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6782 Commits

Author SHA1 Message Date
Randy Mackay 73973c77d7 Copter: 3.6.9-rc2 release notes 2019-04-30 13:03:02 +09:00
Randy Mackay 0472c7e6dd Copter: 3.6.9-rc1 release notes 2019-04-30 12:34:34 +09:00
Andrew Tridgell 55dca5cda9 Copter: added in sink rate for parachute check 2019-04-30 10:04:58 +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 462d87e5d0 Copter: remove unused PosHoldModeState enumeration 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
Peter Barker 9f9531a790 Copter: AP_Arming: correct overriding of arm_checks method 
This makes the arbitrary decision that arming checks always report
failures to the GCS.

Fixes:

In file included from ../../ArduCopter/events.cpp:1:
In file included from ../../ArduCopter/Copter.h:91:
../../ArduCopter/AP_Arming.h:33:69: fatal error: non-virtual member function marked 'override' hides virtual member function
    bool arm_checks(bool display_failure, AP_Arming::Method method) override;
                                                                    ^
../../libraries/AP_Arming/AP_Arming.h:64:18: note: hidden overloaded virtual function 'AP_Arming::arm_checks' declared here: different number of parameters (1 vs 2)
    virtual bool arm_checks(AP_Arming::Method method);
                 ^
1 error generated.
 2019-04-30 09:29:59 +10:00
Randy Mackay 4fa52bb0de Copter: 3.6.8-release notes 2019-04-26 13:25:00 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 402b1cba3f Copter: replace 4 divisions with multiplications 2019-04-24 08:52:41 -07:00
Andrew Tridgell 3abe8fed89 Copter: updated release notes for 3.6.8 2019-04-24 17:15:44 +10:00
Pierre Kancir d5d81f3a1c ArduCopter: set AUTO_YAW_HOLD when user control yaw during nogps land 2019-04-23 09:35:02 +09:00
Pierre Kancir c2811ea144 ArduCopter: respect yaw orientation on LAND 2019-04-23 09:35:02 +09:00
Peter Barker 5d996a289a Copter: move responsibility for logging into library 2019-04-23 10:06:17 +10:00
Peter Barker 7207035c34 Copter: do no compass stick gesture detection while armed 2019-04-23 10:06:17 +10:00
Randy Mackay 8a5141f751 Copter: mode autoyaw lower in mode.h 
make ordering of some declarations consistent across child classes
 2019-04-20 10:04:33 +09:00
Peter Barker 7945c1fdfd Copter: mode class unfriends everyone, make relevant methods public 2019-04-20 10:04:33 +09:00
Randy Mackay b7d0e4ec10 Copter: remove surface tracking shim functions 2019-04-19 07:45:52 +09:00
Randy Mackay 01909cf4c8 Copter: zigzag mode gets terrain following support 2019-04-19 07:45:52 +09:00
Randy Mackay 89eb876faf Copter: move surface tracking variables into structure 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
Randy Mackay a732dfed6d Copter: minor format fixes to get_pilot_desired_cilmb_rate 2019-04-19 07:45:52 +09:00
Michael du Breuil 465d6b4dc7 Copter: Remove rangefinder distance prearm check 2019-04-16 11:00:32 +09:00
Arjun Vinod f1de62f0d3 Copter: added left out copter flight modes as auxiliary switch options 2019-04-16 10:57:17 +09:00
Pierre Kancir caf925eda5 Copter: factorize arm or land check 2019-04-16 10:17:47 +09:00
Peter Barker 07b8473a20 Copter: move setting of compass sys_status bits up 2019-04-16 09:48:23 +10:00
Randy Mackay 403195d9d4 Copter: fix auto-disarm check 
Copters go to SHUT_DOWN when estop is engaged
 2019-04-15 15:34:14 +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 2c682c7001 Copter: add missing AccelZ to GCS_PID_MASK param description 2019-04-13 13:33:52 +09:00
Randy Mackay 571d933b3f Copter: fix send_pid_tuning 
the rate roll PID was being overwritten when PID logging was enabled
 2019-04-13 13:33:52 +09:00
Peter Barker 3e51d8c7d7 Copter: RangeFinder now handles RFND logging 2019-04-09 22:17:58 +10:00
Michael du Breuil 8290bd4e67 Copter: check all EKF cores for health on arming 2019-04-09 10:53:25 +10:00
Peter Barker 5db75b313d Copter: use floats for roll/pitch 
Otherwise we're taking floats, making them int32 and then making them
floats again when calling the attitude controller
 2019-04-09 09:21:12 +09:00
Pierre Kancir 4f29d2e5a6 Copter: factorize esc calibration setup 2019-04-09 08:44:46 +09:00
Pierre Kancir 54380bd144 Copter: change always true condition to a timer 2019-04-09 08:44:46 +09:00
Peter Barker 41a20504b2 Copter: use RSSI singleton for logging 2019-04-09 09:33:13 +10:00
Peter Barker e5b25824eb Copter: remove unused takeoff_trigger_dz parameter 2019-04-09 08:15:39 +10:00
Peter Barker ef334fe3c7 Copter: remove hanging method declaration 2019-04-09 08:15:39 +10:00
Pierre Kancir 43dcf066c1 ArduCopter: move check_latlng to Location 2019-04-08 12:56:01 -07:00
Randy Mackay a5bdd12bfa Copter: replace TUNE_LOW/HIGH params with TUNE_MIN/MAX 
change from uint16 to floats to ease setup
also add check that no function assigned to rc6
 2019-04-08 15:24:00 +09:00
Peter Barker 85be2b0c8b Copter: clean up flip state enumerations 
... including a redundant definition of the states...
 2019-04-08 14:24:19 +09:00
Randy Mackay 69626ba855 Copter: rename FXY logging to FHXY 
this keeps the log messages appearing directly below the related FHLD when looking in the MP log viewer
 2019-04-08 11:26:59 +09:00
Leonard Hall df3e73f161 Copter: spool fixes for acro stabilize and throw 2019-04-08 09:42:21 +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
Randy Mackay 29d05dfeac Copter: loiter mode gets roll and pitch from loiter_nav 
both wp_nav and loiter_nav's get_roll() and get_pitch() simply get their values from the same underlying position controller
 2019-04-08 09:42:21 +09:00
bnsgeyer 94738c3f86 Copter: change make_safe_shut_down to make_safe_spool_down 2019-04-08 09:42:21 +09:00
bnsgeyer f96da56ad6 Copter: Allow safe shutdown before disarming 2019-04-08 09:42:21 +09:00
bnsgeyer 7ff3a49a10 Copter:tradheli-spool logic fix for acro and stabilize 2019-04-08 09:42:21 +09:00
Leonard Hall 593925567b Copter: formatting fixes 2019-04-08 09:42:21 +09:00
Randy Mackay a6bfafefb0 Copter: move loiter and wpnav init out of make_safe_shut_down 
resolves autotest RTLSpeed test failure
 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
bnsgeyer d949c80d54 Copter: tradheli replaces rotor_runup_complete with spool state 2019-04-08 09:42:21 +09:00
Peter Barker 3b33f4ca4d Copter: add floating-point-constant designators 2019-04-05 23:04:17 -07:00
Michael du Breuil d1246f5868 Copter: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Pierre Kancir 4cec958269 ArduCopter: move location_update to Location and rename to offset_bearing 2019-04-06 09:10:28 +11:00
Pierre Kancir 5987966ac6 ArduCopter: move get_bearing_cd to Location and rename to get_bearing_to 2019-04-06 09:10:28 +11:00
Michael du Breuil 0e8c3dc485 Copter: include FWversion 2019-04-05 20:12:53 +11:00
Patrick José Pereira 86633e45ff Copter: Use new RC_Channel AUX_FUNC 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-03 09:53:58 -07:00
Peter Barker fad769f3bf Copter: add param conversion from MAG_ENABLE to COMPASS_ENABLED 2019-04-02 10:24:49 +11:00
Peter Barker 2040580ce7 Copter: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
bnsgeyer 3869507839 Copter: Tradheli- removes suppression of hover_trim_roll on auto takeoff 2019-03-29 13:13:55 +11:00
Rajat Singhal 49554bf8d9 Copter: Add function for sending POSITION_TARGET_LOCAL_NED message 2019-03-29 09:11:14 +11:00
Tom Pittenger 7824b64ad6 Copter: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker 86bd531b24 Copter: use convenience manual_override method 2019-03-27 22:33:47 -07:00
Randy Mackay 7c09084f02 Copter: add Loiter and Follow to aux switch 2019-03-28 13:54:22 +09:00
Peter Barker 8441542a52 Copter: remove climb_rate cache of inertial_nav.get_velocity_z 
There were only two users of it and dozens of places using
get_velocity_z
 2019-03-28 12:10:31 +11:00
Peter Barker 6bac6cd725 Copter: remove redundant compass arming checks 
These are already part of prearm checks in the parent class, which must also pass for us to arm
 2019-03-28 11:28:44 +11:00
ChristopherOlson e56c970eb0 Copter:AP_ARMING - remove collective position prearm check for heli 2019-03-28 10:40:54 +11:00
Peter Barker e9398e73ff Copter: tidy get_pilot_desired_throttle 2019-03-27 18:03:56 +11:00
Peter Barker c1c71fec23 Copter: move Mode functions into mode.cpp from Attitude.cpp (NFC) 2019-03-27 14:02:31 +11:00
Peter Barker 7e01d1ef50 Copter: correct compilation for ERROR_SUBSYSTEM_FLIGHT_MODE changing names 2019-03-27 13:23:12 +11:00
Peter Barker c7e21d95ef Copter: move Log_Write_Error into library 2019-03-27 12:36:40 +11:00
Peter Barker 7a1648059b Copter: stop passing dataflash into handle_radio_status 2019-03-27 10:38:39 +11:00
Peter Barker 335c1769ee Copter: do not allow change to Drift if in non-manual-throttle mode 
drift acts just like stabilise or acro in terms of pilot throttle when
pilot input is maxed.
 2019-03-26 20:57:15 +11:00
Peter Barker d95160b33c Copter: move check for high-throttle on mode change up 2019-03-26 20:57:15 +11:00
Peter Barker 34d9ce27af Copter: make get_pilot_desired_throttle a method on Mode 2019-03-26 20:57:15 +11:00
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 9a2d5ac5a6 Copter: move various sensor status flag updates up 2019-03-26 11:03:21 +11:00
bnsgeyer 2ec470aaee Copter:tradheli - added swash params to convert on upgrade 2019-03-20 10:40:20 +10:00
bnsgeyer 2fc942ac24 Copter: tradheli-convert swash parameters on firmware upgrade 2019-03-20 10:40:20 +10:00
Peter Barker f4a21d446f Copter: move command-long DO_SET_HOME up 2019-03-19 19:56:13 +11:00
Peter Barker 451f5f17ce Copter: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker 4f70bdd046 Copter: GCS can report simple/supersimple input modes 2019-03-19 14:39:14 +11:00
Peter Barker a5c18ff8f5 Copter: move vehicle_initialised to be on GCS not GCS_MAVLink 2019-03-19 14:39:14 +11:00
Peter Barker e22b29bce4 Copter: FrSky support has moved to GCS 2019-03-19 14:39:14 +11:00
Peter Barker 3e0ec99100 Copter: fill Notify flag for flying 2019-03-19 14:39:14 +11:00
Peter Barker 227f6499d3 Copter: mark vtol_state and landed_state methods as override 2019-03-19 10:32:50 +11:00
Peter Barker 366051c39f Copter: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Peter Barker 85d9dd6f64 Copter: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Randy Mackay 467e8481fb Copter: minor formatting fix to ekf failsafe check 2019-03-15 15:44:01 +09:00
chobits 6bee4216c0 Copter: speed up EKF failsafe by checking if velocity innovations > 2x FS_EKF_THRESH 2019-03-15 15:36:13 +09:00
Bill Geyer c40312d0f9 Copter: fix to acro trainer leveling mode 2019-03-15 15:26:24 +09:00
Randy Mackay e57ec068f0 Copter: remove duplicate guided limit-init-time-and-pos 
this is called from nav_guided_start()
 2019-03-15 14:51:35 +09:00
Randy Mackay 8d66c5f547 Copter: move do_payload_place handler 
commands are placed in numerical order
 2019-03-15 14:51:35 +09:00
Peter Barker 6d87b9316f ArduCopter: compass init never fails 2019-03-13 13:06:50 +11:00
Peter Barker f189860162 Copter: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker 281dbfcef8 Copter: support send_extended_sys_state 2019-03-12 09:16:13 +09:00
Peter Barker 7b6fef16aa Copter: remove redundant PreArm: in check_failed calls 2019-03-08 08:57:53 +09:00
Peter Barker cc8912255e Copter: move checking of fence up 2019-03-08 08:57:27 +09:00
Randy Mackay ead3682e4c Copter: correct ACRO_YAW_P param description 
this parameter applies to all flight modes
 2019-03-06 14:42:59 +09:00
Randy Mackay 938868cc03 Copter: 3.6.7 release notes 2019-03-06 14:24:25 +09:00
Peter Barker cac87b8e0b Copter: use attitude and position controller prearm checks 2019-03-06 10:36:32 +09:00
Peter Barker 4f69eefd4a Copter: remove unused includes 2019-03-05 13:19:29 +09:00
Peter Barker eed73749f9 Copter: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Michael du Breuil cac4b91671 Copter: Allow scripting to run 2019-03-05 08:45:54 +11:00
Peter Barker 7c05364612 Copter: reindent mode init functions (NFC) 2019-03-01 13:43:20 +09:00
Peter Barker fab2d59a1c Copter: move check for position up 2019-03-01 13:43:20 +09:00
Peter Barker e744df585c Copter: avoid int32_t<->float conversions 2019-03-01 12:09:58 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas f1e43979ab ArduCopter: NFC small renames and comment improvements 2019-03-01 09:15:24 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 08124faab4 Copter: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Randy Mackay a90f94d5a7 Copter: 3.6.7-rc1 release notes 2019-02-28 09:15:44 +09:00
Randy Mackay 384bca9482 Copter: stop at waypoint depending upon next command 2019-02-27 13:30:40 +09:00
Randy Mackay a903c91c40 Copter: remove unused auto_spline_start declaration 2019-02-27 13:30:40 +09:00
IamPete1 ba3d1bc6c7 Copter: move E-stop state to SRV_Channel 2019-02-27 08:51:24 +09:00
Peter Barker 2c814e9de2 Copter: get_alt_above_ground to get_alt_above_ground_cm 2019-02-26 19:31:41 +09:00
Andrew Tridgell ef3306d408 Copter: fixed crash on mavlink send before pos_control is allocated 2019-02-26 16:18:26 +11:00
Peter Barker a48f461158 Copter: remove position-vector methods 
Both were used in just one place
 2019-02-26 14:09:21 +11:00
Arjun Vinod d02d897928 Copter: make LOITER_TIME send "Reached command" message to GCS 2019-02-26 10:19:37 +09:00
Arjun Vinod 8044d98382 Copter: do an early-return if the time hasn't been reached 2019-02-26 10:14:56 +09:00
murata 8644f4d76e Copter: Disable option code 
Copter: Revert change

