Peter Barker
e6ece4cf3d
Copter: correct use of parent class constructors (heli)
2018-02-13 08:22:30 +09:00
Randy Mackay
0ca653c8dd
Copter: disable winch, gripper, sprayer on v2 build
2018-02-12 13:50:55 +09:00
Andrew Tridgell
7938bd08bb
Copter: make flowhold mode conditional
...
reduces build size on px4-v2 by 4k
2018-02-12 13:34:47 +09:00
murata
296ee7315b
Copter: minor formatting fixes
2018-02-12 12:17:05 +09:00
murata
c31c2a4cf1
Copter: optionalize the winch
2018-02-12 12:16:57 +09:00
Peter Barker
40d74584ac
Copter: remove shims used in scheduler
2018-02-12 11:19:34 +09:00
Peter Barker
8f8917369c
Copter: correct use of parent class constructors
2018-02-09 13:41:12 +11:00
Peter Barker
5e55784707
Copter: remove unneeded and unwanted virtual keywords
2018-02-09 09:11:04 +09:00
Randy Mackay
4319e37f0c
Copter: non-functional FlowHold changes
...
class declaration moved to alphabetical position in mode.h
parameter descriptions include FlowHow at beginning to help distinguished from optical flow parameters
resolved compiler warnings
2018-02-09 10:56:32 +11:00
Andrew Tridgell
763aee6b48
Copter: fixed units on flowhold brate rate
2018-02-08 17:36:33 +11:00
Andrew Tridgell
0ed75052f8
Copter: enable parameters inside mode objects
...
this adds FHLD_* parameters for FlowHold mode. It is a large patch as
it needs to disentagle the mode class to enable it to be used in
Parameters.h
2018-02-08 17:36:33 +11:00
Andrew Tridgell
9261e1cbde
Copter: enable F412 toymode button setup
...
different button mapping for new controller
2018-02-08 17:36:33 +11:00
Andrew Tridgell
daf35f7a30
Copter: pass loop rate to perf_info
2018-02-08 17:36:33 +11:00
Andrew Tridgell
5a210a697e
Copter: fixed flowhold build
2018-02-08 17:36:33 +11:00
Andrew Tridgell
af4f0c29ba
Copter: enable TMODE (ToyMode) support
...
this is for the skyviper button based transmitter control
2018-02-08 17:36:33 +11:00
Andrew Tridgell
f442b91ea5
Copter: added FLOWHOLD flight mode
...
This flight mode allows for position hold with optical flow without
needing a rangefinder for height. It can estimate its height from the
flow data and IMU
2018-02-08 17:36:33 +11:00
Andrew Tridgell
a26d19b57c
Copter: fill in flight mode in AP_Notify flags
...
needed for AP_Radio
2018-02-08 17:36:33 +11:00
Andrew Tridgell
ce0bcf1adc
Copter: disable toy_mode by default
2018-02-08 17:36:33 +11:00
Andrew Tridgell
15166eff2e
Copter: enable temperature calibration library
2018-02-08 17:36:33 +11:00
Andrew Tridgell
1f76f69d80
Copter: implement per-motor compass compensation
2018-02-08 17:36:33 +11:00
Andrew Tridgell
662afdc2fd
Copter: fixed build warning
...
double precision promotion
2018-02-07 20:33:45 +11:00
Michael du Breuil
69da4041ac
Copter: Move logging battery logging code to AP_BattMonitor
2018-02-06 00:11:32 +00:00
Tatsuya Yamaguchi
6698660fd6
Copter: fix Battery FailSafe action with auto mode
2018-02-05 15:13:25 +09:00
Peter Barker
ab7a9c9073
Copter: use zero_throttle_and_relax_ac in poshold, drift and autotune
2018-02-02 14:59:16 +09:00
murata
c13d6580ae
Copter: delete \n from the log using gcs().send_text
2018-02-02 09:38:39 +09:00
Randy Mackay
5a1c3cf5f4
Copter: firmware text to ArduCopter
2018-01-31 12:13:57 +09:00
Randy Mackay
0f6762bbd2
Copter: PSC_ACCZ param name shortened
2018-01-31 08:48:21 +09:00
Randy Mackay
a3e9f72b0b
Copter: fix default flight mode channel
2018-01-27 16:20:32 +09:00
Andrew Tridgell
89674482a7
Copter: added FLTMODE_CH parameter
...
this allows for the flight mode to be on any RC channel, or no channel
at all to disable RC flight modes
2018-01-27 12:01:35 +09:00
Peter Barker
a97301c0f2
Copter: do not allow arming in RTL
2018-01-25 09:53:51 +09:00
Pierre Kancir
10e6fe43dd
Copter: Add a switch option to enable/disable RC_Override
2018-01-24 21:37:41 +09:00
Pierre Kancir
cfc69214e6
Copter: add LAND_ALT_LOW parameter
2018-01-24 21:14:35 +09:00
Randy Mackay
60c3ae1ec2
Copter: fix spelling in drift mode variable name
...
non-functional change
2018-01-24 17:13:15 +09:00
Randy Mackay
f8c1d08316
Copter: 3.5.5-rc1 release note update
2018-01-24 12:09:43 +09:00
Randy Mackay
929dd04f2a
Copter: 3.5.5-rc1 release notes
2018-01-24 12:09:39 +09:00
Randy Mackay
eefa629039
Copter: remove setting accel_z PID controller's dt
...
