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34 Commits

Author SHA1 Message Date
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
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 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall a29e2d8920 Copter: fix references to position error 2021-04-03 12:07:59 +09:00
Patrick José Pereira ffe356d597 ArduCopter: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-09 11:04:18 +09:00
Peter Barker f4cbc50ba4 Copter: use an enumeration for pre-throw motor state 2020-12-08 12:04:14 +11:00
Peter Barker bd0dff1b0e Copter: use enum-class and AP_Enum for ThrowType 2020-12-08 12:04:14 +11:00
Rishabh 41590916d5 Copter: Added Throw Mode logger documentation 2020-04-07 08:05:10 +09:00
Michael du Breuil b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Peter Barker b4537bebd8 Copter: move control_mode_t into being Mode::Number enum class 
Fixes this compiler error:

In file included from ../../ArduCopter/sensors.cpp:1:
In file included from ../../ArduCopter/Copter.h:195:
../../ArduCopter/mode.h:1291:9: fatal error: declaration shadows a variable in the global namespace [-Wshadow]
        AUTO,           // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
        ^
../../ArduCopter/defines.h:38:5: note: previous declaration is here
    AUTO =          3,  // fully automatic waypoint control using mission commands
    ^
1 error generated.
 2019-09-13 13:12:08 +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 46a6f45e4a Copter: adjust for desired spool state and spool state renames 2019-04-14 12:18:03 +09:00
Leonard Hall df3e73f161 Copter: spool fixes for acro stabilize and throw 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
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Leonard Hall 2ddb3f6697 Copter: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Peter Barker 26ca75efae Copter: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
Randy Mackay 042e7b473b Copter: minor comment fix to throw 2018-10-05 10:05:45 +09:00
Michael du Breuil 7e1ed948f5 Copter: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Leonard Hall 17b61f72a3 Copter: Initialise desired acceleration before loiter init 2018-09-19 08:34:08 +09:00
Pierre Kancir 1f30ae3076 ArduCopter: fix float to double warning 2018-04-18 10:27:10 +09:00
Peter Barker 80549a479e Copter: move throw logging into ModeThrow 2018-04-17 17:16:52 +09:00
Randy Mackay 59e4749fd0 Copter: integrate AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Leonard Hall 9544b1763b Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas ed36ec3c29 Copter: add option to disable THROW mode 2018-03-15 07:38:14 +09:00
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
Peter Barker 8d658e1dbc Copter: correct misleading comment in mode_throw 2018-01-08 12:02:49 +00:00
Randy Mackay c3fbf2671c Copter: rename control_xx.cpp files to mode_xx.cpp 2017-12-12 10:39:26 +09:00