Copter: Change mistakes
 2019-02-26 10:00:00 +09:00
Peter Barker 693873fd04 Copter: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Peter Barker 8e1b48ef1e Copter: use height-above-ground for landing gear deployment 2019-02-26 08:21:32 +09:00
Peter Barker 66416a5289 Copter: make toymode parameter descriptions consistent 
Also correct "home button" -> "left (Mode button)"
 2019-02-22 11:36:28 +09:00
Peter Barker 4187243e5c Copter: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Peter Barker c622645ff1 Copter: move update_sensor_flags to GCS_Copter.cpp 2019-02-20 11:57:00 +11:00
Peter Barker 5ff80e06d1 Copter: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker 039aa3f3b3 Copter: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 2019-02-19 14:09:59 +11:00
Peter Barker f759c7ac7e Copter: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker 9bc23d3f28 Copter: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Peter Barker f64ad2f433 Copter: move visual odometry update function into AP_VisualOdom 2019-02-16 15:13:59 +11:00
Randy Mackay 6b0456e3ac Copter: 3.6.6 release notes 2019-02-16 08:47:18 +09:00
Peter Barker 0dce6172f2 Copter: use visual odometry singleton 2019-02-15 16:56:13 +11:00
Peter Barker 31f796f0c5 Copter: remove unused scaleLongDown member 2019-02-15 11:45:13 +09:00
Peter Barker 13db459f49 Copter: remove redundant home-setting sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker 5ae52038fa Copter: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker 8de7f4a520 Copter: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Peter Barker 228d7b676d Copter: move responsibility for parachute deployment up 2019-02-13 09:25:27 +09:00
Peter Barker 270fa2dfb9 Copter: move handling of command-int MAV_CMD_DO_SET_HOME up 2019-02-13 09:42:26 +11:00
Peter Barker a0189d6060 Copter: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Peter Barker 5f152378fd Copter: dataflash always emits rally points at startup 2019-02-12 11:48:55 +11:00
Peter Barker 3765bae5e0 Copter: remove checking for coordinate frames 
This is very much NFC.  This change uncovers previous dead code in the
case that we are not ignoring yaw.
 2019-02-12 09:07:50 +09:00
Peter Barker 243cf690da Copter: use altitude frame mapping function 2019-02-12 09:07:50 +09:00
Tom Pittenger b8ee535fb4 Copter: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Randy Mackay 1725c8f178 Copter: 3.6.6-rc2 release notes 2019-02-09 14:53:26 +09:00
Peter Barker 47a0796684 Copter: move handling of fence point handling up 2019-02-08 11:47:59 +09:00
Peter Barker 727d42be1c Copter: move handling of MAV_CMD_DO_SET_FENCE_ENABLED up 
This has the effect of losing the statustext messages.  We should not be
sending statustext messages for things that complete successfully, and
this data is available in the fence_status mavlink message (and in
SYS_STATUS too)
 2019-02-08 11:47:59 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 937e05bb2a Copter: small precision landing improvements 2019-02-07 10:54:58 +09:00
Peter Barker f0ea4af514 Copter: rename get_velocity_xy to get_speed_xy 2019-02-07 09:03:17 +09:00
Randy Mackay ee6fd5ad8d Copter: Guided_NoGPS does not require GPS 2019-02-06 12:28:08 +09:00
Peter Barker 587e02e92e Copter: remove pv_ functions that duplicate Location functions 2019-02-06 11:02:50 +09:00
Andrew Tridgell 3f58461839 Copter: allow override of default frame type 2019-02-06 11:17:35 +11:00
Andrew Tridgell 36180faab5 Copter: added 3 more FRAME_TYPE values 2019-02-06 11:17:35 +11:00
Dr.-Ing. Amilcar do Carmo Lucas c31e24edcc Copter: Add OSD_ENABLED macro to APM_Config.h 2019-02-05 13:19:56 +09:00
Peter Barker 609b4f87c5 Copter: move handling of RC_CHANNELS_OVERRIDE up 2019-02-05 13:59:21 +11:00
Peter Barker 7197cf9e5c Copter: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Peter Barker f4f40f749b Copter: Flip: fix FIXME by moving state into mode class 2019-02-04 11:07:28 +09:00
Peter Barker 3521d98b52 Copter: move handling Write_Event into AP_Logger 2019-02-04 09:30:07 +09:00
Randy Mackay ba7b354326 Copter: 3.6.6-rc1 release notes 2019-02-02 14:30:13 +09:00
Randy Mackay 42c7f5ceb4 Copter: integrate WPNAV::set_speed_z split to set_speed_up and set_speed_down 2019-01-31 19:34:32 +09:00
Randy Mackay 717fb4d823 Copter: integrate AC_WPNav::get_speed rename to get_default_speed 2019-01-31 19:34:32 +09:00
Peter Barker 3d088f526d Copter: AC_Fence is included for all vehicles 2019-01-31 13:44:29 +09:00
Peter Barker 1412921561 Copter: move sending of fence_status message up 2019-01-31 13:44:29 +09:00
Peter Barker 5dc743f1ba Copter: fence no longer takes reference to ahrs in constructor 2019-01-31 11:25:38 +09:00
Peter Barker eccd62eeaf Copter: remove rally argument from Write_Rally - use singleton 2019-01-31 09:51:25 +09:00
bnsgeyer 62ffd273aa Copter: Tradheli-default RC8_OPTION to motor interlock 2019-01-28 09:44:56 +09:00
bnsgeyer 07d9e8c224 Copter: Tradheli-removed hard coding of motor interlock to channel 8 2019-01-28 09:44:56 +09:00
bnsgeyer c6e9a72ad9 Copter: Tradheli-fixes hover roll trim ramp time 2019-01-26 11:45:04 +09:00
chobitsfan 7f6b7dab2f Copter: support fence actions SmartRTL and Brake 2019-01-25 15:43:18 +09:00
Randy Mackay d29b4344df Copter: 3.6.5 release notes 2019-01-24 10:29:37 +09:00
Randy Mackay 1334437df4 Copter: 3.6.5-rc3 release notes 2019-01-21 10:08:40 +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
Francisco Ferreira bf8c02b8ea
Copter: add KDECAN to included libraries 2019-01-18 00:57:32 +00:00
Peter Barker f896f6538b Copter: log_terrain_data no longer takes a DataFlash argument 2019-01-18 11:17:40 +11:00
Peter Barker 09dd750df8 Copter: Log_Write_SIMSTATE no longer takes dataflash pointer 2019-01-18 11:16:54 +11:00
Peter Barker d3f5f0d7b0 Copter: remove PX4 FWVersion info 2019-01-16 11:47:55 +11:00
Peter Barker 845f015648 Copter: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker f48d757bd4 Copter: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
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
bnsgeyer 12f4d8518e Copter: Tradheli moves init_targets_on_arming flag to motors 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
Randy Mackay 011cb89499 Copter: 3.6.5-rc2 release notes 2019-01-15 10:23:35 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 00d9cc2e09 Copter: Only use the 6 LSBs, avoids a cpp warning 2019-01-11 20:55:17 +09:00
Randy Mackay 0db8a48453 Copter: 3.6.5-rc1 release notes 2019-01-11 12:32:04 +09:00
Pierre Kancir 8c5d9d38a6 Copter: fix snprintf size warning 2019-01-10 20:00:29 +09:00
Peter Barker 48155e72eb Copter: correct use of incorrect name for type 2019-01-09 17:21:00 +11:00
Peter Barker f50418f72a Copter: Terrain uses rally singleton 2019-01-09 10:14:16 +11:00
Randy Mackay f24c7719ca Copter: remove unused error code and add comments 2019-01-08 19:42:32 +09:00
Michael du Breuil 6bb84bfcc5 Copter: Remove unneeded GCS rally override 2019-01-08 10:39:50 +11:00
Michael du Breuil fc2ea009fb Copter: Reset all storage when format version is incorrect 2019-01-08 10:35:37 +11:00
murata 36995424f3 Copter: Delete NuttX version processing 2019-01-08 10:06:20 +11:00
Peter Barker bba3546279 Copter: do not permit copying of a Mode 2019-01-03 13:35:33 +09:00
Michael du Breuil ec8a82e8a0 Copter: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Andrew Tridgell cc4db3e458 Copter: implement get_wp() for follow 
this allows the GCS to plot the position target
 2018-12-31 09:53:20 +09:00
Randy Mackay a409567b44 Copter: 3.6.4 release notes 2018-12-27 13:56:08 +09:00
murata 77389d9a91 Copter: remove dup return from arming prox check 2018-12-26 13:19:52 +09:00
Randy Mackay a8bcd50fdd Copter: minor format fix 2018-12-24 11:50:04 +09:00
Andrew Tridgell b897551e0b Copter: log PIDs at full rate during AUTOTUNE twitch 2018-12-22 15:10:23 +11:00
Andrew Tridgell 088442880e build: removed makefile build system 2018-12-22 11:06:59 +11:00
Andrew Tridgell 7783a7ea58 Copter: use AHRS_View for RATE logging 2018-12-21 22:17:52 +11:00
IamPete1 21b6a2a878 Copter: Add value to paramiter discription 2018-12-21 11:19:18 +09:00
Peter Barker 41cd906641 Copter: beep on mode change/change failure for aux switch changes 2018-12-21 09:36:28 +09:00
Randy Mackay 01d5ce33b2 Copter: 3.6.4-rc1 release notes 2018-12-20 19:58:27 +09:00
Peter Barker 8626c9573a Copter: split SIMSTATE, AHRS2 and AHRS3 onto their own ap_message ids 2018-12-19 13:19:23 +11:00
Peter Barker 56ec2691ae Copter: split DISTANCE_SENSOR onto its own ap_message id 2018-12-19 07:24:37 +11:00
Peter Barker bfc82fb1d8 Copter: try_send_message caller checks telemetry_delayed 2018-12-18 14:25:56 +11:00
Peter Barker f8a05564e8 Copter: split SYS_STATUS and POWER_STATUS onto separate ap_messages 2018-12-18 14:05:20 +11:00
Andrew Tridgell 89d54767b1 Copter: convert to use AC_AutoTune library 
this maintains existing behaviour
 2018-12-18 10:34:42 +09:00
Peter Barker 0e6efd6de0 Copter: move accept_packet to GCS_MAVLink base class 2018-12-14 12:44:31 +11:00
Peter Barker 901e428d53 Copter: DataFlash uses AP_Mission singleton 2018-12-13 14:45:30 +09:00
Peter Barker 8ac5ee02ea Copter: GCS_MAVLink now uses Mission singleton 2018-12-13 10:52:52 +09:00
Randy Mackay 7a6e212da9 Copter: follow return wp_distance and wp_bearing 2018-12-13 09:30:19 +09:00
Randy Mackay 4b6db7c0dd Copter: remove follow mode debug 2018-12-13 09:30:19 +09:00
Francisco Ferreira a2fa63bcf7 Copter: fix Cygwin build 
Static initialization doesn't have an exact order, we can't rely on it
 2018-12-13 09:28:44 +09:00
Peter Barker ca2a49c1c6 Copter: split MSG_SCALED_PRESSURE into three separate messages 2018-12-12 21:36:01 +11:00
Peter Barker 4ffd38f6bb Copter: GCS_MAVLink uses dataflash singleton 2018-12-11 08:43:47 +09:00
Peter Barker ff89000e96 Copter: split MSG_RAW_IMU1 into per-IMU ap_messages 2018-12-10 12:52:41 +09:00
Peter Barker 3d8588a636 Copter: send both SYS_STATUS or POWER_STATUS or neither 2018-12-10 12:52:41 +09:00
Peter Barker 75fb9780f7 Copter: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
Peter Barker 05f2e51b4d Copter: adjust for new update entry points into GCS 2018-12-10 12:52:41 +09:00
Peter Barker ef3654e343 Copter: update GCS at main loop rate 
Reducing message intervals doesn't work as well otherwise
 2018-12-10 12:52:41 +09:00
Peter Barker 924b278120 Copter: add parameter stream to list-of-all-streams 2018-12-10 12:52:41 +09:00
Randy Mackay 550be0bfb1 Copter: tradheli default table made static 2018-12-06 12:23:41 +09:00
Randy Mackay 00b909255c Copter: tradheli uses set_defaults_from_table 2018-12-06 12:23:41 +09:00
Randy Mackay f5208b1664 Copter: minor format fix 2018-12-05 20:12:34 +09:00
Randy Mackay 24c79acdc4 Copter: 3.6.3 release notes 2018-12-05 10:11:20 +09:00
Peter Barker 41ead10d22 Copter: rename MSG_EXTENDED_STATUS2 to MSG_MEMINFO 2018-12-04 18:01:38 +11:00
Peter Barker 7e76871b9e Copter: rename MSG_RAW_IMU2 and MSG_RAW_IMU3 to reflect what they send 2018-12-04 17:45:32 +11:00
Randy Mackay a083d98b96 Copter: 3.6.3-rc1 release notes 2018-12-01 13:59:37 +09:00
ChristopherOlson 2e98de3292 Copter:Parameters-TradHeli - set defaults for PSC and LOIT controllers 2018-11-27 08:48:41 +09:00
murata b252eae404 Copter: Flip mode is an option. 
Copter: Flip mode is an option.
 2018-11-26 09:29:47 +09:00
Randy Mackay 2c9ba1d954 Copter: 3.6.2 release notes 2018-11-24 09:04:51 +09:00
Peter Barker f9487c3d83 Copter: remove ancient, misleading Arduino comment 2018-11-23 10:56:17 +11:00
Peter Barker d49431488e Copter: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker ee5339f931 Copter: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Randy Mackay eb7b87b70d Copter: 3.6.2-rc4 release notes 2018-11-22 09:19:27 +09:00
Randy Mackay 655fe660ed Copter: remove reset of alt target in manual throttle mode 
the target was being set to zero only for logging purposes
 2018-11-21 21:41:58 +09:00
Randy Mackay 99525410ee Copter: 3.6.2-rc3 release notes 2018-11-19 13:22:46 +09:00
Randy Mackay 6cacc738b3 Copter: 3.6.2-rc2 release notes 2018-11-15 10:58:07 +09:00
Randy Mackay 6b0b3f987b Copter: 3.6.2-rc1 release notes 2018-11-15 10:58:04 +09:00
Pierre Kancir c50eed5e9a Copter: log and notify when manual land repositionning is active 2018-11-13 10:14:54 +09:00
Peter Barker 33ca577653 Copter: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker ee456e8870 Copter: do not pass ahrs to opticalflow constructor 2018-11-13 10:40:23 +11:00
Peter Barker 33d40500ac Copter: move sending of optical flow status up to base class 2018-11-13 10:40:23 +11:00
Randy Mackay f8773e0bdc Copter: enable ground effect compensation by default 2018-11-12 13:43:42 +09:00
Randy Mackay d6dca1f6a1 Copter: landing gear deployment height calc uses lidar status 2018-11-10 21:24:19 +11:00
Andrew Tridgell 2f79932611 Copter: auto-convert landing gear PWM parameters 2018-11-10 21:24:19 +11:00
Andrew Tridgell 144e1945c6 Copter: support height based landing gear 2018-11-10 21:24:19 +11:00
Peter Barker 176ee507a2 Copter: make mavlink rangefinder health bit depend just on data available 
This means the sensor is healthy even if it is out of range.

