Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity
64,337 Commits 71 Branches 509 Tags 753 MiB
54a6344bd3
Commit Graph

214 Commits

Author SHA1 Message Date
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
Leonard Hall
18696e923e Copter: WP Pause support 2022-03-08 13:12:36 +09:00
Leonard Hall
93cff95448 Copter: remove loiter_nav from auto 2022-03-07 16:14:23 +09:00
Leonard Hall
fb6c3ebb72 Copter: auto and guided takeoff use postion controller 2022-03-07 16:14:23 +09:00
Andy Piper
11a5c8d2a4 Copter: nuke clang warnings 2022-03-03 16:34:14 +11:00
Shiv Tyagi
7765399e49 Copter: change circle_nav.set_radius to circle_nav.set_radius_cm 2022-03-01 09:31:10 +09:00
Randy Mackay
df5c3acdfe Copter: fix nav_script_time timeout 2022-02-24 10:00:42 +09:00
Randy Mackay
1251a91430 Copter: add nav_script_time mission command support 2022-02-22 12:32:56 +09:00
Iampete1
23ea84bf32 copter: fix condition yaw early completion 2022-02-16 19:33:38 +09:00
Tatsuya Yamaguchi
6443bdcb2d Copter: change variable type from float to int32_t 2022-01-31 16:09:54 +09:00
Rishabh
309dfa63f3 Copter: Switch PrecLand to use updated Pos Controller 2022-01-31 14:38:29 +09:00
Tatsuya Yamaguchi
3045451769 Copter: fix sanity checks for takeoff altitude 2022-01-27 09:23:43 +09:00
Randy Mackay
d5461f2225 Copter: integrate AP_Mission_ChangeDetector 2022-01-10 08:19:16 +09:00
Leonard Hall
8c7414e932 Copter: Constrain vertical speed in loiter_to_alt_run 2021-12-23 11:21:40 +09:00
Josh Henderson
3107c42fca Copter: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson
6b871fba55 ArduCopter: inav funcs use _xy() 2021-11-30 10:08:07 +11:00
Tatsuya Yamaguchi
e9115601dd Copter: reset land_repo_active flag in Auto mode 2021-09-28 21:17:45 +09:00
Leonard Hall
5d5ccc8c78 Copter: Update ACRO to use rate parameters and update expo function 2021-09-23 20:03:53 +09:00
Iampete1
ec5d5b4471 Copter: check for takeoff before continuing after land 2021-09-14 08:24:02 +09:00
Iampete1
f848917e1a Copter: log entry and exit of Auto RTL pseudo mode 2021-09-07 09:35:35 +09:00
Leonard Hall
5fea74d4d0 Copter: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Iampete1
09f1a3da8a Copter: auto RTL: don't switch modes if already in auto 2021-08-31 08:40:08 +09:00
Randy Mackay
8102629dfb Copter: refactor/rename precland methods 2021-08-30 14:08:44 +09:00
Rishabh
40adad743e Copter: Disable Prec Land State Machine when Prec Land disabled 2021-08-30 14:08:44 +09:00
Rishabh
c5b98c3490 Copter: Support Prec Land State Machine 2021-08-23 15:00:56 +09:00
bnsgeyer
ca007ee6f6 Copter: Allow Tradheli to spoolup in guided or auto mode 2021-08-23 12:26:00 +09:00
Iampete1
b63cc809ce Copter: add AUTO RTL pseudo mode, DO_LAND_START 2021-07-27 09:00:11 +09:00
Josh Henderson
2ba6ae6196 ArduCopter: mark get_wp() const 2021-07-13 08:05:25 +09:00
Leonard Hall
feae762e64 Copter: additional yaw modes and fixes 2021-07-10 20:25:05 +09:00
Andrew Tridgell
bada2670a6 Copter: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell
d89388c4cc Copter: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Leonard Hall
e294991b08 Copter: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall
4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Pierre Kancir
4368629fb6 Copter: rename RTLState to SubMode 2021-05-12 17:50:47 +10:00
Pierre Kancir
f43e42f0b6 Copter: rename AutoMode enum to SubMode 2021-05-12 17:50:47 +10:00
Pierre Kancir
c4cc3659fc Copter: make RTLState an enum class 2021-05-12 17:50:47 +10:00
Pierre Kancir
4987e54247 Copter: make AutoMode an enum class 2021-05-12 17:50:47 +10:00
Leonard Hall
726074be91 Copter: Support Thrust Vector based navigation 2021-04-27 17:13:55 +09:00
Tatsuya Yamaguchi
c42681f4f2 Copter: add exit() method to Mode class 2021-04-26 09:56:34 +09:00
Randy Mackay
6a98ad5a29 Copter: loiter-turns fix 2021-04-12 08:30:19 +09:00
Randy Mackay
96267553cf Copter: auto detects mission changes 2021-04-03 12:07:59 +09:00
Randy Mackay
238d102a56 Copter: auto's wp_start skips submode change on terrain failsafe 2021-04-03 12:07:59 +09:00
Leonard Hall
328c0655e3 Copter: support for SCurves and position controller changes 
wp_start provides next_dest_loc
send next_destination to wp_nav instead of setting fast_waypoint
fixup zigzag for S-curve changes
fixup guided
auto spline fixes
smart rtl rename of next_point to dest_NED
loc_from_cmd accepts default location
auto mode stops before starting land command
auto do_next_wp accepts default location
rename do_next_wp to set_next_wp
also rename get_spline_from_cmd argument
also improve failure to set next waypoint due to missing terrain data
also fixup comment in set_next_wp
also auto stops when moving from straight to spline segments
also auto mode spline fix
also auto mode calls AC_WPNav::set_spline_destination_next

