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5709 Commits

Author SHA1 Message Date
Peter Barker 103e2cc711 Copter: calculate wp bearing and distance on demand 
Move responsibility for calculating wp bearing/distance
into the FlightMode object doing the navigation

Calculating these variables was being done at 50Hz where they
were used at 10Hz max.
 2017-12-07 07:43:08 +09:00
Peter Barker 4ae2be55aa Copter: fix up autotune namespacing 
This moves static variables into the autotune flightmode object.

It also adjusts namespacing on everything to take advantage of
having everything encapsulated in the AutoTune object
 2017-12-07 07:35:37 +09:00
Peter Barker 7b637334f4 Copter: eliminate mode_has_manual_throttle 2017-12-06 10:09:58 +09:00
Peter Barker 4fd61ed6dc Copter: make exit_mode take FlightMode objects as arguments 2017-12-06 10:09:58 +09:00
Peter Barker adf4140b9b Copter: fix heli-flags compilation issue 2017-12-06 08:24:24 +09:00
Peter Barker 477ae8f7be Copter: pass heli_flags into flightmode constructor 2017-12-06 08:24:24 +09:00
Peter Barker 83d0a71e10 Copter: FlightMode - simplify flight mode initialization 2017-12-06 08:24:24 +09:00
Peter Barker 0ca5605b8d Copter: FlightMode: remove virtual from many methods 2017-12-06 08:24:24 +09:00
Peter Barker ef1489e87a Copter: eliminate mode_requires_gps 2017-12-06 08:24:24 +09:00
Peter Barker a4859e13c1 Copter: eliminate mode_allows_arming 2017-12-06 08:24:24 +09:00
Peter Barker 9c60c1de58 Copter: FlightMode - convert SMARTRTL flight mode 2017-12-06 08:24:24 +09:00
Peter Barker b0e34bd307 Copter: FlightMode - convert GUIDED_NOGPS flight mode 2017-12-06 08:24:24 +09:00
Peter Barker cf423ce681 Copter: FlightMode - convert THROW flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 1de99c737e Copter: remove unimplemented heli desired_yaw_rate 2017-12-06 08:24:24 +09:00
Peter Barker 37c706c24e Copter: FlightMode - convert AVOID_ADSB flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 51cd143012 Copter: FlightMode - convert BRAKE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker cafce01357 Copter: FlightMode - convert POSHOLD flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 67063d6b1e Copter: FlightMode - convert AUTOTUNE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 018c70d224 Copter: FlightMode - convert FLIP flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 5e3e831152 Copter: FlightMode - convert SPORT flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 6a38664ff4 Copter: FlightMode - convert DRIFT flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 682f3c0e7e Copter: FlightMode - convert RTL flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 3b1ca99b95 Copter: FlightMode - convert LAND flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 2db09ba0f7 Copter: FlightMode - convert GUIDED flight mode 2017-12-06 08:24:24 +09:00
Peter Barker f2495b2d08 Copter: FlightMode - convert LOITER flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 871ba5630f Copter: FlightMode - convert CIRCLE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker e2b70c3a0a Copter: FlightMode - convert AUTO flight mode 2017-12-06 08:24:24 +09:00
Peter Barker a95a35c134 Copter: FlightMode - convert STABILIZE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 79c06974b7 Copter: FlightMode - convert ALT_HOLD flight mode 2017-12-06 08:24:24 +09:00
Peter Barker d74f0c72da Copter: FlightMode - convert ACRO flight mode 2017-12-06 08:24:24 +09:00
Peter Barker 527a536b78 Copter: FlightMode - remove function parameters 
Use current control_mode in place of parameters

Once conversion is complete these functions will disappear
 2017-12-06 08:24:24 +09:00
Peter Barker 99a22a263d Copter: a FlightMode base class 2017-12-06 08:24:24 +09:00
Peter Barker e0233f1dc4 Copter: create a takeoff_state_t type 2017-12-06 08:24:24 +09:00
Peter Barker b828fa4ffc Copter: Create an ap_t type 2017-12-06 08:24:24 +09:00
Sharvashish Das 395a4ad4ce Copter: add z-axis obj avoidance to guided vel control 
added code to adjust z velocity using avoidance
 2017-12-05 15:58:00 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 2235b22510 Copter: Also report distance and bearing to target in Guided_PosVel mode 2017-12-05 09:17:15 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas ce3197e0ac Copter: use the return code of the guided_set_destination_posvel() function calls 2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas c7a2fcdc37 Copter: Also use fence in Guided_PosVel mode 2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bd027e4fcb Copter: Move some common functions to AP_Math (NFC) 2017-12-05 08:54:49 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 928bc19cee Copter: Use DEGX100 define instead of hardcoded value (NFC) 2017-12-05 08:54:49 +09:00
khancyr 015d71bacd ArduCopter: remove useless .gitignore from directory 2017-12-04 07:52:25 +09:00
Peter Barker 398d07a68a Copter: tighten return types of mavlink functions and variables 2017-12-01 17:01:10 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 9773365237 Copter: NFC spell in comments 2017-11-27 23:13:34 +09:00
Randy Mackay 8d2db3218c Copter: minor comment fix to code handling SET_POSITION_TARGET msgs 2017-11-27 14:24:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bde1aaa2f6 Copter: Rename variable to correct the meaning (NFC) 2017-11-27 14:17:21 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 8678d13e7b Copter: Update the result of a MavLink message, this is a NFC 
The result variable is not used, but at least it gets documented :)
 2017-11-27 14:17:21 +09:00
Andrew Tridgell ef0144751e Copter: allow THROW_NEXTMODE=LOITER 2017-11-27 14:14:06 +09:00
Andrew Tridgell 311d7c11e4 Copter: added LOITER option in THROW_NEXTMODE 2017-11-27 14:14:06 +09:00
Randy Mackay 020e0bfd40 Copter: fix disable ESC calibration for brushed motors 2017-11-27 13:31:21 +09:00
Andrew Tridgell 650a0e06bd Copter: disable ESC calibration for brushed motors 2017-11-27 12:28:40 +09:00
Andrew Tridgell a644cff921 Copter: support testing multiple motors with motortest 
this matches the quadplane behaviour, allowing a sequence of motors to
be tested
 2017-11-27 10:15:31 +09:00
Randy Mackay 8845b6d5b5 Copter: rename control_safe_rtl.cpp to control_smart_rtl.cpp 
non-functional change
 2017-11-23 20:05:01 +09:00
Randy Mackay 58e5b7f458 Copter: 3.5.4 release notes 2017-11-23 12:17:50 +09:00
Peter Barker dc99a29dfc ArduCopter: support for units on fields 2017-11-23 10:40:30 +11:00
Randy Mackay 9a03ba1bfb Copter: move barometer_accumulate to sensors.cpp 
non-functional change
 2017-11-22 17:13:14 +09:00
Andrew Tridgell 23b20307af Copter: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Randy Mackay c5141ad87e Copter: 3.5.4-rc2 release notes 2017-11-17 13:39:20 +09:00
Peter Barker 04c9e966e0 Copter: use AP::PerfInfo library 2017-11-16 15:31:53 +00:00
Peter Barker 5c2f68e8f5 Copter+AP_Scheduler: move perf_info.cpp into Scheduler 2017-11-16 15:31:53 +00:00
Peter Barker d959e4b42b Copter: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Randy Mackay 8d6d09169f Copter: rtl uses labs for alt comparison 2017-11-16 09:59:25 +09:00
murata acfcd9980d Copter: Modify method name in method header. 2017-11-16 09:26:26 +09:00
Peter Barker 8f48b3187e Copter: use gps singleton for GCS function 2017-11-15 13:43:03 +00:00
ChrisBird 1f1bb61bfa Copter: Add PreArm - PID Parameter check 
This addresses the enhancement requested in: https://github.com/ArduPilot/ardupilot/issues/2424

It checks various PID values to check if they are zero, if they are and the corresponding rate forward feed is zero then it flags it as PreArm failure.