This is a partial revert of commit 724f34c7e7 (diff-577a72d2550199fabbdfd77fa5890368R408)
 2018-11-10 12:20:27 +09:00
Randy Mackay 0d4ab51f15 Copter: 3.6.1 release notes 2018-11-10 10:20:54 +09:00
Peter Barker 73940df48e Copter: move mission into mode_auto 2018-11-09 13:35:40 +09:00
Andrew Tridgell 637dc718df Copter: moved LANDING_GEAR to common RC_Channel 2018-11-09 14:35:14 +11:00
Peter Barker bf1c82ffe1 Copter: don't pass ahrs to terrain constructor 2018-11-08 20:59:45 +11:00
Peter Barker f598cff99c Copter: stop passing ahrs to Mission constructor 2018-11-08 10:01:16 +09:00
Peter Barker b0494c1491 Copter: add override keyword where required 2018-11-08 11:30:12 +11:00
murata 0dacfc0d9c Copter: Add patch number to VERSION notation 2018-11-08 09:11:07 +09:00
murata 7a3f84566a Copter: Delete the last newline of the message. 2018-11-07 11:59:58 +09:00
Randy Mackay e0d94ceaf2 Copter: 3.6.1-rc1 release notes 2018-11-06 13:53:40 +09:00
Peter Barker 72440e2af3 Copter: allow VFR_HUD.alt to be relative-alt if DEV_OPTIONS has bit 2 set 2018-11-06 11:26:38 +09:00
Michael du Breuil f7245e7797 Copter: Remove old parameter conversion that conflicts with newer code 2018-11-06 10:18:39 +09:00
Michael du Breuil 5740ea55e8 Copter: Fix battery failsafe param conversion 2018-11-06 10:18:39 +09:00
Peter Barker 1d322046b0 Copter: tidy up send_pid_tuning 2018-11-06 08:19:15 +09:00
Peter Barker 7c86ce4d81 Copter: change default streamrate for ADSB from 5 to 0 
No other stream has a default streamrate in Copter.