This is handled from within the pos controller
this commit can be merged with Copter: move pos-control pids to pos-control library
2018-01-23 12:00:43 +09:00
Randy Mackay
8d6f8e4d9c
Copter: move pos-control pids to pos-control library
2018-01-23 12:00:43 +09:00
Randy Mackay
6546ccbb3f
Copter: velocity pi moved to position control library
2018-01-23 12:00:43 +09:00
Dylan Herman
20fe5bb98f
Copter: add SmartRTL failsafe action
...
Adds SmartRTL or RTL and SmartRTL or Land failsafe options for batt, throttle, and GCS failsafes
2018-01-22 10:54:28 +09:00
Peter Barker
996115c0d3
Copter: eliminate MAIN_LOOP_SECONDS macro
2018-01-20 15:35:58 +11:00
Michael du Breuil
0ddcb0a6fb
Copter: Support AP_BattMonitor_Params
2018-01-17 22:21:55 +00:00
Alexey Bulatov
8accfb97f6
ArduCopter: Check for nullptr for motors class pointer
...
Because of added initialisation of UAVCAN send_heartbeat function
starts before motors initialisation. So we need check is object created.
2018-01-17 07:24:17 -08:00
Dylan Herman
c772e2d3fd
Copter: sets SmartRTL home after AHRS home is set
...
Now calls AP_SmartRTL::set_home when arming. In addition, it calls it whenever
the ahrs home is set to the current location, whether by GCS or in-flight
Copter: merge
2018-01-17 11:04:46 +09:00
Randy Mackay
e85b1ac740
Copter: pass dt to avoidance calls
2018-01-16 12:13:48 +09:00
Leonard Hall
48d0ad26a6
Copter: mode_land sends dt to sqrt controller
2018-01-16 12:13:48 +09:00
Randy Mackay
b47d575f65
Copter: minor spelling fix
...
non-functional change
2018-01-12 16:51:25 +09:00
Peter Barker
6bcdab55d0
Copter: rename sys_status methods from geofence_ to sys_status_
2018-01-09 17:15:19 +00:00
Peter Barker
077b062701
Copter: change pre-arm checks to allow interlock to be enabled
...
With this change we will continue to tell the user their interlock is
enabled, but we will not fail the pre-arm checks.
This will mean that the blinking-LED indicators will show the vehicle as
armable (flashing green / flashing blue), even if the interlock would
prevent arming.
This has the advantage that you don't need your vehicle in the
"dangerous" state to work out whether arming will work when you attempt
to arm it.
Note that we repeat the interlock switch check in the arming checks, and
it WILL fail if the interlock switch is enabled.
2018-01-09 08:13:06 +09:00
Peter Barker
114628afe4
Copter: use zero_throttle_and_relax_ac in stab, guided, acro and auto
2018-01-08 12:02:49 +00:00
Peter Barker
8d658e1dbc
Copter: correct misleading comment in mode_throw
2018-01-08 12:02:49 +00:00
Peter Barker
cb129fbdaf
Copter: remove argument to check()
...
Also, check() was check_fence()
2017-12-28 15:38:37 +00:00
Peter Barker
d1201e4776
Copter: tidy zero_throttle_and_relax (NFC)
2017-12-27 12:09:06 +00:00
Peter Barker
71ad1b5815
Copter: use zero_throttle_and_relax_ac function
2017-12-27 12:09:06 +00:00
Peter Barker
41dc8554c0
Copter: pull out a zero_throttle_and_relax function
2017-12-27 12:09:06 +00:00
Peter Barker
4c7491a05b
Copter: mode_auto's landing_gear_deploy method defers to mode_rtl
...
Since we defer our rtl_run behaviour to the RTL flightmode, it should
also specify the landing gear behaviour
2017-12-27 12:08:15 +00:00
Peter Barker
d9235d3d41
Copter: make landing_gear_should_be_deployed a base-class method
2017-12-27 12:08:15 +00:00
Peter Barker
dda38d65eb
Copter: AP_AHRS no longer requires GPS in constructor
2017-12-27 00:58:02 +00:00
Matt
5d6c979f70
COPTER: Fix MOUNT_CONTROL yaw in missions
...