It has been added to the parameter check, so can be overridden if required.
 2017-11-15 21:58:24 +09:00
André Kjellstrup e7a1ceca4c Copter: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
ChrisBird 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
Peter Barker 3846da5e23 Copter: remove redundant terrain checks 
Now taken care of by continuous prearm checks
 2017-11-08 19:08:16 +09:00
Peter Barker d537461934 Copter: remove redundant battery checks 
Now taken care of by continuous prearm checks
 2017-11-08 19:08:14 +09:00
Peter Barker b3b1680e11 Copter: remove redundant fence checks 
Now checked as part of continuous prearm
 2017-11-08 19:08:12 +09:00
Peter Barker 04af1cb331 Copter: remove redundant baro checks 
Now checked as part of continuous prearm checks
 2017-11-08 19:08:10 +09:00
Peter Barker b5c907312c Copter: remove redundant gps checks 
Now tested as part of continuous pre-arm checks
 2017-11-08 19:08:08 +09:00
Peter Barker d563a9dd5d Copter: remove redundant INS checks 
Now checked by continuous prearm checks
 2017-11-08 19:08:06 +09:00
Peter Barker d3b73f8557 Copter: correct notification of pre-arm-gps-check failure 2017-11-08 19:08:03 +09:00
Peter Barker 818faa92d4 Copter: rc calibration checks are called by AP_Arming 2017-11-08 19:07:59 +09:00
Peter Barker 9b52c9b670 Copter: prearm logging checks are called in parent class 2017-11-08 19:07:55 +09:00
Peter Barker 49dd5f4f80 Copter: prearm board voltage checks are called in parent class 2017-11-08 19:07:53 +09:00
Peter Barker b8802ec5c2 Copter: prearm gps checks are called in parent class 2017-11-08 19:07:51 +09:00
Peter Barker 7c0869fa19 Copter: prearm ins checks are called in parent class 2017-11-08 19:07:49 +09:00
Peter Barker cb8fa41cb1 Copter: prearm compass checks are called in parent class 2017-11-08 19:07:46 +09:00
Peter Barker 30c1a040d7 Copter: prearm baro checks are called in parent class 2017-11-08 19:07:44 +09:00
Peter Barker c129445ff6 Copter: call common prearm checks 2017-11-08 19:07:42 +09:00
Peter Barker 7b3e111f85 Copter: continuously run pre-arm checks 
Stop "latching" the prearm checks, so if the checks start to fail
the craft becomes non-armable.
 2017-11-08 19:02:44 +09:00
Randy Mackay ef05281dc2 Copter: 3.5.4-rc1 release notes 2017-11-08 12:21:46 +09:00
Peter Barker ef00978662 Copter: add missing disarm-on-land parameter to rtl_land_run 
Always disarm
 2017-11-06 22:58:16 +00:00
Peter Barker 5b793252ed Copter: stop disarming as part of running rtl as mission item 
Fixed #6324

Note that the land-as-mission-item code is duplicated from the
rtl-as-mode code but omits the disarm part, so doesn't suffer from the
same bug.