This causes us small amounts of overhead as it marks all channels as
streaming.
 2018-11-05 14:57:55 +09:00
Michael du Breuil 0f636db159 Copter: Make capability init consistent 2018-11-05 14:04:36 +11:00
Peter Barker 7e581da1cf Copter: implement misson LOITER_TO_ALT 2018-10-30 17:50:46 +09:00
Peter Barker 859f4828a1 Copter: move handling of gimbal messages up 
Copter: move handling of mav_cmd_do_mount_control up

Copter: move handling of deprecated mount messages up

Copter: move handling of command_do_set_roi up

Copter: move handling of command_do_set_roi up

Copter: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Peter Barker a339d77f08 Copter: let AP_Mission handle common camera commands 2018-10-30 15:37:18 +11:00
Peter Barker f97281eb48 Copter: move servorelayevents mission handling into AP_Mission 2018-10-30 15:37:18 +11:00
Peter Barker 1eec264d6c Copter: mission library handles gripper 2018-10-30 15:37:18 +11:00
Randy Mackay e1ded6e0dc Copter: winch disabled by default 2018-10-30 13:25:22 +09:00
Randy Mackay e51d842ca5 Copter: fix flowhold param description 2018-10-30 11:05:47 +09:00
Peter Barker 7cfc020c3c Copter: AC_Avoid is built on all vehicles 2018-10-30 12:10:42 +11:00
Peter Barker 7017345fc9 Copter: let RC_Channel parent library do AC_Avoid stuff 2018-10-30 12:10:42 +11:00
Randy Mackay 9aa0e3b0ad Copter: 3.6.0 release notes 2018-10-27 11:43:10 +09:00
Randy Mackay ccee1e6e2e Copter: flowhold descending bug fix 2018-10-27 10:44:19 +09:00
Randy Mackay 69c00285bd Copter: fix flowhold logging format 2018-10-27 10:44:19 +09:00
Randy Mackay d7aa7fb63b Copter: flowhold formatting fixes 2018-10-27 10:44:19 +09:00
Randy Mackay 8fdd439827 Copter: land mode minor format fixes 2018-10-27 10:44:19 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas b74ae2d912 Copter: Obey and preserve DO_SET_ROI commands when executing LOITER_TURNS mission commands 2018-10-23 10:19:05 +09:00
Andrew Tridgell 1978a0cb94 ArduCopter: fixed build warnings 2018-10-17 12:54:22 +11:00
Peter Barker 332340135f Copter: leave AHRS to log and notify home changes 2018-10-16 10:55:13 +11:00
Peter Barker a90cfc7db7 Copter: clarify prearm failure messages 2018-10-16 10:31:10 +11:00
Peter Barker 7af119b497 Copter: factor out loc_from_cmd from three functions 2018-10-16 10:17:12 +11:00
Peter Barker 5f552a6ce3 Copter: stop shadowing members of Copter 
These references were taken to make the breaking out of Modes in Copter.

A lot of other code has already caused these sorts of things to go away,
but these particular ones seem reasonable to fix by pointing the users
at the copter object directly.
 2018-10-16 10:17:12 +11:00
Peter Barker 1a660cefae Copter: remove unused STREAM_RAW_CONTROLLER_msgs variable 2018-10-16 10:17:12 +11:00
Peter Barker e02a645354 Copter: use fabsf() instead of labs() 
wrap_180_cd returns a float