If a the mount instances (gimbal) does not support yaw/pan control, the
copter needs to yaw in response to a DO_MOUNT_CONTROL command in
missions. Checking if the mount has pan control, and if not, yawing the
copter was missing from the mission commands logic. As such, a
MOUNT_CONTROL command would control pitch but not yaw/pan. This patch
impliments checking for pan control, and initiating copter yaw as
required.
2017-12-23 10:57:31 +09:00
Matt
c0f0e3eca3
COPTER: Fix MOUNT_CONTROL yaw in guided
...
If the mount instance does not support yaw/pan, the copter needs to yaw in
response to MSG_MOUNT_CONTROL and MAV_COMMAND_DO_MOUNT_CONTROL commands from
a GCS or co-computer. There was no checking for mount pan in the GCS_Mavlink
logic. As such, no yaw takes place when a mount control command calls for it.
This patch impliments copter yaw control for both MSG_MOUNT_CONTROL and
MAV_COMMAND_DO_MOUNT_CONTROL in copter GCS_Mavlink.
2017-12-23 10:57:31 +09:00
Peter Barker
4dcb5aa3de
Copter: stop setting home distance in fence
2017-12-15 01:42:49 +00:00
Peter Barker
bf5f51a616
Copter: factor out takeoff_trigger from althold, sport and loiter
2017-12-14 23:45:54 +00:00
Randy Mackay
2c0df87585
Copter: Copter.h method reordering
2017-12-15 08:26:45 +09:00
Peter Barker
6c82f7671d
Copter: move all commands logic into AUTO flightmode
2017-12-14 14:08:01 +09:00
Andrew Tridgell
8ab0ac8a16
Copter: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
Peter Barker
7222380598
Copter: populate system status bits for fence
2017-12-13 10:04:50 +09:00
Peter Barker
377466ddda
Copter: fence no longer requires AP_InertialNav
2017-12-13 10:04:50 +09:00
Peter Barker
d09b0696db
Copter: correct checking of heli mode change
...
init() may have changed all sorts of things about the
vehicle - wp navigation, position controllers, attitude controllers...
Do the heli check before doing any of that so we don't change state and
then fail to change mode
2017-12-13 08:49:01 +09:00
Randy Mackay
7504237fbb
Copter: rename flight_mode.cpp to mode.cpp
2017-12-12 20:39:48 +09:00
Randy Mackay
99bafb0df1
Copter: rename heli_control_xx to mode_xx_heli
2017-12-12 10:39:26 +09:00
Randy Mackay
2d23e1f7c7
Copter: rename flightmode_ objects to mode_
2017-12-12 10:39:26 +09:00
Randy Mackay
c3fbf2671c
Copter: rename control_xx.cpp files to mode_xx.cpp
2017-12-12 10:39:26 +09:00
Randy Mackay
06fbe8f3a7
Copter: rename FlightMode class to Mode
...
also remove unused print_FlightMode method
2017-12-12 10:39:26 +09:00
Randy Mackay
6e9de7e609
Copter: flight_mode formatting changes
...
non-functional change
2017-12-12 10:39:26 +09:00
Randy Mackay
2e71a641c3
Copter: FlightMode allow_arming format changes
...
non-functional change
2017-12-12 10:39:26 +09:00
Randy Mackay
0ac708b5a0
Copter: remove ability to disable PosHold flight mode
...
This flight mode is stable and regularly used so it is unlikely that we ever want to disable it
2017-12-12 10:39:26 +09:00
Randy Mackay
7494eb2e77
Copter: alphabetise flight mode header file
2017-12-12 10:39:26 +09:00
Randy Mackay
a90979ec8e
Copter: remove FlightMode_Avoid_ADSB.h file
2017-12-12 10:39:26 +09:00
Randy Mackay
8870897847
Copter: FlightMode objects use lower case
2017-12-12 10:39:26 +09:00
Randy Mackay
20d7216179
Copter: remove comments
...
non-functional change
2017-12-12 10:39:26 +09:00
Randy Mackay
ac8c2b3f03
Copter: resolve compiler warning from flight-mode declaration
2017-12-12 10:39:26 +09:00
Peter Barker
5d33cf08e1
Copter: eliminate calc_home_distance_and_bearing
...
Calling update_simple_mode_bearing calls get-heading
rather than the other way around
This will have the advantage of not calculating home bearing
when we stop calling update_simple_mode_bearing unnecesarily
2017-12-09 16:26:09 +09:00
khancyr
b44ba29a05
AC_Avoidance: replace AP_InertialNav by AHRS
2017-12-08 11:27:37 +09:00
Peter Barker
103e2cc711
Copter: calculate wp bearing and distance on demand
...
Move responsibility for calculating wp bearing/distance
into the FlightMode object doing the navigation
Calculating these variables was being done at 50Hz where they
were used at 10Hz max.
