Commit Graph

63 Commits

Author SHA1 Message Date
Leonard Hall
1c59ec8b94 Copter: PosHold supports offsets 2024-10-04 09:25:56 +09:00
Iampete1
a72182ae97 Copter: don't pass channel_yaw->norm_input_dz() into get_pilot_desired_yaw_rate 2024-09-22 08:40:12 +09:00
Peter Barker
784760342d Copter: remove ENABLE/ENABLED/DISABLE/DISABLED defines 2024-09-06 11:53:09 +10:00
Peter Barker
f64fcb78d3 ArduCopter: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
muramura
07a5f61782 Copter: Change from enum to class 2024-05-07 20:27:15 +09:00
Leonard Hall
1a5b4fb7d2 Copter: Reorder Alt_hold state switch statement for clarity 2022-10-04 10:03:44 +09:00
Leonard Hall
2165d19af1 Copter: PosHold: remove unnecessary loiter_nav->update 2022-09-02 10:55:48 +09:00
murata
08a1ad3c39 Copter: Change from division to multiplication 2022-03-16 18:41:52 +11:00
Josh Henderson
3107c42fca Copter: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson
6b871fba55 ArduCopter: inav funcs use _xy() 2021-11-30 10:08:07 +11:00
chobitsfan
1ca471c2d1 Copter: fix PosHold LOOP_RATE_FACTOR usage 2021-11-10 21:11:37 +09:00
Leonard Hall
5d5ccc8c78 Copter: Update ACRO to use rate parameters and update expo function 2021-09-23 20:03:53 +09:00
Leonard Hall
f3dc47ce3d Copter: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Leonard Hall
5fea74d4d0 Copter: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
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
Leonard Hall
a1ad194abd Copter: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Andrew Tridgell
d89388c4cc Copter: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Leonard Hall
3b0a870504 Copter: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
Leonard Hall
e294991b08 Copter: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall
caeaf7c047 Copter: Fix take off altitude 2021-05-24 20:13:37 +10:00
Leonard Hall
4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Peter Barker
e7a9e0acb4 Copter: move brake state into a structure 2021-04-06 07:53:23 +09:00
Rishabh
618282e996 Copter: Remove avoidance completly from poshold 2021-03-22 14:04:42 +09:00
murata
44a622ea7f Copter: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
bnsgeyer
c75848435e Copter: fix heli land detector and incoporate reset_I_smoothly 2020-12-21 23:33:48 -05:00
Randy Mackay
0f234583d6 Copter: poshold clears wind est when disarmed or landed 2020-11-10 08:56:36 +09:00
Randy Mackay
5b71726c73 Copter: poshold wind effect comp limited to 2/3rds of angle max 2020-09-16 08:19:17 +09:00
Peter Barker
1ffd697769 Copter: add missing fallthrough statements 2020-01-15 13:55:42 +11:00
Leonard Hall
ffd838d908 Copter: Delay release of I term until take off 2019-11-09 09:40:10 +08:00
Peter Barker
b0428f0fe8 Copter: make surface_tracking a class, various functions methods 2019-08-06 14:09:09 +09:00
Leonard Hall
c56acb49d6 Copter: Add missing Loiter initialisation lines.
This command is missing to define the desired acceleration that loiter will initalise to.
loiter_nav->clear_pilot_desired_acceleration();
2019-07-20 16:40:51 +09:00
Leonard Hall
0e34d8b1ff Copter: PosHold fix for low brake_rate 2019-07-18 11:13:51 +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
Peter Barker
3c436b30f0 Copter: have takeoff.start() handle clearing i terms and setting land-complete 2019-05-15 18:24:26 +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
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
b7d0e4ec10 Copter: remove surface tracking shim functions 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
Peter Barker
46a6f45e4a Copter: adjust for desired spool state and spool state renames 2019-04-14 12:18:03 +09:00
Randy Mackay
d626ea66f1 Copter: poshold loses stray set-desired-spool-state
spool state is all handled higher up in the poshold state switch statement
2019-04-08 09:42:21 +09:00
Leonard Hall
593925567b Copter: formatting fixes 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
Patrick José Pereira
33764d6c3b Copter: Fix typo
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2019-03-26 15:39:23 +11:00
Peter Barker
fab2d59a1c Copter: move check for position up 2019-03-01 13:43:20 +09:00
murata
8644f4d76e Copter: Disable option code
Copter: Revert change

Copter: Change mistakes
2019-02-26 10:00:00 +09:00
Peter Barker
f0ea4af514 Copter: rename get_velocity_xy to get_speed_xy 2019-02-07 09:03:17 +09:00
Randy Mackay
50c5ad7076 Copter: TradHelis force spool up before takeoff 2019-01-15 11:41:44 +09:00
bnsgeyer
ca565675f2 Copter: Tradheli gets support for spool logic 2019-01-15 11:41:44 +09:00
Leonard Hall
2ddb3f6697 Copter: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00