7fe700b738
Copter: Fix Rate expo calculation
...
This fixes a bug in the yaw rate expo and makes these changes consistent with roll and pitch rate expo.
2020-05-06 15:09:22 +09:00
d41e7dcbee
Copter: move surface tracking implementation to surface_tracking.cpp
2019-09-28 11:13:14 +09:00
328fff8585
Copter: fixed RC failsafe handling for no RC receiver
...
this stops us using uninitialised values in modes like circle which
can operate either with or without RC input. If we didn't have a RC
receiver attached then they would use a maximum yaw rate (which
produces quite a spectacular result for a tuned up racing quad)
2019-09-24 10:00:36 +10:00
0031deb175
Copter: correct abs vs fabsf usage in Attitude
2019-09-18 12:57:02 +10:00
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
c0e8d319c6
Copter: make surface tracking adjust_climb_rate take a float
...
Its callers all pass in floats and we return a float, so stop going via
an int16_t
2019-08-06 14:09:09 +09:00
b0428f0fe8
Copter: make surface_tracking a class, various functions methods
2019-08-06 14:09:09 +09:00
01909cf4c8
Copter: zigzag mode gets terrain following support
2019-04-19 07:45:52 +09:00
89eb876faf
Copter: move surface tracking variables into structure
2019-04-19 07:45:52 +09:00
33a57361bd
Copter: reduce args passed to get_surface_tracking_climb_rate
...
The same arguments are always passed in
2019-04-19 07:45:52 +09:00
a732dfed6d
Copter: minor format fixes to get_pilot_desired_cilmb_rate
2019-04-19 07:45:52 +09:00
8441542a52
Copter: remove climb_rate cache of inertial_nav.get_velocity_z
...
There were only two users of it and dozens of places using
get_velocity_z
2019-03-28 12:10:31 +11:00
c1c71fec23
Copter: move Mode functions into mode.cpp from Attitude.cpp (NFC)
2019-03-27 14:02:31 +11:00
34d9ce27af
Copter: make get_pilot_desired_throttle a method on Mode
2019-03-26 20:57:15 +11:00
7e1ed948f5
Copter: Cope with AC_PosControl renaming
2018-09-20 15:15:45 -07:00
b5d722245a
Copter: minor comment fix
2018-09-10 13:50:31 +09:00
4e3bbe9311
Copter: move sanity check for rangefinder alt to within protected func
...
get_surface_tracking_climb_rate can do an additional check....
2018-06-06 08:33:56 +09:00
ab68e4fe8b
Copter: log quiet-nan for rangefinder-desired-alt when not using it
2018-06-06 08:33:56 +09:00
8648db06b4
Copter: create autoyaw.cpp from all the bits of Copter::Mode::AutoYaw
2018-04-18 13:27:43 +09:00
948b90ed97
Copter: rename roi_WP to just roi
...
A Vector3f is not a waypoint.
This should really be "Point Of Interest" rather than "Region Of
Interest"
2018-04-18 13:27:43 +09:00
ba8b3e2415
Copter: create an AutoYaw helper object to hold auto-yaw state
2018-04-18 13:27:43 +09:00
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
2018-03-16 13:50:57 +09:00
20995b909f
Copter: Moved get_pilot_desired_lean_angles to mode.cpp
2018-03-14 09:33:39 +09:00
af4f0c29ba
Copter: enable TMODE (ToyMode) support
...
this is for the skyviper button based transmitter control
2018-02-08 17:36:33 +11:00
8d6f8e4d9c
Copter: move pos-control pids to pos-control library
2018-01-23 12:00:43 +09:00
e85b1ac740
Copter: pass dt to avoidance calls
2018-01-16 12:13:48 +09:00
7b637334f4
Copter: eliminate mode_has_manual_throttle
2017-12-06 10:09:58 +09:00
bd027e4fcb
Copter: Move some common functions to AP_Math (NFC)
2017-12-05 08:54:49 +09:00
caaeae3d0a
Copter: Separate max ascent and descent speeds
...
