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68 Commits

Author SHA1 Message Date
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
Peter Barker 6c82f7671d Copter: move all commands logic into AUTO flightmode 2017-12-14 14:08:01 +09:00
Randy Mackay 2d23e1f7c7 Copter: rename flightmode_ objects to mode_ 2017-12-12 10:39:26 +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 682f3c0e7e Copter: FlightMode - convert RTL 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 e2b70c3a0a Copter: FlightMode - convert AUTO flight mode 2017-12-06 08:24:24 +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
Lucas De Marchi be402374ea ArduCopter: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Peter Barker cdf9ebcb39 Copter: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Randy Mackay 4c9e118ceb Copter: set_auto_yaw_look_at_heading takes bool for relative angle arg 
No functional change
 2017-07-12 13:27:45 +09:00
Peter Barker 358555446b Copter: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 0ac045febe Copter: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
Peter Barker f60389d4aa Copter: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Randy Mackay 814cadac68 Copter: consolidate set_home functions 
added lock argument instead of having twice as many functions
no functional change
 2017-06-07 13:01:38 +09:00
Randy Mackay 8f43b60247 Copter: set EKF origin from first do-set-home command 2017-04-22 10:37:31 +09:00
Michael Day 49e3ce8e75 Copter: Now recognizes DO_FENCE_ENABLE mission command. 2017-02-05 00:10:14 +00:00
Andrew Tridgell 0f6d0c5ba9 Copter: combined tri, single, coax and multicopter into a single build 
this allows copter to be just 2 builds, one for heli, and one for
everything else
 2017-01-12 17:39:37 +11:00
Peter Barker cf4be25d61 Copter: correct compilation when camera disabled 2017-01-03 10:24:35 +09:00
Peter Barker 8033e0c315 Copter: fix compilation when gripper disabled 2017-01-02 15:59:30 +09:00
Peter Barker 3551609a21 Copter: payload place requires 30% throttle reduction to release 2016-12-24 11:53:19 +09:00
Peter Barker c191a44b27 Copter: payload place skips releasing states if gripper not valid 2016-12-24 11:50:01 +09:00
Randy Mackay 377a747065 Copter: minor format fix for fall through for payload-place 2016-12-19 17:01:19 +09:00
Randy Mackay 5f60961866 Copter: fix suppressing comment for case fall through 
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:22:04 +09:00
Pierre Kancir 5900653b7f Copter: Commands_logic fix comparing floating point with == 2016-12-06 09:31:21 -08:00
Pierre Kancir 8d4bad0742 Copter: Commands_logic fix implicit cast to double 2016-12-06 09:31:21 -08:00
Peter Barker 4aab4f72b6 Copter: move to releasing payload if we are landed 2016-12-02 13:25:34 +11:00
Peter Barker 289aba4350 Copter: support for NAV_CMD_PLACE 2016-12-02 12:52:53 +11:00
Peter Barker 236b8ab6b7 Copter: make EPM a subclass of AP_Gripper_Backend 2016-11-05 10:20:39 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
murata 57c61ace62 Copter: To remove a break after the return statement. 2016-10-08 13:55:18 -03:00
Pierre Kancir 6f79a8c37c Arducopter: simply invalid cmd msg 2016-09-27 07:45:48 -07:00
Pierre Kancir 94e42e870e ArduCopter: uniformize verify_command 
Add better gcs message,
Add all handle message,
Reformate comments,

Fix do_roi comment
 2016-09-27 07:45:48 -07:00
Randy Mackay 728e8f8f56 Copter: land_state uses enum 
This resolves a Covarity warning related to initialisation (that was not really a problem) but it is better form anyway
 2016-08-08 13:31:29 +09:00
Randy Mackay ac4f36a992 Copter: remove LAND_REQUIRE_MIN_THROTTLE_TO_DISARM feature 
This definition has been false for over a year and we have not heard of any users wanting to delay the disarming until the pilot's throttle goes to zero.  Removing this feature removes a small bit of complexity from the code.
 2016-08-05 12:40:37 +09:00
Randy Mackay 793e3da904 Copter: rename variables used for NAV_DELAY command 2016-05-19 16:16:03 +09:00
Niti Rohilla 55f66b7696 Copter: Add support for MAV_CMD_NAV_DELAY 2016-05-19 16:16:02 +09:00
Francisco Ferreira 8fb318a6e1 Copter: fix do_loiter when executed in same location 2016-05-13 12:20:22 +09:00
Francisco Ferreira 8ce8551669 Copter: fix detection of 0 values for lat, lng and alt in waypoints 2016-05-13 12:20:20 +09:00
Michael du Breuil c97888f524 Copter: Remove support for CONDITION_CHANGE_ALT 2016-04-30 10:56:07 +09:00
Randy Mackay d92154a44e Copter: rename set_alt to set_alt_cm in commands_logic 2016-04-30 10:33:01 +09:00
Randy Mackay 267c1c3934 Copter: guided mode handles terrain alt 2016-04-30 10:33:01 +09:00
Randy Mackay e8b14e59fc Copter: spline mission commands handle terrain altitudes 2016-04-30 10:33:01 +09:00
Randy Mackay 81d244c9bd Copter: do-circle accept terrain altitude 2016-04-30 10:33:01 +09:00
Randy Mackay 4892446c55 Copter: do-loiter accepts terrain altitudes 2016-04-30 10:33:01 +09:00
Randy Mackay ffd86744ce Copter: do-land accepts terrain 2016-04-30 10:33:01 +09:00
Randy Mackay 06ee6a7bd4 Copter: auto takeoff accepts abs and terrain alts 2016-04-30 10:33:01 +09:00
Randy Mackay 9449776e3c Copter: straight line waypoints accept terrain 
auto_wp_start calls AC_WPNav's new set_wp_destination which accepts a
Location class allow altitude to be set as above-terrain or even an
absolute altitude
 2016-04-30 10:33:01 +09:00
Tom Pittenger afb3e94fe6 Revert "Copter: clipped param cmd float to zero" 
This reverts commit 9b6de75203.
 2016-04-23 23:51:41 -07:00
Tom Pittenger 9b6de75203 Copter: clipped param cmd float to zero 2016-04-23 23:45:54 -07:00