2017-12-07 07:43:08 +09:00
Peter Barker
4ae2be55aa
Copter: fix up autotune namespacing
...
This moves static variables into the autotune flightmode object.
It also adjusts namespacing on everything to take advantage of
having everything encapsulated in the AutoTune object
2017-12-07 07:35:37 +09:00
Peter Barker
7b637334f4
Copter: eliminate mode_has_manual_throttle
2017-12-06 10:09:58 +09:00
Peter Barker
4fd61ed6dc
Copter: make exit_mode take FlightMode objects as arguments
2017-12-06 10:09:58 +09:00
Peter Barker
adf4140b9b
Copter: fix heli-flags compilation issue
2017-12-06 08:24:24 +09:00
Peter Barker
477ae8f7be
Copter: pass heli_flags into flightmode constructor
2017-12-06 08:24:24 +09:00
Peter Barker
83d0a71e10
Copter: FlightMode - simplify flight mode initialization
2017-12-06 08:24:24 +09:00
Peter Barker
0ca5605b8d
Copter: FlightMode: remove virtual from many methods
2017-12-06 08:24:24 +09:00
Peter Barker
ef1489e87a
Copter: eliminate mode_requires_gps
2017-12-06 08:24:24 +09:00
Peter Barker
a4859e13c1
Copter: eliminate mode_allows_arming
2017-12-06 08:24:24 +09:00
Peter Barker
9c60c1de58
Copter: FlightMode - convert SMARTRTL flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
b0e34bd307
Copter: FlightMode - convert GUIDED_NOGPS flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
cf423ce681
Copter: FlightMode - convert THROW flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
1de99c737e
Copter: remove unimplemented heli desired_yaw_rate
2017-12-06 08:24:24 +09:00
Peter Barker
37c706c24e
Copter: FlightMode - convert AVOID_ADSB flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
51cd143012
Copter: FlightMode - convert BRAKE flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
cafce01357
Copter: FlightMode - convert POSHOLD flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
67063d6b1e
Copter: FlightMode - convert AUTOTUNE flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
018c70d224
Copter: FlightMode - convert FLIP flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
5e3e831152
Copter: FlightMode - convert SPORT flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
6a38664ff4
Copter: FlightMode - convert DRIFT flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
682f3c0e7e
Copter: FlightMode - convert RTL flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
3b1ca99b95
Copter: FlightMode - convert LAND flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
2db09ba0f7
Copter: FlightMode - convert GUIDED flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
f2495b2d08
Copter: FlightMode - convert LOITER flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
871ba5630f
Copter: FlightMode - convert CIRCLE flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
e2b70c3a0a
Copter: FlightMode - convert AUTO flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
a95a35c134
Copter: FlightMode - convert STABILIZE flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
79c06974b7
Copter: FlightMode - convert ALT_HOLD flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
d74f0c72da
Copter: FlightMode - convert ACRO flight mode
2017-12-06 08:24:24 +09:00
Peter Barker
527a536b78
Copter: FlightMode - remove function parameters
...
Use current control_mode in place of parameters
Once conversion is complete these functions will disappear
2017-12-06 08:24:24 +09:00
Peter Barker
99a22a263d
Copter: a FlightMode base class
2017-12-06 08:24:24 +09:00
Peter Barker
e0233f1dc4
Copter: create a takeoff_state_t type
2017-12-06 08:24:24 +09:00
Peter Barker
b828fa4ffc
Copter: Create an ap_t type
2017-12-06 08:24:24 +09:00
Sharvashish Das
395a4ad4ce
Copter: add z-axis obj avoidance to guided vel control
...
added code to adjust z velocity using avoidance
2017-12-05 15:58:00 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
2235b22510
Copter: Also report distance and bearing to target in Guided_PosVel mode
2017-12-05 09:17:15 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
ce3197e0ac
Copter: use the return code of the guided_set_destination_posvel() function calls
2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
c7a2fcdc37
Copter: Also use fence in Guided_PosVel mode
2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bd027e4fcb
Copter: Move some common functions to AP_Math (NFC)
2017-12-05 08:54:49 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
928bc19cee
Copter: Use DEGX100 define instead of hardcoded value (NFC)
2017-12-05 08:54:49 +09:00
khancyr
015d71bacd
ArduCopter: remove useless .gitignore from directory
2017-12-04 07:52:25 +09:00
Peter Barker
398d07a68a
Copter: tighten return types of mavlink functions and variables
2017-12-01 17:01:10 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
9773365237
Copter: NFC spell in comments
2017-11-27 23:13:34 +09:00
Randy Mackay
8d2db3218c
Copter: minor comment fix to code handling SET_POSITION_TARGET msgs
2017-11-27 14:24:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bde1aaa2f6
Copter: Rename variable to correct the meaning (NFC)
2017-11-27 14:17:21 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
8678d13e7b
Copter: Update the result of a MavLink message, this is a NFC
...
