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7650 Commits

Author SHA1 Message Date
Iampete1 94944427da Copter: Scripting: add support for `set_target_rate_and_throttle` 2024-09-25 08:47:30 +10:00
Iampete1 a4753f32ac Copter: guided: `set_angle` call `init_z_controller` when changing from thrust to climb rate control to avoid flow of control error 2024-09-24 22:50:44 +10:00
Peter Barker db767ce0dd ArduCopter: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 8e9de04221 ArduCopter: correct initialisation of PrecLand buffers 
this value determines the size of buffers allocated.

Too high and you waste RAM.  Too low and you probably won't store data correctly.
 2024-09-24 10:56:57 +09:00
Iampete1 20cd9e523c Copter: add and use new `afs_mode` mode method 2024-09-24 09:45:01 +09:00
Peter Barker 6e760a2b94 Copter: mode_auto: remove more code based on defines 
Co-authored-by: murata <ma2maru@gmail.com>
 2024-09-24 09:26:31 +10:00
Thomas Watson 873fe1df82 ArduCopter: only send airspeed when enabled 
Avoids debug message spam about sending an unknown message.
 2024-09-23 18:53:27 +10:00
Iampete1 a72182ae97 Copter: don't pass `channel_yaw->norm_input_dz()` into `get_pilot_desired_yaw_rate` 2024-09-22 08:40:12 +09:00
Andy Piper 505d05d5f8 Copter: log ANG attitude message 2024-09-17 10:12:35 +10:00
Iampete1 9c5d071653 ArduCopter: add Airspeed to raw sensor stream rates 2024-09-17 09:10:17 +10:00
muramura 9bff62b3cb Copter: The failsafe enable flag should be cleared on cold reset 2024-09-16 08:50:24 +09:00
Randy Mackay a2845e4222 Copter: auto mode takeoff complete pos fix 2024-09-11 08:44:45 +09:00
Andy Piper ff72e163d9 Copter: Write_Rate() moved to AC_AttitudeControl 2024-09-10 16:33:04 +01:00
Peter Barker 9be4cc65c7 ArduCopter: avoid nullptr dereference on bad rcmap value entry 2024-09-10 22:00:50 +10:00
Peter Barker 11b04b7610 ArduCopter: avoid nullptr dereference on bad rcmap value entry 2024-09-10 22:00:50 +10:00
Andy Piper d5b939fe76 Copter: log attitude target in degrees 2024-09-10 10:54:55 +10:00
Peter Barker a5c96e16cc ArduCopter: remove AUX_FUNC entries based on feature defines 2024-09-08 00:55:43 +10:00
Peter Barker 784760342d Copter: remove ENABLE/ENABLED/DISABLE/DISABLED defines 2024-09-06 11:53:09 +10:00
Peter Barker e6ccaeb2c9 Copter: rename RTLAltType enumeration entries 
removes redundant namespacing as this is enum class
 2024-09-06 08:45:18 +10:00
Randy Mackay 00d9bf4a3b Copter: 4.5.6 release notes 2024-09-04 08:06:25 +09:00
Peter Barker 46d37abcf7 Copter: avoid nullptr deref in config_error_loop 
we may enter the config_error_loop before we call Copter's methods which allocate the wpnav object.

We send mavlink messages in the config error loop, one of which calls this method - so we end up with a nullptr dereference.

