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Commit Graph

715 Commits

Author SHA1 Message Date
Randy Mackay 0f73d705a7 Copter: add failsafe_ekf_recheck 
this allows modes to retrigger the EKF failsafe if they move from a sub mode that did not require GPS to one that does
 2022-05-31 07:50:16 +09:00
Randy Mackay b60d6348ed Copter: add dead reckon failsafe 2022-05-25 20:05:21 +09:00
Peter Barker b0c8fda8d4 ArduCopter: move logging of compass ERR flags into AP_Compass 2022-05-10 19:46:40 +10:00
Peter Barker 6830092a7d ArduCopter: move error logging of sensor health into AP_Baro 2022-05-03 17:38:09 +10:00
Andy Piper 01766eee01 Copter: use new Task infrastructure for the fast loop 
add helper for running rate controller
add fast_loop documentation.
 2022-05-03 08:20:13 +09:00
Randy Mackay 5ad6a0d2ef Copter: implement has_ekf_failsafed for use by lua 2022-04-26 18:37:54 +09:00
Andrew Tridgell eb4a70f613 Copter: moved harmonic notch update code to AP_Vehicle 2022-04-19 09:39:03 +10:00
Andrew Tridgell 8d187f4bc6 Copter: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Peter Barker 5539b55c01 Copter: factor failsafe reporting 2022-04-06 10:40:09 +10:00
Peter Barker bfb8e7df81 ArduCopter: include cleanups 2022-03-01 11:21:33 +11:00
Bill Geyer 2fa54f0df4 Copter: start engine flag not used and style cleanup 2022-02-23 14:22:47 +09:00
Ferruccio1984 84bf3fb74e Copter: Tradheli support for turbine start 2022-02-23 14:22:47 +09:00
Randy Mackay 1251a91430 Copter: add nav_script_time mission command support 2022-02-22 12:32:56 +09:00
Peter Barker 3989ed76cd ArduCopter: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
Leonard Hall 23711b7b10 Copter: Add support for Force Flying 2022-02-04 09:10:57 +09:00
bnsgeyer a9450ac9b6 Copter: making autotune work for heli too 2022-02-01 23:06:51 -05:00
Rishabh 309dfa63f3 Copter: Switch PrecLand to use updated Pos Controller 2022-01-31 14:38:29 +09:00
Iampete1 f4c7760819 Copter: add flight option to relase gripper on thrust loss 2022-01-28 08:59:47 +09:00
Shiv Tyagi c1dafae84a Copter: separate logging for position and attitude targets in guided mode 
We now log position and attitude targets in guided mode separately. Earlier we were using same messages for both which was causing some confusion in field names
 2022-01-26 21:36:48 +09:00
Josh Henderson ea58c130b4 Copter: move Airspeed to AP_Vehicle 2022-01-19 18:21:32 +11:00
Iampete1 b6806ada27 Copter: move motbatt logging to motors 2022-01-18 10:18:10 +11:00
Peter Barker b4ff6ddfb7 ArduCopter: move RPM sensor logging into AP_RPM 2022-01-11 11:09:26 +11:00
Randy Mackay d5461f2225 Copter: integrate AP_Mission_ChangeDetector 2022-01-10 08:19:16 +09:00
Peter Barker 6bfcf2fb53 Copter: remove pointless wrapper around proximity init 2022-01-04 09:02:54 +09:00
Peter Barker 285d752143 ArduCopter: create and use AP_OPTICALFLOW_ENABLED 
Including a define for each backend.
 2021-12-29 18:12:03 +11:00
Miloš Petrašinović 063e24c723 Copter: fix userhook aux switches 
Functions userhook_auxSwitch1, userhook_auxSwitch2, and userhook_auxSwitch3 had the wrong argument type resulting in a compilation error.
 2021-12-01 07:44:25 +09:00
Randy Mackay 02ad9879fa Copter: surface tracking timeout fix 
also restructure update_surface_offset and add comments

Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2021-11-17 08:09:00 +09:00
Peter Barker 238a6e4016 ArduCopter: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker ee9aef25fc ArduCopter: ensure ENABLE_SCRIPTING is always defined 2021-11-15 20:27:40 +11:00
Peter Barker 6228cf25dc Copter: remove unimplemented update_proximity declaration 2021-11-15 07:57:34 +09:00
Shiv Tyagi 477f2824b9 Copter : initialise surface to be tracked 
This sets the surface to be tracked in SurfaceTracking with the value of SURFTRAK_MODE parameter.