substracting a float from an int32 returns a float
 2018-10-16 10:17:12 +11:00
Leonard Hall d29a47d605 Copter: Add thrust check, counter reset and comments 2018-10-16 00:44:50 +09:00
Leonard Hall 1a3d181756 Copter: Fix feedback in crash check 2018-10-16 00:44:50 +09:00
Randy Mackay 0cf2850593 Copter: fix thrust_loss check angle check 
angle deviation corrected to 15deg and based on total lean angle instead of roll and pitch separately
fixed compile error on send_text
 2018-10-16 00:44:50 +09:00
Randy Mackay 7a43a21784 Copter: formatting fixes to thrust loss check 2018-10-16 00:44:50 +09:00
Leonard Hall 54a59f581f Copter: add motor thrust lost check 2018-10-16 00:44:50 +09:00
Sam Bristow 823d09b212 Copter: Fix confusing indentation 
Commit d94663d5 introducted a minor whitespace issue which made the
indentation of the nested if statements slightly confusing. We may as
well clean it up sooner rather than later :-)
 2018-10-15 16:32:15 +11:00
chobitsfan d94663d5af Copter: support changing vertical speed in DO_CHANGE_SPEED 2018-10-13 13:16:26 +09:00
Peter Barker c70c946651 Copter: correct mode_zigzag compilation for ekf scalar change 2018-10-08 19:23:57 -07:00
Peter Barker 26ca75efae Copter: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
Randy Mackay 9cd62e81b3 Copter: 3.6.0-rc12 release notes 2018-10-05 14:19:31 +09:00
Randy Mackay 042e7b473b Copter: minor comment fix to throw 2018-10-05 10:05:45 +09:00
Randy Mackay d3f7214bcf Copter: revamp zigzag mode 
more accurately stops on target
uses current z target when moving to edge
loses unnecessary auto_yaw.set_mode
ensure A and B are different
 2018-10-05 10:05:45 +09:00
CAO MUQING 71beab7502 Copter: create and update Zigzag flight mode 2018-10-05 10:05:45 +09:00
Raouf 46b669a056 Copter: send obstacle_distance messages to proximity lib 2018-10-02 10:37:13 +09:00
Randy Mackay 19e0fa5214 Copter: 3.6.0-rc11 release notes 2018-10-01 14:51:56 +09:00
Peter Barker ac0e126099 Copter: correct AFS terminate-via-land for Copter 
In the case we're terminating via land it's a good idea to continue to
constantly adjust our motor outputs for stabilization and the like....
 2018-10-01 11:23:46 +09:00
Randy Mackay 4fa0cc4bd3 Copter: pass update rate to precland init 2018-09-21 16:38:35 +09:00
Randy Mackay eef839703f Copter: remove unnecessary copter prefix from precland update 2018-09-21 16:38:35 +09:00
Michael du Breuil 7e1ed948f5 Copter: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Leonard Hall 1b5b46dab5 Copter: Missing Loiter Init on accel 2018-09-19 17:29:55 +09:00
Leonard Hall 17b61f72a3 Copter: Initialise desired acceleration before loiter init 2018-09-19 08:34:08 +09:00
Randy Mackay e78dab1d10 Copter: remove OSD comments 2018-09-15 14:34:20 +09:00
yaapu 5e46b97894 Copter: fix OSD wp_distance and wp_xtrack_error 
need conversion from centimeters to meters as expected by OSD code
 2018-09-15 14:11:57 +10:00
Randy Mackay cdcf26e97b Copter: 3.6.0-rc10 release notes 2018-09-15 11:42:42 +09:00
Randy Mackay 71334a18c5 Copter: rename rudder_arming to get_rudder_arming_type 2018-09-11 19:34:39 +10:00
Randy Mackay 72234e5db6 Copter: arming check formatting fixes 2018-09-11 19:34:39 +10:00
Randy Mackay ede27b23d9 Copter: support disabling rudder arming 2018-09-11 19:34:39 +10:00
Michael du Breuil 470548a100 Copter: Allow starting mission commands to fail 2018-09-11 06:42:00 +10:00
Randy Mackay b5d722245a Copter: minor comment fix 2018-09-10 13:50:31 +09:00
Randy Mackay 314ce5695a Copter: 3.6.0-rc9 release notes 2018-09-09 15:49:53 +09:00
Peter Barker 450052aa80 Copter: rewrite read_radio for clarity 2018-09-05 11:54:32 +10:00
Peter Barker a30cdf6806 Copter: eliminate failsafe.rc_override_active 
Use RC_Channels::has_active_overrides() instead
 2018-09-05 11:54:32 +10:00
Peter Barker ec6c59faa3 Copter: move handling of disable-gcs-rc-overrides-channel-option up 2018-09-05 11:54:32 +10:00
Leonard Hall 8faa1cce39 Copter: loiter glitch fix 2018-09-04 13:37:28 +09:00
Peter Barker 0be5e65b4a Copter: correct compilation for missing define 
Bad interaction between two PRs that were merged.
 2018-09-03 19:47:15 +09:00
Peter Barker 0f4c68aadb Copter: move rc-channel option for lost-vehicle sound up to base class 2018-09-03 16:57:25 +09:00
Pierre Kancir e7c000875e Copter: complet rc option init list 2018-09-03 16:55:43 +09:00
Peter Barker f005ee4a4c Copter: use camera singleton to get camera rather than callback 2018-08-31 15:48:56 +10:00
Peter Barker ec52c22c7c Copter: GCS_MAVLink uses compass singleton, stop implementing get_compass 2018-08-31 15:48:56 +10:00
Randy Mackay e44f7dc3e1 Copter: minor fix to user parameters 2018-08-31 09:25:37 +09:00
SergeyBokhantsev af6303c82b Copter: User parameters implementation 2018-08-31 08:42:03 +09:00
Arjun Vinod 78be026d83 Copter: fixed typo 2018-08-29 09:36:58 +09:00
Randy Mackay 9d4ce91406 Copter: 3.6.0-rc8 release notes 2018-08-28 11:05:34 +09:00
Randy Mackay 920300899e Copter: rename gcs_check_input to gcs_update 
this makes the names consistent with Rover and Plane
 2018-08-24 15:30:50 +09:00
Michael du Breuil 433f01ddf0 Copter: Remove unneeded ServoRelayEvent mask set 2018-08-20 21:31:06 -07:00
Peter Barker 214adc121f Copter: mode_autotune: factor out common filter reset code 2018-08-21 08:45:59 +09:00
Pierre Kancir 17c12dab2a Copter: correct payload_place flytolocation 2018-08-17 21:14:57 +09:00
Peter Barker 09d8a33aaf Copter: stop passing ahrs to PrecLand constructor 2018-08-17 21:14:57 +09:00
Peter Barker dd33fce3b1 Copter: remove AC_Sprayer from make.inc 2018-08-17 15:33:35 +09:00
Peter Barker 7a065db2bb Copter: move sprayer update function into scheduler table 2018-08-17 15:33:35 +09:00
Peter Barker 6e0b5e307a Copter: move handling of sprayer and gripper up 2018-08-17 15:33:35 +09:00
Alexander Malishev f5c540a127 Copter: publish navigation info to OSD 2018-08-16 10:26:34 +10:00
Peter Barker bf6e137c87 Copter: bump version on master to 3.7.0 2018-08-13 10:11:37 +09:00
fnoop cbde39c844 Copter: integrate precland logging changes 2018-08-08 10:31:19 +09:00
Peter Barker 62d0bc986a Copter: toymode: correct static-vs-singleton compilation error 2018-08-08 09:00:11 +10:00
Randy Mackay 9fff6d1e71 Copter: restore CHx_OPT param descriptions 
This will help users who are using beta mission planner (which gets param descriptions from master) with Copter-3.6 which still has these parameters.
 2018-08-07 09:47:39 +09:00
Randy Mackay 346e9e36db Copter: remove compass accumulate 2018-08-06 11:05:34 +10:00
Peter Barker f2b1387c1c RC_Channel: add AUTOTUNE to init_aux_function routine 
Also, cark it in SITL if we fail to initialise an aux function
 2018-08-05 07:52:28 +10:00
Andrew Tridgell 59cd468444 Copter: fixed RC_Channels parameter docs 2018-08-04 12:28:38 +10:00
Matt 15823d9e97 AP_LANDING_GEAR: Remove deploy lock 
Since the RC switches only respond to changes, there is no longer a need
for this lock state. The gear can be retracted or deployed by RC switch,
flight mode, or mavlink command freely without convoluted unlocking
methods.  Also removed use of this in the associated Copter code.
 2018-08-03 10:59:15 +09:00
Matt fd332287b2 COPTER: Add mavlink landing gear control 
Add MAV_CMD_AIRFRAME_CONFIGURATION (# 2520), which is for landing gear
control.
Param 1 is not used in ArduPilot
Param 2 is deploy/retract. 0 is deploy, 1 is Retract
 2018-08-03 10:59:15 +09:00
Randy Mackay 66525ab0f9 Copter: release notes for 3.6.0-rc7 2018-08-02 13:49:14 +09:00
Randy Mackay f30d999e0b Copter: remove compassmot's compass init and accumulate 
when compass mot is started, the main loop has been running so the compass will already have been initialised and have good readings
Also remove unnecessary call to get_primary compass
 2018-08-02 12:26:14 +09:00
Randy Mackay 6b50a810f6 Copter: compassmot format fixes 2018-08-02 12:26:14 +09:00
Peter Barker b19c03a3c6 Copter: rename switches.cpp to RC_Channel.cpp 2018-08-02 09:52:29 +09:00
Peter Barker e7e56dde7a Copter: move handling of RC switches into RC_Channel 2018-08-01 12:11:30 +09:00
Peter Barker 9b7b480688 Copter: force log-disarmed on crash check triggering 2018-08-01 11:28:52 +09:00
Michael du Breuil 858b51c927 Copter: Update notify initilization 2018-08-01 09:22:09 +10:00
Michael du Breuil 5825222818 Copter: Remove redundant throttle channel setting 2018-08-01 09:19:20 +10:00
Peter Barker 9c72a8ecc7 Copter: simplify autotune's filter value determination 2018-07-31 13:37:43 +09:00
Pierre Kancir 84ff9c6928 Copter: switch to pos control when takeoff finish 2018-07-31 10:40:57 +10:00
Randy Mackay e7bc255e02 Copter: disable Guided_NoGPS on v2 boards to save flash space 2018-07-30 10:14:04 +09:00
Randy Mackay e239ac985d Copter: disable RPM meter on v2 boards to save flash space 2018-07-30 10:14:04 +09:00
Peter Barker 87f8e523de Copter: clarify takeoff comments 2018-07-27 13:08:27 +10:00
Peter Barker 22f7f29045 Copter: move all of waypoint-takeoff into Mode namespace 2018-07-27 13:08:27 +10:00
Peter Barker 11aeec6dd1 Copter: factor out auto_takeoff_run from auto and guided 
This code was identical.
 2018-07-27 13:08:27 +10:00
SergeyBokhantsev ea3de59107 Copter: implement user auxswitch functions 2018-07-26 20:27:49 +09:00
Pierre Kancir 1aeb9446c0 Copter: simplify home distance and bearing calculation 2018-07-26 10:37:25 +09:00
Raouf f78ffefd66 Copter: Handle always land mode 2018-07-26 10:11:12 +09:00
Peter Barker 9e6810933e Copter: don't compile AP_Menu library 2018-07-23 14:20:22 +09:00
Peter Barker f06637d48e Copter: update servorelayevents @50Hz rather than 3Hz 
One of the functions we allow for is toggling the servo at a set
frequency.  3Hz - the old rate - doesn't allow for precise triggering of
the servo.  This patch increases that rate to 50Hz - somewhat better.
 2018-07-20 09:42:58 +09:00
Randy Mackay 7aeeb61f69 Copter: motor test can spin motor for 10min 
A user requested they be able to perform longer term tests of their vehicle's motors
 2018-07-17 19:42:39 +09:00
Randy Mackay b3c28bd934 Copter: minor format fix to motor_test 2018-07-17 19:42:39 +09:00
Michael du Breuil 3755b2ac0f Copter: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Randy Mackay 86b85c569a Copter: release notes for 3.6.0-rc6 2018-07-16 10:49:38 +09:00
Randy Mackay 81bb2218f1 Copter: 3.5.7 release notes 2018-07-16 10:49:25 +09:00
Randy Mackay 1333fac887 Copter: 3.5.7-rc1 release notes 2018-07-12 14:56:00 +09:00
Randy Mackay f543ca552c Copter: 3.6.0-rc5 release notes 2018-07-11 15:58:12 +09:00
Randy Mackay 821aa3bece Copter: 3.5.6 release notes 2018-07-11 12:12:30 +09:00
Lauri Juusela a3587f844c Copter: RTL if not in AUTO mode and FS_THR_ENABLED_CONTINUE_MISSION enabled 2018-07-10 08:41:58 +09:00
Randy Mackay b5b9ff8dbc Copter: 3.5.6-rc1 release notes 2018-07-07 11:40:02 +09:00
Peter Barker 819d892baf Copter: handle MAV_CMD_ACCELCAL_VEHICLE_POS in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker 7fc580921a Copter: handle command_long in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker aa4ee64af2 Copter: handle command_int in base class 2018-07-06 09:43:09 +10:00
liang.tang 57598e5b9f ArduCopter：mode_guided: yaw initialization already in pos_control_start() 2018-07-05 15:48:00 +01:00
Randy Mackay 8a96ee4e1d Copter: 3.6.0-rc4 release notes 2018-07-05 14:36:46 +09:00
chobits 6f2814d70c Copter: clarify RTL_ALT parameter description 2018-07-05 10:30:07 +09:00
Peter Barker c2f9b857a4 Copter: remove unused baro_climbrate variable 2018-07-04 21:08:47 +01:00
Peter Barker 8bc96a2e13 Copter: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Andrew Tridgell 3e08132828 Copter: CH_12 can be used with any HAL, not just HAL_PX4 2018-07-04 20:05:10 +01:00
Luis Vale Gonçalves dc154f0b24 Copter: minor fix to 3.6.0-rc3 release notes 
Clarification of the boards tested from partner CUAV
 2018-07-03 21:14:55 +09:00
Peter Barker df83cb034e Copter: use ArmingMethod enumeration 2018-07-03 15:16:38 +10:00
Peter Barker a1f29e92d1 Copter: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Peter Barker c84b102c1c Copter: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Peter Barker 7785a962dc Copter: fix inconsistent setting of AP_Notify::flags.pre_arm_gps_check 2018-07-03 09:34:43 +10:00
Luis Vale Gonçalves 6194413829 Copter: clarify PILOT_THR_BHV param desc 2018-07-03 08:24:46 +09:00
Alexander Malishev 7bfeeb5877 Copter: fixed board name in release notes 2018-07-03 08:11:39 +09:00
Jacob Walser 64577bfbe1 Copter: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
Randy Mackay 4061ed03d9 Copter: 3.6.0-rc3 release notes 2018-07-02 18:34:35 +09:00
Peter Barker f4be542169 Copter: autotune: raise priorities of autotune success and param saved 
Closes #8734
 2018-06-30 11:40:39 +09:00
Lucas De Marchi 1a45aa12f5 AP_Param: warn on last pass only about unknown parameters 
Do not warn about unknown parameters on the first pass, i.e. when
AP_Param:load_all() is called. This is because we may still not know
about dynamically loaded parameters. When we call the second (last)
time, we expect to already know all possible parameters, so print a
warning to both console and the debug terminal.
 2018-06-28 10:18:19 -07:00
Lucas De Marchi 7f0d5ddf21 AP_Param: stop panic()'ing on unknown parameters 
Our track record on keeping parameters up to date with master is not
great and panic()'ing when loading them apparently is not helping
because every and each vehicle has a different file.