The result variable is not used, but at least it gets documented :)
2017-11-27 14:17:21 +09:00
Andrew Tridgell
ef0144751e
Copter: allow THROW_NEXTMODE=LOITER
2017-11-27 14:14:06 +09:00
Andrew Tridgell
311d7c11e4
Copter: added LOITER option in THROW_NEXTMODE
2017-11-27 14:14:06 +09:00
Randy Mackay
020e0bfd40
Copter: fix disable ESC calibration for brushed motors
2017-11-27 13:31:21 +09:00
Andrew Tridgell
650a0e06bd
Copter: disable ESC calibration for brushed motors
2017-11-27 12:28:40 +09:00
Andrew Tridgell
a644cff921
Copter: support testing multiple motors with motortest
...
this matches the quadplane behaviour, allowing a sequence of motors to
be tested
2017-11-27 10:15:31 +09:00
Randy Mackay
8845b6d5b5
Copter: rename control_safe_rtl.cpp to control_smart_rtl.cpp
...
non-functional change
2017-11-23 20:05:01 +09:00
Randy Mackay
58e5b7f458
Copter: 3.5.4 release notes
2017-11-23 12:17:50 +09:00
Peter Barker
dc99a29dfc
ArduCopter: support for units on fields
2017-11-23 10:40:30 +11:00
Randy Mackay
9a03ba1bfb
Copter: move barometer_accumulate to sensors.cpp
...
non-functional change
2017-11-22 17:13:14 +09:00
Andrew Tridgell
23b20307af
Copter: use cork/push wrapper
2017-11-21 14:10:54 +11:00
Randy Mackay
c5141ad87e
Copter: 3.5.4-rc2 release notes
2017-11-17 13:39:20 +09:00
Peter Barker
04c9e966e0
Copter: use AP::PerfInfo library
2017-11-16 15:31:53 +00:00
Peter Barker
5c2f68e8f5
Copter+AP_Scheduler: move perf_info.cpp into Scheduler
2017-11-16 15:31:53 +00:00
Peter Barker
d959e4b42b
Copter: AP_Camera uses GPS singleton
2017-11-16 15:28:37 +00:00
Randy Mackay
8d6d09169f
Copter: rtl uses labs for alt comparison
2017-11-16 09:59:25 +09:00
murata
acfcd9980d
Copter: Modify method name in method header.
2017-11-16 09:26:26 +09:00
Peter Barker
8f48b3187e
Copter: use gps singleton for GCS function
2017-11-15 13:43:03 +00:00
ChrisBird
1f1bb61bfa
Copter: Add PreArm - PID Parameter check
...
This addresses the enhancement requested in: https://github.com/ArduPilot/ardupilot/issues/2424
It checks various PID values to check if they are zero, if they are and the corresponding rate forward feed is zero then it flags it as PreArm failure.
It has been added to the parameter check, so can be overridden if required.
2017-11-15 21:58:24 +09:00
André Kjellstrup
e7a1ceca4c
Copter: Option to trig by distance only when in AUTO mode
2017-11-14 00:10:22 +00:00
ChrisBird
caaeae3d0a
Copter: Separate max ascent and descent speeds
...
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN
New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN
Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).
Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF
Update a section in GUIDED mode but I don't think it is ever used but update just in case.
It will use the PILOT_SPEED_UP for ascending max velocity. For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
2017-11-09 09:03:54 +09:00
Peter Barker
3846da5e23
Copter: remove redundant terrain checks
...
Now taken care of by continuous prearm checks
2017-11-08 19:08:16 +09:00
Peter Barker
d537461934
Copter: remove redundant battery checks
...
Now taken care of by continuous prearm checks
2017-11-08 19:08:14 +09:00
Peter Barker
b3b1680e11
Copter: remove redundant fence checks
...
Now checked as part of continuous prearm
2017-11-08 19:08:12 +09:00
Peter Barker
04af1cb331
Copter: remove redundant baro checks
...
Now checked as part of continuous prearm checks
2017-11-08 19:08:10 +09:00
Peter Barker
b5c907312c
Copter: remove redundant gps checks
...
Now tested as part of continuous pre-arm checks
2017-11-08 19:08:08 +09:00
Peter Barker
d563a9dd5d
Copter: remove redundant INS checks
...