 2017-11-06 19:07:28 +00:00
bnsgeyer 6d0cfc13a2 Copter: heli: Update swashplate behavior 
change swashplate behavior on ground in Acro, Stabilize, and AltHold
flight modes. See discussion here:

https://discuss.ardupilot.org/t/tradheli-swashplate-behavior-while-on-the-ground-and-potential-fix-to-issue-5396/22463/18
 2017-10-28 12:31:06 +11:00
Peter Barker c7216a2740 Copter: call ins periodic function 2017-10-27 16:33:45 +11:00
Randy Mackay 842eed5426 Copter: accept do-winch commands with max rate 2017-10-27 09:20:38 +09:00
Randy Mackay 47bbf49aa6 Copter: fix tuning knob rate control of winch 2017-10-27 09:20:38 +09:00
Randy Mackay 787954fa37 Copter: integrate winch library 
fixes after peer review:
rename winch-disable to winch-relaxed
add DO_WINCH to do-verify
winch release-length accepts rate
 2017-10-27 09:20:38 +09:00
Randy Mackay 2c511b4269 Copter: add AP_Winch and AP_WheelEncoder to build 2017-10-27 09:20:38 +09:00
ChristopherOlson 51c8c1adb2 Copter: TradHeli update comment 
be consistent with dynamic flight speed definition
 2017-10-26 17:15:40 +11:00
ChristopherOlson 572c609cd6 Copter: Trad Heli-change default accel_z_p to 0.30 
prevents collective cycling in altitude controlled modes
 2017-10-26 17:15:40 +11:00
Andrew Tridgell 0d0f1d264b Copter: fixed order of motor setup 2017-10-22 15:52:50 +11:00
Andrew Tridgell c4b0d7bc35 Copter: removed calls to motors->enable() 2017-10-22 15:52:50 +11:00
Andrew Tridgell f49ab44f25 Copter: support simple accel calibration 2017-10-10 10:57:38 +11:00
Andrew Tridgell e2f710523e Copter: added inverted flight to switch docs 2017-10-03 10:16:41 +11:00
Andrew Tridgell 951ed95eb9 Copter: support inverted flight CH7 option 2017-10-03 10:16:41 +11:00
Andrew Tridgell 18f04abfe8 Copter: added HELI_QUAD 2017-10-03 10:16:41 +11:00
Michael du Breuil 516709fc72 Copter: Check GPS health 2017-09-27 19:29:32 +01:00
Lucas De Marchi beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi 6781a44046 global: use static method to construct AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi 8f304ed809 ArduCopter: add static create method for AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi 6d009cdf6e global: use static method to construct AP_ADSB 2017-09-26 03:01:21 +01:00
Lucas De Marchi 1263e20a0d ArduCopter: use static method to construct AC_InputManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi e21e02cfdb ArduCopter: use static method to construct AC_PrecLand 2017-09-26 03:01:21 +01:00
Lucas De Marchi cf6ea9642e global: use static method to construct AP_Terrain 2017-09-26 03:01:21 +01:00
Lucas De Marchi 70d8a08626 ArduCopter: use static method to construct AP_LandingGear 2017-09-26 03:01:21 +01:00
Lucas De Marchi 31db77e47b global: use static method to construct AP_Parachute 2017-09-26 03:01:21 +01:00
Lucas De Marchi 57bbb2e1d9 ArduCopter: use static method to construct AC_Sprayer 2017-09-26 03:01:21 +01:00
Lucas De Marchi eadd650d78 global: use static method to construct AP_RSSI 2017-09-26 03:01:21 +01:00
Lucas De Marchi 4f42facefc global: use static method to construct AC_Avoid 2017-09-26 03:01:21 +01:00
Lucas De Marchi b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi b4f5256a9e ArduCopter: add static create method to AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi c6eb48009b global: use static method to construct AC_Fence 2017-09-26 03:01:21 +01:00
Lucas De Marchi 18aa88b329 global: use static method to construct AP_Mount 2017-09-26 03:01:21 +01:00
Lucas De Marchi c3647f0185 global: use static method to construct AP_Camera 2017-09-26 03:01:21 +01:00
Lucas De Marchi cc53e7bc4b global: use static method to construct AP_ServoRelayEvents 2017-09-26 03:01:21 +01:00
Lucas De Marchi 13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9ce6019138 global: use static method to construct AP_Frsky_Telem 2017-09-26 03:01:21 +01:00
Lucas De Marchi b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi a74e700006 global: use static method to construct RCMapper 2017-09-26 03:01:21 +01:00
Lucas De Marchi 72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi 10529feae6 ArduCopter: use static method to construct AP_Arming_Copter 2017-09-26 03:01:21 +01:00
Lucas De Marchi b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi de5e044b02 global: use static method to construct AP_RPM 2017-09-26 03:01:21 +01:00
Lucas De Marchi 40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi f5c2ffffb9 global: remove DataFlash from AP_Mount::init() 2017-09-26 03:01:21 +01:00
Lucas De Marchi 53c82b4aaf global: use static method to construct DataFlash_Class 2017-09-26 03:01:21 +01:00
Lucas De Marchi 62ac0ab8aa global: use static method to construct AP_Notify 2017-09-26 03:01:21 +01:00
Lucas De Marchi de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi 8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi 87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi 91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Lucas De Marchi d213ccbbfc ArduCopter: protect version.h from inclusion and use ap_version.h 2017-09-23 21:37:45 -07:00
Lucas De Marchi 4ef5186733 ArduCopter: do not include version.h/ap_version.h 
The interface provided by each vehicle should be used to get the
version.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi cd5b018d82 ArduCopter: move version to a static member 
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.

If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.

version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
 2017-09-23 21:37:45 -07:00
Randy Mackay a9f257ddc6 Copter: 3.5.3 release notes 2017-09-21 11:13:02 +09:00
Andrew Tridgell 22bfec4d2a Copter: fixed motor runup check for heli 
for all auto-throttle modes we should not allow a mode change to the
mode if the motor runup is not complete.

This moves the code to the set_mode() so it applies to all modes

fixes issue #6956
 2017-09-21 08:52:50 +10:00
Andrew Tridgell 8cf8f3a288 Copter: fixed collective input with H_SV_MAN=1 for heli 
when H_SV_MAN=1 we do direct pass-thru so the user can test swash
range. The problem is that it uses norm_input() for throttle, which
depends on RC3_TRIM. Nowhere else in heli or copter do we depend on
RC3_TRIM, so the user gets a misleading idea of behaviour when testing
their swash.
