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7027 Commits

Author SHA1 Message Date
m e8677216b6 Copter: Add support for pausing and continuing auto missions using COMMAND_INT and COMMAND_LONG 2021-11-25 08:18:27 +09:00
Andrew Tridgell f9d92e2097 Copter: clarify SIMPLE and SUPER_SIMPLE bitmask usage 
based on switch positions, not flight modes
 2021-11-24 08:10:12 +09:00
murata 9d1c3a2df0 Copter: Change the process description 2021-11-18 09:26:26 +09:00
Peter Barker 72f90d84c9 ArduCopter: allow specification of Scheduler table priorities 2021-11-17 19:00:04 +11:00
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
Shiv Tyagi e1ded4e3f6 Copter : add SURFTRAK_MODE parameter 
Added a parameter which will be used to set the surface to be tracked in surface tracking.

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2021-11-13 11:52:38 +09:00
Peter Barker b26d8810d4 Copter: add warning that heli's stabilize init code isn't run at vehicle startup 2021-11-11 19:50:29 +11:00
Bill Geyer 8ef88fb98e Copter: add collective stick low flag to catch bad setups for land detector 2021-11-10 16:45:17 -05:00
Bill Geyer 3926b56df0 Copter: change method name to get_below_land_min_coll 2021-11-10 16:45:17 -05:00
chobitsfan 1ca471c2d1 Copter: fix PosHold LOOP_RATE_FACTOR usage 2021-11-10 21:11:37 +09:00
Randy Mackay 31fede4337 Copter: 4.1.1 release notes 2021-11-10 08:07:03 +09:00
Hwurzburg ee5df978af ArduCopter: add Y4 Frame type to Quadcopters 2021-11-05 07:39:27 +11:00
Tatsuya Yamaguchi 0ff28df2ba Copter: change the default of zigzag wp delay to 0 2021-11-05 07:37:31 +11:00
Iampete1 7e2604ef1a Copter: run parent mandatory_checks 2021-11-02 10:05:07 +11:00
Supernovae 0e023f21a6 ArduCopter: Tuning, NFC grammar fixups 
changes to improve overall readablity
 2021-10-27 22:05:50 +11:00
Iampete1 2fa38e46a0 Copter: set_mode_auto_do_land_start_or_RTL uses set_mode 2021-10-23 15:19:38 +09:00
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
murata a6af0e87fc Copter: Change the auto mode judgment to address 2021-10-18 20:11:39 -04:00
Peter Barker dcc9237c64 ArduCopter: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Randy Mackay d78f156d6e Copter: 4.1.1-rc1 release notes 2021-10-18 09:03:57 +09:00
Tom Pittenger e7c31dab9c Copter: move ADSB mavlink handling from vehicles to common library 2021-10-14 19:55:27 -07:00
Josh Henderson 3642b14a0b ArduCopter: Guided pos_control_run add yaw_rate timeout 2021-10-13 09:46:24 +11:00
Pierre Kancir 73ff525a30 Copter: fix takeoff end report on EXTEND_STATE 
regression from https://github.com/ArduPilot/ardupilot/pull/18700.
thanks to @arduouspilot on discuss to notice this, see https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996/3
 2021-10-12 16:59:39 -04:00
Randy Mackay c524b6e5b5 Copter: 4.0.8 release notes 
TradHeli release only
 2021-10-12 14:28:20 +09:00
Iampete1 12c1b3e8f5 Copter: add MOT_PWM param conversion 2021-10-11 22:19:17 -04:00
Iampete1 f487118ee9 Copter: update_throttle_range don't set_throttle_range 2021-10-11 22:19:17 -04:00
Josh Henderson 483d308781 Copter: GCSMavlink Guided inputs check force_set and reject 2021-10-11 19:52:15 -04:00
Dr.-Ing. Amilcar do Carmo Lucas 181a5900df Copter: Send ESC telemetry over mavlink while doing compassmot 
compassmot can be used to bypass all PID control loops (this avoids forwarding IMU noise to the motors) while stress-testing the ESCs+motors.
So that temperatures can be monitored in real-time during those long tests, send ESC telemetry as well.