Now checked by continuous prearm checks
2017-11-08 19:08:06 +09:00
Peter Barker
d3b73f8557
Copter: correct notification of pre-arm-gps-check failure
2017-11-08 19:08:03 +09:00
Peter Barker
818faa92d4
Copter: rc calibration checks are called by AP_Arming
2017-11-08 19:07:59 +09:00
Peter Barker
9b52c9b670
Copter: prearm logging checks are called in parent class
2017-11-08 19:07:55 +09:00
Peter Barker
49dd5f4f80
Copter: prearm board voltage checks are called in parent class
2017-11-08 19:07:53 +09:00
Peter Barker
b8802ec5c2
Copter: prearm gps checks are called in parent class
2017-11-08 19:07:51 +09:00
Peter Barker
7c0869fa19
Copter: prearm ins checks are called in parent class
2017-11-08 19:07:49 +09:00
Peter Barker
cb8fa41cb1
Copter: prearm compass checks are called in parent class
2017-11-08 19:07:46 +09:00
Peter Barker
30c1a040d7
Copter: prearm baro checks are called in parent class
2017-11-08 19:07:44 +09:00
Peter Barker
c129445ff6
Copter: call common prearm checks
2017-11-08 19:07:42 +09:00
Peter Barker
7b3e111f85
Copter: continuously run pre-arm checks
...
Stop "latching" the prearm checks, so if the checks start to fail
the craft becomes non-armable.
2017-11-08 19:02:44 +09:00
Randy Mackay
ef05281dc2
Copter: 3.5.4-rc1 release notes
2017-11-08 12:21:46 +09:00
Peter Barker
ef00978662
Copter: add missing disarm-on-land parameter to rtl_land_run
...
Always disarm
2017-11-06 22:58:16 +00:00
Peter Barker
5b793252ed
Copter: stop disarming as part of running rtl as mission item
...
Fixed #6324
Note that the land-as-mission-item code is duplicated from the
rtl-as-mode code but omits the disarm part, so doesn't suffer from the
same bug.
2017-11-06 19:07:28 +00:00
bnsgeyer
6d0cfc13a2
Copter: heli: Update swashplate behavior
...
change swashplate behavior on ground in Acro, Stabilize, and AltHold
flight modes. See discussion here:
https://discuss.ardupilot.org/t/tradheli-swashplate-behavior-while-on-the-ground-and-potential-fix-to-issue-5396/22463/18
2017-10-28 12:31:06 +11:00
Peter Barker
c7216a2740
Copter: call ins periodic function
2017-10-27 16:33:45 +11:00
Randy Mackay
842eed5426
Copter: accept do-winch commands with max rate
2017-10-27 09:20:38 +09:00
Randy Mackay
47bbf49aa6
Copter: fix tuning knob rate control of winch
2017-10-27 09:20:38 +09:00
Randy Mackay
787954fa37
Copter: integrate winch library
...
fixes after peer review:
rename winch-disable to winch-relaxed
add DO_WINCH to do-verify
winch release-length accepts rate
2017-10-27 09:20:38 +09:00
Randy Mackay
2c511b4269
Copter: add AP_Winch and AP_WheelEncoder to build
2017-10-27 09:20:38 +09:00
ChristopherOlson
51c8c1adb2
Copter: TradHeli update comment
...
be consistent with dynamic flight speed definition
2017-10-26 17:15:40 +11:00
ChristopherOlson
572c609cd6
Copter: Trad Heli-change default accel_z_p to 0.30
...
prevents collective cycling in altitude controlled modes
2017-10-26 17:15:40 +11:00
Andrew Tridgell
0d0f1d264b
Copter: fixed order of motor setup
2017-10-22 15:52:50 +11:00
Andrew Tridgell
c4b0d7bc35
Copter: removed calls to motors->enable()
2017-10-22 15:52:50 +11:00
Andrew Tridgell
f49ab44f25
Copter: support simple accel calibration
2017-10-10 10:57:38 +11:00
Andrew Tridgell
e2f710523e
Copter: added inverted flight to switch docs
2017-10-03 10:16:41 +11:00
Andrew Tridgell
951ed95eb9
Copter: support inverted flight CH7 option
2017-10-03 10:16:41 +11:00
Andrew Tridgell
18f04abfe8
Copter: added HELI_QUAD
2017-10-03 10:16:41 +11:00
Michael du Breuil
516709fc72
Copter: Check GPS health
2017-09-27 19:29:32 +01:00
Lucas De Marchi
beabae6a98
global: use static method to construct AP_AHRS_NavEKF
2017-09-26 03:01:21 +01:00
Lucas De Marchi
c9fbf7b722
global: use static method to construct AP_NavEKF3
2017-09-26 03:01:21 +01:00
Lucas De Marchi
e2fe36357a
global: use static method to construct AP_NavEKF2
2017-09-26 03:01:21 +01:00
Lucas De Marchi
6781a44046
global: use static method to construct AP_Avoidance_*
2017-09-26 03:01:21 +01:00
Lucas De Marchi
8f304ed809
ArduCopter: add static create method for AP_Avoidance_*
2017-09-26 03:01:21 +01:00
Lucas De Marchi
6d009cdf6e