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2021-11-13 11:52:38 +09:00
Bill Geyer 8ef88fb98e Copter: add collective stick low flag to catch bad setups for land detector 2021-11-10 16:45:17 -05:00
Peter Barker a88264d73b ArduCopter: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav 2021-10-20 18:09:36 +11:00
Peter Barker 1aefa1b378 ArduCopter: move SITL object up to AP_Vehicle 2021-10-19 11:34:43 +11:00
Peter Barker cfd686c772 Copter: stop passing current_loc into AP_Camera 2021-09-29 18:33:01 +10:00
Iampete1 456d57c28f Copter: rename armed_with_switch to armed_with_airmode_switch 2021-09-21 09:36:24 +10:00
Andrew Tridgell ab36dc0ed9 Copter: moved accel cal update to vehicle code 2021-09-17 14:07:14 +10:00
Pierre Kancir 7e1716eaeb Copter: Classify failsafe action definitions 2021-09-15 18:04:58 +10:00
Leonard Hall 5fea74d4d0 Copter: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Randy Mackay da12593bd8 Copter: implement new set_target methods 2021-08-26 11:25:54 +09:00
Peter Barker 3a3433cad2 ArduCopter: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Randy Mackay 8c5b079d8e Copter: implement get_circle_radius, set_circle_rate 2021-08-25 18:39:09 +10:00
Iampete1 0895cf0a07 Copter: remove gesture compass cal start / stop 2021-08-24 08:51:29 +09:00
Rishabh c5b98c3490 Copter: Support Prec Land State Machine 2021-08-23 15:00:56 +09:00
Andy Piper 1b5ed1caff Copter: add turtle mode 
add turtle mode as an RC function
add turtle mode arming checks
re-use motortest arming checks for turtle mode
 2021-08-12 19:00:51 +09:00
Peter Barker 14e5c99b0c ArduCopter: log GPS primary change event in GPS library 2021-08-06 15:30:18 +10:00
Iampete1 9f5591be02 Copter: notify buzzer on every flight mode change 2021-08-05 14:42:42 +10:00
bugobliterator 7e01e10056 Copter: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Iampete1 c2a6377c53 Copter: #ifdef scripting specific functions 2021-07-28 18:18:32 +10:00
Iampete1 6561669213 Copter: support Auto RTL for failsafe events 2021-07-27 09:00:11 +09:00
Peter Barker e74a8e28af ArduCopter: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Randy Mackay d39581f996 Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN 2021-07-21 16:03:44 +09:00
Peter Barker 3684741517 ArduCopter: remove AC_TERRAIN compilation option 
Use AP_TERRAIN_AVAILABLE instead
 2021-07-12 17:34:44 +10:00
Randy Mackay 7dcc5dd7ac Copter: add TERRAIN_MARGIN parameter 2021-07-10 20:25:05 +09:00
Randy Mackay ba1951a372 Copter: guided accepts terrain alt position targets 2021-07-10 20:25:05 +09:00
Leonard Hall 635d13a106 Copter: support for acceleration-based AttitudeControl 2021-07-10 20:25:05 +09:00
Shiv 4a39424d6b Copter: added comments to include libraries in copter.h and attitude.cpp 
fixed typo in a comment and added more comments for included libraries in copter.h and fixed a comment in attitude.cpp
 2021-06-30 09:23:24 +09:00
Peter Barker b9c1633358 ArduCopter: remove pointless init_optflow wrapper 
Hiding a one-line call in a wrapper just adds size to the build
 2021-05-28 13:41:50 +09:00
Peter Barker 5df8dd8c50 Copter: move guided submode enumeration into ModeGuided 2021-04-14 16:12:57 +09:00
Peter Barker fa9ac072ec Copter: remove unused AP_IRLock include 
This header is included as required by the AC_PrecLand library - it is
now responsible for actually instantiating the AP_IRLock instance if
required, so Copter doesn't need to know anything about AP_IRLock.