On aerofc load_defaults_file() is used in the same way as
load_embedded_param_defaults() is in which the panic() behavior has been
previously removed.

This finishes the removal of the panic param and add warnings to the
debug console when reading the parameters (rather than when counting
them).
 2018-06-28 10:18:19 -07:00
Peter Barker 81b731b214 Copter: move copter-specific AP_Arming code into Copter subclass 2018-06-28 12:48:31 +10:00
Andrew Tridgell 20dea6df45 Copter: moved OSD to top level params 
this gives us plenty of param depth for a complex param tree
 2018-06-27 14:55:00 +10:00
Alexander Malishev f63b3c044a Copter: added OSD support 2018-06-27 14:55:00 +10:00
Peter Barker 724f34c7e7 Copter: use MAV_SYS_STATUS_SENSOR_PROXIMITY for proximity sensor 
Copter: correct laser sensor health bits
 2018-06-26 10:25:28 +10:00
Peter Barker a7a6cfa99f Copter: correct comment 2018-06-26 10:25:28 +10:00
Peter Barker ff17c78c67 Copter: create Copter::Mode::_TakeOff subobject from takeoff_state 2018-06-26 09:11:21 +09:00
Peter Barker 7883582c65 Copter: move takeoff state into Mode class 2018-06-26 09:11:21 +09:00
Peter Barker 597e876953 Copter: clean up do_user_takeoff 2018-06-26 09:11:21 +09:00
Peter Barker cff1969a29 Copter: make do_user_takeoff a member of Mode 2018-06-26 09:11:21 +09:00
Peter Barker cb26ff64b3 Copter: current_mode_has_user_takeoff -> Mode::has_user_takeoff 2018-06-26 09:11:21 +09:00
Peter Barker 70d159cb38 Copter: raise EKF failure even if USB is connected 
This will let EKF go bad if your PixHawk is connected to your laptop.
This doesn't seem to be a problem for the other vehicles.

This also allows the EKF to go bad in-flight if you happen to have
connected (against AP's recommendations) your companion computer to your
flight controller via USB.  Since people do this, it is better to have
the checks than not.
 2018-06-26 10:07:55 +10:00
Pierre Kancir 2d5cbd2cf8 ArduCopter: report crosstrack_error 2018-06-26 08:42:14 +09:00
Peter Barker 291102360a Copter: use check_failed function 2018-06-23 15:33:19 +10:00
Andrew Tridgell b43316d743 Copter: added ESC_TELEMETRY to mavlink streams 2018-06-21 10:48:02 +10:00
Peter Barker ca8a1ae488 Copter: use magic force arm/disarm definitions 2018-06-20 11:43:38 +10:00
Peter Barker fd9ce90b8e Copter: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
Peter Barker 4d6408857f Copter: return appropriate response to failed disarm 2018-06-20 11:43:38 +10:00
Peter Barker 485cafb343 Copter: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
murata a970eacf49 Copter: Do not use the Delay method wrapper. 2018-06-16 09:40:47 +09:00
Peter Barker 078d90132c Copter: use AP_RTC 
Co-authored-by: patrickelectric@gmail.com

Copter: AP_GPS now sets the system time directly

Copter: use AP_RTC for mission delays

Copter: Remove ap_t bits counter (Patrick José Pereira)

Change bits in ap_t to bool and add a static assert
 2018-06-15 08:01:22 +10:00
Randy Mackay 2af8e673cc Copter: add cork-push to esc calibration 
Also remove unnecessary duplicate call to motors::set_throttle_passthrough_for_esc_calibration
 2018-06-13 13:20:08 +09:00
Randy Mackay 41767e0458 Copter: esc calibration fix 2018-06-13 13:20:08 +09:00
Peter Barker 955baa47c2 Copter: move handling of MAV_CMD_DO_GRIPPER up 2018-06-11 19:07:39 +01:00
apinxiko e440583a7c Copter: Beeping when first reaching waypoint while in holding there 2018-06-11 16:45:48 +09:00
apinxiko 5df4b9f6fd Beeping when first reaching waypoint even while in holding there 2018-06-11 16:45:48 +09:00
chobits 75c2a2b02a Copter: check for fence breaches when disarmed 2018-06-11 11:41:10 +09:00
bnsgeyer b4d2406062 Copter: Tradheli - fixes collective jump on rotor shutdown in althold and loiter 2018-06-11 08:39:27 +09:00
Randy Mackay a97e37be9f Copter: 3.6.0-rc2 release notes 2018-06-06 12:02:40 +09:00
Peter Barker 4e3bbe9311 Copter: move sanity check for rangefinder alt to within protected func 
get_surface_tracking_climb_rate can do an additional check....
 2018-06-06 08:33:56 +09:00
Peter Barker ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Pierre Kancir b95fe2b8b1 Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-05 12:08:17 +09:00
Michael du Breuil 6c94811e00 Copter: Update to support new RC override conventions 2018-06-05 09:51:09 +10:00
Peter Barker 6d9a131a26 Copter: make VFR_HUD always return height above MSL 2018-06-05 09:38:20 +10:00
Michael du Breuil 749e0acd10 Copter: Remove software type param 2018-06-05 09:14:12 +10:00
Peter Barker 7015d42ab2 Copter: Location gets ahrs from singleton 2018-06-01 16:18:33 +01:00
Peter Barker 78d2c52a3f Copter: move try_send_message handling of EKF_STATUS_REPORT up 2018-06-01 16:12:45 +01:00
Peter Barker e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
Peter Barker 4b4e66e2bd Copter: correct comment about mode change 2018-06-01 15:01:46 +09:00
Peter Barker db60e93716 Copter: correct comment on deprecated switch option 2018-06-01 15:01:46 +09:00
Andrew Tridgell b8d47f346e Copter: fixed interlock check on helis 
the motors check is always false when disarmed, so can't be used for
arming check
 2018-06-01 10:14:20 +09:00
Randy Mackay 25961b6d13 Copter: flip mode format fix 2018-05-31 15:21:50 +09:00
Randy Mackay 0ba105f649 Copter: minor format fix to guided 
no need to specify copter
non-functional change
 2018-05-31 15:21:42 +09:00
Peter Barker c09ccf5b61 Copter: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker 7c98082389 Copter: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
Peter Barker 5f2221fe74 Copter: move handling of VFR_HUD into GCS_MAVLink_Copter 2018-05-29 13:00:40 +10:00
Andrew Tridgell 2425c65e74 Copter: implement 'air-mode' for copter 
this implements what betaflight calls 'air-mode'. This gives attitude
control when throttle is at zero, allowing for zero-throttle maneuvers,
plus keeping the copter level on the ground.

This was already implemented if an interlock switch was setup, but it
should also work with an arming switch. If using an arming switch then
throttle should not be considered zero as long as the arming switch
hasn't gone low.
 2018-05-29 10:27:14 +09:00
Andrew Tridgell 0d56526400 Copter: added de-bouncing of aux switches 
this prevents a crash with a switch such as arm/disarm getting a
single frame RC glitch
 2018-05-29 08:26:46 +09:00
apinxiko a1fd1cb9b2 Copter: avoid keeping buzzing while in holding at waypoint 2018-05-25 14:02:13 +09:00
Randy Mackay 25475b65d9 Copter: proximity sensor reports laser unhealthy when no data 2018-05-24 12:46:38 +09:00
Peter Barker 81e9edd80a Copter: move sending of sim state up 2018-05-23 18:36:50 +10:00
Peter Barker ec1539f9c8 Copter: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker de7a8e20e2 Copter: eliminate MSG_LIMITS_STATUS 2018-05-22 09:05:14 +09:00
Pierre Kancir aa8a90271e ArduCopter : HAL_RCINPUT_WITH_AP_RADIO definition 2018-05-22 08:35:01 +09:00
bnsgeyer 86440b20ba Copter: Tradheli - disables inverted flight option for single and dual heli frames 2018-05-22 08:35:03 +10:00
Peter Barker 50ca76b6bd Copter: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Peter Barker 7c8583d51d Copter: implement sending of position_target_global_int 2018-05-18 20:26:37 +10:00
Peter Barker 33582107b6 Copter: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker 1437eb008d Copter: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +10:00
Peter Barker da1b2579c4 Copter: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker e4a2b03488 Copter: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker 88883c7c7f Copter: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker 93f1815d50 Copter: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +10:00
Peter Barker 9dce133938 Copter: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker 0dc0e54767 Copter: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Michael du Breuil 296296ab6c Copter: Use named float wrapper 2018-05-17 00:59:45 +01:00
Michael du Breuil 1c6031e5e5 Copter: AP_Proximity is now a common library 2018-05-16 23:21:41 +01:00
Michael du Breuil fe8e1b4274 Copter: Move MAVLink rangefinder up to parent 2018-05-16 23:21:41 +01:00
Michael du Breuil 033a8ec4d5 Copter: Send all distance sensors 2018-05-16 23:21:41 +01:00
Peter Barker 23a0e10d01 Copter: add sanity check for ModeFollow requiring AC_Avoid 
Copter: correct compilation when logging disabled

