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350 Commits

Author SHA1 Message Date
Randy Mackay a93a0d370a Copter: add throw mode to aux switches 2016-03-03 15:30:03 +09:00
Paul Riseborough a7b69366a1 Copter: Add flight mode for throw launch 
The is commit adds a new flight mode called 'Throw' to Copter that enables the copter to be thrown into the air to start motors. This mode can only be netered when the copters EKF has a valid position estimate and goes through the following states

Throw_Disarmed - The copter is disarmed and motors are off.
Throw_Detecting - The copter is armed, but motors will not spin unless THROW_MOT_START has been set to 1. The copter is waiting to detect the throw. A throw with an upwards velocity of at least 50cm/s is required to trigger the detector.
Throw_Uprighting - The throw has been detected and the copter is being uprighted with 50% throttle to maximise control authority. This state transitions when the copter is within 30 degrees of level.
Throw_HgtStabilise - The copter is kept level and height is stabilised about the target height which is 3m above the height at which the throw release was detected. This state transitions when the height is no more than 0.5m below the demanded height.
Throw_PosHold - The horizontal motion is arrested and the copter is kept at a constant position and height.
 2016-03-03 12:18:13 +09:00
Andrew Tridgell 4efb9bd785 ArduCopter: update for changed AP_Camera API 2016-01-29 09:19:43 +11:00
Dario Lindo Andres 90bf13279b ArduCopter: Added precise camera trigger logging 
Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
APMrover2.
added support for TRIGGER MSG
corrected according to defines.h
 2016-01-29 09:19:43 +11:00
Randy Mackay 2c5f9422d4 Copter: log event if pilot cancels land 
Also add definition for throttle value that cancels land
 2016-01-14 15:21:57 +09:00
Jonathan Challinger 8965185587 Copter: add "high throttle cancels landing" option 2016-01-14 15:21:54 +09:00
Randy Mackay 89c147184f Copter: log guided mode targets 2016-01-12 18:04:59 +09:00
Gavin Mogensen 3918987507 Copter: aux switches for relays 2,3 and 4 2016-01-08 12:12:47 +09:00
Jonathan Challinger 0e85f55cfc Copter: remove OF_LOITER entirely 2015-12-31 14:27:22 +09:00
Robert Lefebvre 652283a570 Copter: Helicopters to force descent when motor is shut off 2015-12-07 14:51:39 +09:00
Randy Mackay 4eafd90864 Copter: remove old comment 2015-11-27 15:02:24 +09:00
Randy Mackay e6f8d812d3 Copter: adsb handling simply logs error to dataflash 2015-11-27 15:02:20 +09:00
José Roberto de Souza c581a702a0 ArduCopter: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
Randy Mackay e20038a453 Copter: support SET_ATTITUDE_TARGET in guided mode 2015-10-09 12:15:38 +09:00
Randy Mackay 0da38ba2bf Copter: add Precision Landing log message 2015-08-31 18:00:30 +09:00
Gustavo Jose de Sousa 4d4b856735 ArduCopter: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00
Randy Mackay 764fa36716 Copter: log ERR when compass, baro unhealthy 2015-07-12 22:11:35 +09:00
Randy Mackay cfe046c9d1 Copter: log EKF height reset 2015-07-06 12:11:54 +09:00
Robert Lefebvre 01ae84dda6 Copter: Create Loiter state machine. 2015-06-29 13:49:55 +09:00
Randy Mackay 2b35fbc81f Copter: remove redundant ToRad definition 2015-06-27 19:20:50 +09:00
Robert Lefebvre a642c88e34 Copter: AltHold state machine 2015-06-22 13:23:53 +09:00