global: use static method to construct AP_ADSB
2017-09-26 03:01:21 +01:00
Lucas De Marchi
1263e20a0d
ArduCopter: use static method to construct AC_InputManager
2017-09-26 03:01:21 +01:00
Lucas De Marchi
e21e02cfdb
ArduCopter: use static method to construct AC_PrecLand
2017-09-26 03:01:21 +01:00
Lucas De Marchi
cf6ea9642e
global: use static method to construct AP_Terrain
2017-09-26 03:01:21 +01:00
Lucas De Marchi
70d8a08626
ArduCopter: use static method to construct AP_LandingGear
2017-09-26 03:01:21 +01:00
Lucas De Marchi
31db77e47b
global: use static method to construct AP_Parachute
2017-09-26 03:01:21 +01:00
Lucas De Marchi
57bbb2e1d9
ArduCopter: use static method to construct AC_Sprayer
2017-09-26 03:01:21 +01:00
Lucas De Marchi
eadd650d78
global: use static method to construct AP_RSSI
2017-09-26 03:01:21 +01:00
Lucas De Marchi
4f42facefc
global: use static method to construct AC_Avoid
2017-09-26 03:01:21 +01:00
Lucas De Marchi
b05610870c
global: use static method to construct AP_Rally
2017-09-26 03:01:21 +01:00
Lucas De Marchi
b4f5256a9e
ArduCopter: add static create method to AP_Rally
2017-09-26 03:01:21 +01:00
Lucas De Marchi
c6eb48009b
global: use static method to construct AC_Fence
2017-09-26 03:01:21 +01:00
Lucas De Marchi
18aa88b329
global: use static method to construct AP_Mount
2017-09-26 03:01:21 +01:00
Lucas De Marchi
c3647f0185
global: use static method to construct AP_Camera
2017-09-26 03:01:21 +01:00
Lucas De Marchi
cc53e7bc4b
global: use static method to construct AP_ServoRelayEvents
2017-09-26 03:01:21 +01:00
Lucas De Marchi
13d7f58036
global: use static method to construct AP_Relay
2017-09-26 03:01:21 +01:00
Lucas De Marchi
9ce6019138
global: use static method to construct AP_Frsky_Telem
2017-09-26 03:01:21 +01:00
Lucas De Marchi
b022c02029
global: use static method to construct AP_BattMonitor
2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2
global: use static method to construct AP_Board_Config{,_CAN}
2017-09-26 03:01:21 +01:00
Lucas De Marchi
a74e700006
global: use static method to construct RCMapper
2017-09-26 03:01:21 +01:00
Lucas De Marchi
72fd2d6f05
global: use static method to construct AP_SerialManager
2017-09-26 03:01:21 +01:00
Lucas De Marchi
fbe0d9761c
global: use static method to construct AP_OpticalFlow
2017-09-26 03:01:21 +01:00
Lucas De Marchi
10529feae6
ArduCopter: use static method to construct AP_Arming_Copter
2017-09-26 03:01:21 +01:00
Lucas De Marchi
b36a5919f5
global: use static method to construct AP_Mission
...
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
2017-09-26 03:01:21 +01:00
Lucas De Marchi
de5e044b02
global: use static method to construct AP_RPM
2017-09-26 03:01:21 +01:00
Lucas De Marchi
40fd1b346c
global: remove rangefinder from AP_AHRS_NavEKF
...
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.
For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer. Ideally these
should be moved to an init() method though, or use a get_instance().
2017-09-26 03:01:21 +01:00
Lucas De Marchi
9027a55696
global: use static method to construct RangeFinder
2017-09-26 03:01:21 +01:00
Lucas De Marchi
f5c2ffffb9
global: remove DataFlash from AP_Mount::init()
2017-09-26 03:01:21 +01:00
Lucas De Marchi
53c82b4aaf
global: use static method to construct DataFlash_Class
2017-09-26 03:01:21 +01:00
Lucas De Marchi
62ac0ab8aa
global: use static method to construct AP_Notify
2017-09-26 03:01:21 +01:00
Lucas De Marchi
de680dac5b
global: use static method to construct AP_Scheduler
2017-09-26 03:01:21 +01:00
Lucas De Marchi
8094482f21
global: use static method to construct AP_GPS
2017-09-26 03:01:21 +01:00
Lucas De Marchi
87b30b4552
global: use static method to construct AP_InertialSensor
2017-09-26 03:01:21 +01:00
Lucas De Marchi
c1a957fbf3
global: use static method to construct Compass
2017-09-26 03:01:21 +01:00
Lucas De Marchi
91feec0e14
global: use static method to construct AP_Baro
2017-09-26 03:01:21 +01:00
Lucas De Marchi
d213ccbbfc
ArduCopter: protect version.h from inclusion and use ap_version.h
2017-09-23 21:37:45 -07:00
Lucas De Marchi
4ef5186733
ArduCopter: do not include version.h/ap_version.h
...