 2017-09-21 08:52:50 +10:00
Randy Mackay a8a5c1d332 Copter: command-long DO_SET_HOME check first param is zero 
Also do not use current location just because lat,lon,alt are all zero
 2017-09-20 12:14:38 +09:00
Randy Mackay d982cfed4a Copter: accept DO_SET_HOME within COMMAND_INT 2017-09-20 12:14:38 +09:00
Randy Mackay 70cf21a5ba Copter: accept more mav-frame types 
accept mav frames whether or not they have _INT appended
 2017-09-20 12:14:38 +09:00
Peter Barker 45d056fcf0 Copter: ekf position checks are done before we call failsafe_ekf_event 2017-09-19 12:44:43 +01:00
Peter Barker d5caff3f1b Copter: do not enter ekf-failsafe based on position if pos not needed 2017-09-19 12:44:43 +01:00
Peter Barker ff82f23cf6 Copter: factor out a ekf_check_position_problem method 2017-09-19 12:44:43 +01:00
Peter Barker 84a873a520 Copter: remove redundant check; we will never failsafe_ekf_event if disarmed 
See line 37
 2017-09-19 12:44:43 +01:00
Peter Barker 0afe1e7473 Copter: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +09:00
Randy Mackay 1b3cc9289b Copter: support SET_GPS_GLOBAL_ORIGIN 
also remove setting of origin from DO_SET_HOME command
initialise ekf_origin location when consuming SET_GPS_GLOBAL_ORIGIN
set_ekf_origin performs sanity check on location
 2017-09-19 10:30:15 +09:00
Randy Mackay 44a436642b Copter: complete rename to SmartRTL 
Also fix parameter description for CH7_OPT
 2017-09-15 08:58:14 +09:00
Michael du Breuil ffc2aeee32 Copter: Support landing flight termination 2017-09-13 13:15:08 -07:00
Peter Barker 6b5fd5fbdd Copter: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Randy Mackay b1d1b5122b Copter: 3.5.3-rc1 release notes 2017-09-12 16:43:15 +09:00
squilter 4b57a4a231 Copter: rename SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
squilter 7abb5b10fc Copter: build scripts changed from SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
Randy Mackay ed0203e53c Copter: smooth safertl return journey using fast waypoints 2017-09-09 14:05:41 +09:00
Randy Mackay 6684e3de56 Copter: minor comment change for SafeRTL 2017-09-09 14:05:41 +09:00
Randy Mackay 8df042f00c Copter: complete addition of SafeRTL flight mode 2017-09-09 14:05:41 +09:00
Randy Mackay 218983d594 Copter: safe-rtl changes after peer review 2017-09-09 14:05:41 +09:00
squilter ba0e08552f Copter: add SafeRTL flight mode 2017-09-09 14:05:41 +09:00
squilter ec8c4b1744 Copter: add AP_SafeRTL to build 2017-09-09 14:05:41 +09:00
Peter Barker 3f67dfe4fe Copter: move handling of do_send_banner up 2017-08-30 15:54:47 +01:00
Peter Barker 3da70f19c1 Copter: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker e6ac68fd2a Copter: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker bb06db6389 Copter: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker 470e790117 Copter: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
squilter 00ace08b54 Copter: minor formatting fixes 2017-08-30 20:07:11 +09:00
Peter Barker 30fac9160e Copter: mavlink PERF messages also spit out average and standard deviation 2017-08-29 21:31:46 +01:00
Peter Barker 89e6e70235 Copter: remove MAIN_LOOP_RATE in favour of parameter value 2017-08-29 08:41:07 +09:00
Peter Barker 02a590024d Copter: base loop time remaining on variable loop rate 2017-08-26 09:33:45 +09:00
Peter Barker 0b6de644fb Copter: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Peter Barker 5103739ea3 Copter: remove unused CH6 defines 2017-08-24 19:48:17 +09:00
Lucas De Marchi be402374ea ArduCopter: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Randy Mackay 34560fb1fb Copter: remove enabled check from optflow init 2017-08-23 11:19:14 +09:00
Randy Mackay def17582c6 Copter: integrate simpler Log_Write_EKF 2017-08-23 11:19:14 +09:00
Peter Barker b0c7766197 Copter: continuously reevaluate rc calibration checks 
Stop "latching" calibration checks - if an RC radio's calibration
changes after it passes once, these patches allow the rc calibraiton
checks to then fail.
 2017-08-21 09:05:31 +09:00
Peter Barker 19e409f7f4 Copter: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker 6db348bab3 Copter: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker aa06fc499c Copter: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Michael du Breuil 5cfe4d5a8c Copter: Expose the AFS instance to MAVLink 2017-08-15 15:14:56 +01:00
Peter Barker 0a2177de58 Copter: move Copter RC checking code into library 2017-08-14 15:32:25 +09:00
Randy Mackay 14f6d3e03e Copter: 3.5.2 release notes 2017-08-14 12:12:01 +09:00
Peter Barker c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker fa2b500e93 Rover: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker 55af774e98 Copter: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker 56160a8bbd Copter: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker ff81186951 Copter: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker 7ca146878d Copter: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker da889bdff5 Copter: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Jani Hirvinen bdbe26eb28 Copter: minor comment fix 
small edit on comments to kickoff autobuild
 2017-08-09 20:14:22 +09:00
Peter Barker c36a20ab54 Copter: use new retry_deferred method 2017-08-05 23:14:31 +01:00
Randy Mackay 4368df7f11 Copter: 3.5.2-rc2 release notes 2017-08-05 16:46:42 +09:00
Randy Mackay 8dadbaa850 Copter: landing gear init on startup 2017-08-05 11:20:41 +09:00
Randy Mackay c3fd354452 Copter: enable landing gear based on RC output 
previously it was enabled based on the transmitter's auxiliary switch
being setup
 2017-08-05 11:20:41 +09:00
Randy Mackay 5b8e7cfdf9 Copter: landinggear_update formatting change 
no functional change
 2017-08-05 11:20:41 +09:00
Peter Barker db080ed60e Copter: stop sending MSG_SERVO_OUT messages 
This didn't ever result in a message being sent on Copter
 2017-08-03 14:34:33 +01:00
Peter Barker 7c37bb324b Copter: move try_send_message queued_param_send up 2017-08-03 14:34:33 +01:00
Peter Barker 431e3443bd Copter: move try_send_message send_hwstatus up 2017-08-03 14:33:37 +01:00
Peter Barker 3e5665735f Copter: move try_send_message mission handling up 2017-08-03 14:24:47 +01:00
Peter Barker 2a62b57e11 Copter: move try_send_message compass message handling up 2017-08-03 14:24:46 +01:00
Peter Barker 4b63443633 Copter: correct misleading comment 2017-08-03 14:24:46 +01:00
Peter Barker 31b33b2232 Copter: base SYS_STATUS load average on variable loop rate 2017-08-01 19:39:27 +01:00
