Commit Graph

450 Commits

Author SHA1 Message Date
Peter Barker
1d322046b0 Copter: tidy up send_pid_tuning 2018-11-06 08:19:15 +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
Leonard Hall
54a59f581f Copter: add motor thrust lost check 2018-10-16 00:44:50 +09:00
Peter Barker
26ca75efae Copter: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
CAO MUQING
71beab7502 Copter: create and update Zigzag flight mode 2018-10-05 10:05:45 +09:00
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
SergeyBokhantsev
af6303c82b Copter: User parameters implementation 2018-08-31 08:42:03 +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
Peter Barker
09d8a33aaf Copter: stop passing ahrs to PrecLand constructor 2018-08-17 21:14:57 +09:00
Alexander Malishev
f5c540a127 Copter: publish navigation info to OSD 2018-08-16 10:26:34 +10:00
Randy Mackay
346e9e36db Copter: remove compass accumulate 2018-08-06 11:05:34 +10:00
Peter Barker
e7e56dde7a Copter: move handling of RC switches into RC_Channel 2018-08-01 12:11:30 +09:00
Peter Barker
22f7f29045 Copter: move all of waypoint-takeoff into Mode namespace 2018-07-27 13:08:27 +10:00
SergeyBokhantsev
ea3de59107 Copter: implement user auxswitch functions 2018-07-26 20:27:49 +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
Michael du Breuil
3755b2ac0f Copter: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Peter Barker
c2f9b857a4 Copter: remove unused baro_climbrate variable 2018-07-04 21:08:47 +01:00
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
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
7883582c65 Copter: move takeoff state into Mode class 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
Peter Barker
fd9ce90b8e Copter: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
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
Peter Barker
ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Peter Barker
e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
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
Peter Barker
81e9edd80a Copter: move sending of sim state up 2018-05-23 18:36:50 +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
da1b2579c4 Copter: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +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
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
dee40f3fe5 Copter: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker
6dd9f50f7c Copter: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
night-ghost
51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Peter Barker
ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Pierre Kancir
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
Peter Barker
d9ab8d6569 Copter: sprayer now uses ahrs singleton; stop passing reference 2018-04-12 14:23:33 +09:00
Pierre Kancir
9e298b3b2f Copter: sprayer uses ahrs in constructor 2018-04-11 09:41:33 +09:00
Randy Mackay
59e4749fd0 Copter: integrate AC_Loiter
includes param conversion
2018-04-04 10:45:10 +09:00