Matt Lawrence
809b170015
Copter: Circle mode pilot control of rate & radius
...
RC pitch stick controls circle mode radius. RC roll stick controls circle mode rate (speed) and direction.
2020-01-07 09:30:33 +09:00
Peter Barker
72e6446204
Copter: make requires_terrain a callback on the flightmode
...
This will prompt new modes to consider whether failsafe should be active
for terrain.
2019-12-24 09:46:19 +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
Randy Mackay
39a6b104dd
Copter: move RTLState to ModeRTL
2019-12-17 20:02:01 +09:00
Randy Mackay
54582814aa
Copter: use SID_AXIS to hide other SystemID mode params
2019-12-03 14:53:55 +08:00
Peter Barker
2296448027
Copter: make private enum class for LAND mode's state
2019-12-03 07:38:22 +08:00
Gone4Dirt
180d4e713c
Copter: Added autorotation flight mode and support
2019-11-29 08:06:10 +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
Peter Barker
5ece75a09a
Copter: AC_AutoTune writes events itself now
2019-11-01 14:47:52 +08:00
Michael du Breuil
b42b1c08c4
Copter: Support new AP_Vehicle::set_mode
2019-10-25 08:48:22 +08:00
Randy Mackay
2cb3e446ab
Copter: systemid mode formatting and name changes
2019-10-16 08:17:09 +09:00
Leonard Hall
c11f2247eb
Copter: System ID mode
2019-10-16 08:17:09 +09:00
Leonard Hall
91be844b66
Copter: Let modes stop Attitude Logging
2019-10-16 08:17:09 +09:00
Randy Mackay
ca92f0505e
Copter: follow mode restores offsets to zero on exit
2019-10-07 08:30:45 +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
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
Leonard Hall
0e34d8b1ff
Copter: PosHold fix for low brake_rate
2019-07-18 11:13:51 +09:00
Randy Mackay
b7a748df88
Copter: auto's wp_start accepts terrain alts
2019-07-18 09:01:09 +09:00
Rishabh
00f6dc9b05
Copter: brake moved in from AC_WPNav
2019-06-13 09:02:46 +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
Bill Geyer
0c64cdc565
Copter: TradHeli - add virtual flybar to heli acro flight mode
2019-06-04 09:57:13 +09:00
Peter Barker
08a18d6a0a
Copter: avoid working with uninitialised home location
2019-05-29 09:04:37 +09:00
Peter Barker
d34c4b01f4
Copter: build return path in run() rather than init()
...
This avoids attempting to build a return path if we don't currently have
a home or origin
2019-05-29 09:04:37 +09:00
Peter Hall
3fe63d5bc0
Copter: only save autotune gains if disarmed in autotue
2019-05-07 09:23:50 +10:00
Peter Barker
37c07e1d89
Copter: use enum class for roll/pitch mode
...
This adds some type-safety and helps distinguish between the many
defines which are used within PosHold mode
Saves about 210 bytes of flash
2019-04-30 08:36:59 +09:00
Peter Barker
462d87e5d0
Copter: remove unused PosHoldModeState enumeration
2019-04-30 08:36:59 +09:00
Peter Barker
e28c6b9dc6
Copter: remove redundant poshold_ prefix on PosHold methods
2019-04-30 08:36:59 +09:00
Peter Barker
f57a9f11cc
Copter: move poshold state variables into mode object
...
This was simply moving the members from the poshold struct into the
class then mechanically removing poshold. from in front of the member
access.
2019-04-30 08:36:59 +09:00
Randy Mackay
8a5141f751
Copter: mode autoyaw lower in mode.h
...
make ordering of some declarations consistent across child classes
2019-04-20 10:04:33 +09:00
Peter Barker
7945c1fdfd
Copter: mode class unfriends everyone, make relevant methods public
2019-04-20 10:04:33 +09:00
Randy Mackay
b7d0e4ec10
Copter: remove surface tracking shim functions
2019-04-19 07:45:52 +09:00
Randy Mackay
01909cf4c8
Copter: zigzag mode gets terrain following support
2019-04-19 07:45:52 +09:00
Randy Mackay
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
Pierre Kancir
caf925eda5
Copter: factorize arm or land check
2019-04-16 10:17:47 +09:00
Peter Barker
ef334fe3c7
Copter: remove hanging method declaration
2019-04-09 08:15:39 +10:00
Peter Barker
85be2b0c8b
Copter: clean up flip state enumerations
...
... including a redundant definition of the states...
2019-04-08 14:24:19 +09:00
bnsgeyer
94738c3f86
Copter: change make_safe_shut_down to make_safe_spool_down
2019-04-08 09:42:21 +09:00
Leonard Hall
38cc5a817f
Copter: consolidate mode state decisions
...
bnsgeyer and rmackay9 contributed to these changes
make_safe_shut_down waits for spool down before disarming
remove use of attitude_control::set_throttle_out_unstabilized to consolidate logic between multicopters and tradhelis
2019-04-08 09:42:21 +09:00
Peter Barker
3b33f4ca4d
Copter: add floating-point-constant designators
2019-04-05 23:04:17 -07:00
Peter Barker
d95160b33c
Copter: move check for high-throttle on mode change up
2019-03-26 20:57:15 +11:00
Peter Barker
34d9ce27af
Copter: make get_pilot_desired_throttle a method on Mode
2019-03-26 20:57:15 +11:00
Peter Barker
281dbfcef8
Copter: support send_extended_sys_state
2019-03-12 09:16:13 +09:00
Peter Barker
e744df585c
Copter: avoid int32_t<->float conversions
2019-03-01 12:09:58 +11:00
Randy Mackay
384bca9482
Copter: stop at waypoint depending upon next command
2019-02-27 13:30:40 +09:00
Randy Mackay
a903c91c40
Copter: remove unused auto_spline_start declaration
2019-02-27 13:30:40 +09:00
Peter Barker
2c814e9de2
Copter: get_alt_above_ground to get_alt_above_ground_cm
2019-02-26 19:31:41 +09:00
Arjun Vinod
d02d897928
Copter: make LOITER_TIME send "Reached command" message to GCS
2019-02-26 10:19:37 +09:00
Randy Mackay
ee6fd5ad8d
Copter: Guided_NoGPS does not require GPS
2019-02-06 12:28:08 +09:00
Peter Barker
f4f40f749b
Copter: Flip: fix FIXME by moving state into mode class
2019-02-04 11:07:28 +09:00