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26 Commits

Author SHA1 Message Date
Peter Barker b849fbbcca Copter: autoyaw: correct units returned by look_ahead_yaw 
there are other methods on the autoyaw object which make it clear that they're working in cd, and others in there that work in degrees.  This method doesn't specify cd yet returns in that unit.

Change the method and state variable to store in degrees (as our naming standards suggest)
 2024-04-11 10:24:58 +10:00
Randy Mackay 48825c9cc6 Copter: minor format fixes 2023-11-28 07:46:33 +09:00
Nick Exton 98dfaba23d Copter: Use AP_Mount::clear_roi_target() to remove ROI 2023-10-30 08:28:23 +09:00
Leonard Hall 715bb6e705 Copter: Guided Yaw Fix 2023-03-21 08:23:12 +09:00
Iampete1 d9dedf3fe8 Copter: autoyaw: weathervane: include roll trim for helis 2022-12-14 16:08:20 -05:00
Gone4Dirt 66a4ba6256 Copter: add yaw weathevaneing mode 2022-12-14 16:08:20 -05:00
Iampete1 55e72a9848 Copter: auto yaw re-work 2022-11-01 08:21:50 +09:00
Iampete1 3189bd7c0d Copter: AutoYaw: use get_slew_yaw_max_degs in place of get_slew_yaw_cds 2022-02-01 08:19:35 +09:00
Josh Henderson 3107c42fca Copter: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson 6b871fba55 ArduCopter: inav funcs use _xy() 2021-11-30 10:08:07 +11:00
Josh Henderson 29ebb9be60 Copter: get_bearing & get_horizontal_distance use Vector2f 2021-11-30 10:08:07 +11:00
murata b8456f7b89 Copter: YAW_MODE judgment does everything 2021-09-29 23:52:40 +09:00
Josh Henderson 46ec70f9fc Copter: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Leonard Hall a3c31f7ba1 Copter: Fix guided yaw bug. 2021-07-20 15:25:17 +09:00
Leonard Hall 58497bacbd Copter: Auto Yaw variable names and comments 2021-07-10 20:25:05 +09:00
Leonard Hall feae762e64 Copter: additional yaw modes and fixes 2021-07-10 20:25:05 +09:00
Randy Mackay 941cf6b293 Copter: integrate AC_WPNav::get_yaw_rate_cds rename 2021-04-03 12:07:59 +09:00
Leonard Hall 328c0655e3 Copter: support for SCurves and position controller changes 
wp_start provides next_dest_loc
send next_destination to wp_nav instead of setting fast_waypoint
fixup zigzag for S-curve changes
fixup guided
auto spline fixes
smart rtl rename of next_point to dest_NED
loc_from_cmd accepts default location
auto mode stops before starting land command
auto do_next_wp accepts default location
rename do_next_wp to set_next_wp
also rename get_spline_from_cmd argument
also improve failure to set next waypoint due to missing terrain data
also fixup comment in set_next_wp
also auto stops when moving from straight to spline segments
also auto mode spline fix
also auto mode calls AC_WPNav::set_spline_destination_next

Copter: AutoYaw provides rate from WPNav
 2021-04-03 12:07:59 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 2302f08f75 Copter: run the "point yaw to ROI" controller at full rate (400Hz) instead of 1/4 of full rate (100Hz) 
- This should improve pointing at ROI and replaces #11172
 - Remove unused member variable as per review suggestion
 - declare Mode::AutoYaw::roi_yaw() as const
 2021-02-16 09:30:21 +09:00
Peter Barker 4136397810 Copter: correct compilation when CIRCLE mode is disabled 2020-10-06 11:25:09 +11:00
Andy Piper 54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Randy Mackay d9ecf51457 Copter: auto mode loiter-turns accepts pilot yaw input 2020-04-27 09:39:46 +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 587e02e92e Copter: remove pv_ functions that duplicate Location functions 2019-02-06 11:02:50 +09:00
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
Peter Barker 8648db06b4 Copter: create autoyaw.cpp from all the bits of Copter::Mode::AutoYaw 2018-04-18 13:27:43 +09:00