Copter: correct compilation when mount disabled
 2018-05-10 17:55:13 +09:00
Randy Mackay 6f138ddcfa Copter: ekf failsafe first enforces landing with no GPS 
thanks to khancyr for spotting this
 2018-05-10 08:59:37 +09:00
Leonard Hall 656892cd88 Copter: ekf failsafe disabled for acro and stabilize 
Also restructure to combine ekf_over_threshold and ekf_check_position_problem
 2018-05-10 08:59:37 +09:00
Peter Barker ec6fb0c612 Copter: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker e90ce4ced9 Copter: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker dee40f3fe5 Copter: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker b561e8b7e9 Copter: AP_RSSI is included in build for all vehicles 2018-05-08 12:33:32 +01:00
Peter Barker 6dd9f50f7c Copter: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
Peter Barker 75ad33ddcd Copter: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker d7af5c0c44 Copter: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Peter Barker dc61884303 Copter: remove rcmap member from AP_AdvancedFailsafe 2018-05-05 18:06:31 +09:00
Sarthak Bhagat 0bd21b0b3f Copter: SmartRTL add pilot yaw control 2018-04-30 13:15:44 +09:00
Dr.-Ing. Amilcar do Carmo Lucas c8d1dad493 Copter: document stream content 2018-04-27 19:54:00 +09:00
Randy Mackay c85bae8d88 Copter: correct dodeca-hexa copter mav-type 2018-04-27 14:57:00 +09:00
Andrew Tridgell 963f86b7bf Copter: remove old pde file 
this was here for upgrading very old MissionPlanner versions. We can
remove it now
 2018-04-26 14:25:01 +10:00
Michael du Breuil 91a48a5040 Copter: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
night-ghost 51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Randy Mackay 2fff9561a7 Copter: 3.6.0-rc1 release notes 2018-04-21 09:22:42 +09:00
Pierre Kancir 3be6c0e26b ArduCopter : clean unused definitions 2018-04-20 15:26:47 +01:00
Peter Barker 4b5953734d Copter: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Peter Barker 04885b127c Copter: GPS now logs its own data 2018-04-18 13:50:55 +09:00
Peter Barker 8648db06b4 Copter: create autoyaw.cpp from all the bits of Copter::Mode::AutoYaw 2018-04-18 13:27:43 +09:00
Peter Barker 948b90ed97 Copter: rename roi_WP to just roi 
A Vector3f is not a waypoint.