We might be able to find a way to stop sending this message in the config error loop, but that's likely to take some time to do....
 2024-08-27 11:04:02 +10:00
Randy Mackay ecd9694e47 Copter: 4.5.6-beta1 release notes 2024-08-22 10:36:52 +09:00
Peter Barker 6b2f3ff591 ArduCopter: emit MAV_RESULT_DENIED if start/stop item passed to MAV_CMD_MISSION_START 2024-08-20 09:38:43 +10:00
Iampete1 ba976a2b78 Copter: Disarm: move autotune disarm call after setting soft arm false 2024-08-20 09:33:22 +10:00
Iampete1 e97569db8c copter: flowhold: move to constant dt filter and provide dt in runtime cutoff frequency update 2024-08-20 09:09:41 +10:00
Gone4Dirt aabaa0939a Copter: Move heli logging down into motors 2024-08-14 23:39:01 -04:00
Iampete1 c0d2c15ac8 Copter: autotune: allow access to autotune object and call through for disarm and aux function 2024-08-13 08:57:44 +09:00
Leonard Hall 16aa2ed4f8 Copter: Fix payload place bug 2024-08-08 18:16:12 +10:00
Peter Barker 42cf3aed97 Copter: use HAL_PARACHUTE_ENABLED in place of PARACHUTE_ENABLED 2024-08-07 18:09:23 +10:00
Peter Barker cbbb6881e2 Copter: use mavlink enumeration to clarify do_change_speed implementation 2024-08-07 17:50:03 +10:00
Peter Barker 8f7cde12ab ArduCopter: add logging for land detector 2024-08-06 09:28:37 +10:00
Randy Mackay 963addd4f5 Copter: 4.5.5 release notes 2024-08-01 15:21:51 +09:00
Peter Barker 5f40319a3b ArduCopter: rename pid setters to include set_ in the names 2024-07-31 18:43:42 +10:00
Peter Barker 58f33087ac Copter: correct skyviper-v2450 compilation 2024-07-30 10:30:44 +10:00
Peter Barker 86faf1ac52 ArduCopter: add build option to not send RC_CHANNELS_RAW 
we keep this around in case we break old OSD setups
 2024-07-30 10:29:58 +10:00
Peter Barker 3c1021d208 Tools: add documentation for SIM_ENGINE_FAIL and SIM_ENGINE_MUL 2024-07-30 09:21:26 +09:00
Peter Barker 6881f42cba Copter: add a Mode method to disable crash check 
prevents looking for specific modes in the crash checker
 2024-07-30 09:21:26 +09:00
muramura 0e7a5ef520 Copter: Make multiple decisions into a SWITCH statement 2024-07-30 08:16:27 +09:00
Randy Mackay 8f51eafc82 Copter: 4.5.5-beta2 release notes 2024-07-29 15:18:17 +09:00
muramura ace57047fa Copter: Distinguish preprocessor processing 2024-07-25 10:56:03 +10:00
Leonard Hall 1012be95d8 Copter: Ground oscillation gain reduction 2024-07-25 09:50:35 +10:00
Luca Pescante 0583e85145 Copter: update "CH6 tuning" comments 2024-07-25 09:40:13 +10:00
Luca Pescante a519597249 Copter: find channel option "Transmitter Tuning" instead of CH6 2024-07-25 09:40:13 +10:00
Luca Pescante 028017e38e ArduCopter/RC_Channel: add option 219 
(Transmitter Tuning)
 2024-07-25 09:40:13 +10:00
muramura 05d8b0db8a Copter: Clearly show the preprocessor 2024-07-24 18:04:12 +09:00
muramura f9bc247121 Copter: correct comment about scope of is_landing and is_taking_off 2024-07-24 18:31:00 +10:00
Randy Mackay efc7a9071a Copter: SmartRTL mode restores point if interrupted 2024-07-24 17:22:44 +10:00
Peter Barker 6dac230ccb ArduCopter: correct compilation with AP_RRSI_ENABLED false 
Co-authored-by: David Buzz <davidbuzz@gmail.com>
 2024-07-24 09:11:39 +10:00
Andrew Tridgell a371a3eb89 Copter: fully honour FENCE_OPTION to disable mode changes 
when the user has chosen to disallow mode change during fence breach
it should be fully implemented, without a landing exception.

