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Commit Graph

680 Commits

Author SHA1 Message Date
Iampete1
456d57c28f Copter: rename armed_with_switch to armed_with_airmode_switch 2021-09-21 09:36:24 +10:00
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
Leonard Hall
5fea74d4d0 Copter: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Randy Mackay
da12593bd8 Copter: implement new set_target methods 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
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
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
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
bugobliterator
7e01e10056 Copter: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Iampete1
c2a6377c53 Copter: #ifdef scripting specific functions 2021-07-28 18:18:32 +10:00
Iampete1
6561669213 Copter: support Auto RTL for failsafe events 2021-07-27 09:00:11 +09:00
Peter Barker
e74a8e28af ArduCopter: rename for AHRS restructuring 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
Peter Barker
3684741517 ArduCopter: remove AC_TERRAIN compilation option 
Use AP_TERRAIN_AVAILABLE instead
 2021-07-12 17:34:44 +10:00
Randy Mackay
7dcc5dd7ac Copter: add TERRAIN_MARGIN parameter 2021-07-10 20:25:05 +09:00
Randy Mackay
ba1951a372 Copter: guided accepts terrain alt position targets 2021-07-10 20:25:05 +09:00
Leonard Hall
635d13a106 Copter: support for acceleration-based AttitudeControl 2021-07-10 20:25:05 +09:00
Shiv
4a39424d6b Copter: added comments to include libraries in copter.h and attitude.cpp 
fixed typo in a comment and added more comments for included libraries in copter.h and fixed a comment in attitude.cpp
 2021-06-30 09:23:24 +09:00
Peter Barker
b9c1633358 ArduCopter: remove pointless init_optflow wrapper 
Hiding a one-line call in a wrapper just adds size to the build
 2021-05-28 13:41:50 +09:00
Peter Barker
5df8dd8c50 Copter: move guided submode enumeration into ModeGuided 2021-04-14 16:12:57 +09:00
Peter Barker
fa9ac072ec Copter: remove unused AP_IRLock include 
This header is included as required by the AC_PrecLand library - it is
now responsible for actually instantiating the AP_IRLock instance if
required, so Copter doesn't need to know anything about AP_IRLock.
 2021-04-14 12:01:12 +10:00
Peter Barker
65b1868863 Copter: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Peter Barker
09a9bd73a4 ArduCopter: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
Peter Barker
5edfed0083 Copter: factor out a mode-change-failed method 2021-03-30 19:58:05 +11:00
Peter Barker
1e0f106ed4 Copter: make AutoTune object private state to ModeAutoTune 2021-03-30 11:23:10 +11:00
Randy Mackay
91fa40aea6 Copter: HAL_PROXIMITY_ENABLED replaces PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Peter Barker
45d484c0ba ArduCopter: remove Log_Write_Performance which is not called anywhere 2021-03-26 16:35:08 +11:00
Peter Barker
dc793e916f Copter: move implementation of get_pilot_desired_yaw_rate into mode.cpp 2021-03-24 20:46:08 +11:00
Emre Saldiran
d5715292a3 Copter: implement set_target_posvel_NED method for use in scripting 2021-03-24 08:55:48 +09:00
Tatsuya Yamaguchi
0cce5699b2 Copter: change from control_mode to flightmode 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi
ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +09:00
James O'Shannessy
a88f2721a8 ArduCopter: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy
f228adfa75 ArduCopter: Improve auto-enable/disable of fence 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
92122e5133 Copter: automatically enable and disable floor fence on automated takeoff and landing 2021-03-05 14:52:46 +11:00
Iampete1
2e9c11fbdf Copter: add FLIGHT_OPTIONS param and options bits to disable thrust loss and yaw imbalance warnings 2021-03-02 09:35:06 +09:00
Iampete1
447af29ef1 Copter: add yaw imbalance check 2021-03-02 09:35:06 +09:00
Rishabh
fdd39ca3a8 Copter: Check for height before turning on proximity simple avoidance 2021-02-16 20:08:00 +09:00
Iampete1
d6fa4d97e3 Copter: add 6DoF support 2021-02-09 12:43:54 +09:00
Mark Whitehorn
f405454aba Copter: add nullptr checks for get_frame_string 
fix rebase errors
 2021-02-09 12:43:53 +11:00
Mark Whitehorn
cb687a6fff Copter: move get_frame_string to Motors class 2021-02-09 12:43:53 +11:00
Patrick José Pereira
ad82e01270 ArduCopter: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker
adc0514cf6 ArduCopter: move control_mode_reason up to AP_Vehicle 2021-02-03 18:24:52 +11:00
Iampete1
0a23084d43 Copter: move get_frame_mav_type to motors 2021-01-26 11:07:36 +09:00
yaapu
497dbd1414 ArduCopter: added virtual getters for waypopint info 2020-12-10 12:39:44 +11:00
Andy Piper
304d05f918 Copter: allow OSD for TX-only screens 2020-11-11 18:13:11 +11:00
Paul Riseborough
379506b718 ArduCopter: Don't request EKF yaw reset unless innovations are large 
This prevents unwanted resets if GPS fails.