 2021-10-11 19:03:01 -04:00
Tatsuya Yamaguchi 918218bdd4 Copter: fix compilation when ACRO, SPORT and DRIFT modes are disabled 2021-10-12 09:01:14 +11:00
Bill Geyer d0d6457b31 Copter: fix tradheli landing detector bug 2021-10-10 18:55:31 -04:00
murata 995b02e66b Copter: Flight mode channels are optional, not just channel 5 2021-10-08 14:24:23 +11:00
Randy Mackay 7424e0c743 Copter: 4.1.0 release notes 2021-10-08 09:25:41 +09:00
Iampete1 1f163453fc Copter: don't check PWM type directly use helpers 2021-10-06 18:59:57 +11:00
Randy Mackay 9de5ef72db Copter: 4.1.0-rc4 release notes 2021-10-01 20:38:10 -04:00
bugobliterator 2751afaa75 Copter: replace config_error with allocation_error 2021-09-30 08:51:26 +10:00
murata b8456f7b89 Copter: YAW_MODE judgment does everything 2021-09-29 23:52:40 +09:00
Peter Barker cfd686c772 Copter: stop passing current_loc into AP_Camera 2021-09-29 18:33:01 +10:00
Tatsuya Yamaguchi e9115601dd Copter: reset land_repo_active flag in Auto mode 2021-09-28 21:17:45 +09:00
Randy Mackay 51d9714dbb Copter: 4.1.0-rc3 release notes 2021-09-27 17:56:08 -04:00
Randy Mackay d4ff180b29 Copter: guided mode remains in takeoff submode longer 2021-09-28 00:17:25 +09:00
Randy Mackay 59d1af2716 Copter: guided takeoff supports autoyaw 
allows both pilot controlled and externally controlled yaw control
 2021-09-28 00:17:25 +09:00
Randy Mackay 3438d1b46b Copter: param conversion for ACRO_RP_RATE, Y_RATE 2021-09-23 20:03:53 +09:00
Leonard Hall 5d5ccc8c78 Copter: Update ACRO to use rate parameters and update expo function 2021-09-23 20:03:53 +09:00
Randy Mackay 1d7d5d23f7 Copter: add acro and pilot yaw rate and expo 2021-09-23 20:03:53 +09:00
Iampete1 85638cf4fa Copter: fix RC init order to avoid error message 2021-09-21 17:49:47 +10:00
Josh Henderson 3d25eedeb2 Copter: GCS_Mavlink set_position_target_global_int() remove yaw_relative 2021-09-21 09:44:43 +09:00
Iampete1 07824fc963 Copter: support ARMDISARM_AIRMODE 2021-09-21 09:36:24 +10:00
Iampete1 456d57c28f Copter: rename armed_with_switch to armed_with_airmode_switch 2021-09-21 09:36:24 +10:00
Iampete1 5002abcea6 Copter: convert to new ARMDISARM_AIRMODE 2021-09-21 09:36:24 +10:00
Iampete1 804efb51e0 Copter: Only run AP_ARMING throttle arming check if PILOT_THR_BHV bit "Feedback from mid stick" is not set 2021-09-18 15:52:38 +01:00
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
Josh Henderson 24b6f024ea Copter: convert RTL_ALT to int32 2021-09-15 16:17:08 +09:00
Randy Mackay 1d7778778d Copter: 4.1.0-rc2 release notes 
also update missing item from 4.1.0-rc1
 2021-09-15 16:15:17 +09:00
Josh Henderson 46ec70f9fc Copter: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Iampete1 ec5d5b4471 Copter: check for takeoff before continuing after land 2021-09-14 08:24:02 +09:00
Randy Mackay e0dd294806 Copter: guided supports using wpnav to reach position targets 2021-09-13 07:49:16 +09:00
Randy Mackay 396ab6f50e Copter: remove unused set_desired_velocity_with_accel_and_fence_limits 2021-09-13 07:49:16 +09:00
Randy Mackay c7a38b2dff Copter: comment fixup for GUIDED_OPTIONS accessors 2021-09-13 07:49:16 +09:00
Randy Mackay 2597a5c0c2 Copter: GUID_OPTIONS descriptions includes spaces 2021-09-13 07:49:16 +09:00
Peter Barker 2da88263e6 Copter: tidy invocation of precland.update 
Setting the altitude to home-relative is misleading/wasteful in this method as
the alt is unused in precland unless it is marked as "OK" with the
second parameter
 2021-09-11 14:17:24 +10:00