Copter: AutoYaw provides rate from WPNav
 2021-04-03 12:07:59 +09:00
Peter Barker
d387ad9921 Copter: have allows_arming take a AP_Arming::Method rather than bool from_gcs 
This API predates us having the arming methods being passed around.

This makes the calls look like Plane
 2021-03-30 09:00:26 +09:00
Josh Henderson
f65c4df358 ArduCopter: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Tatsuya Yamaguchi
0cce5699b2 Copter: change from control_mode to flightmode 2021-03-23 22:48:20 +11:00
Randy Mackay
1c350514ca Copter: auto mode starts or updates mission from run method 2021-03-23 10:12:08 +09:00
Tatsuya Yamaguchi
ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +09:00
Randy Mackay
be29b23195 Copter: do-mount-control ignored if no mount 
Co-authored-by: srirajshukla <srirajshukla@gmail.com>
Co-authored-by: Yash Vadi <yvadi9274@yahoo.com>
 2021-03-16 10:07:16 +09:00
James O'Shannessy
d055d7a581 ArduCopter: Cleanup - removes autoenabling of fence with AC_Fence parameter 2021-03-05 14:52:46 +11:00
James O'Shannessy
f14e1c2799 ArduCopter: Ensure fence has opportunity to auto disable for landing 2021-03-05 14:52:46 +11:00
James O'Shannessy
a88f2721a8 ArduCopter: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy
f228adfa75 ArduCopter: Improve auto-enable/disable of fence 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
92122e5133 Copter: automatically enable and disable floor fence on automated takeoff and landing 2021-03-05 14:52:46 +11:00
Patrick José Pereira
ad82e01270 ArduCopter: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Leonard Hall
5efe94a771 Copter: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Randy Mackay
0b83d45163 Copter: verify land and payload place record flow-of-control internal error 2021-01-20 09:12:02 +09:00
Randy Mackay
b8c58bd900 Copter: payload place fixups 2020-12-05 08:35:03 +09:00
Michael du Breuil
f9b4e81702 Copter: Add ignore pilot yaw to guided, auto and RTL options 2020-11-19 07:22:54 +09:00
Randy Mackay
7a90ed4bb5 Copter: auto allows arming casts param to uint32_t 2020-10-20 23:04:45 +09:00
Randy Mackay
c1c9d87efe Copter: move auto allows_arming in mode_auto.cpp 
this should be a non-functional change
 2020-10-20 23:04:45 +09:00
Randy Mackay
8b3cc0b255 Copter: fixup auto options 2020-10-01 08:48:06 +09:00
Michael du Breuil
50dfe3f197 Copter: Add AUTO_OPTIONS and support arming and throttle bypass 
This allows you to arm the copter without any extra GCS commands while
in auto, and can be done from both the GCS, or the RC Tx. This is useful
for creating a simpler workflow.

This also allows you to set the auto_armed flag internally, which
bypasses the need to raise the throttle stick for the copter to start a
takeoff.