The interface provided by each vehicle should be used to get the
version.
2017-09-23 21:37:45 -07:00
Lucas De Marchi
cd5b018d82
ArduCopter: move version to a static member
...
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.
If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.
version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
2017-09-23 21:37:45 -07:00
Randy Mackay
a9f257ddc6
Copter: 3.5.3 release notes
2017-09-21 11:13:02 +09:00
Andrew Tridgell
22bfec4d2a
Copter: fixed motor runup check for heli
...
for all auto-throttle modes we should not allow a mode change to the
mode if the motor runup is not complete.
This moves the code to the set_mode() so it applies to all modes
fixes issue #6956
2017-09-21 08:52:50 +10:00
Andrew Tridgell
8cf8f3a288
Copter: fixed collective input with H_SV_MAN=1 for heli
...
when H_SV_MAN=1 we do direct pass-thru so the user can test swash
range. The problem is that it uses norm_input() for throttle, which
depends on RC3_TRIM. Nowhere else in heli or copter do we depend on
RC3_TRIM, so the user gets a misleading idea of behaviour when testing
their swash.
2017-09-21 08:52:50 +10:00
Randy Mackay
a8a5c1d332
Copter: command-long DO_SET_HOME check first param is zero
...
Also do not use current location just because lat,lon,alt are all zero
2017-09-20 12:14:38 +09:00
Randy Mackay
d982cfed4a
Copter: accept DO_SET_HOME within COMMAND_INT
2017-09-20 12:14:38 +09:00
Randy Mackay
70cf21a5ba
Copter: accept more mav-frame types
...
accept mav frames whether or not they have _INT appended
2017-09-20 12:14:38 +09:00
Peter Barker
45d056fcf0
Copter: ekf position checks are done before we call failsafe_ekf_event
2017-09-19 12:44:43 +01:00
Peter Barker
d5caff3f1b
Copter: do not enter ekf-failsafe based on position if pos not needed
2017-09-19 12:44:43 +01:00
Peter Barker
ff82f23cf6
Copter: factor out a ekf_check_position_problem method
2017-09-19 12:44:43 +01:00
Peter Barker
84a873a520
Copter: remove redundant check; we will never failsafe_ekf_event if disarmed
...
See line 37
2017-09-19 12:44:43 +01:00
Peter Barker
0afe1e7473
Copter: move handling of SET_GPS_GLOBAL_ORIGIN up
2017-09-19 15:44:23 +09:00
Randy Mackay
1b3cc9289b
Copter: support SET_GPS_GLOBAL_ORIGIN
...
also remove setting of origin from DO_SET_HOME command
initialise ekf_origin location when consuming SET_GPS_GLOBAL_ORIGIN
set_ekf_origin performs sanity check on location
2017-09-19 10:30:15 +09:00
Randy Mackay
44a436642b
Copter: complete rename to SmartRTL
...
Also fix parameter description for CH7_OPT
2017-09-15 08:58:14 +09:00
Michael du Breuil
ffc2aeee32
Copter: Support landing flight termination
2017-09-13 13:15:08 -07:00
Peter Barker
6b5fd5fbdd
Copter: move gcs_out_of_time into GCS object
2017-09-12 18:28:07 +01:00
Randy Mackay
b1d1b5122b
Copter: 3.5.3-rc1 release notes
2017-09-12 16:43:15 +09:00
squilter
4b57a4a231
Copter: rename SafeRTL to SmartRTL
2017-09-09 14:05:41 +09:00
squilter
7abb5b10fc
Copter: build scripts changed from SafeRTL to SmartRTL
2017-09-09 14:05:41 +09:00
Randy Mackay
ed0203e53c
Copter: smooth safertl return journey using fast waypoints
2017-09-09 14:05:41 +09:00
Randy Mackay
6684e3de56
Copter: minor comment change for SafeRTL
2017-09-09 14:05:41 +09:00
Randy Mackay
8df042f00c
Copter: complete addition of SafeRTL flight mode
2017-09-09 14:05:41 +09:00
Randy Mackay
218983d594
Copter: safe-rtl changes after peer review
2017-09-09 14:05:41 +09:00
squilter
ba0e08552f
Copter: add SafeRTL flight mode
2017-09-09 14:05:41 +09:00
squilter
ec8c4b1744
Copter: add AP_SafeRTL to build
2017-09-09 14:05:41 +09:00
Peter Barker
3f67dfe4fe
Copter: move handling of do_send_banner up
2017-08-30 15:54:47 +01:00