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN
New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN
Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).
Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF
Update a section in GUIDED mode but I don't think it is ever used but update just in case.
It will use the PILOT_SPEED_UP for ascending max velocity. For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
2017-11-09 09:03:54 +09:00
1d70a337dd
Copter: remove unused desired_climb_rate variable
2017-03-09 19:52:58 +11:00
cb1f7ba4bb
Copter: remove setting position control's altitude max
...
AC_Avoid now takes responsibility for enforcing the alt limit and accesses inertial nav's limit directly
2017-01-18 09:35:47 +09:00
b15d341850
Copter: add avoidance adjusted climb rate
2017-01-18 09:35:47 +09:00
0f6d0c5ba9
Copter: combined tri, single, coax and multicopter into a single build
...
this allows copter to be just 2 builds, one for heli, and one for
everything else
2017-01-12 17:39:37 +11:00
bcea3ac8d4
Copter: handle rangefinder glitches in alt tracking
...
this handles glitches from the rangefinder when tracking the
ground. It requires 3 readings in a row to settle on a new target
altitude
thanks to discussions with Leonard and Randy
2016-11-28 17:36:01 +11:00
0a6714f4ae
Copter: rename variable ROLL_PITCH_YAW_INPUT_MAX
...
No functional change
2016-10-26 20:59:43 +09:00
2698f14d39
Copter: apply yaw expo to all modes
2016-10-26 20:59:33 +09:00
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
fec24437f2
Copter: load accel throttle I term from attitude controller input
...
Previously we loaded up the I term from the pilot's input but a more reliable method is to get what was passed into the attitude controller. In particular the addition of the acro-thr-mid parameter means the pilot's input must be interpreted differently for different flight modes.
2016-10-15 11:27:53 +09:00
5c47f3f9e5
Copter: add acro throttle and yaw expo and smoother manual pilot throttle
2016-10-15 11:27:53 +09:00
35864c6226
Copter: move check_ekf_reset to ekf_check.cpp
...
No functional change
2016-10-10 16:40:08 +09:00
f4fee69f29
Copter: add div-by-zero check to get_pilot_desired_throttle
...
This divide by zero is only possible if there was a coding error in the setup of the throttle channel but added to make Covarity happy
2016-08-08 12:14:02 +09:00
c3d71f733c
Copter: remove get_takeoff_trigger_throttle
...
get_pilot_desired_climbrate can be used instead.
2016-08-05 12:40:37 +09:00
d1e257d5b6
Copter: remove unused get_throttle_pre_takeoff
2016-08-05 12:40:37 +09:00
b61ae1a4a1
Copter: log EKF yaw reset event
2016-06-24 18:12:30 +09:00
7d54c268f6
Copter: consolidate input_euler_angle calls to use smoothing gain
...
Previously we had _smooth and non-smooth methods in the attitude
controller but as part of the move to quaternions these have been replaced
by a single call which always takes a smoothing gain
2016-06-24 17:17:17 +09:00
48eb4cf674
Copter: remove THR_MID
2016-06-18 11:55:49 +09:00
e9d8a28ec0
Copter: AP_Motor's throttle_hover replaces throttle_average
2016-06-18 11:55:49 +09:00
8171532dc5
Copter: allow rangefinder to be disabled from definition
2016-05-21 10:36:53 +09:00
5ac13c0355
Copter: move rangefinder variables into structure
...
moved in rangefinder_alt, rangefinder_alt_health and rangefinder_enabled
2016-05-21 10:36:53 +09:00
7689315ba2
Copter: rename sonar to rangefinder
2016-05-21 10:36:53 +09:00
Leonard Hall
Randy Mackay
Andrew Tridgell
Peter Barker
Michael du Breuil
Ebin
Dr.-Ing. Amilcar Do Carmo Lucas
ChrisBird
Mathieu OTHACEHE