 2020-10-30 14:45:40 +09:00
Andy Piper
e22f7ed353 Copter: remove duplicate include 2020-09-24 08:22:16 -07:00
Andy Piper
b8f613c965 Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
Iampete1
c265a38344 Copter: add gripper release FS_Option 2020-08-26 17:58:24 +09:00
Peter Barker
afa153fb6f Copter: remove wrapper for get_avoidance_adjusted_climbrate 
Only the modes are interested in this - there's no point having it on
the Copter object.
 2020-08-22 08:31:25 +09:00
Randy Mackay
315d9da138 Copter: add ekf alt pre-arm and mode init checks 2020-08-20 12:41:40 +09:00
Michael du Breuil
376494027b Copter: Support higher resolution percent based motor tests 2020-08-09 13:47:48 +10:00
Randy Mackay
925f76c048 Copter: integrate winch changes 
includes the following changes
winch_update called at 50hz
removed ability to set winch rate from ch6 tuning
remove wheel encoder
call winch library to log at 10hz
fix winch param prefix
 2020-08-07 21:55:07 +09:00
Peter Barker
d87986ecdd Copter: move set_throttle_takeoff implementation into Mode 
No callers except the mode objects, so move it.
 2020-08-05 08:23:03 +09:00
Andy Piper
54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Mirko Denecke
89d423556c ArduCopter: update_trigger() is now called in AP_Camera update() 2020-07-15 08:37:28 +09:00
Randy Mackay
980c1f5020 Copter: update ekf terrain height stable setting 
setting is true only when taking off or landing and horizontal speed is no more than 0.5m/s
 2020-06-24 21:16:50 +09:00
Andy Piper
25dcc1a623 Copter: add support for individually tracking fft peaks and motor rpms with harmonic notches 
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli
move harmonic notch update to AP_Vehicle
 2020-06-21 19:09:35 +10:00
Iampete1
e797685771 Copter: add set guided mode angle for scripting 2020-06-19 10:09:35 +10:00
Andy Piper
8d2f2443a2 Copter: add air mode aux function 2020-06-16 20:30:26 +10:00
Peter Barker
0eb03ba7d5 Copter: make SuperSimple type-safe 2020-06-16 19:39:42 +10:00
Peter Barker
9b64ca040d Copter: do not adjust trims while landed 
Closes #1282

Also cancels autotrim if you change modes, disarm the vehicle or land
again.