Randy Mackay 76a5682065 Copter: 4.1.0-rc1 release notes 2021-09-10 14:41:48 +09:00
Leonard Hall f3dc47ce3d Copter: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Tatsuya Yamaguchi 470cf82a53 Copter: add use_pilot_yaw to ModeSmartRTL class 2021-09-09 07:54:59 +09:00
Tatsuya Yamaguchi 6d7ef8f436 Copter: ignore pilot yaw during takeoff with option 2021-09-09 07:54:59 +09:00
Tatsuya Yamaguchi 94c771ee74 Copter: add use_pilot_yaw to Mode class 2021-09-09 07:54:59 +09:00
Tatsuya Yamaguchi 84845584c8 Copter: remove unused config 2021-09-08 19:34:33 +09:00
Iampete1 38cdc00137 Copter: set force log disarmed moved to AP_Arming 2021-09-08 18:26:40 +10:00
Iampete1 ed83edc2a6 Copter: add SIMPLE_HEADING_RESET RCx_OPTION 2021-09-08 16:49:33 +09:00
Andy Piper 2693b893ad Copter: airmode should mean airmode. only idle on landing when in airmode 2021-09-08 17:11:34 +10:00
Andrew Tridgell f7f63b715f Copter: no need to fabs() get_default_speed_down() as it does fabs already 2021-09-07 18:55:00 +09:00
Iampete1 f848917e1a Copter: log entry and exit of Auto RTL pseudo mode 2021-09-07 09:35:35 +09:00
Randy Mackay af9a91c853 Copter: terrain spelling fix 2021-09-06 16:02:25 +09:00
Leonard Hall 97decc4c21 Copter: Remove parameter RNGFND_GAIN 2021-09-06 16:00:19 +09:00
Leonard Hall 5fea74d4d0 Copter: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Andy Piper 568ad09eb8 Copter: NFC variable naming cleanups on turtle mode 2021-09-06 10:06:40 +09:00
Peter Barker 2d023967dc ArduCopter: make bad-mode-number notification consistent across vehicles 2021-09-01 19:45:46 +09:00
Andy Piper 83bcea1fe0 Copter: turtle mode should output to motors from within motors_output() 
move motor output to flightmode
 2021-09-01 16:25:11 +09:00
Peter Barker a38879f77e ArduCopter: eliminate AP::ahrs().get_location 2021-08-31 09:47:31 +10:00
Iampete1 09f1a3da8a Copter: auto RTL: don't switch modes if already in auto 2021-08-31 08:40:08 +09:00
Randy Mackay b4e073d6f7 Copter: AP_Arming integrates rename to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay 8102629dfb Copter: refactor/rename precland methods 2021-08-30 14:08:44 +09:00
Rishabh 40adad743e Copter: Disable Prec Land State Machine when Prec Land disabled 2021-08-30 14:08:44 +09:00
Randy Mackay b54821f608 Copter: 4.1.0-beta8 release notes 2021-08-28 17:14:02 +09:00
Randy Mackay da12593bd8 Copter: implement new set_target methods 2021-08-26 11:25:54 +09:00
Randy Mackay 0b4e926215 Copter: fix ModeGuided::set_destination_posvel 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
murata 7f6fbe72e6 Copter: Change the parameter description 
Revert "Copter: Change the parameter description"

This reverts commit 406a1f976c85ae3bda252b6b7c4f8808e91c9fe7.
 2021-08-25 15:46:41 +09:00
Andrew Tridgell 4de4db2aac Copter: added MCU_STATUS message 2021-08-25 07:11:31 +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
bnsgeyer ca007ee6f6 Copter: Allow Tradheli to spoolup in guided or auto mode 2021-08-23 12:26:00 +09:00
Andrew Tridgell 0268506678 Copter: add pad fields for extended COMMAND_ACK 2021-08-19 12:08:54 +10:00
Andrew Tridgell dabdf69e56 Copter: added slew rate and Dmod for PID_TUNING message 2021-08-19 12:08:54 +10:00
Iampete1 1301372bfd Copter: remove override compass check 2021-08-18 18:30:51 +10:00
Iampete1 aa290795c6 Copter: always check GPS in super simple mode 2021-08-18 17:13:51 +09:00
Peter Barker eb5fd84f67 ArduCopter: stop sending SENSOR_OFFSETS 
Only works for first compass instance.

We have all of these in parameters anyway.