squilter f7a00b911e Copter: minor format fix for motors.cpp 2017-07-31 17:27:15 +09:00
Randy Mackay 167ced1279 Copter: battery arming checks call parent AP_Arming 2017-07-31 17:19:55 +09:00
Randy Mackay 9cbab6ed4b Copter 3.5.1 release notes 2017-07-31 11:49:12 +09:00
Peter Barker f56c9bd96d Copter: move common mavlink camera handling up 2017-07-28 14:32:58 +01:00
Peter Barker cdf9ebcb39 Copter: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Peter Barker 192310a68e Copter: move gps inject handling up to GCS_MAVLINK 2017-07-27 12:03:25 +01:00
Randy Mackay f97e43919b Copter: add gps glitch notification and pre-arm check 2017-07-27 14:16:23 +09:00
Randy Mackay 52bf93dd80 Copter: 3.5.1-rc1 release notes 2017-07-27 12:25:22 +09:00
Peter Barker f1ab50d4ea Copter: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00
khancyr 88aa1e447a Copter: adapt to new send_proximity API 2017-07-24 13:44:43 +01:00
khancyr 0710018a42 Copter: move proximity log to DataFlash (NFC) 2017-07-24 13:44:43 +01:00
khancyr 49755063ab Copter: move send_proximity to GCS common code (NFC) 2017-07-24 13:44:43 +01:00
khancyr 743d9ec65f Copter: report polygon fence breach 2017-07-21 09:47:00 +09:00
Peter Barker 89478d5a28 Copter: ensure logging is working as part of arming checks 2017-07-19 16:37:28 +01:00
Peter Barker e45efeb829 Copter: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Peter Barker cbde87b390 Copter: remove pointless pre_arm_gps_checks function 2017-07-19 16:34:57 +01:00
Peter Barker baaad8df94 Copter: use common board_voltage_checks code 2017-07-19 16:34:57 +01:00
Peter Barker a7bc111485 Copter: use common baro arming check function 2017-07-19 16:34:57 +01:00
Peter Barker eb0edc9b5b Copter: remove MSG_STATUSTEXT entirely 2017-07-18 16:12:59 +01:00
Peter Barker ad1c379445 Copter: move handling of PREFLIGHT_SET_SENSOR_OFFSETS up 2017-07-17 14:17:19 +01:00
Peter Barker fe16691c6e Copter: move handling of MAG_CAL command longs up 2017-07-17 14:17:19 +01:00
Peter Barker ecda9116ba Copter: move MAV_CMD_START_RX_PAIR handling to base class 2017-07-17 14:17:19 +01:00
Randy Mackay 73d994a834 Copter: update 3.5.0 release notes 2017-07-17 11:15:05 +09:00
Peter Barker 7042d3e9c9 Global: all vehicles get AP_Relay and AP_ServoRelayEvent libraries 2017-07-17 00:06:31 +01:00
Peter Barker b14964eb1e Copter: move mavlink support for servo/relay up 2017-07-16 23:56:00 +01:00
Peter Barker 3e3a8717c5 Copter: add common handling of mavlink command messages 2017-07-16 23:56:00 +01:00
Michael du Breuil a81bfe644a Copter: Document max loop time as being in microseconds 2017-07-15 17:27:04 +09:00
Peter Barker 480a83fdef Copter: move rally-point handling up 2017-07-14 01:28:05 +01:00
Peter Barker 7bb28175d7 Copter: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +01:00
Peter Barker 016eeaa258 Copter: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
Randy Mackay 260412bf0f Copter: 3.5.0-rc11 release notes 2017-07-12 13:56:01 +09:00
Randy Mackay c1433e0220 Copter: minor comment and formatting fixes 
no functional change
 2017-07-12 13:27:45 +09:00
Randy Mackay ed65d55f5e Copter: guided stops rotating if no updates received for 3 seconds 2017-07-12 13:27:45 +09:00
Randy Mackay 2b98fd765d Copter: guided_set_destination accepts relative yaw 2017-07-12 13:27:45 +09:00
Randy Mackay 4c9e118ceb Copter: set_auto_yaw_look_at_heading takes bool for relative angle arg 
No functional change
 2017-07-12 13:27:45 +09:00
Randy Mackay 9b05f1d9c7 Copter: add auto-yaw-rate and replace guided_angle_state.use_yaw_rate 
We use the auto_yaw_mode in auto and guided modes to allow various yaw behaviours
This commit adds a new AUTO_YAW_RATE control to the mode and uses it within guided mode.
This new RATE control is not currently used within auto mode because there is no way (yet) for a mission command to specify a desired rate.
 2017-07-12 13:27:45 +09:00
kouseii 4dd7d9eaff Copter: guided mode supports heading and yaw-rate target 2017-07-12 13:27:45 +09:00
Peter Barker 8a1fc6a406 Copter: remove global static send_statustext_chan 2017-07-11 23:53:53 +01:00
Peter Barker 592729733e Copter: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker a4d167affe Copter: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00
Peter Barker 3660236a0d Copter: move common mission handling up to GCS_MAVLINK 2017-07-11 23:45:16 +01:00
Peter Barker 358555446b Copter: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 0ac045febe Copter: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
Andrew Tridgell 7473471f38 Copter: reverse IDs in g2 for TCAL and tx_type 
as discussed with Randy
 2017-07-10 17:07:57 +10:00
Tom Pittenger 25b014524a Copter: use send_text method on the GCS singleton 2017-07-09 19:03:26 -04:00
Peter Barker f60389d4aa Copter: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker 037cd2e9c6 ArduCopter: use Notify singleton for sending statustext 2017-07-09 17:17:29 -04:00
Randy Mackay a6fbae16bf Copter: 3.5.0-rc10 release notes 2017-07-08 10:51:23 +09:00
Randy Mackay 2e56e10d9c Copter: ekf check adds position variance check 
two of three of compass, velocity and position variances being high will trigger the ekf failsafe
 2017-07-08 08:39:43 +09:00
Peter Barker d9b45cc202 Copter: create GCS subclass, use inheritted methods 2017-07-07 16:18:37 +01:00
Peter Barker 2d11544ea8 Copter: remove redundant arming check defines 2017-07-06 11:55:12 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 9994e9b773 Copter: improve stream descriptions (NFC) 2017-07-04 08:12:57 +09:00
Eugene Shamaev 24c390ade0 ArduCopter: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Randy Mackay c75f30eb9b Copter: 3.5.0-rc9 release notes 2017-07-03 14:42:26 +09:00
Randy Mackay 41752eef8b Copter:default RC_FEEL to 50 2017-07-03 09:34:07 +09:00
Peter Barker 37abc1b02f Copter: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker 776d691c79 Copter: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Peter Barker cfbde937c6 Copter: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Peter Barker 8b57405143 Copter: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker 45a55bfa5f Copter: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Leonard Hall f29951c2bf Copter: fix autotune accel max not being used until reboot 
Once autotune completes successfully, the discovered acceleration maximums should be used if the pilot tests the tune
 2017-06-22 15:19:57 +09:00
Randy Mackay 356a405e2d Copter: autotune minor format fix 2017-06-22 15:18:04 +09:00