 2020-06-03 16:19:01 +10:00
Randy Mackay
680e417c2c Copter: remove unnecessary includes 2020-04-24 18:18:05 +09:00
Randy Mackay
04c3f040a8 Copter: visual odometry moved to AP_Vehicle 2020-04-09 19:41:08 +09:00
Randy Mackay
e2469d29bc Copter: implement start_takeoff and set_target_velocity_NED for use in scripting 2020-03-19 15:17:11 -07:00
Randy Mackay
a9630d67d1 Copter: implement set_target_location method 2020-03-03 10:06:38 -07:00
Randy Mackay
9a32b3bdd9 Copter: rename update_throttle_mix 
was called update_throttle_thr_mix
also minor formatting fixes
 2020-02-25 16:52:40 +09:00
Andrew Tridgell
dd5fafe30e Copter: added rangefinder height interpolated using inertial alt 
this smooths rangefinder heights and allows for good estimated for
precision landing even with loss of some rangefinder samples during landing
 2020-02-25 09:10:30 +09:00
murata
94901edaf2 Copter: Match the column of element description 2020-02-19 09:44:57 +09:00
Peter Barker
1424945c14 ArduCopter: remove unused compass_init_location state 2020-02-18 10:35:49 +11:00
Peter Barker
18670d681e Copter: let AP_Vehicle handle loop() 2020-02-06 14:41:06 +11:00
Peter Barker
9e8af48cce ArduCopter: move some common init_ardupilot code up to AP_Vehicle 2020-01-28 11:34:51 +11:00
Peter Barker
debedd9d34 Copter: move setup method up to AP_Vehicle base class 2020-01-28 11:34:51 +11:00
Peter Barker
9466126fa8 Copter: let AP_Vehicle base class worry about scheduler delay callback 2020-01-21 11:37:28 +11:00
Andrew Tridgell
4445313661 Copter: fixed build warnings 2020-01-18 17:19:07 +11:00
Andrew Tridgell
1fae2009db Copter: update for new SRV_Channels parameter conversion call 2020-01-14 14:23:11 +11:00
Tatsuya Yamaguchi
e01e924711 Copter: allow scripts to get modes 2020-01-14 11:16:29 +11:00
bnsgeyer
64f98622c0 Copter: fix tradheli RSC RC passthrough mode 
Copter: heli get_pilot_desired_rotor_speed converts interlock input to desired rotor speed
 2020-01-09 19:55:02 +09:00
Peter Barker
1ff07762de Copter: remove report_compass method 
This wasn't actually responsible for saving offsets any more.

The data spewed out was rather unlikely to be seen, and will be present
in logs anyway.
 2020-01-04 10:46:51 +09:00
Peter Barker
2694560c38 Copter: generally unseen remove report_version 
This won't generally be seen or useful to anyone
 2020-01-04 10:46:51 +09:00
Peter Barker
326a569ea8 Copter: remove dangling read_control_switch method declaration 2020-01-02 10:13:35 +09:00
Randy Mackay
3e7fb66a77 Copter: precision landing does not use terrain database 
precision landing was always only using the range finder, there was no use of the provided alt unless the rangefinder was good
 2019-12-17 20:02:01 +09:00
Randy Mackay
f768e80458 Copter: remove unused prev_control_mode_reason 2019-12-12 09:13:24 +09:00
Peter Barker
544eb5f179 Copter: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Peter Barker
62869b5be8 Copter: vehicle parent class now instantiates AHRS 2019-12-02 09:16:22 +11:00
Gone4Dirt
180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Randy Mackay
adc1d60ea5 Copter: CTUN logging fix for SAlt 
sonar altitude was not being logged in modes that don't use surface tracking including Auto
SAlt scaling was also incorrect
 2019-11-12 09:10:21 +08:00
Peter Barker
201adb6818 Copter: correct Heli compilation when some modes are disabled 2019-11-06 16:36:35 +11:00
Peter Barker
38d3c2daa1 Copter: stop providing current location to mount 2019-11-05 19:55:45 +11:00
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
Matt Lawrence
f71ef4c7ab Copter: Refactor failsafes, add fs_options bitmask parameter 
- Radio failsafe, battery failsafe, GCS failsafe refactoring
- Add new FS_OPTIONS parameter
- Enhance GCS Failsafe abilities
 2019-11-03 07:07:34 +08:00
Peter Barker
b6920e14c8 Copter: remove redundant SurfaceTracking enumeration namespacing 
Also rename State to Surface to be more specific about what is being
set/tracked.
 2019-10-26 08:08:22 +08:00
Michael du Breuil
b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Randy Mackay
7b0da89708 Copter: add vibration check 2019-10-18 11:15:25 +09:00
Leonard Hall
50a098c359 Copter: Standby functions 2019-10-17 14:57:18 +09:00
Leonard Hall
c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00