28 07:46:33 +09:00
Peter Barker 2be4c0e3f5 Copter: correct defines around using payload place functionality 
we need support for the actual payload place flight behaviour as well as the navigation item support
 2023-10-31 11:34:03 +11:00
Peter Barker 6b439bb2f3 ArduCopter: allow payload place to be compiled out of code 2023-10-27 14:15:53 +11:00
Peter Barker bf59fbc6d9 Copter: payloadplace: avoid using auto_takeoff functionality 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>

the methods being called to a lot more than we need or want them to.

In particular, they mix both horizontal and vertical control, but also may or may not run based on various aircraft conditions.

Simplify by simply calling position controller.
 2023-10-27 14:15:53 +11:00
Peter Barker a820612fc9 Copter: payloadplace: fold methods back into caller 
Co-authored-by: Leonard Hall <leonardthall@gmail.com>

these methods don't really add much, and prohibit future refactoring
 2023-10-27 14:15:53 +11:00
Peter Barker e2157d8b9f Copter: remove un-needed PayloadPlace::run_should_run 
make this look like the other handling, especially in terms of what we do if we shouldn't be running
 2023-10-27 14:15:53 +11:00
Peter Barker 5820a9bc2f Copter: encapsulate PayLoadPlace state and methods into existing struct 
... and make it a class
 2023-10-27 14:15:53 +11:00
Peter Barker cc799d3d7e Copter: encapsulate auto takeoff into an ojbect 
similar to the encapsulation of "user takeoff" into an object
 2023-10-18 13:47:11 +11:00
Peter Barker 521d21765e ArduCopter: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker 201e276f00 ArduCopter: avoid use of MINIMIZE_FEATURES define in Copter directory 2023-08-08 10:35:19 +10:00
Peter Barker 078debb893 ArduCopter: use enum class for mount type 2023-05-25 09:54:43 +10:00
Peter Barker f33e5e7847 ArduCopter: allow Copter to emit MISSION_STATE_PAUSED when paused in auto 2023-04-21 09:49:55 +10:00
tzarjakob 97b7e8d1d0 ArduCopter: configuration of Precision Landing for custom build server 2023-03-27 09:04:07 +11:00
CharlieBurge 62119d5bbe Copter: remove check on pause state 2023-03-09 18:13:38 +00:00
CharlieBurge 659ba8324b Copter: report success if already paused or resumed 2023-03-09 18:13:38 +00:00
Peter Barker ade654b251 Copter: use AP_WINCH_ENABLED in place of WINCH_ENABLED 2023-03-03 20:59:06 +11:00
rishabsingh3003 7a8f8f7907 Copter: Obey loiter_ccw flag for loiter turns 2023-02-15 19:14:43 +11:00
Leonard Hall dbe6a1e319 Copter: Payload Place enhancements 2022-12-31 12:29:31 +09:00
Leonard Hall d8f95208ad Copter: Auto: return bool in wp_start 2022-12-24 16:03:39 +09:00
Leonard Hall 13df33b87c Copter: Use wp_start() in do_nav_wp() 2022-12-24 16:03:39 +09:00
Gone4Dirt 66a4ba6256 Copter: add yaw weathevaneing mode 2022-12-14 16:08:20 -05:00
Peter Barker c32a11f37a ArduCopter: make and use AP_LANDINGGEAR_ENABLED 2022-12-14 18:30:23 +11:00
Iampete1 e0b6145997 Copter: auto yaw fix issues after testing 2022-11-01 08:21:50 +09:00
Iampete1 55e72a9848 Copter: auto yaw re-work 2022-11-01 08:21:50 +09:00
Andrew Tridgell 8c4732210c Copter: two more arguments to NAV_SCRIPT_TIME 2022-10-23 18:11:15 +11:00
Andrew Tridgell 5fd2decb2f Copter: use Float16_t 2022-10-23 12:14:14 +11:00
Peter Barker be93d8212c ArduCopter: add AP_GRIPPER_ENABLED 2022-10-04 10:58:34 +11:00
Leonard Hall 57e9e599f4 Copter: Payload Place: Improve touchdown test 2022-09-01 13:49:12 +09:00
Leonard Hall 0b1f959ede Copter: fix auto mode is_taking_off 2022-08-30 05:56:08 -04:00
Leonard Hall 427c64eff0 Copter: Replace set_throttle_takeoff with init_z_controller 2022-08-29 13:35:32 +09:00
Leonard Hall 7dd196c7ea Guided Mode support MAV_CMD_DO_CHANGE_SPEED 2022-08-02 10:26:58 +10:00
Leonard Hall 1e87b4b09a Copter: Fix Payload Place Bug 2022-07-28 15:24:54 +10:00
Iampete1 1b160205ab ArduCopter: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Leonard Hall 55658985cc Copter: Payload Place fix takeoff 2022-07-26 09:53:31 +10:00
Randy Mackay d61ba6d9d1 Copter: do_mount_control specifies body-frame angle targets 
this is not a change in behaviour
 2022-06-29 10:56:48 +09:00
Randy Mackay ca0ea39d4f Copter: land and payload place obey alt frame 2022-06-21 09:07:36 +09:00
Randy Mackay fc9a792f88 Copter: minor comment fix to auto mode 2022-05-31 07:50:16 +09:00
Randy Mackay 5cde018198 Copter: auto does not require GPS during attitude_time commands 2022-05-31 07:50:16 +09:00
Randy Mackay ecad165f86 Copter: remove Auto mode's rare use of mode() method 2022-05-31 07:50:16 +09:00
Randy Mackay b5c58d5c13 Copter: auto supports NAV_ATTITUDE_TIME command 2022-05-31 07:50:16 +09:00
Andrew Tridgell 705ec9040c Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms 
this allows is_takeoff_next() to be in common, and reduces confusion
if user selects VTOL_TAKEOFF in a GCS mission editor
 2022-05-18 06:43:16 +10:00
Bill Geyer 889a9b0f06 Copter: fix position ctrl init for guided takeof 2022-05-14 12:16:02 +09:00
Peter Barker 3bf0a21887 ArduCopter: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-11 17:40:35 +10:00
Randy Mackay f1c072bcd2 Copter: auto mode sets submode after all possible failures are passed 2022-03-24 19:24:25 +09:00
m f0e1b3eb9f Copter: Pause/Continue in AUTO and GUIDED modes with SCurves 2022-03-08 13:12:36 +09:00