as requested by Pete, and discussed on dev call
 2024-07-24 08:24:06 +10:00
Andy Piper 51304848fc Copter: address minor review comments 2024-07-24 08:24:06 +10:00
Andy Piper ccfbfddf7e AC_Fence: address minor review comments 2024-07-24 08:24:06 +10:00
Andy Piper 2877472f27 Copter: support FENCE_OPTIONS on copter 2024-07-24 08:24:06 +10:00
Andy Piper c40b80b100 Copter: don't print fence cleared messages when sitting on the ground 2024-07-24 08:24:06 +10:00
Andy Piper 8c0c84b7ab Copter: only disable fences when in landing phase 2024-07-24 08:24:06 +10:00
Andy Piper f8304e12d1 Copter: don't breach auto-fences when landed 2024-07-24 08:24:06 +10:00
Andy Piper 823ffb6c9e Copter: use generic fence handling in missions 2024-07-24 08:24:06 +10:00
Andy Piper eaf001c52f Copter: disable fences for landing by suppressing in the fence check rather than using a state machine 2024-07-24 08:24:06 +10:00
Andy Piper 738586342c Copter: notify when fence breach has cleared 
output fence breach type
when switching mode without a fence action do not go into manual recovery
only recover if there is a fence action
implement auto-takeoff fence options
output user-friendly fence names
auto-enable fences on auto-takeoff
use fence enable_configured()
simplify message printing
 2024-07-24 08:24:06 +10:00
Peter Barker 5f9abc0406 Copter: add and use private ModeAuto::option_is_enabled method 2024-07-17 17:55:42 +10:00
Leonard Hall 8260648a66 Copter: Payload Place: Fix first run abort 2024-07-16 10:47:58 +10:00
Peter Barker c986d93894 Copter: remove unused #if around rangefinder 
the contents of this entire file are removed when AP_RANGEFINDER_ENABLED is false
 2024-07-08 10:38:17 +10:00
bnsgeyer a3463235f4 Copter: add comment for make_safe_ground_handling 2024-07-03 08:29:19 -04:00
bnsgeyer 0647444ee3 Copter: make safe spool down for tradheli in autotune mode 2024-07-03 08:29:19 -04:00
Andy Piper 50e98fcbdf Copter: 4.5.5-beta1 release notes 2024-07-03 12:05:04 +09:00
Bill Geyer 2b95582d22 Copter: suggested clean up items 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-07-02 08:39:33 +09:00
bnsgeyer 0de2d6d482 Copter: ensure force flying with heli inverted flag 2024-07-02 08:39:33 +09:00
bnsgeyer a07b514ee8 Copter: allow tradheli inverted feature for stabilize, althold, loiter and auto modes 2024-07-02 08:39:33 +09:00
Peter Barker f64fcb78d3 ArduCopter: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Leonard Hall b45b07d539 Copter: Fix rate input frame and clarify SET_ATTITUDE_TARGET 2024-06-26 11:22:54 +10:00
Peter Barker 180484e0a6 ArduCopter: add Copter flight option for requiring position to arm 
this is not quite the same as requiring a good position to arm.
 2024-06-25 11:06:10 +10:00
Iampete1 44710e8576 Copter: `update_target_location` reject alt frame change per plane 2024-06-25 08:29:57 +09:00
TsuyoshiKawamura a95b5bc0dc Copter: leave old_loc check instead of changing alt frame. 2024-06-25 08:29:57 +09:00
TsuyoshiKawamura 8346203d43 Copter: simplify update_target_location 2024-06-25 08:29:57 +09:00
rtos-kawamura 34748e681f Copter: simplify get_target_location 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-06-25 08:29:57 +09:00
TsuyoshiKawamura 5f5e0e65e0 Copter: implement get_target_location/update_target_location for lua 2024-06-25 08:29:57 +09:00
Peter Barker 3630e772b1 Copter: add Copter::option_enabled(...) replacing bitops vs copter.g2.flight_options 2024-06-20 10:59:14 +10:00
Peter Barker e34c91d1aa Copter: tidy use 'else if' to avoid unnecessary complication in location arm checks 2024-06-19 17:27:37 +10:00
richaravoil b782d24f87 ArduCopter: get MAV_STATE_BOOT on reboot 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2024-06-18 20:22:29 +09:00
chobits tai 3b24530cc2 Copter: fix MAV_CMD_CONDITION_YAW with relative angle when WP_YAW_BEHAVIOR = 0 2024-06-18 10:52:01 +09:00
Iampete1 4ab24dc015 ArduCopter: use new ModeReason::AUX_FUNCTION 2024-06-18 09:49:20 +10:00
Peter Barker 136e76e5ea Copter: tidy failsafe action handling 
Mode changes will not work when mode not compiled in
 2024-06-17 10:24:59 +10:00
muramura c376781c08 Copter: Clear the counter when rudder arm operation is disabled 2024-06-17 09:56:22 +10:00
muramura 9135f01a93 Copter: Move to the processing section to be used 2024-06-17 08:03:38 +09:00
Iampete1 1853f07793 ArduCopter: 4.5.4 release notes 2024-06-15 09:19:56 +09:00
Peter Barker 72fa6aa410 ArduCopter: clarify frame of get_location_from_origin_offset 
... by renaming it get_location_from_origin_offset_NED
 2024-06-11 14:57:56 +10:00
muramura da3a9c1cc6 Copter: Enable processing 2024-06-11 09:17:59 +10:00
muramura 5107cb495a Copter: Change the sub-mode description 2024-06-11 09:14:31 +10:00
Peter Barker cb869ef7f0 ArduCopter: remove defaulting of OSD_ENABLED 
we do this in AP_OSD_config.h too so include ordering can break things badly
 2024-06-04 16:32:26 +10:00
Andrew Tridgell 7551236854 ArduCopter: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Peter Barker 1c5a026e3e Copter: ModeGuided: add an option_is_enabled method, use it 2024-05-29 13:11:58 +10:00
Randy Mackay 53f37a7457 Copter: 4.5.3 release notes 2024-05-28 13:19:03 +09:00
MattKear ae38c96a04 Copter: use new surface distance library 2024-05-28 09:55:36 +10:00
Peter Barker fcebd0c8c2 Copter: avoid Guided submode change unless can change Loc to Vec-from-origin 
ordering problem between changing the submode and setting a valid position
 2024-05-22 17:10:12 +09:00
Peter Barker 76950b5994 ArduCopter: remove redundant @Values from parameter documentation 2024-05-21 14:27:05 +10:00
Andrew Tridgell 2bcc2b296d ArduCopter: update release notes for 4.5.3-beta1 2024-05-16 11:04:32 +10:00
bnsgeyer a1a5647b7f Copter: change input_loiter_xxx to input_vel_xxx in sysid mode 2024-05-14 23:16:52 -04:00
bnsgeyer bbaf557457 Copter: implement suggested changes 2024-05-14 23:16:52 -04:00
bnsgeyer 9e4340ba33 Copter: change position controller method for making inputs 2024-05-14 23:16:52 -04:00
bnsgeyer 75d9163571 Copter: fixes for suggested changes 2024-05-14 23:16:52 -04:00
bnsgeyer d0dfe86a4b Copter: incorporate comment to remove unnecessary function 2024-05-14 23:16:52 -04:00