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40 Commits

Author SHA1 Message Date
Peter Barker 0c2636c191 ArduCopter: remove far_from_EKF_origin sanity checks 
some  flawed implementations, and the extreme-ardupilot project means these checks are no longer required
 2024-04-10 17:17:12 +10:00
Peter Barker 287b6e0364 ArduCopter: remove logging of first home location into CMD message set 2023-01-03 11:22:18 +11:00
Peter Barker 75db4d2d98 ArduCopter: move logging of LogEvent::SET_HOME up 2022-02-08 11:04:26 +11:00
Peter Barker d1acc5df31 ArduCopter: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
Peter Barker a38879f77e ArduCopter: eliminate AP::ahrs().get_location 2021-08-31 09:47:31 +10:00
Andrew Tridgell bd84ed126e Copter: removed max home distance 
after discussion with Randy we agreed to just remove this check now we
are numerically stable at long distances
 2021-07-14 17:34:40 +10:00
Andrew Tridgell 5eb1d4a5a9 Copter: improve check of far_from_EKF_origin 
- increases the maximum distance from EKF origin to 250km horizontally
- adds arming check that the vehicle is within 250km of the EKF origin
- fixes a bug in the far-from-EKF-origin related to height (was 500m, now 50km)
 2021-06-30 11:52:55 +09:00
Arsh 3c83eecf78 Copter: AP_Arming: Added check for EKF origin altitude 2020-12-21 20:26:30 +09:00
Peter Barker e6c6189fe5 Copter: cope with change in namespace of LogEvent enum 
Also move Acro Trainer types into an enum class as the global defines
interfere with the Event names.

Also eliminate the Log_Write_Event wrappers.
 2019-11-05 08:19:26 +08:00
Michael du Breuil e0d7b71e95 Copter: Reduce dependency on inertial nav 2019-07-16 12:11:42 +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
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 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 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 332340135f Copter: leave AHRS to log and notify home changes 2018-10-16 10:55:13 +11:00
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 c09ccf5b61 Copter: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker 1437eb008d Copter: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +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
Peter Barker 45f2312bfe Copter: move home state into AP_AHRS 2018-03-19 10:32:37 +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 b9ad2bc8db Copter: add option to disable AUTO mode 
Saves ~12k of flash
 2018-02-27 07:43:13 +09:00
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 1b3cc9289b Copter: support SET_GPS_GLOBAL_ORIGIN 
also remove setting of origin from DO_SET_HOME command
initialise ekf_origin location when consuming SET_GPS_GLOBAL_ORIGIN
set_ekf_origin performs sanity check on location
 2017-09-19 10:30:15 +09:00
Peter Barker a4d167affe Copter: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00
Randy Mackay cb76bd8f3d Copter: compass set-initial-location uses ahrs location 
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
 2017-06-07 13:01:38 +09:00
Randy Mackay 814cadac68 Copter: consolidate set_home functions 
added lock argument instead of having twice as many functions
no functional change
 2017-06-07 13:01:38 +09:00
Randy Mackay 8f43b60247 Copter: set EKF origin from first do-set-home command 2017-04-22 10:37:31 +09:00
Andrew Tridgell 0f6d0c5ba9 Copter: combined tri, single, coax and multicopter into a single build 
this allows copter to be just 2 builds, one for heli, and one for
everything else
 2017-01-12 17:39:37 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell 57870cccb9 ArduCopter: update signing timestamp on GPS lock 2016-05-21 15:25:13 +10:00
Randy Mackay 330961b524 Copter: send home position when home is set or get-home msg received 2015-10-03 12:50:45 +09:00
Randy Mackay 221ddb545e Copter: log ahrs home and ekf origin 2015-07-06 12:11:51 +09:00
Peter Barker 12bce49cd1 Copter: use common mission logging code 2015-06-30 16:23:35 +10:00
Andrew Tridgell 278883c521 Copter: finished conversion to .cpp files 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-05-30 15:21:19 +09:00
Andrew Tridgell 356ece3402 Copter: rename .pde files to .cpp files 2015-05-30 15:21:15 +09:00