 2021-08-18 18:06:24 +10:00
Andrew Tridgell 1b21077edd Copter: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Rishabh cb0b12f25c Copter: only descend when close to target while Prec Land is active 2021-08-17 15:09:55 +09:00
Peter Barker 000b410daa ArduCopter: DCM handles centrifugal correction application internally now 2021-08-17 10:36:46 +10:00
Peter Barker 6f5e3bf4ff ArduCopter: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Iampete1 f5c68d54cb Copter: flowhold: use correct angle max 2021-08-17 09:23:47 +09:00
Tatsuya Yamaguchi 8bd04c17c8 Copter: add DO_LAND_START description to THR/GCS FS action 2021-08-16 20:53:56 +09:00
Tatsuya Yamaguchi 1f8df7e5ff Copter: correct compilation when AUTO mode is disabled 2021-08-16 20:53:56 +09:00
Randy Mackay d7e0c65d55 Copter: 4.1.0-beta7 release notes 2021-08-14 11:03:42 +09:00
Randy Mackay 8d0dd08312 Copter: minor format fix to guided mode 2021-08-13 12:04:36 +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
Leonard Hall 666c8214b6 Copter: support Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Randy Mackay 672b8350c7 Copter: flowhold minor format fix 2021-08-11 17:07:29 +09:00
Leonard Hall 4d514e9a59 Copter: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-10 08:33:56 +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
Leonard Hall 5c7b05f345 Copter: Guided: Add terrain following initialization. 2021-08-05 08:15:52 +09:00
bugobliterator 7e01e10056 Copter: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Randy Mackay 5dea87ae41 Copter: remove ekf check debug logging 2021-08-03 17:05:09 +09:00
Josh Henderson daf73e7174 ArduCopter: remove POSITION_TARGET_TYPEMASK_FORCE_SET 2021-08-03 12:48:38 +10:00
Peter Barker f21cddcf0f ArduCopter: use mission singleton inside AP_AdvancedFailsafe 2021-08-03 10:35:24 +10:00
Andrew Tridgell e1094bc845 Copter: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Josh Henderson 6dce2e89c5 ArduCopter: guided auto_yaw_angle_rate timeout 2021-07-31 08:32:45 +09:00
Peter Barker f7b877f4da ArduCopter: use AP::compass().available in place of enabled() 2021-07-30 12:19:42 +10:00
Randy Mackay 564f3dde74 Copter: version to 4.1.0-dev 2021-07-29 09:29:23 +09:00
Iampete1 c2a6377c53 Copter: #ifdef scripting specific functions 2021-07-28 18:18:32 +10:00
Iampete1 cc53db406d Copter: treat Auto RTL the same as Auto 2021-07-27 09:00:11 +09:00
Iampete1 885b12f179 Copter: command long DO_LAND_START enters Auto RTL pseudo mode 2021-07-27 09:00:11 +09:00
Iampete1 6561669213 Copter: support Auto RTL for failsafe events 2021-07-27 09:00:11 +09:00
Iampete1 b63cc809ce Copter: add AUTO RTL pseudo mode, DO_LAND_START 2021-07-27 09:00:11 +09:00
Randy Mackay a713139d79 Copter: 4.1.0-beta6 release notes 2021-07-23 12:02:46 +09:00
Paul Riseborough cd0eb379fd Revert "Copter: failsafe if bad vibration" 
This reverts commit fce517fef45d1de95b6cb8d5f79ddd6c374f8482.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 5dcd4834f3 Copter: failsafe if bad vibration 2021-07-22 18:20:45 +10:00
Paul Riseborough 9654697415 Copter: rework ekf_check to use the EKF vibration_affected status 2021-07-22 18:20:45 +10:00
Peter Barker e74a8e28af ArduCopter: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker f0e660db51 ArduCopter: remove ability to use DCM as AHRS 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
Leonard Hall 6d6ab89a72 Copter: Guided and Loiter mode returns Crosstrack error 2021-07-21 15:40:41 +09:00
Leonard Hall a3c31f7ba1 Copter: Fix guided yaw bug. 2021-07-20 15:25:17 +09:00
Iampete1 cbf93c7dad Copter: add new dynamic mixer frame class 2021-07-20 09:19:28 +10:00
Tal Bass 4051b1ca0e Copter: reset land_repo_active flag in RTL mode 2021-07-14 20:49:11 +09:00
Peter Barker 2e18b2d162 Copter: simplify throttle-is-unlimited check 
Now not the same pattern as the other checks - but it is much shorter
 2021-07-14 16:38:36 +09:00
Peter Barker 8ccb77f708 Copter: wait for motors to spool up before trying to upright vehicle 
This stops us from progressing through the whole throw mode if the
vehicle just happens to be in the right state - which is can be for a
drop.
 2021-07-14 16:38:36 +09:00
Peter Barker 21f8ff4a4e Copter: constify some ModeThrow methods 2021-07-14 16:38:36 +09:00
Andrew Tridgell bd84ed126e Copter: removed max home distance 
after discussion with Randy we agreed to just remove this check now we
are numerically stable at long distances
 2021-07-14 17:34:40 +10:00
Leonard Hall df9470d8af Copter: Don't reset yaw rate when disarmed or ground idle in Heli Stab and Acro 2021-07-13 09:51:36 +10:00
Josh Henderson 2ba6ae6196 ArduCopter: mark get_wp() const 2021-07-13 08:05:25 +09:00
Peter Barker 5f039ba06d Copter: fix build for lack of AC_TERRAIN define 2021-07-12 21:14:40 +10:00