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126 Commits

Author SHA1 Message Date
Leonard Hall 300c5a9207 Copter: Correct yaw expo range limit 2021-07-22 19:07:36 +09:00
Leonard Hall 3fd28bd74b Copter: Set Force Descend to true only when in the last phase of landing 2021-06-23 10:58:50 +09:00
Leonard Hall 3b0a870504 Copter: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
Leonard Hall e294991b08 Copter: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall 726074be91 Copter: Support Thrust Vector based navigation 2021-04-27 17:13:55 +09:00
Tatsuya Yamaguchi c42681f4f2 Copter: add exit() method to Mode class 2021-04-26 09:56:34 +09:00
Leonard Hall a29e2d8920 Copter: fix references to position error 2021-04-03 12:07:59 +09:00
Peter Barker 5edfed0083 Copter: factor out a mode-change-failed method 2021-03-30 19:58:05 +11:00
murata 31b0682246 Copter: Move the variable definition 2021-03-25 08:55:17 +09:00
Peter Barker dc793e916f Copter: move implementation of get_pilot_desired_yaw_rate into mode.cpp 2021-03-24 20:46:08 +11:00
Tatsuya Yamaguchi 0cce5699b2 Copter: change from control_mode to flightmode 2021-03-23 22:48:20 +11:00
Randy Mackay 32fb3cb929 Copter: remove unused update_navigation and run_autopilot 2021-03-23 10:12:08 +09:00
Leonard Hall 5efe94a771 Copter: use AP_Math control functions 2021-01-20 18:19:40 +11:00
bnsgeyer c75848435e Copter: fix heli land detector and incoporate reset_I_smoothly 2020-12-21 23:33:48 -05:00
Andy Piper b8f613c965 Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
Peter Barker afa153fb6f Copter: remove wrapper for get_avoidance_adjusted_climbrate 
Only the modes are interested in this - there's no point having it on
the Copter object.
 2020-08-22 08:31:25 +09:00
Randy Mackay 315d9da138 Copter: add ekf alt pre-arm and mode init checks 2020-08-20 12:41:40 +09:00
Peter Barker d87986ecdd Copter: move set_throttle_takeoff implementation into Mode 
No callers except the mode objects, so move it.
 2020-08-05 08:23:03 +09:00
Andy Piper 54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Peter Barker 73526c0256 Copter: pass reason through in set_mode AP_Vehicle override 
Other vehicles seem to do this correctly.
 2020-07-28 09:10:38 +09:00
Andy Piper 12c9578a66 Copter: add in additional acro options 
Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit
 2020-07-14 15:54:24 +09:00
Randy Mackay c4b5d47e1f Copter: white space fixes 2020-04-23 13:17:11 +09:00
murata 2822fa68fc Copter: Adding flight mode to flight mode unchangeable messages 2020-04-14 09:53:17 +09:00
Tatsuya Yamaguchi 735498e160 Copter: move zigzag exit into mode_zigzag.cpp 2020-03-26 14:56:40 +09:00
Peter Barker 136d0cce0b Copter: rewrite_get_alt_above_ground_cm for clarity 
It's not entirely clear at a glance that we don't return an
uninitialised value off the stack here.
 2020-03-03 21:38:03 +09:00
Andrew Tridgell dd5fafe30e Copter: added rangefinder height interpolated using inertial alt 
this smooths rangefinder heights and allows for good estimated for
precision landing even with loss of some rangefinder samples during landing
 2020-02-25 09:10:30 +09:00
Tatsuya Yamaguchi 9f577a23c8 Copter: stop spray if changing a mode from ZigZag to other 2020-02-19 19:56:56 +09:00
Randy Mackay b482d147df Copter: always store previous control mode 
also minor spacing fixup
 2019-12-12 09:13:24 +09:00
Peter Barker 10bbcf98be Copter: tidy land_run_vertical_control for precision-landing case 2019-12-11 08:18:49 +09:00
Gone4Dirt 180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Bogdan Grigoruta 5183703243 Copter: move Mode::auto_takeoff_run to takeoff.cpp 2019-11-18 09:14:08 +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 b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Leonard Hall c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
Randy Mackay ca92f0505e Copter: follow mode restores offsets to zero on exit 2019-10-07 08:30:45 +09:00
Andrew Tridgell 328fff8585 Copter: fixed RC failsafe handling for no RC receiver 
this stops us using uninitialised values in modes like circle which
can operate either with or without RC input. If we didn't have a RC
receiver attached then they would use a maximum yaw rate (which
produces quite a spectacular result for a tuned up racing quad)
 2019-09-24 10:00:36 +10:00
Peter Barker b4537bebd8 Copter: move control_mode_t into being Mode::Number enum class 
Fixes this compiler error:

In file included from ../../ArduCopter/sensors.cpp:1:
In file included from ../../ArduCopter/Copter.h:195:
../../ArduCopter/mode.h:1291:9: fatal error: declaration shadows a variable in the global namespace [-Wshadow]
        AUTO,           // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
        ^
../../ArduCopter/defines.h:38:5: note: previous declaration is here
    AUTO =          3,  // fully automatic waypoint control using mission commands
    ^
1 error generated.
 2019-09-13 13:12:08 +09:00
Peter Barker 0ce3cd06b0 Copter: fix compilation when drift mode is disabled 2019-08-27 09:43:47 +10:00
Peter Barker b0428f0fe8 Copter: make surface_tracking a class, various functions methods 2019-08-06 14:09:09 +09:00
Michael du Breuil 242096b65e Copter: Send a heartbeat on mode change 2019-06-26 12:58:18 -07:00
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
Pierre Kancir c2811ea144 ArduCopter: respect yaw orientation on LAND 2019-04-23 09:35:02 +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
Pierre Kancir caf925eda5 Copter: factorize arm or land check 2019-04-16 10:17:47 +09:00
Peter Barker 46a6f45e4a Copter: adjust for desired spool state and spool state renames 2019-04-14 12:18:03 +09:00
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