Leonard Hall 2888096a42 Copter: autotune keeps constant attitude while holding position 2017-06-22 15:18:04 +09:00
Randy Mackay 51c20637e5 Copter: fix compile error when logging disabled 
Also slightly re-order placement of functions
 2017-06-22 15:18:04 +09:00
Leonard Hall 7eab1239c7 Copter: attitude logging at 400hz 2017-06-22 15:18:04 +09:00
Michael du Breuil f0cb234228 Copter: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Andrew Tridgell 9d7ed495da Copter: call set_likely_flying() 2017-06-20 09:44:44 +10:00
Peter Barker 4af3b31128 Copter: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up 2017-06-17 15:07:48 +01:00
Andrew Tridgell ba21c1e67d Copter: set RC_SPEED default to 16kHz for brushed 2017-06-17 17:37:45 +10:00
Peter Barker 4163455d97 Copter: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker cb41f09d2e Copter: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Randy Mackay cb77c1acc9 Copter: 3.5.0-rc8 release notes 2017-06-15 13:48:44 +09:00
Peter Barker 019dd02569 Copter: simplify dataflash initialisation 2017-06-14 12:20:29 +01:00
Shingo Matsuura 0800c6be52 Copter: add beacon object to avoidance object 2017-06-14 16:07:32 +09:00
Randy Mackay a5ea9420c0 Copter: landing gear position set less often 
This change means no pwm output is sent to the landing gear servos until the pilot has moved the switch
 2017-06-13 13:56:07 +09:00
Peter Barker 3ee56f5475 Copter: StartUnstartedLogging replaces logging_started/start_logging 2017-06-11 20:34:12 +01:00
Peter Barker 43a16b9327 Copter: simplify should_log (NFC) 2017-06-11 20:34:12 +01:00
Peter Barker d36e8fa51e Copter: eliminate calls to manipulate _writes_enabled 2017-06-11 20:34:12 +01:00
Peter Barker 2bb22da599 Copter: simplify start_logging 2017-06-11 20:34:12 +01:00
Pierre Kancir d5cc1e64ed GCS_Common: rename send_rangefinder to send_rangefinder_downward 2017-06-08 01:32:04 +01:00
Pierre Kancir 73038a0e09 ArduCopter: GCS_mavlink style correction 2017-06-08 01:31:52 +01:00
Pierre Kancir ac0a300415 ArduCopter: correct msg send by proximity 2017-06-08 01:31:52 +01:00
Pierre Kancir 261eb387eb ArduCopter: change rangefinder msg for common one 2017-06-08 01:31:43 +01:00
Pierre Kancir 156863d10a ArduCopter: add DISTANCE_SENSOR support 2017-06-08 01:22:07 +01:00
Peter Barker 758414cfe5 Copter: allow mavlink messages to be exchanged on failed boot 2017-06-07 12:56:46 +01:00
Randy Mackay cb76bd8f3d Copter: compass set-initial-location uses ahrs location 
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
 2017-06-07 13:01:38 +09:00
Randy Mackay 814cadac68 Copter: consolidate set_home functions 
added lock argument instead of having twice as many functions
no functional change
 2017-06-07 13:01:38 +09:00
Randy Mackay ec491d3c6b Copter: init_compass get g.compass_enabled check 
No functional change
 2017-06-07 10:34:13 +09:00
Leonard Hall 8def1d257e Copter: pass battery resistance estimate to motors 2017-06-06 14:57:04 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas f8aa91681e Copter: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Randy Mackay 010dc103be Copter: increase RC input deadzones for roll pitch and yaw 
Copter-3.5 testing resulted in a significant number of users reporting various issues like poshold and autotune were not functioning because their RC inputs were straying out of the deadzones
 2017-06-01 10:10:57 +09:00
Leonard Hall c61d0a7373 Copter: reduce RC_FEEL default to 25 2017-06-01 10:06:20 +09:00
murata 1a76c28655 Copter: add dodeca-hexa 2017-05-27 14:21:13 +09:00
Randy Mackay 70ed572476 Copter: minor formatting fix 
This is mostly just to trigger compilation of the latest beta
 2017-05-25 17:53:20 +09:00
Randy Mackay 5f0214dd41 Copter: update AC3.5.0-rc7 release notes 2017-05-25 13:29:35 +09:00
Randy Mackay 9002a635e2 Copter: 3.5.0-rc7 release notes 2017-05-25 13:29:33 +09:00
Paulo Neves 9c6a7c170f Copter: Add MAV_CMD_DO_SET_CAM_TRIGG_DIST support 2017-05-25 09:35:22 +09:00
Michael du Breuil 6ba53cf11c Copter: Ignore Landing message 2017-05-24 15:22:27 -07:00
Randy Mackay a77f21da4a Copter: sport and acro trainer limits based on target attitude 
previously the trainer used the vehicle's actual attitude meaning that the target could get far past the limits if there was an attitude error
 2017-05-23 19:44:52 +09:00
Randy Mackay a0c5ac1949 Copter: fix compassmot for oneshot ESCs 2017-05-23 13:11:46 +09:00
Andrew Tridgell c459a25194 Copter: adjust autotune poshold 
only reset position on pitch or roll input

also increases the max angle error for twitching in autotune. When a
vehicle is not well tuned the limit can prevent twitching
 2017-05-23 09:41:11 +09:00
Randy Mackay 010665f915 Copter: fix esc calibration for one-shot 
the cork and push need to be done from the vehicle level
 2017-05-23 07:57:17 +09:00
Randy Mackay b4d7d4f43f Copter: resolve compiler warnings in autotune GCS messages 2017-05-22 12:34:06 +09:00
Peter Barker d5afd01ef2 Copter: remove duplicate autotune rotation warning 2017-05-18 16:28:00 +09:00
Randy Mackay ca8ae06bba Copter: minor format fix to landing-gear update function 2017-05-18 12:26:19 +09:00
Peter Barker 34eae9d9cb Copter: AutoTune: include axis being tuned in output 2017-05-18 09:36:00 +09:00
Peter Barker 0bc17645fb Copter: AutoTune: add gcs messages detailing wait-for-level state 2017-05-18 09:36:00 +09:00
Peter Barker 586a5df814 Copter: add GCS messaging during autotune 2017-05-18 09:36:00 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas f366095113 Copter: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 60aeade0f4 Copter: Add missing @RebootRequired: True 2017-05-15 21:51:16 +09:00
Randy Mackay 376b9e994f Copter: AC3.5-rc6 release notes 2017-05-15 15:04:28 +09:00
Randy Mackay 91d4b4777b Copter: respond to param list request after motor init 2017-05-15 14:13:43 +09:00
Pierre Kancir 436d0f8c84 ArduCopter: radio fix passthrough range on heli/coax/single 2017-05-13 10:19:20 +09:00
Randy Mackay caa2148e45 Copter: move esc calibration startup check to after servo function initialisation 2017-05-11 11:30:05 +09:00
Randy Mackay 0e7f12049c Copter: fix esc calibration is safety switch has been disabled 2017-05-11 11:30:05 +09:00
Randy Mackay f9c8bb1b01 Copter: ensure esc calibration only occurs on next reboot 
It was possible for a board with no safety switch attached to get stuck waiting for the user to press the non-existance switch.  Rebooting now resolves the problem because the ESC_CAL parameter is reset to zero regardless of whether the calibration completes or not.