This should really be "Point Of Interest" rather than "Region Of
Interest"
 2018-04-18 13:27:43 +09:00
Peter Barker ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Pierre Kancir 1f30ae3076 ArduCopter: fix float to double warning 2018-04-18 10:27:10 +09:00
Pierre Kancir 70805d61f2 ArduCopter: remove inertial_nav from precland constructor 2018-04-17 17:21:35 +09:00
Peter Barker 80549a479e Copter: move throw logging into ModeThrow 2018-04-17 17:16:52 +09:00
Peter Barker c95ff96263 Copter: Baro does its own dataflash logging 2018-04-12 19:12:12 +01:00
Randy Mackay a38507623d Copter: autotune minor comment fix 2018-04-12 20:51:37 +09:00
Randy Mackay 1b38a377ff Copter: autotune replace 1 with true 2018-04-12 20:51:37 +09:00
Leonard Hall 7204d46ccb Copter: Autotune - Fix low angle P issue 2018-04-12 20:51:37 +09:00
Peter Barker d9ab8d6569 Copter: sprayer now uses ahrs singleton; stop passing reference 2018-04-12 14:23:33 +09:00
Michael du Breuil d96919ed21 Copter: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Randy Mackay 2817cc61f3 Copter: add heliquad to frame-class param description 2018-04-11 19:35:06 +09:00
Randy Mackay bf6e1993a1 Copter: resolve compiler warning re temp_calibration init order 2018-04-11 11:31:17 +09:00
Pierre Kancir 9e298b3b2f Copter: sprayer uses ahrs in constructor 2018-04-11 09:41:33 +09:00
Michael du Breuil adb7ecef92 Copter: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Randy Mackay 13b8ad0e94 Copter: remove sport from pixhawk v2 builds 
this mode is almost never used
 2018-04-09 09:10:01 +09:00
Andrew Tridgell 9c040105d6 waf: split copter and heli builds 
this makes things less confusing for users
 2018-04-08 21:26:16 +10:00
Peter Barker d219540554 Copter: correct compilation when AFS is enabled 2018-04-07 09:46:54 +09:00
Peter Barker d0425c7b2f Copter: correct compilation when precland is disabled 
Closes #8098
 2018-04-07 09:44:43 +09:00
Andrew Tridgell 1ffe75957e Copter: fixed ESC calibration for DShot 2018-04-07 09:10:29 +10:00
Leonard Hall 5c1d895f82 Copter: autotune announce only while tuning 2018-04-06 14:48:28 +09:00
Leonard Hall 83fac326a4 Copter: autotune check for vel overshoot in angle P 
this change reduces the chance of over tuned angle P
 2018-04-06 14:48:28 +09:00
Peter Barker 975ad608eb Copter: honour defines for optional feature's log messages 2018-04-05 17:37:02 +09:00
Peter Barker 893b761533 Copter: correct terrain-alt logging 
Also change to using an out-of-band value upon no-terrain-alt-available
 2018-04-05 12:30:05 +09:00
Peter Barker 2d31a7b318 Copter: remove check for enabled in for Log_Write_Beacon 
The DataFlash library does this now
 2018-04-04 16:20:33 +09:00
Randy Mackay 59e4749fd0 Copter: integrate AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Randy Mackay 5f2f446199 Copter: add AC_Loiter to make build 2018-04-04 10:45:10 +09:00
Randy Mackay acfc3a606a Copter: circle mode uses AC_Circle get_distance_to_target 2018-04-04 10:45:10 +09:00
Francisco Ferreira 8ff74f31e9
Copter: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker 0c8110ecb2 Copter: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker d58e2214d2 Copter: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker cca4d5136e Copter: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker c80714b820 Copter: factor out preflight calibration function 2018-04-02 23:25:05 +01:00
Peter Barker ebebb3b107 Copter: use ahrs singleton for AP_Follow and SmartRTL 2018-04-02 17:16:02 +01:00
Randy Mackay b3cb491bb1 Copter: minor format fix to mode_land 2018-03-31 14:19:13 +09:00
Dr.-Ing. Amilcar do Carmo Lucas d633ba8c46 Copter: Add option to disable RPM module 2018-03-30 09:36:48 +09:00
Ebin 914f3385a4 ArduCopter: Moved land control fn definitions to mode.cpp (NFC) 2018-03-29 16:54:54 +01:00
Ebin 1ff4019ddf ArduCopter: moved landing control fns from Copter to Mode 
land_run_horizontal_control(),land_run_vertical_control(),get_alt_above_ground() moved to Mode
 2018-03-29 16:50:00 +01:00
Randy Mackay cbd2756467 Copter: loiter loses redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall a3a1601837 Copter: althold remove redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall 8ff8364252 Copter: remove redundant takeoff_stop from flowhold 2018-03-29 08:26:42 +09:00
Peter Barker ce0f0938ee Copter: make superclass handle command_ack packets 2018-03-28 09:28:23 +09:00
Michael du Breuil 291531e056 Copter: Support new battery failsafes 2018-03-27 22:12:21 +01:00
priseborough 4b00f399b4 Copter: Clarify definition for gps_glitching flag 2018-03-27 20:28:55 +09:00
Peter Barker f8d5fe96d8 Copter: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Bruno Camba 7b50517232 Copter: Moved commands_logic to mode_auto 
Moved methods from commands_logic.cpp to
the mode_auto.cpp. Method order is
the same as declared in mode.h
 2018-03-23 10:07:12 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 580143d404 Copter: Add whitespaces to increase readability and consistency (NFC) 2018-03-23 09:34:11 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 58480435bb Copter: Add missing parameter units (NFC) 2018-03-23 09:34:11 +09:00
Peter Barker 41960704b0 Copter: move handling of visual odometry messages up 2018-03-23 09:28:07 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 4f0cf6d334 Copter: Parameter ACRO_THR_MID is only used in ACRO flight mode 2018-03-23 09:14:23 +09:00
Pierre Kancir 9c23aa5ec3 ArduCopter: fix FALLTHROUGH 2018-03-21 08:24:56 +09:00
apinxiko 032ad9a67b Copter: avoid hard stop in missions 2018-03-20 10:30:38 +09:00
kozinalexey 8b5f5a5fa0 Copter: fix camera relay trigger 
camera.update() for automatic shots always called from
void Copter::update_GPS(void), after gps read
copter specific bug
 2018-03-20 10:13:49 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 5f9879fae1 Copter: remove more parameters when ACRO is disabled 2018-03-20 08:13:06 +09:00
Dr.-Ing. Amilcar do Carmo Lucas d78c2a1015 Copter: Fix copy-paste error in toy_mode 2018-03-20 08:13:06 +09:00
night-ghost a1797beb41 Copter: removed 1ms delay on startup 
handled by GCS library now, not needed here
 2018-03-20 10:08:20 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 8e143aa637 Copter: Do not switch into a disabled flight mode 2018-03-19 15:06:41 +00:00
Ebin d8f56b3511 ArduCopter: changed signature for get_pilot_desired_lean_angles() 
Removes first two redundant input parameters, makes fn non static, makes fn const
 2018-03-19 17:51:39 +09:00
Peter Barker edcfa7ffd4 Copter: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker 45f2312bfe Copter: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker 52882d11fa Copter: AP_TempCalibration does not take reference to ins 2018-03-16 00:37:35 -07:00
Peter Barker 2749ee9060 Copter: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay feecbe442f Copter: use multiply instead of divide in param conversion 2018-03-16 13:50:57 +09:00
Randy Mackay d7ea8f073f Copter: run guided velocity control at main loop rate 2018-03-16 13:50:57 +09:00
Randy Mackay 4a74b1b5e5 Copter: replace NTUN with PSC logging 2018-03-16 13:50:57 +09:00
Randy Mackay 0392d2752d Copter: tuning rc-feel uses multiply instead of divide 2018-03-16 13:50:57 +09:00
Randy Mackay 1035645f5c Copter: poshold always resets loiter I term 2018-03-16 13:50:57 +09:00
Leonard Hall a727305a59 Copter: integrate attitude control EKF inertial-frame-reset 2018-03-16 13:50:57 +09:00
Randy Mackay f368ff6664 Copter: parameter conversion from RC_FEEL_RP to ATC_INPUT_TC 2018-03-16 13:50:57 +09:00
Leonard Hall 8ac653cabf Copter: AutoTune integrate renamed use_sqrt_controller 2018-03-16 13:50:57 +09:00
Randy Mackay 853d7ab573 Copter: remove setting of pos-con jerk 2018-03-16 13:50:57 +09:00
Leonard Hall 7511781a7e Copter: add accel target to NTUN log msg 
Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
 2018-03-16 13:50:57 +09:00
Leonard Hall f9acc8a666 Copter: guided removes xy mode in calls to pos-con 
Also limit angle to hold altitude
 2018-03-16 13:50:57 +09:00
Randy Mackay 1a0be015f9 Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration 
Also fix accelerations/lean-angles for land and rtl-land
 2018-03-16 13:50:57 +09:00
Leonard Hall 93de23e7c4 Copter: get-pilot-desired-lean-angles accepts another angle-max 2018-03-16 13:50:57 +09:00
Leonard Hall 1540f98888 Copter: add angle inputs to Loiter 2018-03-16 13:50:57 +09:00
Leonard Hall 9544b1763b Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
Ebin 185f41d5bd Copter arm_checks(): PreArm in error msg changed to Arm 2018-03-16 09:49:54 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 7df1419579 Copter: add missing MAGNETOMETER and STATS_ENABLED build defines 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 115ed491c0 Copter: Obey RANGEFINDER_ENABLED, AUTOTUNE_ENABLED and AC_TERRAIN build macros 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 5b7116bbbd Copter: Fix else formating (NFC) 
git history on these lines is not important, this is a simple else
 2018-03-15 07:51:26 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas db90ee6841 Copter: Remove RTL_ parameters if RTL flight mode is disabled 2018-03-15 07:38:50 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 21c33b60db Copter: Remove DRIFT mode code if DRIFT mode is disabled. 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas ed36ec3c29 Copter: add option to disable THROW mode 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas b27c00dc5f Copter: add option to disable ACRO mode 2018-03-15 07:38:14 +09:00
Randy Mackay 20ac17cda8 Copter: remove adsb beacon nav-guided and visodom from min features 2018-03-14 20:41:47 +09:00
Ebin b8a307cdd0 Copter: Changed log message IDs to enum 
Changes log message IDs to enum, removes values in LoggingParameters enum
and removes deprecated params in LogParameters.
 2018-03-14 09:33:39 +09:00
Randy Mackay af207caa1f Copter: move get_pilot_desired_lean_angles higher in cpp 
this makes the definition in the .h and implementation in .cpp files appear in the same order
 2018-03-14 09:33:39 +09:00
Ebin 20995b909f Copter: Moved get_pilot_desired_lean_angles to mode.cpp 2018-03-14 09:33:39 +09:00
Andrew Tridgell 62522a4e1d Copter: fixed docs for Follow mode number 2018-03-13 07:53:16 +09:00
Peter Barker d88bd52a53 Copter: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 9f05556801 Copter: delete correct assignment operator 2018-03-08 21:20:05 -08:00
Peter Barker 9bffeb4117 Copter: use AHRS singleton in GCS_MAVLink 2018-03-07 12:34:39 +00:00
Peter Barker bc4f021516 Copter: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 35a4748c06 Copter: follow mode renames and comment improvements 2018-03-06 09:50:16 +09:00
Peter Barker af56826107 Copter: follow mode fixups 
add follow to FLTMODEx param descriptions
remove follow's set_velocity method
10hz logging of desired velocity in follow mode
follow mode uses pos error P gain
add send-debug-via-mavlink option
don't enter follow if follow lib is disabled
follow debug slowed to 1hz
disable follow on min-features builds
 2018-03-05 15:08:08 +09:00
Randy Mackay 6ee101ca98 Copter: rename chase to follow 2018-03-05 15:08:08 +09:00
Randy Mackay 053983eb70 Copter: integrate AP_Follow into chase mode 2018-03-05 15:08:08 +09:00
Peter Barker 199455dc56 Copter: add chase mode 2018-03-05 15:08:08 +09:00
Randy Mackay 0840f0e8ae Copter: add AP_Follow to build 2018-03-05 15:08:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bc86ca0e3c Copter: simplify Log_Write_Proximity 2018-03-03 17:13:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas b0f22833f6 Copter: Add GRIPPER_ENABLED macro to user config file 2018-03-03 17:13:24 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas c1246c59e0 Copter: disable scheduler tasks for optional features 2018-03-03 17:10:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas bbd1aa1cab Copter: Improve interoperation of AC_AVOID_ENABLED and BEACON_ENABLED 2018-03-03 17:10:26 +00:00
Pierre Kancir 50c3ed1460 Copter : allow rc_override input at start 
found by chobitsfan
 2018-03-02 16:23:11 +00:00
Andrew Tridgell cf00bd99ea Copter: enanle RC override by default 2018-03-02 12:52:50 +11:00
Andrew Tridgell 30572692c4 Copter: added ALLOW_ARM_NO_COMPASS 
for skyviper-f412
 2018-03-02 12:52:50 +11:00
night-ghost adcc309f15 Copter: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
murata c0954b557e Copter: move BCN param desc within define 
non-functional change to make the formatting consistent
 2018-02-28 13:17:40 +09:00
Peter Barker 398d0d1f37 Copter: do not allow toy mode on Helicopters 2018-02-27 14:22:32 +09:00
Peter Barker b8e1f03599 Copter: add define for disabling beacon 2018-02-27 07:43:13 +09:00
Peter Barker 0e68ce2ad8 Copter: correct #error prerequisites 2018-02-27 07:43:13 +09:00
Peter Barker 5b355214fd Copter: add option to disable CIRCLE flight mode 
Saves about 2.4kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker e4898e1d60 Copter: add option to disable GUIDED_NOGPS flight mode 
Saves about 6.3kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker 86b162e32f Copter: add option to disable BRAKE flight mode 2018-02-27 07:43:13 +09:00
Peter Barker a7fe242e31 Copter: add option to disable RTL flight mode 2018-02-27 07:43:13 +09:00
Peter Barker b8c432b1a1 Copter: add option to disable GUIDED flight mode 
Saves about 6kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker 0ddeb56a05 Copter: add option to disable DRIFT flight mode 
Saves about 1kB of space
 2018-02-27 07:43:13 +09:00
Peter Barker e5056f8d40 Copter: add option to disable SPORT flight mode 
Saves about 1,500 bytes
 2018-02-27 07:43:13 +09:00
Peter Barker 7154f4dea4 Copter: add option to disable LOITER mode 2018-02-27 07:43:13 +09:00
Peter Barker 9b440d6b25 Copter: add option to disable SmartRTL mode 
Saves 5.5k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker 3a61b86e65 Copter: add option to disable POSHOLD mode 
Saves about 4k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker b9ad2bc8db Copter: add option to disable AUTO mode 
Saves ~12k of flash
 2018-02-27 07:43:13 +09:00
Peter Barker eb9bbddcb7 Copter: add in_guided_mode mode callback 2018-02-27 07:43:13 +09:00
Peter Barker e66034f183 Copter: allow fence to be disabled while AFS is enabled 2018-02-27 07:43:13 +09:00
Peter Barker bb9af3b79d Copter: autotune: correct compilation when logging disabled 2018-02-27 07:43:13 +09:00
Peter Barker 9cffa13f7b Copter: correct mav result for compass motor calibration on heli 2018-02-24 00:27:41 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas b24e5c3991 Copter: Obey MOUNT == DISABLED 2018-02-22 20:58:51 +10:00
Peter Barker 846506230d Copter: remove pointless initialisations 
Also reduce storage size of gps primary
 2018-02-22 17:51:35 +10:00
Peter Barker 1a68979050 Copter: correct nullptr check for circle nav allocation 2018-02-22 16:14:50 +10:00
Peter Barker dc5ef168fd Copter: toymode: correct compilation with fence is disabled 2018-02-22 10:26:37 +10:00
Peter Barker 25665c5dd9 Copter: correct definition of unused variable when precision landing disabled 2018-02-22 10:26:37 +10:00
Peter Barker 06da2f50ce Copter: correct compilation when logging is disabled 2018-02-22 10:25:39 +10:00
Andrew Tridgell 8d49e1ac18 Copter: re-added reason to mode change log msg 
this was lost in the mode restructuring
 2018-02-22 09:07:59 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas def098bd8a Copter: obey ADSB_ENABLED == DISABLED 2018-02-21 22:11:34 +09:00
Randy Mackay f0534a35d1 Copter: format change for includes 
non-functional change
 2018-02-21 21:56:01 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 137de0fea5 Copter: conditionaly include more header files 
this should help catch missing macros
 2018-02-21 21:55:59 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 381bae1a4a Copter: add missing defines to config.h 2018-02-21 21:55:33 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 002494c048 Copter: Obey CAMERA == DISABLED 2018-02-21 17:03:28 +10:00
murata 6f20c6a97b Copter: Set the loop rate of G_dt as a variable. 2018-02-20 10:51:20 +11:00
Andrew Tridgell 348a757cc6 Copter: re-enable FLOWHOLD mode on skyviper 2018-02-14 18:27:00 +11:00
Andrew Tridgell 00ec3efb48 Copter: initialise G_Dt to 1.0/400 2018-02-13 17:15:05 +11:00
Peter Barker 730adc3f7c Copter: eliminate perf_update scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell f06fdf330e Copter: use get_last_loop_time_s() for G_Dt 2018-02-13 17:15:05 +11:00
Andrew Tridgell e0de4bccdf Copter: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker de56ae56e1 Copter: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker bfc373aeff Copter: move logging of PM messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker 375911cd7c Copter: move PERF: statustext sending into AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker 80a3d63264 Copter: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker 7f69c5d26d Copter: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker bf6a2b8bb5 Copter: tell PerfInfo the configured loop rate 2018-02-13 17:15:05 +11:00
Randy Mackay 9eda7f4e31 Copter: global-pos-int uses system time 2018-02-13 08:52:48 +09:00
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