Robert Lefebvre ee6508d5a7 Copter: Event Log rotor speed going below critical 2015-06-19 15:10:54 +09:00
Robert Lefebvre 62079226ff Copter: add Heli Dataflash message 2015-06-19 15:10:52 +09:00
Robert Lefebvre c6281c772d Copter: add rotor_runup_complete Event Logging 2015-06-19 15:10:48 +09:00
Leonard Hall b336ab4de7 Copter: Autotune remove logging of BAD_GAINS event 
This should never happen so no need to log
 2015-06-18 23:06:48 +09:00
Randy Mackay e3183babde Copter: remove unused GPS failsafe definitions 2015-06-10 12:06:10 +09:00
Randy Mackay aa05325b54 Copter: add althold as ekf failsafe action 2015-06-10 12:06:08 +09:00
Andrew Tridgell 1792710f41 Copter: added a bit in LOG_BITMASK for PID logging 2015-05-27 15:09:47 +10:00
Andrew Tridgell 14a90ea001 Copter: removed NOINLINE define 2015-05-21 09:35:51 +10:00
Randy Mackay 09a98b89b7 Copter: add RTL to front of RTLState enum values 
This removes the confusing Land enum value which also appears in the
flight mode enum
 2015-05-19 13:55:50 +09:00
Randy Mackay 8d05eaae16 Copter: add aux switch for Brake flight mode 2015-05-17 14:44:35 +09:00
Randy Mackay 7acdcd8905 Copter: rename stop to brake 2015-05-17 14:44:34 +09:00
Randy Mackay 41077be4ad Copter: parachute failure message if landed 2015-05-12 22:03:58 +09:00
Andrew Tridgell 6dc3cff000 Copter: added LOG_BITMASK 1<<19 for logging raw accel/gyro data 
useful for checking vibration handling
 2015-05-07 12:09:00 +10:00
Randy Mackay 0812e16008 Copter: explicitly define flight modes enum 
Thanks to Luis Vale for spotting this
 2015-05-02 13:24:33 +09:00
Robert Lefebvre 41a6cc64ff Copter: Log Emergency Stop and Motor Interlock status 2015-05-01 14:30:43 +09:00
Robert Lefebvre d8a0952b5a Copter: Explicitly define aux_switch enum. 2015-05-01 14:30:42 +09:00
Robert Lefebvre da2854403e Copter: Explicitly define tuning_func enum value 2015-05-01 14:30:42 +09:00
Robert Lefebvre fab8604f16 Copter: Change Auto Yaw #define table into Enum. 2015-05-01 14:30:39 +09:00
Robert Lefebvre 32b4e70cb7 Copter: Deprecate Aux Switch Multi-Mode 2015-05-01 14:30:38 +09:00
Robert Lefebvre 22a7fba289 Copter: Change autopilot modes into Enum 2015-05-01 14:30:37 +09:00
Robert Lefebvre 39d23519b1 Copter: Change CH6_Tuning #defines into Enum 2015-05-01 14:30:36 +09:00
Robert Lefebvre 2010410c44 Copter: Add numbers to Aux Switch Enum comments 2015-05-01 14:30:28 +09:00
Robert Lefebvre 7349827eb1 Copter: Add Aux Switch E-Stop Function 2015-05-01 14:30:26 +09:00
Robert Lefebvre e4c5915330 Copter: initial creation of motor_interlock 2015-05-01 14:30:21 +09:00
Jonathan Challinger 73d961cebc Copter: mavlink initiated takeoff in alt-hold modes 
adds PILOT_TKOFF_ALT for target altitude above home in cm for pilot initiated takeoff
 2015-05-01 12:56:18 +09:00
Andrew Chapman 4311cd4e7a Copter: add logging for CH6 parameter tuning 
Logs CH6 tuning values to a new PTUN log struct, specific to
APM::Copter at this point
 2015-04-28 14:14:01 +09:00
Andrew Tridgell cb2427ef9e Copter: removed special cases for DCM gain changes on arm/disarm 
copter no longer uses DCM, so it doesn't need these special cases
 2015-04-28 14:07:39 +10:00
Robert Lefebvre 1aa696bc10 Copter: Implement Stop Mode 2015-04-26 16:11:47 +09:00
Randy Mackay dfb720bab6 Copter: rename FULL_IMU logging to IMU_FAST 
This naming is consistent with the earlier ATTITUDE_FAST option and
clarifies that it's the rate that's increased rather than the content.
 2015-04-20 13:49:04 +09:00