 2017-05-11 11:30:05 +09:00
Randy Mackay a3450a955d Copter: fix LED notify during auto esc calibration 2017-05-11 11:30:05 +09:00
karthik.desai d7976078a5 Copter: fix typo in comments 2017-05-08 10:08:31 +09:00
murata 8fd9c73b78 Copter: Add SuperSimpleMode "2" to Simple Mode setting. 2017-05-08 09:31:23 +09:00
Andrew Tridgell 3b33434695 Copter: removed AP_Airspeed from vehicle code 2017-05-04 22:59:02 -07:00
Luis Vale Gonçalves 04cb1027b8 Copter: minor fix to release notes 2017-05-03 17:10:27 +09:00
Randy Mackay f2131ed2d0 Copter: AC3.5-rc5 release notes 2017-05-03 14:08:45 +09:00
Peter Barker b37e64b23c Copter: stop appending lf to PERF message 2017-05-01 16:21:55 +01:00
Peter Barker 069e0d1973 Copter: move init of DataFlash references into vehicle init 
It is possible to start a log before the existing codepath is crossed.
 2017-05-01 15:04:34 +01:00
Peter Barker 6ccb7cf3f4 Copter: tidy dataflash Frame reporting 2017-05-01 19:16:47 +10:00
Andrew Tridgell 22791b7272 Copter: use common send_queued_parameters() 2017-05-01 14:36:10 +10:00
Andrew Tridgell 49b18819ce Copter: enable channels in ESC calibration 2017-05-01 14:32:18 +10:00
Andrew Tridgell 2ba6e7af35 Copter: fixed aux servos in RC failsafe 
we should always output to channels
 2017-05-01 14:32:18 +10:00
Andrew Tridgell 10b89db498 Copter: call BoardConfig.init_safety() at end of startup 
this fixes a bug where motors can start on soft reboot
 2017-04-30 21:47:04 +10:00
Randy Mackay aab27d8d0e Copter: auto loiter initialisation simplified 
The simpler set_wp_destination can be used instead of set_wp_origin_and_destination
 2017-04-28 09:10:02 +09:00
Randy Mackay 65e97a9503 Copter: rtl initialises wp controller earlier 
We need to initialise wp controller or the build_path could use the wrong speeds and accelerations when calculating the origin (aka stopping point)
 2017-04-28 09:10:02 +09:00
Andrew Tridgell 1875d2adab Copter: fixed duplicate include of AP_ADC library 2017-04-27 18:32:26 +10:00
Randy Mackay 81f8ab3933 Copter: guided init uses vertical stopping point 2017-04-27 14:36:23 +09:00
Randy Mackay a342b73604 Copter: guided velocity contoller inits accel and jerk 
In practice this has no functional impact because the guided_pos_control_start initialises these values (using AC_WPNav) and it is not currently possible for a user to get to the velocity controller without having first used the guided position controller
 2017-04-27 14:35:46 +09:00
Randy Mackay 1a246851fc Copter: enable radio failsafe by default 2017-04-24 17:07:42 +09:00
Peter Barker afbdbcce26 Copter: log GPS detection state to DF on log startup 2017-04-23 21:04:17 +01:00
karthik.desai afc382c342 Copter: moved beacon logging to dataflash 2017-04-22 10:55:08 +09:00
Randy Mackay 8f43b60247 Copter: set EKF origin from first do-set-home command 2017-04-22 10:37:31 +09:00
Randy Mackay 3348ab4fa8 Copter: send upward DISTANCE_SENSOR message to GCS 2017-04-20 18:11:43 +09:00
Randy Mackay 496e8f3cdb Copter: integrate proximity method rename 2017-04-20 18:11:43 +09:00
Andrew Tridgell 1a8669201e Copter: ignore MSG_AOA_SSA 2017-04-19 20:48:42 +10:00
Randy Mackay 713c08672f Copter: integrate AP_VisualOdom 2017-04-19 11:04:40 +09:00
Randy Mackay d5dd7e719a Copter: add AP_VisualOdom to build 2017-04-19 11:04:40 +09:00
Andrew Tridgell ebde6e1ce3 Copter: output any servo channels on motor output 
if we have any auxillary servo channels we need to calculate the
output value
 2017-04-18 09:34:42 +09:00
Randy Mackay 032bfad79f Copter: move rc input check to esc_calibration_startup_check 
No functional change
 2017-04-18 09:29:55 +09:00
Randy Mackay fc675a1e4a Copter: do not allow motor test before initialisation completes 2017-04-18 09:29:53 +09:00
Randy Mackay 1bfbf0d43f Copter: enable motors at end of initialisation 2017-04-18 09:29:51 +09:00
Francisco Ferreira bf22919a8c Copter: add support for MANUAL_CONTROL message 2017-04-12 16:16:11 +09:00
Michael du Breuil ea89bd1178 Copter: Send BATTERY_STATUS 2017-04-12 10:21:49 +09:00
murata 597dbb2df4 Copter: Compare bit variables, change set values. 
Copter: Change from comment 1 to true.
 2017-04-12 09:19:07 +09:00
Tom Pittenger 01de4b1176 Copter: clarify release notes for Intel Aero 
update ReleaseNotes to clarify that the copter 3.4.0-rc4 (06-Sep-2016) note "Intel Aero flight controller support" does not mean the Intel Aero RTF.