This exposed a problem where we would start running the controllers
before the EKF was at all initialized, if you switched into auto to
early. This now has a check that prevents us from running the mission
state machine until after the origin has been set. This was a suggestion
from @rmackay9.

When combined these options allow you to have the vehicle on the ground,
disarmed in auto with a takeoff waypoint loaded, then just arm the
aircraft and watch it takeoff. This is a feature we've had on quadplanes
for quite awhile now, and it has proven to be very nice for operators.
 2020-10-01 08:46:29 +09:00
Randy Mackay
29a2be2d63 Copter: minor comment fix 2020-09-09 15:32:37 +09:00
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
Andy Piper
54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Randy Mackay
d2b94bd45d Copter: verify_circle removes redundant setting of circle center 
the circle center is already set in circle_movetoedge_start
 2020-06-03 10:08:52 +09:00
Andrew Tridgell
e673bd8909 Copter: implement disarm on land based on MIS_OPTIONS 
only continue with mission if MIS_OPTIONS bit is set
 2020-06-02 09:12:22 +09:00
murata
520782d7f2 Copter: Correction of spelling errors (NFC) 2020-05-18 13:26:11 +10:00
Randy Mackay
d9ecf51457 Copter: auto mode loiter-turns accepts pilot yaw input 2020-04-27 09:39:46 +09:00
Randy Mackay
c4b5d47e1f Copter: white space fixes 2020-04-23 13:17:11 +09:00
Rishabh
1edf1d265c Copter: Set correct yaw for circle in Mode Auto 2020-04-21 20:12:38 +09:00
Randy Mackay
71cbedb178 Copter: support circle with terrain altitude 2020-04-16 17:30:29 +09:00
Randy Mackay
8d99f204b0 Copter: integrate landing gear option and make edge based 
also guided mode now retracts landing gear after takeoff
previously landing gear deployment was "level based" meaning the pilot could not override the gear's position
 2020-02-26 08:01:00 +09:00
Peter Barker
ce5f23810b ArduCopter: log disarm method 2020-02-22 12:16:29 +11:00
Randy Mackay
495c4ad6b6 Copter: remove unused ModeAuto::wp_start 
this version accepts an offset from the ekf origin which is not required.  All callers provide a Location
 2020-02-17 14:30:18 +09:00
Randy Mackay
39a6b104dd Copter: move RTLState to ModeRTL 2019-12-17 20:02:01 +09:00
Peter Barker
2296448027 Copter: make private enum class for LAND mode's state 2019-12-03 07:38:22 +08:00
Randy Mackay
de5945bea5 Copter: use const reference when retrieving wpnav destination 2019-11-12 08:50:05 +08:00
Randy Mackay
d0d07776ec Copter: auto stays in takeoff submode after reaching altitude 2019-11-12 08:50:05 +08:00
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
Michael du Breuil
b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
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
Peter Barker
c0774e74e0 Copter: fix format-string compilation warning 
../../ArduCopter/mode_auto.cpp: In member function 'void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command&)':
../../ArduCopter/mode_auto.cpp:1372:84: warning: format '%u' expects argument of type 'unsigned int', but argument 4 has type 'long unsigned int' [-Wformat=]
     gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",nav_delay_time_max_ms/1000);
                                                                                    ^

This is with a mini-pix build.
 2019-08-21 18:48:45 +09:00
Tom Pittenger
0983a04d52 Copter: NAV_Delay variable timers to be all unsigned and labeled as _ms 2019-08-19 15:24:06 -07:00
Randy Mackay
709c874d8b Copter: integrate AP_OAPathPlanner 2019-08-17 09:42:43 +09:00
liang
e422f2b2fd Copter: mode_auto: retract the landing gear automatically 2019-07-30 09:46:18 +09:00
Leonard Hall
c56acb49d6 Copter: Add missing Loiter initialisation lines. 
This command is missing to define the desired acceleration that loiter will initalise to.
loiter_nav->clear_pilot_desired_acceleration();
 2019-07-20 16:40:51 +09:00
Randy Mackay
b7a748df88 Copter: auto's wp_start accepts terrain alts 2019-07-18 09:01:09 +09:00
Peter Barker
e3da6d69d5 Copter: mode_auto: don't set takeoff dest from bad current location 2019-06-18 09:07:56 +09:00
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
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