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323 Commits

Author SHA1 Message Date
Randy Mackay
9104b4800f Copter: correct GuidedOptions enum after peer review 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2020-10-20 23:04:45 +09:00
Randy Mackay
eb3aca7acf Copter: add GUIDED_OPTIONS to allow arming from transmitter 2020-10-20 23:04:45 +09:00
Peter Barker
56790625b8 Copter: stop passing unused inav into autorotate library 2020-10-01 21:13:20 +10:00
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
Andy Piper
b8f613c965 Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
Iampete1
c265a38344 Copter: add gripper release FS_Option 2020-08-26 17:58:24 +09:00
Siddharth Purohit
9b9954aa46 Copter: move to using CANManager library 2020-08-19 17:31:09 +10:00
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
Mark Whitehorn
8325de0845 Copter: default RC_OPTIONS to 0 for tradheli 2020-08-04 10:26:45 +10:00
Andy Piper
54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Randy Mackay
30c8d7bf40 Copter: dev option so set-attitude-target thrust field used as thrust 2020-08-01 08:32:23 +09:00
Andy Piper
12c9578a66 Copter: add in additional acro options 
Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit
 2020-07-14 15:54:24 +09:00
Tatsuya Yamaguchi
cde7ae246e Copter: add ZIGZ_AUTO_ENABLE parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
cee7e94ebc Copter: add zigzag_line_num parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
7bc528097d Copter: support zigzag auto feature 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
60fb275501 Copter: rename zigzag_auto_pump to zigzag_sprayer 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi
63002111eb Copter: add ZIGZAG_WP_DELAY parameter 2020-06-03 15:21:21 +09:00
Randy Mackay
e889f6091e Copter: fix Throw param desc 2020-05-02 11:32:06 +09:00
murata
e1df6933f0 Copter: Set the minimum value to zero. 2020-04-27 08:57:49 +09:00
Randy Mackay
c4b5d47e1f Copter: white space fixes 2020-04-23 13:17:11 +09:00
Randy Mackay
04c3f040a8 Copter: visual odometry moved to AP_Vehicle 2020-04-09 19:41:08 +09:00
Tatsuya Yamaguchi
6b192de389 Copter: add ZIGZAG_AUTO_PUMP parameter 2020-02-19 19:56:56 +09:00
Rishabh
d4dcadcea0 Copter: Rename SYSID_SW_MREV to FORMAT_VERSION 2020-02-19 09:45:22 +09:00
Randy Mackay
6597d5c825 Copter: remove old ch7_opt and tune param desc 2020-01-21 13:06:56 +09:00
Peter Barker
e3dd0d33e7 Copter: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker
45dc4cf25c Copter: EKF objects have moved into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Andrew Tridgell
47ea3274bb Copter: list BetaflightXReversed frame type 2020-01-16 19:13:13 +11:00
Andrew Tridgell
1fae2009db Copter: update for new SRV_Channels parameter conversion call 2020-01-14 14:23:11 +11:00
Gone4Dirt
daf1b57736 Copter: Changed autorotation fltmode to clarify for heli 2020-01-14 09:47:28 +09:00
Andy Piper
93abfdb905 Copter: create generic vehicle management and move runcam to it 2019-12-30 13:02:04 +11:00
Randy Mackay
f56a426193 Copter: gcs failsafe disabled by default 2019-12-23 14:35:15 +09:00
Randy Mackay
ea22e888c7 Copter: improve RTL terrain following 
RTL_ALT_TYPE replaces TERRAIN_FOLLOW param
return path built using rangefinder or terrain database
pre-arm checks for RTL_ALT_TYPE parameter
pre-arm checks of terrain data only run if RTL might use it
 2019-12-17 20:02:01 +09:00
bnsgeyer
74d81e6d50 Copter: Change STAB_COL params to percent 2019-12-14 09:00:31 +09:00
Peter Barker
544eb5f179 Copter: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Leonard Hall
7d062e3767 Copter: System ID mode: Add tuning option parameter discription 2019-12-05 09:21:00 +08:00
Gone4Dirt
180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Peter Barker
afdded2bff Copter: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +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
Matt Lawrence
f71ef4c7ab Copter: Refactor failsafes, add fs_options bitmask parameter 
- Radio failsafe, battery failsafe, GCS failsafe refactoring
- Add new FS_OPTIONS parameter
- Enhance GCS Failsafe abilities
 2019-11-03 07:07:34 +08:00
Peter Barker
2a312aa8f1 Copter: stop passing serial manager to proximity constructor 2019-10-31 11:58:15 +08:00
Randy Mackay
f0084f743d Copter: fix PSC_ACCZ_FILT to _FLTE param conversion 2019-10-29 12:25:57 +08:00
Randy Mackay
85f963b961 Copter: multicopter ATC_RAT_RLL/PIT_FILT copied to FLTD and FLTT 2019-10-25 12:28:00 +08:00
Randy Mackay
7b0da89708 Copter: add vibration check 2019-10-18 11:15:25 +09:00
Leonard Hall
c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
murata
abb91fc33a Copter: Change external button specification to option 
Copter: Change the definition name from BUTTON to BUTTON_ENABLED.
 2019-10-08 08:09:19 +09:00
bnsgeyer
aef04fd924 Copter: tradheli update conversion 2019-09-25 14:59:02 +09:00
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
bnsgeyer
23d4473f88 Copter: tradheli-properly upgrade rsc parameters 2019-09-13 08:53:54 +09:00
Randy Mackay
6ddaf81439 Copter: param conversion for INS_NOTCH_FREQ and BW 2019-09-11 18:41:05 +10:00