 2021-04-14 12:01:12 +10:00
Peter Barker 65b1868863 Copter: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Peter Barker 09a9bd73a4 ArduCopter: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
Peter Barker 5edfed0083 Copter: factor out a mode-change-failed method 2021-03-30 19:58:05 +11:00
Peter Barker 1e0f106ed4 Copter: make AutoTune object private state to ModeAutoTune 2021-03-30 11:23:10 +11:00
Randy Mackay 91fa40aea6 Copter: HAL_PROXIMITY_ENABLED replaces PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Peter Barker 45d484c0ba ArduCopter: remove Log_Write_Performance which is not called anywhere 2021-03-26 16:35:08 +11:00
Peter Barker dc793e916f Copter: move implementation of get_pilot_desired_yaw_rate into mode.cpp 2021-03-24 20:46:08 +11:00
Emre Saldiran d5715292a3 Copter: implement set_target_posvel_NED method for use in scripting 2021-03-24 08:55:48 +09:00
Tatsuya Yamaguchi 0cce5699b2 Copter: change from control_mode to flightmode 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +09:00
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
Iampete1 2e9c11fbdf Copter: add FLIGHT_OPTIONS param and options bits to disable thrust loss and yaw imbalance warnings 2021-03-02 09:35:06 +09:00
Iampete1 447af29ef1 Copter: add yaw imbalance check 2021-03-02 09:35:06 +09:00
Rishabh fdd39ca3a8 Copter: Check for height before turning on proximity simple avoidance 2021-02-16 20:08:00 +09:00
Iampete1 d6fa4d97e3 Copter: add 6DoF support 2021-02-09 12:43:54 +09:00
Mark Whitehorn f405454aba Copter: add nullptr checks for get_frame_string 
fix rebase errors
 2021-02-09 12:43:53 +11:00
Mark Whitehorn cb687a6fff Copter: move get_frame_string to Motors class 2021-02-09 12:43:53 +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
Peter Barker adc0514cf6 ArduCopter: move control_mode_reason up to AP_Vehicle 2021-02-03 18:24:52 +11:00
Iampete1 0a23084d43 Copter: move get_frame_mav_type to motors 2021-01-26 11:07:36 +09:00
yaapu 497dbd1414 ArduCopter: added virtual getters for waypopint info 2020-12-10 12:39:44 +11:00
Andy Piper 304d05f918 Copter: allow OSD for TX-only screens 2020-11-11 18:13:11 +11:00
Paul Riseborough 379506b718 ArduCopter: Don't request EKF yaw reset unless innovations are large 
This prevents unwanted resets if GPS fails.
 2020-10-30 14:45:40 +09:00
Andy Piper e22f7ed353 Copter: remove duplicate include 2020-09-24 08:22:16 -07:00
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
Peter Barker afa153fb6f Copter: remove wrapper for get_avoidance_adjusted_climbrate 
Only the modes are interested in this - there's no point having it on
the Copter object.
 2020-08-22 08:31:25 +09:00
Randy Mackay 315d9da138 Copter: add ekf alt pre-arm and mode init checks 2020-08-20 12:41:40 +09:00
Michael du Breuil 376494027b Copter: Support higher resolution percent based motor tests 2020-08-09 13:47:48 +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
Peter Barker d87986ecdd Copter: move set_throttle_takeoff implementation into Mode 
No callers except the mode objects, so move it.
 2020-08-05 08:23:03 +09:00
Andy Piper 54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Mirko Denecke 89d423556c ArduCopter: update_trigger() is now called in AP_Camera update() 2020-07-15 08:37:28 +09:00
Randy Mackay 980c1f5020 Copter: update ekf terrain height stable setting 
setting is true only when taking off or landing and horizontal speed is no more than 0.5m/s
 2020-06-24 21:16:50 +09:00
Andy Piper 25dcc1a623 Copter: add support for individually tracking fft peaks and motor rpms with harmonic notches 
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli
move harmonic notch update to AP_Vehicle
 2020-06-21 19:09:35 +10:00
Iampete1 e797685771 Copter: add set guided mode angle for scripting 2020-06-19 10:09:35 +10:00
Andy Piper 8d2f2443a2 Copter: add air mode aux function 2020-06-16 20:30:26 +10:00
Peter Barker 0eb03ba7d5 Copter: make SuperSimple type-safe 2020-06-16 19:39:42 +10:00