 2017-04-10 16:42:25 -07:00
Randy Mackay 7478ae9eb4 Copter: TUNE parameter description fixes 2017-04-08 15:35:05 +09:00
Randy Mackay 7f93818d31 Copter: 3.5-rc4 release notes 2017-04-08 15:32:01 +09:00
Andrew Tridgell b4d9397821 Copter: re-arrange fast_loop for minimum latency 
this makes motor outputs as responsive as possible to gyros
 2017-04-03 13:04:11 +09:00
Randy Mackay 5497030ebf Copter: version to 3.6-dev 2017-03-30 08:19:18 +09:00
Jacob Walser 587c50c1a1 Copter: Remove redundant nested #if CLI_ENABLED 2017-03-29 19:20:51 +01:00
Jonathan Challinger 054aab738b Copter: remove const qualifier from do_precision_loiter 2017-03-29 14:06:12 +09:00
Andrew Tridgell 01206f9e59 Copter: add available memory to PM message 2017-03-27 14:35:21 +09:00
Andrew Tridgell 6bb5c16fb8 Copter: allow for HELI_DUAL configurations 2017-03-25 16:22:10 +11:00
Randy Mackay 50523619b9 Copter: 3.5-rc3 release notes 2017-03-25 11:50:40 +09:00
Randy Mackay dfe3922d82 Copter: modify pre-arm check wording 
- slight wording change to RC pre-arm check
- shorten Accelerometers to Accels to allow failure message to fit on MP HUD
 2017-03-25 10:50:58 +09:00
Randy Mackay bff9189afc Copter: fixup fence pre-arm checks 
- require GPS if polygon fence is enabled
- fence pre-arm failure shows failure message
- tell user fence is enabled which is why GPS is required
 2017-03-25 10:50:58 +09:00
Lucas De Marchi cc7633f272 ArduCopter: replace board ifdef with feature ifdef 2017-03-24 12:06:19 +11:00
Lucas De Marchi b17acfee12 Add aerofc support 
Flight Controller board that comes on Intel Aero RTF Drone.
 2017-03-24 12:06:19 +11:00
Jacob Walser 353202e03c Copter: Fix parameter metadata 2017-03-22 16:16:26 -07:00
Randy Mackay 15d96b4b5d Copter: release notes for 3.4.6 2017-03-15 09:40:17 +09:00
Andrew Tridgell 54b852ebfe Copter: fixed var table loading for heli single parms 
we were not loading parameters such as the swash angle
 2017-03-15 11:31:45 +11:00
Andrew Tridgell dae1567d6c Copter: log home and origin on logging start 2017-03-14 10:51:15 +11:00
Randy Mackay 375f7b15ff Copter: 3.5-rc2 release notes 2017-03-13 12:25:07 +09:00
Randy Mackay 8140353c64 Copter: log event when primary GPS changes 2017-03-13 11:31:51 +11:00
Randy Mackay b30d743812 Copter: AP_Arming calls parent's gps checks 
Allows removing some duplicate code
 2017-03-13 11:31:51 +11:00
Peter Barker 1d70a337dd Copter: remove unused desired_climb_rate variable 2017-03-09 19:52:58 +11:00
Randy Mackay ca4cbaeb39 Copter: run rate controllers before AHRS/EKF update 
This reduces lag between IMU updates and motor outputs by 0.6 milliseconds
 2017-03-03 13:14:28 +11:00
Randy Mackay e8c5612587 Copter: fix reference to PosControl param descriptions 
No functional change
 2017-03-01 14:59:44 +09:00
Randy Mackay 627e3faf41 Copter: fix SYSID_ENFORCE parameter description 2017-02-28 15:06:51 +09:00
Andrew Tridgell 0d1bcd3b94 Copter: added automatic yaw to autotune position control 2017-02-27 19:34:44 +09:00
Andrew Tridgell fa119f8231 Copter: enable poshold in autotune only from LOITER or POSHOLD 2017-02-27 19:34:42 +09:00
Andrew Tridgell 37fca03db3 Copter: implement simple position hold during autotune 
this holds position during tuning with low gain
 2017-02-27 19:34:36 +09:00
Randy Mackay c100f53ee6 Copter: add upward distance to proximity logging 2017-02-27 15:18:24 +09:00
Randy Mackay 34726208b2 Copter: clarify CHX_OPT avoidance and adsb-avoidance 2017-02-27 15:18:23 +09:00
Randy Mackay 51c00f8144 Copter: use only downward facing rangefinder 2017-02-27 15:18:16 +09:00
Lucas De Marchi a589a84e32 ArduCopter: just call set_throttle_range() 
Now set_throttle_range in AP_Motors does the right thing, calling out
the RCOutput method.
 2017-02-26 13:38:24 +11:00
Jacob Walser 868be023ee Copter: Refactor fence.get_safe_alt() to fence.get_safe_alt_max() 2017-02-21 11:26:14 +11:00
Andrew Tridgell f1917dddd0 Copter: changes for AC_WPNav 2017-02-18 17:26:43 +11:00
Andrew Tridgell 92fdef5b97 Copter: changed for AP_AHRS_View on AC_AttitudeControl 2017-02-18 17:26:43 +11:00
Andrew Tridgell aad412eaef Copter: support tailsitter frame class 2017-02-18 17:26:43 +11:00
Andrew Tridgell 3cb88d0a23 Copter: added tailsitter frame support 2017-02-18 17:26:43 +11:00
Andrew Tridgell 7efca1881c Copter: fixed a problem with initial parameter fetch 
if the GCS connects before the motors have been allocated then it will
get an incorrect parameter count from the MAVLink param protocol. We
need to prevent the PARAM_REQUEST_LIST message from being replied to
until motors are allocated which is done as part of init_ardupilot
 2017-02-15 17:16:30 +10:00
Andrew Tridgell 6b6d03eb8d Copter: fixed upgrade of parameters 
now that we dynamically allocate many key objects in copter we need to
move the parameter upgrade code to after when the objects are allocated
 2017-02-15 15:02:06 +10:00
Andrew Tridgell d8972d5344 Copter: setup frame type parameter flags 2017-02-14 19:50:01 +11:00
Peter Barker 65a182a068 Copter: not in log download upon log erase 
erase is a synchronous operation
 2017-02-13 11:36:16 +11:00
Peter Barker 029aeeb4fd Copter: support for a GCS singleton 2017-02-13 09:32:01 +11:00